+ python -m lidar_slam --no-model /working/11273800-fcd2-43ba-9a89-b8368716a795 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/11273800-fcd2-43ba-9a89-b8368716a795 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 0.024839173 Adjusted end_distance from 9.223372036854776e+18 to 87.284839173 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024839173 meters 0.03607624766629871 Centerline is valid? [0, True] SLAMing on 0.054839173 meters 0.03785205376337296 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.01, Z:0.00 [[ 9.99982548e-01 -5.83315537e-03 -9.36716540e-04 3.01024345e-02] [ 5.83315891e-03 9.99982987e-01 1.05178332e-06 -7.75882449e-03] [ 9.36694469e-04 -6.51578140e-06 9.99999561e-01 6.50304609e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08483917299999999 meters 0.03802105226610018 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:-0.00 [[ 9.99941058e-01 -1.01472372e-02 -3.86181706e-03 6.09505654e-02] [ 1.01473225e-02 9.99948515e-01 2.49726057e-06 -1.22200111e-02] [ 3.86159289e-03 -4.16842165e-05 9.99992543e-01 -7.89289000e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11483917299999999 meters 0.034170695932027866 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.02, Z:-0.01 [[ 9.99862197e-01 -1.47391342e-02 -7.63833453e-03 9.29134076e-02] [ 1.47396271e-02 9.99891366e-01 8.24273007e-06 -1.52213514e-02] [ 7.63738326e-03 -1.20827797e-04 9.99970827e-01 -1.38396906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.144839173 meters 0.033440253441848214 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.03, Z:-0.03 [[ 9.99724571e-01 -2.09058456e-02 -1.06642806e-02 1.26000504e-01] [ 2.09071044e-02 9.99781423e-01 6.56254027e-06 -2.51044352e-02] [ 1.06618125e-02 -2.29519961e-04 9.99943135e-01 -2.53205186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.174839173 meters 0.03373028352786376 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.03, Z:-0.02 [[ 9.99708324e-01 -2.18984422e-02 -1.01845585e-02 1.58109324e-01] [ 2.18996261e-02 9.99760174e-01 4.72299719e-06 -2.78681811e-02] [ 1.01820125e-02 -2.27759642e-04 9.99948136e-01 -2.43510089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20483917299999999 meters 0.03667166971946382 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.03, Z:-0.02 [[ 9.99691455e-01 -2.23298547e-02 -1.08798664e-02 1.89067675e-01] [ 2.23312484e-02 9.99750627e-01 6.61757563e-06 -2.79031856e-02] [ 1.08770055e-02 -2.49576533e-04 9.99940812e-01 -1.50706329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23483917299999998 meters 0.03676835468872105 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.03, Z:-0.02 [[ 9.99528058e-01 -2.58646053e-02 -1.65735858e-02 2.20036186e-01] [ 2.58685379e-02 9.99665353e-01 2.29059045e-05 -2.77033222e-02] [ 1.65674470e-02 -4.51629526e-04 9.99862648e-01 -1.66118688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.264839173 meters 0.03589272133122813 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.03, Z:-0.02 [[ 9.99445606e-01 -2.79290204e-02 -1.81231767e-02 2.52138533e-01] [ 2.79339991e-02 9.99609769e-01 2.15792117e-05 -2.91058815e-02] [ 1.81155018e-02 -5.27820050e-04 9.99835762e-01 -1.90015231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.294839173 meters 0.041154747044251906 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.04, Z:-0.01 [[ 9.99398306e-01 -2.94149102e-02 -1.83790539e-02 2.82678923e-01] [ 2.94202661e-02 9.99567130e-01 2.10441588e-05 -3.54173368e-02] [ 1.83704791e-02 -5.61748154e-04 9.99831091e-01 -9.15263197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.324839173 meters 0.0362139270163413 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.03, Z:-0.02 [[ 9.99455773e-01 -2.79929889e-02 -1.74513795e-02 3.15595685e-01] [ 2.79975829e-02 9.99607991e-01 1.89391307e-05 -3.05546092e-02] [ 1.74440082e-02 -5.07525268e-04 9.99847713e-01 -1.71032825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35483917299999995 meters 0.03495264972810731 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.02, Z:-0.01 [[ 9.99554965e-01 -2.48191779e-02 -1.65493476e-02 3.48056411e-01] [ 2.48228889e-02 9.99691864e-01 1.88336227e-05 -2.39265736e-02] [ 1.65437807e-02 -4.29627859e-04 9.99863050e-01 -1.32118608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.384839173 meters 0.031296877840032225 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.00, Z:-0.01 [[ 9.99737981e-01 -1.47013372e-02 -1.75453883e-02 3.78468592e-01] [ 1.47040955e-02 9.99891889e-01 2.82080940e-05 -4.80096201e-03] [ 1.75430767e-02 -2.86189768e-04 9.99846067e-01 -1.05490760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.414839173 meters 0.029049265843789963 Centerline is valid? [True, True] Translation: X:0.41, Y:0.00, Z:-0.01 [[ 9.99791383e-01 -9.32829340e-03 -1.81706834e-02 4.08987963e-01] [ 9.33040832e-03 9.99956470e-01 3.16161898e-05 3.47406339e-03] [ 1.81695975e-02 -2.01149490e-04 9.99834899e-01 -1.29770237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.444839173 meters 0.028558593508985246 Centerline is valid? [True, True] Translation: X:0.44, Y:0.01, Z:-0.02 [[ 9.99822496e-01 2.21591178e-04 -1.88394921e-02 4.37447036e-01] [-2.20892574e-04 9.99999975e-01 3.91628077e-05 1.13223152e-02] [ 1.88395003e-02 -3.49943523e-05 9.99822520e-01 -1.55106267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47483917299999995 meters 0.029346558856852355 Centerline is valid? [True, True] Translation: X:0.46, Y:0.01, Z:-0.01 [[ 9.99830991e-01 3.80243054e-03 -1.79869817e-02 4.64912888e-01] [-3.80239972e-03 9.99992770e-01 3.59127663e-05 1.32048381e-02] [ 1.79869882e-02 3.24869977e-05 9.99838221e-01 -1.27002427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.504839173 meters 0.030455925794554937 Centerline is valid? [True, True] Translation: X:0.49, Y:0.02, Z:-0.01 [[ 9.99841241e-01 7.66188764e-03 -1.60868777e-02 4.93430444e-01] [-7.66242867e-03 9.99970643e-01 2.80053387e-05 1.64249873e-02] [ 1.60866200e-02 9.52636603e-05 9.99870597e-01 -8.37988432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5348391730000001 meters 0.030407258574388255 Centerline is valid? [True, True] Translation: X:0.52, Y:0.02, Z:-0.01 [[ 9.99865447e-01 6.79988935e-03 -1.49281474e-02 5.21810470e-01] [-6.80015026e-03 9.99976878e-01 3.32828167e-05 1.92793437e-02] [ 1.49280285e-02 6.82353069e-05 9.99888568e-01 -7.10587955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5648391730000001 meters 0.029999008869643757 Centerline is valid? [True, True] Translation: X:0.55, Y:0.01, Z:-0.01 [[ 9.99843748e-01 -4.88164116e-03 -1.69896906e-02 5.52299723e-01] [ 4.88275241e-03 9.99988079e-01 2.39265889e-05 1.35023136e-02] [ 1.69893713e-02 -1.06879303e-04 9.99855665e-01 -1.28434587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.594839173 meters 0.03304292315606629 Centerline is valid? [True, True] Translation: X:0.58, Y:0.01, Z:-0.01 [[ 9.99698531e-01 -1.54897861e-02 -1.90502868e-02 5.80293516e-01] [ 1.54931789e-02 9.99879973e-01 3.05138574e-05 5.96088196e-03] [ 1.90475276e-02 -3.25654160e-04 9.99818526e-01 -9.92767325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.624839173 meters 0.036571258432444485 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.00, Z:-0.01 [[ 9.99432132e-01 -2.58215421e-02 -2.16485978e-02 6.08988868e-01] [ 2.58281694e-02 9.99666397e-01 2.65322255e-05 -9.64194040e-04] [ 2.16406907e-02 -5.85660811e-04 9.99765641e-01 -7.92897432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.654839173 meters 0.04084191867018552 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.01, Z:-0.02 [[ 9.98746743e-01 -4.35122511e-02 -2.47311138e-02 6.40577856e-01] [ 4.35261758e-02 9.99052287e-01 2.47596568e-05 -1.04996596e-02] [ 2.47065984e-02 -1.10117943e-03 9.99694139e-01 -1.82277482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.684839173 meters 0.044738031958514994 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.02, Z:-0.02 [[ 9.98524474e-01 -4.87650387e-02 -2.38923731e-02 6.70031057e-01] [ 4.87795727e-02 9.98809568e-01 2.55281499e-05 -1.56971416e-02] [ 2.38626860e-02 -1.19095023e-03 9.99714536e-01 -1.64165746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.714839173 meters 0.04554555338136317 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.02, Z:-0.02 [[ 9.98507549e-01 -4.94620794e-02 -2.31555227e-02 7.02637062e-01] [ 4.94757378e-02 9.98775326e-01 1.69800823e-05 -1.75301141e-02] [ 2.31263248e-02 -1.16259131e-03 9.99731875e-01 -1.94893999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.744839173 meters 0.045042586440722024 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.02, Z:-0.02 [[ 9.98526007e-01 -4.76470976e-02 -2.59916693e-02 7.33784164e-01] [ 4.76639230e-02 9.98863429e-01 2.78316565e-05 -1.79190427e-02] [ 2.59608019e-02 -1.26665556e-03 9.99662159e-01 -2.09242228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.774839173 meters 0.04347468321817055 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.02, Z:-0.03 [[ 9.98477683e-01 -4.57686568e-02 -3.07822335e-02 7.65008707e-01] [ 4.57913557e-02 9.98951025e-01 3.24920768e-05 -1.79261356e-02] [ 3.07484566e-02 -1.44200282e-03 9.99526114e-01 -2.54613142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8048391730000001 meters 0.04249238861887799 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.02, Z:-0.03 [[ 9.98344511e-01 -4.40496937e-02 -3.69846149e-02 7.96659894e-01] [ 4.40813473e-02 9.99027944e-01 4.04530145e-05 -1.96825676e-02] [ 3.69468819e-02 -1.67071770e-03 9.99315834e-01 -3.49494066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.834839173 meters 0.035967108754083287 Centerline is valid? [True, True] Translation: X:0.83, Y:0.01, Z:-0.08 [[ 9.98555784e-01 -3.61249900e-02 -3.97659454e-02 8.31360747e-01] [ 3.61552796e-02 9.99346183e-01 4.25672565e-05 1.08360762e-02] [ 3.97384080e-02 -1.48025465e-03 9.99209021e-01 -7.71399606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.864839173 meters 0.03557790749939788 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.01, Z:-0.05 [[ 9.97843634e-01 -4.72217148e-02 -4.55871837e-02 8.57396264e-01] [ 4.72733957e-02 9.98881987e-01 5.56455330e-05 -8.90477437e-03] [ 4.55335889e-02 -2.21058651e-03 9.98960362e-01 -5.36881326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.894839173 meters 0.06334569040313397 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.01, Z:-0.07 [[ 9.95932331e-01 -7.82322672e-02 -4.47046383e-02 8.89721362e-01] [ 7.83125763e-02 9.96928853e-01 4.52361319e-05 -1.43668774e-02] [ 4.45638049e-02 -3.54598753e-03 9.99000247e-01 -6.99585081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.924839173 meters 0.04264836907598582 Centerline is valid? [True, True] Translation: X:0.93, Y:0.04, Z:-0.13 [[ 9.47842593e-01 -6.32125795e-02 -3.12407727e-01 9.26942070e-01] [ 6.66458147e-02 9.97776647e-01 3.12752363e-04 4.23189675e-02] [ 3.11693364e-01 -2.11171075e-02 9.49948059e-01 -1.28982085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.954839173 meters 0.04264836907598582 Centerline is valid? [True, True] Translation: X:0.95, Y:0.04, Z:-0.13 [[ 9.47809194e-01 -6.37110195e-02 -3.12407807e-01 9.54773437e-01] [ 6.71356037e-02 9.97743839e-01 2.06349737e-04 4.23662743e-02] [ 3.11689818e-01 -2.11692669e-02 9.49948062e-01 -1.26143646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.984839173 meters 0.04065757585746251 Centerline is valid? [True, True] Translation: X:0.98, Y:0.01, Z:-0.09 [[ 9.91038538e-01 -5.08018930e-02 -1.23538595e-01 9.80126423e-01] [ 5.12015482e-02 9.98688339e-01 6.02995077e-05 1.33181092e-02] [ 1.23373491e-01 -6.38512648e-03 9.92339766e-01 -8.67055778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.014839173 meters 0.08802696679951821 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.04, Z:-0.10 [[ 9.95022447e-01 -9.72584842e-02 -2.17052527e-02 1.01049926e+00] [ 9.72816305e-02 9.95256894e-01 1.05562281e-05 -3.52415252e-02] [ 2.16012757e-02 -2.12202606e-03 9.99764413e-01 -1.00321391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.044839173 meters 0.038875401735630234 Centerline is valid? [True, True] Translation: X:1.04, Y:0.02, Z:-0.08 [[ 9.92976689e-01 -2.84107727e-02 -1.14848263e-01 1.04002180e+00] [ 2.86055656e-02 9.99590776e-01 4.80061062e-05 1.54760776e-02] [ 1.14799901e-01 -3.33296846e-03 9.93383045e-01 -8.30680533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.074839173 meters 0.03017159015417909 Centerline is valid? [True, True] Translation: X:1.07, Y:0.03, Z:-0.04 [[ 9.97977203e-01 -1.79156052e-02 -6.09961750e-02 1.06696547e+00] [ 1.79506089e-02 9.99838875e-01 2.59016843e-05 3.34401034e-02] [ 6.09858829e-02 -1.12076777e-03 9.98137999e-01 -4.38142615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.104839173 meters 0.03498171632479951 Centerline is valid? [True, True] Translation: X:1.10, Y:0.04, Z:-0.06 [[ 9.97296502e-01 -3.20656352e-02 -6.61171822e-02 1.09826330e+00] [ 3.21379288e-02 9.99483443e-01 2.98325666e-05 4.25148446e-02] [ 6.60820723e-02 -2.15462121e-03 9.97811865e-01 -5.73616532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1348391729999998 meters 0.028889258756888147 Centerline is valid? [True, True] Translation: X:1.13, Y:0.05, Z:-0.03 [[ 9.98862900e-01 -1.01103870e-02 -4.65906312e-02 1.12501237e+00] [ 1.01222584e-02 9.99948768e-01 1.88737697e-05 4.50190559e-02] [ 4.65880535e-02 -4.90454718e-04 9.98914067e-01 -3.30223722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1648391729999998 meters 0.056725708880295926 Centerline is valid? [True, True] Translation: X:1.17, Y:0.06, Z:-0.13 [[ 9.96140184e-01 4.41069972e-02 -7.58900962e-02 1.16507103e+00] [-4.42324892e-02 9.99021264e-01 2.72518154e-05 6.18219663e-02] [ 7.58170218e-02 3.32966123e-03 9.97116188e-01 -1.27083049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1948391729999999 meters 0.07157234909723677 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.00, Z:-0.10 [[ 9.93930555e-01 -2.24245799e-02 -1.07699532e-01 1.19218663e+00] [ 2.25595186e-02 9.99745501e-01 3.45590481e-05 -2.87410494e-03] [ 1.07671348e-01 -2.46399890e-03 9.94183489e-01 -1.02848636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.224839173 meters 0.07522486020054397 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.08, Z:0.03 [[ 9.90773031e-01 4.29352291e-03 1.35463528e-01 1.20903580e+00] [-4.32824498e-03 9.99990632e-01 -3.81969936e-05 -7.85212054e-02] [-1.35462423e-01 -5.48474785e-04 9.90782333e-01 2.69163306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.254839173 meters 0.04312983083691511 Centerline is valid? [True, True] Translation: X:1.25, Y:0.07, Z:-0.05 [[ 9.99001453e-01 8.92870101e-03 -4.37764320e-02 1.24756612e+00] [-8.93680655e-03 9.99960066e-01 1.05473783e-05 7.34849177e-02] [ 4.37747780e-02 3.80684658e-04 9.99041352e-01 -5.27223400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.284839173 meters 0.03450356381725892 Centerline is valid? [True, True] Translation: X:1.28, Y:0.06, Z:-0.04 [[ 9.98835322e-01 1.14563838e-02 -4.68695152e-02 1.27531855e+00] [-1.14674183e-02 9.99934246e-01 3.34547954e-05 6.35087808e-02] [ 4.68668166e-02 5.04056506e-04 9.98901020e-01 -3.75767403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.314839173 meters 0.03815696455933126 Centerline is valid? [True, True] Translation: X:1.30, Y:0.06, Z:0.01 [[ 9.99521872e-01 1.12895454e-03 -3.08990830e-02 1.29966041e+00] [-1.12952408e-03 9.99999362e-01 -9.77344227e-07 6.00217355e-02] [ 3.08990622e-02 3.58781352e-05 9.99522509e-01 9.31223514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3448391729999998 meters 0.03673078680749482 Centerline is valid? [True, True] Translation: X:1.33, Y:0.06, Z:0.00 [[ 9.99501960e-01 -4.88389561e-03 -3.11765706e-02 1.32907850e+00] [ 4.88647827e-03 9.99988061e-01 6.64956292e-06 5.81755922e-02] [ 3.11761659e-02 -1.58989886e-04 9.99513893e-01 1.64153345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3748391729999998 meters 0.03868050898945317 Centerline is valid? [True, True] Translation: X:1.36, Y:0.05, Z:-0.00 [[ 9.99230538e-01 -1.62980614e-02 -3.56749810e-02 1.35830668e+00] [ 1.63085171e-02 9.99867007e-01 2.08601178e-06 5.16722981e-02] [ 3.56702025e-02 -5.83890443e-04 9.99363445e-01 -1.46875158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4048391729999998 meters 0.041281828669870985 Centerline is valid? [True, True] Translation: X:1.39, Y:0.05, Z:-0.00 [[ 9.99023915e-01 -2.31057445e-02 -3.76475930e-02 1.38530741e+00] [ 2.31223049e-02 9.99732644e-01 4.47715433e-06 4.71481404e-02] [ 3.76374242e-02 -8.74971909e-04 9.99291078e-01 -1.00785628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4348391729999999 meters 0.04166585798969809 Centerline is valid? [True, True] Translation: X:1.41, Y:0.05, Z:-0.01 [[ 9.98762242e-01 -2.95197491e-02 -4.00320946e-02 1.41346401e+00] [ 2.95438066e-02 9.99563486e-01 9.37129705e-06 4.68118654e-02] [ 4.00143434e-02 -1.19206016e-03 9.99198394e-01 -5.33379933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4648391729999999 meters 0.045040241120006236 Centerline is valid? [True, True] Translation: X:1.44, Y:0.05, Z:-0.01 [[ 9.98298979e-01 -3.87631421e-02 -4.35495948e-02 1.44218285e+00] [ 3.87990777e-02 9.99247032e-01 -2.00935438e-05 5.38685478e-02] [ 4.35175823e-02 -1.66962475e-03 9.99051266e-01 -6.69151783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.494839173 meters 0.047189120423573594 Centerline is valid? [True, True] Translation: X:1.47, Y:0.06, Z:-0.00 [[ 9.98160858e-01 -4.08015131e-02 -4.48345686e-02 1.46908421e+00] [ 4.08416188e-02 9.99165633e-01 -2.15113511e-05 6.18715741e-02] [ 4.47980378e-02 -1.80964457e-03 9.98994425e-01 -3.71210114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.524839173 meters 0.0831475994749295 Centerline is valid? [True, True] Translation: X:1.50, Y:0.05, Z:-0.05 [[ 9.96957607e-01 -7.77712215e-02 -5.21221367e-03 1.50416077e+00] [ 7.77722586e-02 9.96971151e-01 -3.72652025e-06 5.34766463e-02] [ 5.19671648e-03 -4.01650446e-04 9.99986416e-01 -4.85984448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.554839173 meters 0.081803986499847 Centerline is valid? [True, True] Translation: X:1.54, Y:0.01, Z:-0.12 [[ 9.95221222e-01 -9.17819933e-02 -3.33284450e-02 1.54035912e+00] [ 9.18321936e-02 9.95774496e-01 -2.46097524e-05 1.06630702e-02] [ 3.31898743e-02 -3.03613207e-03 9.99444453e-01 -1.16131260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.584839173 meters 0.045864218898693694 Centerline is valid? [True, True] Translation: X:1.56, Y:0.08, Z:-0.00 [[ 9.97852266e-01 -4.18592317e-02 -5.03851188e-02 1.55850396e+00] [ 4.19103940e-02 9.99121373e-01 -4.11113238e-05 8.08617390e-02] [ 5.03425699e-02 -2.07063715e-03 9.98729862e-01 -1.40104312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6148391729999998 meters 0.06974159043828013 Centerline is valid? [True, True] Translation: X:1.59, Y:0.07, Z:0.00 [[ 9.99267490e-01 -3.82651326e-02 5.12172758e-04 1.58924286e+00] [ 3.82651376e-02 9.99267621e-01 3.83066240e-08 7.07593618e-02] [-5.11799119e-04 1.95600825e-05 9.99999869e-01 1.69214327e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6448391729999998 meters 0.04219503679342845 Centerline is valid? [True, True] Translation: X:1.62, Y:0.07, Z:0.01 [[ 9.98144324e-01 -3.06396228e-02 -5.26224429e-02 1.61839667e+00] [ 3.06799004e-02 9.99529260e-01 -4.23984204e-05 7.33968257e-02] [ 5.25989705e-02 -1.57213156e-03 9.98614479e-01 7.82233379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6748391729999998 meters 0.04408119576826389 Centerline is valid? [True, True] Translation: X:1.65, Y:0.08, Z:-0.01 [[ 9.98092242e-01 -2.78807049e-02 -5.50866821e-02 1.64990538e+00] [ 2.79207281e-02 9.99610140e-01 -4.30814852e-05 8.38857043e-02] [ 5.50664072e-02 -1.49506098e-03 9.98481575e-01 -1.02562894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7048391729999999 meters 0.04152135737964106 Centerline is valid? [True, True] Translation: X:1.68, Y:0.10, Z:-0.04 [[ 9.96619958e-01 -2.33688460e-02 -7.87563144e-02 1.68328504e+00] [ 2.34365897e-02 9.99725323e-01 -6.41741871e-05 9.99903800e-02] [ 7.87361816e-02 -1.78182215e-03 9.96893895e-01 -3.56893815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.734839173 meters 0.04680232445629313 Centerline is valid? [True, True] Translation: X:1.71, Y:0.08, Z:-0.00 [[ 9.96616659e-01 -3.43943619e-02 -7.46475855e-02 1.70997523e+00] [ 3.44860198e-02 9.99405178e-01 -6.11078860e-05 7.57260809e-02] [ 7.46052853e-02 -2.51339698e-03 9.97209975e-01 -4.21201375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.764839173 meters 0.0421754924591889 Centerline is valid? [True, True] Translation: X:1.74, Y:0.07, Z:0.01 [[ 9.97832294e-01 -2.94773468e-02 -5.88370504e-02 1.73849081e+00] [ 2.95255578e-02 9.99564024e-01 -4.99728476e-05 7.45178221e-02] [ 5.88128719e-02 -1.68733221e-03 9.98267599e-01 1.10533044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.794839173 meters 0.04037841666933856 Centerline is valid? [True, True] Translation: X:1.77, Y:0.08, Z:0.01 [[ 9.97671152e-01 -2.53631032e-02 -6.33165521e-02 1.76959304e+00] [ 2.54105800e-02 9.99677098e-01 -5.54482487e-05 7.73439725e-02] [ 6.32975133e-02 -1.55359119e-03 9.97993493e-01 6.12822719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8248391729999998 meters 0.040009620890237435 Centerline is valid? [True, True] Translation: X:1.80, Y:0.08, Z:0.01 [[ 9.97476222e-01 -2.34668265e-02 -6.70111502e-02 1.79862383e+00] [ 2.35157846e-02 9.99723464e-01 -5.82164917e-05 7.83899991e-02] [ 6.69939854e-02 -1.51775021e-03 9.97752225e-01 5.06916696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8548391729999998 meters 0.03900247183332991 Centerline is valid? [True, True] Translation: X:1.83, Y:0.08, Z:0.00 [[ 9.97454873e-01 -1.77030667e-02 -6.90679163e-02 1.82919854e+00] [ 1.77410588e-02 9.99842613e-01 -6.33425069e-05 8.46978040e-02] [ 6.90581672e-02 -1.16215667e-03 9.97611958e-01 2.93625384e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8848391729999998 meters 0.0389393863214283 Centerline is valid? [True, True] Translation: X:1.86, Y:0.09, Z:0.00 [[ 9.97657317e-01 -1.49320907e-02 -6.67600948e-02 1.85813106e+00] [ 1.49618941e-02 9.99888063e-01 -5.35662508e-05 8.97002214e-02] [ 6.67534217e-02 -9.45416706e-04 9.97769055e-01 3.49170956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9148391729999998 meters 0.03932555463781631 Centerline is valid? [True, True] Translation: X:1.89, Y:0.09, Z:0.01 [[ 9.97812674e-01 -1.17655530e-02 -6.50495089e-02 1.88597903e+00] [ 1.17855754e-02 9.99930545e-01 -7.59316324e-05 9.35990959e-02] [ 6.50458842e-02 -6.90880348e-04 9.97882035e-01 6.55707661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9448391729999999 meters 0.03892636048067435 Centerline is valid? [True, True] Translation: X:1.91, Y:0.11, Z:0.01 [[ 9.97727303e-01 -7.87537982e-03 -6.69194154e-02 1.91487856e+00] [ 7.88733060e-03 9.99968891e-01 -8.56215741e-05 1.06219435e-01] [ 6.69180079e-02 -4.42388570e-04 9.97758380e-01 7.25873621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.974839173 meters 0.03885290020078992 Centerline is valid? [True, True] Translation: X:1.94, Y:0.12, Z:0.01 [[ 9.97708685e-01 -4.54722005e-03 -6.75033583e-02 1.94329694e+00] [ 4.55186572e-03 9.99989637e-01 -8.49878650e-05 1.16928212e-01] [ 6.75030452e-02 -2.22473092e-04 9.97719043e-01 1.12608299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.004839173 meters 0.039530050898080364 Centerline is valid? [True, True] Translation: X:1.97, Y:0.13, Z:0.01 [[ 9.97617831e-01 5.43179716e-04 -6.89809195e-02 1.97145325e+00] [-5.51847876e-04 9.99999842e-01 -1.06604127e-04 1.29456063e-01] [ 6.89808507e-02 1.44417152e-04 9.97617974e-01 1.25533511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.034839173 meters 0.04017416923962723 Centerline is valid? [True, True] Translation: X:2.00, Y:0.13, Z:0.01 [[ 9.97511595e-01 2.78467211e-03 -7.04475872e-02 1.99917467e+00] [-2.80109926e-03 9.99996068e-01 -1.34395377e-04 1.32449337e-01] [ 7.04469360e-02 3.31391632e-04 9.97515473e-01 1.32711218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.064839173 meters 0.04116388511012089 Centerline is valid? [True, True] Translation: X:2.03, Y:0.14, Z:0.01 [[ 9.97066837e-01 9.91160537e-03 -7.58912581e-02 2.02855729e+00] [-9.95194164e-03 9.99950466e-01 -1.53332099e-04 1.42861410e-01] [ 7.58859791e-02 9.08147723e-04 9.97116088e-01 8.28840386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.094839173 meters 0.04191783716824398 Centerline is valid? [True, True] Translation: X:2.06, Y:0.15, Z:0.01 [[ 9.96635729e-01 1.39686709e-02 -8.07595148e-02 2.05733053e+00] [-1.40278832e-02 9.99901591e-01 -1.65842216e-04 1.50454562e-01] [ 8.07492507e-02 1.29816932e-03 9.96733602e-01 6.14584544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1248391730000002 meters 0.04280643662560416 Centerline is valid? [True, True] Translation: X:2.09, Y:0.16, Z:-0.00 [[ 9.95817969e-01 1.46128704e-02 -9.01833461e-02 2.08711982e+00] [-1.46921580e-02 9.99892041e-01 -2.15362673e-04 1.56186874e-01] [ 9.01704629e-02 1.53944999e-03 9.95925157e-01 -1.07211293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.154839173 meters 0.043762173564325026 Centerline is valid? [True, True] Translation: X:2.12, Y:0.16, Z:-0.01 [[ 9.95358993e-01 1.48019866e-02 -9.50861551e-02 2.11554053e+00] [-1.48913786e-02 9.99889091e-01 -2.30555771e-04 1.57137382e-01] [ 9.50721965e-02 1.64544969e-03 9.95469020e-01 -5.67858575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1848391730000003 meters 0.04588987115597901 Centerline is valid? [True, True] Translation: X:2.14, Y:0.16, Z:-0.01 [[ 9.94933097e-01 1.74075721e-02 -9.90207488e-02 2.14491711e+00] [-1.75183495e-02 9.99846511e-01 -2.49296105e-04 1.57972625e-01] [ 9.90012105e-02 1.98271303e-03 9.95085338e-01 -1.44654539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.214839173 meters 0.046569179859324836 Centerline is valid? [True, True] Translation: X:2.17, Y:0.16, Z:-0.01 [[ 9.94963205e-01 1.79314290e-02 -9.86239536e-02 2.17310546e+00] [-1.80463794e-02 9.99837113e-01 -2.73516531e-04 1.61378509e-01] [ 9.86029845e-02 2.05194417e-03 9.95124736e-01 -1.02681203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.244839173 meters 0.04700463167091544 Centerline is valid? [True, True] Translation: X:2.20, Y:0.17, Z:-0.01 [[ 9.94921562e-01 1.73223350e-02 -9.91515145e-02 2.20090502e+00] [-1.74380935e-02 9.99847900e-01 -3.00902799e-04 1.66116274e-01] [ 9.91312212e-02 2.02838807e-03 9.95072302e-01 -5.95504868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.274839173 meters 0.04768179855174501 Centerline is valid? [True, True] Translation: X:2.23, Y:0.17, Z:-0.01 [[ 9.94284926e-01 1.24290767e-02 -1.06033034e-01 2.22922674e+00] [-1.25373751e-02 9.99921341e-01 -3.54832588e-04 1.66431409e-01] [ 1.06020284e-01 1.68218062e-03 9.94362544e-01 -9.11482273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.304839173 meters 0.04788958634291169 Centerline is valid? [True, True] Translation: X:2.26, Y:0.16, Z:-0.01 [[ 9.93935077e-01 7.23698300e-03 -1.09730075e-01 2.25828732e+00] [-7.32279776e-03 9.99973116e-01 -3.79085734e-04 1.59678640e-01] [ 1.09724382e-01 1.18031776e-03 9.93961351e-01 -1.22386587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.334839173 meters 0.05156588079289704 Centerline is valid? [True, True] Translation: X:2.29, Y:0.14, Z:-0.02 [[ 9.93784715e-01 -1.40213543e-02 -1.10432523e-01 2.28735132e+00] [ 1.40620457e-02 9.99901040e-01 -4.10391919e-04 1.42741023e-01] [ 1.10427349e-01 -1.14506597e-03 9.93883539e-01 -1.81450155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.364839173 meters 0.052767014337516696 Centerline is valid? [True, True] Translation: X:2.32, Y:0.14, Z:-0.02 [[ 9.91384357e-01 -1.58095878e-02 -1.30027355e-01 2.31841995e+00] [ 1.58768857e-02 9.99873820e-01 -5.19097068e-04 1.41284635e-01] [ 1.30019155e-01 -1.54980474e-03 9.91510271e-01 -2.37666537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3948391730000003 meters 0.053016012805629335 Centerline is valid? [True, True] Translation: X:2.35, Y:0.15, Z:-0.03 [[ 9.90506080e-01 -5.75223284e-03 -1.37348521e-01 2.34818773e+00] [ 5.73048020e-03 9.99983427e-01 -5.53788446e-04 1.46166938e-01] [ 1.37349431e-01 -2.38542159e-04 9.90522628e-01 -3.15759861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.424839173 meters 0.053762833909700214 Centerline is valid? [True, True] Translation: X:2.38, Y:0.13, Z:-0.02 [[ 9.92605101e-01 -1.48575292e-02 -1.20475584e-01 2.37578436e+00] [ 1.49063350e-02 9.99888771e-01 -4.96137260e-04 1.31177816e-01] [ 1.20469555e-01 -1.30338104e-03 9.92716167e-01 -1.99721290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.454839173 meters 0.05411806302643712 Centerline is valid? [True, True] Translation: X:2.41, Y:0.13, Z:-0.02 [[ 9.90896109e-01 -1.06553239e-02 -1.34206428e-01 2.40603749e+00] [ 1.06768595e-02 9.99942844e-01 -5.59261176e-04 1.34923313e-01] [ 1.34204717e-01 -8.78733450e-04 9.90953239e-01 -1.88903895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.484839173 meters 0.05394040032353361 Centerline is valid? [True, True] Translation: X:2.44, Y:0.13, Z:-0.02 [[ 9.92431803e-01 -1.07792824e-02 -1.22323030e-01 2.43570347e+00] [ 1.07977138e-02 9.99941572e-01 -5.12233963e-04 1.31756322e-01] [ 1.22321404e-01 -8.12451788e-04 9.92490209e-01 -1.81045463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.514839173 meters 0.05386063977385674 Centerline is valid? [True, True] Translation: X:2.46, Y:0.13, Z:-0.02 [[ 9.92705536e-01 -1.13592203e-02 -1.20027858e-01 2.46303768e+00] [ 1.13804760e-02 9.99935111e-01 -5.08395592e-04 1.27999949e-01] [ 1.20025845e-01 -8.61287040e-04 9.92770394e-01 -1.60831542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.544839173 meters 0.05373756899415451 Centerline is valid? [True, True] Translation: X:2.49, Y:0.13, Z:-0.01 [[ 9.93179146e-01 -9.31044010e-03 -1.16226073e-01 2.49081669e+00] [ 9.31476275e-03 9.99956489e-01 -5.05969737e-04 1.31223100e-01] [ 1.16225727e-01 -5.80099706e-04 9.93222656e-01 -6.74816360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.574839173 meters 0.05305470654365129 Centerline is valid? [True, True] Translation: X:2.52, Y:0.14, Z:0.01 [[ 9.93557535e-01 -1.10559739e-02 -1.12788253e-01 2.51711508e+00] [ 1.10678090e-02 9.99938614e-01 -5.21243870e-04 1.41853867e-01] [ 1.12787092e-01 -7.30433072e-04 9.93618910e-01 1.27223506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6048391730000002 meters 0.052696594392504084 Centerline is valid? [True, True] Translation: X:2.54, Y:0.15, Z:0.03 [[ 9.94189956e-01 -1.02081014e-02 -1.07154680e-01 2.54450274e+00] [ 1.02108483e-02 9.99947731e-01 -5.23029071e-04 1.48832807e-01] [ 1.07154419e-01 -5.74149939e-04 9.94242224e-01 2.56167670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.634839173 meters 0.05271901883555503 Centerline is valid? [True, True] Translation: X:2.57, Y:0.16, Z:0.04 [[ 9.94712879e-01 -8.70550731e-03 -1.02325474e-01 2.57112744e+00] [ 8.69742419e-03 9.99962039e-01 -5.25157416e-04 1.55856271e-01] [ 1.02326161e-01 -3.67587208e-04 9.94750834e-01 3.65151114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.664839173 meters 0.05342320044107589 Centerline is valid? [True, True] Translation: X:2.60, Y:0.16, Z:0.04 [[ 9.94963547e-01 -5.03329530e-03 -1.00110969e-01 2.59792183e+00] [ 5.00611861e-03 9.99987333e-01 -5.22680073e-04 1.63299029e-01] [ 1.00112331e-01 1.88802363e-05 9.94976141e-01 4.38778214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.694839173 meters 0.05424455652924103 Centerline is valid? [True, True] Translation: X:2.63, Y:0.17, Z:0.05 [[ 9.94774972e-01 -1.43268247e-03 -1.02081843e-01 2.62676586e+00] [ 1.38237991e-03 9.99998886e-01 -5.63507972e-04 1.67734977e-01] [ 1.02082536e-01 4.19447739e-04 9.94775844e-01 4.61569814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.724839173 meters 0.05463183682175556 Centerline is valid? [True, True] Translation: X:2.65, Y:0.17, Z:0.05 [[ 9.94459458e-01 -4.56786812e-04 -1.05119827e-01 2.65434423e+00] [ 3.94999315e-04 9.99999737e-01 -6.08599622e-04 1.70759274e-01] [ 1.05120078e-01 5.63705391e-04 9.94459376e-01 4.61992582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.754839173 meters 0.05514010669278008 Centerline is valid? [True, True] Translation: X:2.68, Y:0.17, Z:0.04 [[ 9.93984591e-01 2.33756152e-05 -1.09520008e-01 2.68297411e+00] [-9.45657906e-05 9.99999788e-01 -6.44825816e-04 1.73253041e-01] [ 1.09519970e-01 6.51303771e-04 9.93984382e-01 4.34203096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.784839173 meters 0.05618239560849856 Centerline is valid? [True, True] Translation: X:2.71, Y:0.17, Z:0.04 [[ 9.92724008e-01 -2.64348533e-03 -1.20382954e-01 2.71315366e+00] [ 2.57550271e-03 9.99996424e-01 -7.20305497e-04 1.72248628e-01] [ 1.20384428e-01 4.05017935e-04 9.92727266e-01 3.64995042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.814839173 meters 0.05757570342539831 Centerline is valid? [True, True] Translation: X:2.74, Y:0.18, Z:0.04 [[ 9.91983034e-01 -2.05438556e-03 -1.26354422e-01 2.74203547e+00] [ 1.97373081e-03 9.99997761e-01 -7.63514889e-04 1.79335926e-01] [ 1.26355708e-01 5.08004200e-04 9.91984867e-01 3.53897608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.844839173 meters 0.05757570342539831 Centerline is valid? [True, True] Translation: X:2.77, Y:0.18, Z:0.04 [[ 9.91982408e-01 -2.34164299e-03 -1.26354342e-01 2.76921717e+00] [ 2.26165954e-03 9.99997141e-01 -7.76465701e-04 1.79707594e-01] [ 1.26355799e-01 4.84469812e-04 9.91984867e-01 3.81660686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8748391730000002 meters 0.05786612437603771 Centerline is valid? [True, True] Translation: X:2.80, Y:0.18, Z:0.04 [[ 9.91739777e-01 -1.62295028e-03 -1.28255919e-01 2.79761220e+00] [ 1.52977848e-03 9.99998490e-01 -8.24957330e-04 1.83258487e-01] [ 1.28257064e-01 6.21939853e-04 9.91740762e-01 4.02232529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.904839173 meters 0.05861183725695117 Centerline is valid? [True, True] Translation: X:2.83, Y:0.19, Z:0.04 [[ 9.91486850e-01 -3.16874904e-04 -1.30206472e-01 2.82531179e+00] [ 2.05743796e-04 9.99999603e-01 -8.66950068e-04 1.87183509e-01] [ 1.30206695e-01 8.32780418e-04 9.91486522e-01 4.06121696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.934839173 meters 0.06005315714930707 Centerline is valid? [True, True] Translation: X:2.86, Y:0.19, Z:0.03 [[ 9.90446565e-01 3.05800009e-03 -1.37863155e-01 2.85569622e+00] [-3.21671636e-03 9.99994395e-01 -9.28476619e-04 1.89752421e-01] [ 1.37859543e-01 1.36307315e-03 9.90450851e-01 3.42406617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.964839173 meters 0.06158703436537425 Centerline is valid? [True, True] Translation: X:2.89, Y:0.19, Z:0.03 [[ 9.89969433e-01 4.32634559e-03 -1.41215451e-01 2.88515979e+00] [-4.50638440e-03 9.99989390e-01 -9.55158386e-04 1.90789153e-01] [ 1.41209821e-01 1.58194871e-03 9.89978426e-01 2.94430987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.994839173 meters 0.06305205049202947 Centerline is valid? [True, True] Translation: X:2.91, Y:0.20, Z:0.03 [[ 9.89737385e-01 5.35732682e-03 -1.42797786e-01 2.91321704e+00] [-5.55349924e-03 9.99984104e-01 -9.75254330e-04 1.96323121e-01] [ 1.42790292e-01 1.75827307e-03 9.89751404e-01 3.06368267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.024839173 meters 0.0637776999309925 Centerline is valid? [True, True] Translation: X:2.94, Y:0.20, Z:0.03 [[ 9.89614836e-01 6.15497615e-03 -1.43612650e-01 2.94138208e+00] [-6.36460680e-03 9.99979245e-01 -1.00033604e-03 2.00091215e-01] [ 1.43603513e-01 1.90398544e-03 9.89633471e-01 3.36416982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.054839173 meters 0.06754337887603663 Centerline is valid? [True, True] Translation: X:2.97, Y:0.21, Z:0.03 [[ 9.88388530e-01 1.28735399e-02 -1.51401406e-01 2.97068387e+00] [-1.31895074e-02 9.99912428e-01 -1.08285150e-03 2.05837861e-01] [ 1.51374207e-01 3.06718797e-03 9.88471771e-01 2.80240468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.084839173 meters 0.0690312925847685 Centerline is valid? [True, True] Translation: X:3.00, Y:0.21, Z:0.03 [[ 9.87832731e-01 1.70534688e-02 -1.54582260e-01 3.00117434e+00] [-1.74346935e-02 9.99847387e-01 -1.11070146e-03 2.08505224e-01] [ 1.54539727e-01 3.79228158e-03 9.87979297e-01 2.84932297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.114839173 meters 0.07305528471854164 Centerline is valid? [True, True] Translation: X:3.03, Y:0.22, Z:0.03 [[ 9.86854464e-01 2.65790136e-02 -1.59410861e-01 3.03166417e+00] [-2.71087520e-02 9.99631830e-01 -1.14901118e-03 2.16409555e-01] [ 1.59321631e-01 5.45533631e-03 9.87211658e-01 2.86417997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1448391730000003 meters 0.0738131896252697 Centerline is valid? [True, True] Translation: X:3.06, Y:0.22, Z:0.03 [[ 9.86489985e-01 2.92474332e-02 -1.61189628e-01 3.06117568e+00] [-2.98252243e-02 9.99554449e-01 -1.16560274e-03 2.18436547e-01] [ 1.61083719e-01 5.95737224e-03 9.86922766e-01 3.25149616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.174839173 meters 0.07498108222849616 Centerline is valid? [True, True] Translation: X:3.09, Y:0.22, Z:0.04 [[ 9.86403998e-01 3.08140515e-02 -1.61423809e-01 3.08886634e+00] [-3.14156334e-02 9.99505716e-01 -1.17507902e-03 2.24337871e-01] [ 1.61307811e-01 6.23033384e-03 9.86884478e-01 3.68344638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.204839173 meters 0.07497813549977253 Centerline is valid? [True, True] Translation: X:3.12, Y:0.23, Z:0.04 [[ 9.86960972e-01 2.90697579e-02 -1.58312944e-01 3.11680053e+00] [-2.96273366e-02 9.99560338e-01 -1.16255781e-03 2.27392535e-01] [ 1.58209545e-01 5.83779008e-03 9.87388303e-01 4.32813138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.234839173 meters 0.07135528110529568 Centerline is valid? [True, True] Translation: X:3.15, Y:0.21, Z:0.05 [[ 9.88652105e-01 1.97710687e-02 -1.48916485e-01 3.14569877e+00] [-2.01591474e-02 9.99796182e-01 -1.09688669e-03 2.11526876e-01] [ 1.48864446e-01 4.08646871e-03 9.88849168e-01 5.39976821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.264839173 meters 0.06976136917348026 Centerline is valid? [True, True] Translation: X:3.17, Y:0.20, Z:0.06 [[ 9.89215542e-01 1.37203781e-02 -1.45823052e-01 3.17479793e+00] [-1.40274305e-02 9.99901030e-01 -1.07755330e-03 1.99477040e-01] [ 1.45793836e-01 3.11145521e-03 9.89310101e-01 6.02922051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.294839173 meters 0.06894405609508418 Centerline is valid? [True, True] Translation: X:3.20, Y:0.19, Z:0.07 [[ 9.89706385e-01 8.13149414e-03 -1.42881597e-01 3.20492027e+00] [-8.36865636e-03 9.99964421e-01 -1.05897326e-03 1.89593223e-01] [ 1.42867903e-01 2.24379958e-03 9.89739222e-01 6.57957982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.324839173 meters 0.06781891037917072 Centerline is valid? [True, True] Translation: X:3.23, Y:0.17, Z:0.07 [[ 9.90591807e-01 -2.94180786e-03 -1.36818194e-01 3.23345853e+00] [ 2.82931115e-03 9.99995481e-01 -1.01669310e-03 1.72906688e-01] [ 1.36820566e-01 6.20026613e-04 9.90595653e-01 7.48341194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3548391730000002 meters 0.06760922877224645 Centerline is valid? [True, True] Translation: X:3.26, Y:0.16, Z:0.08 [[ 9.91340487e-01 -1.27867657e-02 -1.30692531e-01 3.26300824e+00] [ 1.27689421e-02 9.99917999e-01 -9.74408204e-04 1.59880140e-01] [ 1.30694274e-01 -7.02835064e-04 9.91422469e-01 8.35503757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.384839173 meters 0.06798467297280163 Centerline is valid? [True, True] Translation: X:3.29, Y:0.15, Z:0.09 [[ 9.91863794e-01 -1.77176855e-02 -1.26064661e-01 3.29112765e+00] [ 1.77402930e-02 9.99842184e-01 -9.43444731e-04 1.53751023e-01] [ 1.26061481e-01 -1.30065535e-03 9.92021578e-01 8.88820330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.414839173 meters 0.0685621947963129 Centerline is valid? [True, True] Translation: X:3.32, Y:0.15, Z:0.10 [[ 9.92483882e-01 -2.22016133e-02 -1.20344643e-01 3.31927132e+00] [ 2.22535945e-02 9.99751942e-01 -9.12147782e-04 1.51710029e-01] [ 1.20335042e-01 -1.77280892e-03 9.92731754e-01 9.93259083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.444839173 meters 0.06877555943766782 Centerline is valid? [True, True] Translation: X:3.35, Y:0.15, Z:0.12 [[ 9.94116466e-01 -2.44543909e-02 -1.05519828e-01 3.34712624e+00] [ 2.45045507e-02 9.99699381e-01 -8.21287529e-04 1.50624845e-01] [ 1.05508191e-01 -1.76926052e-03 9.94416860e-01 1.16463892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.474839173 meters 0.06930757574379948 Centerline is valid? [True, True] Translation: X:3.37, Y:0.15, Z:0.12 [[ 9.93989767e-01 -2.59127058e-02 -1.06361998e-01 3.37432122e+00] [ 2.59715221e-02 9.99662337e-01 -8.32335083e-04 1.46981128e-01] [ 1.06347652e-01 -1.93505043e-03 9.94327126e-01 1.19714215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.504839173 meters 0.06952042532606857 Centerline is valid? [True, True] Translation: X:3.40, Y:0.15, Z:0.12 [[ 9.93615087e-01 -2.65659850e-02 -1.09650846e-01 3.40268087e+00] [ 2.66306845e-02 9.99644958e-01 -8.74621658e-04 1.50091933e-01] [ 1.09635150e-01 -2.05103980e-03 9.93969782e-01 1.21540632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.534839173 meters 0.06965078230068185 Centerline is valid? [True, True] Translation: X:3.43, Y:0.15, Z:0.13 [[ 9.94001957e-01 -2.72816491e-02 -1.05904775e-01 3.43082044e+00] [ 2.73432059e-02 9.99625725e-01 -8.70953722e-04 1.53258433e-01] [ 1.05888898e-01 -2.03004635e-03 9.94375895e-01 1.27063189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.564839173 meters 0.07070666964489193 Centerline is valid? [True, True] Translation: X:3.46, Y:0.15, Z:0.13 [[ 9.94573632e-01 -2.86256949e-02 -1.00019299e-01 3.45841039e+00] [ 2.86848061e-02 9.99588147e-01 -8.47372097e-04 1.48589563e-01] [ 1.00002362e-01 -2.02626025e-03 9.94985136e-01 1.32497782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.594839173 meters 0.07085158847414953 Centerline is valid? [True, True] Translation: X:3.49, Y:0.15, Z:0.14 [[ 9.95020595e-01 -2.81383830e-02 -9.56150955e-02 3.48582424e+00] [ 2.81889796e-02 9.99602274e-01 -8.21799459e-04 1.46022275e-01] [ 9.56001910e-02 -1.87758458e-03 9.95418042e-01 1.37852387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.624839173 meters 0.07084022547773962 Centerline is valid? [True, True] Translation: X:3.51, Y:0.14, Z:0.14 [[ 9.95085371e-01 -2.89661957e-02 -9.46893064e-02 3.51412242e+00] [ 2.90169104e-02 9.99578567e-01 -8.41545075e-04 1.44732079e-01] [ 9.46737775e-02 -1.91018193e-03 9.95506518e-01 1.42894231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.654839173 meters 0.07146502634076965 Centerline is valid? [True, True] Translation: X:3.54, Y:0.14, Z:0.14 [[ 9.94400248e-01 -3.07970390e-02 -1.01092475e-01 3.54355282e+00] [ 3.08615063e-02 9.99523241e-01 -9.26544744e-04 1.39280548e-01] [ 1.01072813e-01 -2.19850973e-03 9.94876602e-01 1.41591916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.684839173 meters 0.0718261456180096 Centerline is valid? [True, True] Translation: X:3.57, Y:0.13, Z:0.14 [[ 9.94225537e-01 -3.16929394e-02 -1.02523847e-01 3.57147771e+00] [ 3.17612158e-02 9.99495018e-01 -9.66830373e-04 1.33998187e-01] [ 1.02502716e-01 -2.29503459e-03 9.94730077e-01 1.43419564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.714839173 meters 0.07271191482383442 Centerline is valid? [True, True] Translation: X:3.60, Y:0.13, Z:0.15 [[ 9.94453016e-01 -3.54843072e-02 -9.90154676e-02 3.59988343e+00] [ 3.55658275e-02 9.99366892e-01 -9.42250715e-04 1.25163775e-01] [ 9.89862152e-02 -2.58454297e-03 9.95085448e-01 1.48367654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.744839173 meters 0.07356261483895377 Centerline is valid? [True, True] Translation: X:3.63, Y:0.11, Z:0.15 [[ 9.94725693e-01 -3.58683881e-02 -9.60950269e-02 3.62713107e+00] [ 3.59444066e-02 9.99353349e-01 -9.40413068e-04 1.11222805e-01] [ 9.60666181e-02 -2.51862568e-03 9.95371720e-01 1.52298158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.774839173 meters 0.07386234996223631 Centerline is valid? [True, True] Translation: X:3.66, Y:0.10, Z:0.15 [[ 9.94769129e-01 -3.74375148e-02 -9.50411084e-02 3.65565704e+00] [ 3.75182553e-02 9.99295502e-01 -9.37888468e-04 1.03027966e-01] [ 9.50092643e-02 -2.63279408e-03 9.95472907e-01 1.54580378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.804839173 meters 0.07391624428323752 Centerline is valid? [True, True] Translation: X:3.68, Y:0.10, Z:0.16 [[ 9.94623589e-01 -3.92104269e-02 -9.58460168e-02 3.68460361e+00] [ 3.92982619e-02 9.99227052e-01 -9.71776665e-04 9.62615432e-02] [ 9.58100366e-02 -2.80002988e-03 9.95395699e-01 1.56235762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.834839173 meters 0.07715185200882754 Centerline is valid? [True, True] Translation: X:3.71, Y:0.08, Z:0.16 [[ 9.94218197e-01 -4.60574867e-02 -9.69994028e-02 3.71339669e+00] [ 4.61771689e-02 9.98932753e-01 -1.01186606e-03 7.67158777e-02] [ 9.69424845e-02 -3.47314215e-03 9.95283925e-01 1.58697187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.864839173 meters 0.07715778613916853 Centerline is valid? [True, True] Translation: X:3.74, Y:0.07, Z:0.16 [[ 9.94193142e-01 -4.84143510e-02 -9.61043538e-02 3.74170202e+00] [ 4.85427632e-02 9.98820602e-01 -1.00275269e-03 7.20054690e-02] [ 9.60395561e-02 -3.66824104e-03 9.95370759e-01 1.61927574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.894839173 meters 0.07685314030528509 Centerline is valid? [True, True] Translation: X:3.77, Y:0.07, Z:0.17 [[ 9.94657563e-01 -4.81956844e-02 -9.12880535e-02 3.77009806e+00] [ 4.83084475e-02 9.98831989e-01 -9.75250440e-04 7.04465226e-02] [ 9.12284310e-02 -3.43994391e-03 9.95824051e-01 1.69497829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.924839173 meters 0.078516148586916 Centerline is valid? [True, True] Translation: X:3.80, Y:0.06, Z:0.18 [[ 9.95079333e-01 -4.99545795e-02 -8.55667086e-02 3.79803115e+00] [ 5.00579466e-02 9.98745874e-01 -9.38473128e-04 5.53108912e-02] [ 8.55062782e-02 -3.34943852e-03 9.96332002e-01 1.77124538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.954839173 meters 0.07815325078334705 Centerline is valid? [True, True] Translation: X:3.83, Y:0.05, Z:0.18 [[ 9.95261879e-01 -4.99433556e-02 -8.34233334e-02 3.82646748e+00] [ 5.00413052e-02 9.98746727e-01 -9.17723437e-04 5.40241711e-02] [ 8.33646154e-02 -3.26123733e-03 9.96513776e-01 1.82116087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.984839173 meters 0.07725915335146402 Centerline is valid? [True, True] Translation: X:3.85, Y:0.06, Z:0.19 [[ 9.95399397e-01 -4.92902466e-02 -8.21615053e-02 3.85469206e+00] [ 4.93812757e-02 9.98779572e-01 -9.24999658e-04 5.73960625e-02] [ 8.21068266e-02 -3.13649585e-03 9.96618599e-01 1.87192986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0148391729999995 meters 0.07715552302554975 Centerline is valid? [True, True] Translation: X:3.88, Y:0.06, Z:0.19 [[ 9.95736636e-01 -4.93048044e-02 -7.79588909e-02 3.88304923e+00] [ 4.93852289e-02 9.98779402e-01 -8.97157341e-04 5.75307730e-02] [ 7.79079686e-02 -2.95668524e-03 9.96956171e-01 1.90372407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.044839173 meters 0.07747744706306406 Centerline is valid? [True, True] Translation: X:3.91, Y:0.05, Z:0.20 [[ 9.96189050e-01 -4.47437038e-02 -7.48690726e-02 3.91076586e+00] [ 4.48031996e-02 9.98995440e-01 -8.85536279e-04 4.97276076e-02] [ 7.48334843e-02 -2.47221245e-03 9.97192979e-01 1.96316433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.074839173 meters 0.07657993561000619 Centerline is valid? [True, True] Translation: X:3.94, Y:0.05, Z:0.20 [[ 9.96573630e-01 -4.37417694e-02 -7.01972740e-02 3.93932508e+00] [ 4.37910865e-02 9.99040360e-01 -8.36940862e-04 5.30708341e-02] [ 7.01665192e-02 -2.23994171e-03 9.97532778e-01 2.02478945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.104839173 meters 0.07735381714163851 Centerline is valid? [True, True] Translation: X:3.97, Y:0.06, Z:0.21 [[ 9.96869704e-01 -4.36664665e-02 -6.59092787e-02 3.96648798e+00] [ 4.37094682e-02 9.99043972e-01 -7.90109148e-04 5.51221786e-02] [ 6.58807689e-02 -2.09322365e-03 9.97825307e-01 2.12786042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.134839173 meters 0.07698401147327678 Centerline is valid? [True, True] Translation: X:4.00, Y:0.06, Z:0.21 [[ 9.96875638e-01 -4.53401201e-02 -6.46779335e-02 3.99571019e+00] [ 4.53845974e-02 9.98969282e-01 -7.82147936e-04 5.89196592e-02] [ 6.46467315e-02 -2.15567775e-03 9.97905884e-01 2.14400823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.164839173 meters 0.07827869142622201 Centerline is valid? [True, True] Translation: X:4.02, Y:0.05, Z:0.22 [[ 9.96618494e-01 -4.67029199e-02 -6.76048353e-02 4.02388834e+00] [ 4.67544621e-02 9.98906075e-01 -8.20485614e-04 5.18230749e-02] [ 6.75691998e-02 -2.34311657e-03 9.97711839e-01 2.15495876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.194839173 meters 0.07793723519510218 Centerline is valid? [True, True] Translation: X:4.05, Y:0.05, Z:0.22 [[ 9.96672428e-01 -4.86742490e-02 -6.53826390e-02 4.05357113e+00] [ 4.87261444e-02 9.98811854e-01 -8.01622671e-04 4.63139361e-02] [ 6.53439733e-02 -2.38688870e-03 9.97859944e-01 2.19702601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.224839173 meters 0.0770412212803065 Centerline is valid? [True, True] Translation: X:4.08, Y:0.05, Z:0.23 [[ 9.97084692e-01 -4.63997123e-02 -6.05737901e-02 4.08142645e+00] [ 4.64404992e-02 9.98920787e-01 -7.35075631e-04 5.31509515e-02] [ 6.05425254e-02 -2.08014440e-03 9.98163451e-01 2.27079126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.254839173 meters 0.07647156543193301 Centerline is valid? [True, True] Translation: X:4.11, Y:0.06, Z:0.24 [[ 9.97426108e-01 -4.32396162e-02 -5.71969886e-02 4.10930874e+00] [ 4.32699696e-02 9.99063165e-01 -7.08262414e-04 6.20772827e-02] [ 5.71740295e-02 -1.76847254e-03 9.98362661e-01 2.35202046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.284839173 meters 0.07630479042938362 Centerline is valid? [True, True] Translation: X:4.14, Y:0.07, Z:0.23 [[ 9.97524439e-01 -4.02407852e-02 -5.76686541e-02 4.13812343e+00] [ 4.02652175e-02 9.99188754e-01 -7.38729234e-04 6.99841633e-02] [ 5.76515976e-02 -1.58514043e-03 9.98335505e-01 2.34636753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.314839173 meters 0.0778275940525235 Centerline is valid? [True, True] Translation: X:4.17, Y:0.06, Z:0.23 [[ 9.97005087e-01 -4.44687593e-02 -6.32723085e-02 4.16685857e+00] [ 4.45063200e-02 9.99008769e-01 -8.16359949e-04 5.86349041e-02] [ 6.32458935e-02 -2.00210259e-03 9.97995966e-01 2.31191926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.344839173 meters 0.07857396144769717 Centerline is valid? [True, True] Translation: X:4.20, Y:0.05, Z:0.23 [[ 9.96920314e-01 -4.72802943e-02 -6.25656498e-02 4.19622132e+00] [ 4.73221392e-02 9.98879349e-01 -8.13667347e-04 5.41897054e-02] [ 6.25340060e-02 -2.14957888e-03 9.98040519e-01 2.33536586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.374839173 meters 0.07936602227569842 Centerline is valid? [True, True] Translation: X:4.23, Y:0.05, Z:0.24 [[ 9.96840818e-01 -4.97650494e-02 -6.19017169e-02 4.22508727e+00] [ 4.98107478e-02 9.98758349e-01 -8.05664878e-04 5.17424917e-02] [ 6.18649506e-02 -2.28025117e-03 9.98081925e-01 2.36601515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.404839173 meters 0.07968787221665863 Centerline is valid? [True, True] Translation: X:4.25, Y:0.05, Z:0.24 [[ 9.96687109e-01 -5.13620725e-02 -6.30614257e-02 4.25234259e+00] [ 5.14129051e-02 9.98677148e-01 -8.17428403e-04 5.15710480e-02] [ 6.30199896e-02 -2.42745075e-03 9.98009313e-01 2.39626938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.434839173 meters 0.08092461221754063 Centerline is valid? [True, True] Translation: X:4.28, Y:0.05, Z:0.24 [[ 9.96236788e-01 -5.63744275e-02 -6.58345402e-02 4.28226040e+00] [ 5.64386925e-02 9.98405675e-01 -8.84742900e-04 4.78488257e-02] [ 6.57794554e-02 -2.83420194e-03 9.97830161e-01 2.37719301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.464839173 meters 0.08258066217253282 Centerline is valid? [True, True] Translation: X:4.31, Y:0.04, Z:0.24 [[ 9.95844512e-01 -6.02209069e-02 -6.83165518e-02 4.31027714e+00] [ 6.02990891e-02 9.98179931e-01 -9.19013540e-04 4.23139586e-02] [ 6.82475548e-02 -3.20423125e-03 9.97663272e-01 2.39085884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.494839173 meters 0.08327030030814599 Centerline is valid? [True, True] Translation: X:4.34, Y:0.04, Z:0.24 [[ 9.95798919e-01 -6.15188707e-02 -6.78228701e-02 4.33871429e+00] [ 6.15988689e-02 9.98100569e-01 -9.13154362e-04 4.03644666e-02] [ 6.77502215e-02 -3.26849396e-03 9.97696960e-01 2.43668858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.524839173 meters 0.08265991805126768 Centerline is valid? [True, True] Translation: X:4.37, Y:0.04, Z:0.25 [[ 9.95901509e-01 -6.04145972e-02 -6.73072168e-02 4.36693307e+00] [ 6.04896786e-02 9.98168395e-01 -9.23814717e-04 4.36755660e-02] [ 6.72397485e-02 -3.15136344e-03 9.97731870e-01 2.46697041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.554839173 meters 0.08097304821279869 Centerline is valid? [True, True] Translation: X:4.40, Y:0.05, Z:0.25 [[ 9.96022386e-01 -5.69892042e-02 -6.84955262e-02 4.39742580e+00] [ 5.70570635e-02 9.98370451e-01 -9.66850804e-04 4.90759558e-02] [ 6.84390094e-02 -2.94514854e-03 9.97650955e-01 2.46874408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.584839173 meters 0.08197826122352571 Centerline is valid? [True, True] Translation: X:4.42, Y:0.04, Z:0.25 [[ 9.96313848e-01 -5.55892129e-02 -6.53341847e-02 4.42431580e+00] [ 5.56480747e-02 9.98450022e-01 -9.19937137e-04 4.49748215e-02] [ 6.52840567e-02 -2.71917548e-03 9.97863016e-01 2.52550122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.614839173 meters 0.08157392646401235 Centerline is valid? [True, True] Translation: X:4.45, Y:0.04, Z:0.25 [[ 9.96280921e-01 -5.98816440e-02 -6.19557458e-02 4.45490967e+00] [ 5.99421426e-02 9.98201462e-01 -8.83396485e-04 3.75225886e-02] [ 6.18972153e-02 -2.83364909e-03 9.98078507e-01 2.53689294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.644839173 meters 0.08404002987333488 Centerline is valid? [True, True] Translation: X:4.48, Y:0.03, Z:0.26 [[ 9.96191753e-01 -6.18574349e-02 -6.14463120e-02 4.48268503e+00] [ 6.19208691e-02 9.98080680e-01 -8.73145066e-04 2.94966162e-02] [ 6.13823874e-02 -2.93498913e-03 9.98110008e-01 2.60122511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.674839173 meters 0.08414212888409578 Centerline is valid? [True, True] Translation: X:4.51, Y:0.02, Z:0.26 [[ 9.95865961e-01 -6.40090899e-02 -6.44501707e-02 4.51161724e+00] [ 6.40834805e-02 9.97944122e-01 -9.14476162e-04 2.48943160e-02] [ 6.43762038e-02 -3.21949557e-03 9.97920507e-01 2.59201305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.704839173 meters 0.08195932771873765 Centerline is valid? [True, True] Translation: X:4.54, Y:0.02, Z:0.26 [[ 9.95895034e-01 -6.43109639e-02 -6.36959993e-02 4.54091543e+00] [ 6.43832216e-02 9.97924824e-01 -9.19628389e-04 1.92198268e-02] [ 6.36229611e-02 -3.18510029e-03 9.97968924e-01 2.57334933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.734839173 meters 0.08145697727353969 Centerline is valid? [True, True] Translation: X:4.57, Y:0.02, Z:0.26 [[ 9.95905213e-01 -6.34819002e-02 -6.43650151e-02 4.56958916e+00] [ 6.35527919e-02 9.97978028e-01 -9.47484828e-04 1.73752866e-02] [ 6.42950190e-02 -3.14697133e-03 9.97925973e-01 2.59541731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.764839173 meters 0.08029596434887733 Centerline is valid? [True, True] Translation: X:4.60, Y:0.01, Z:0.26 [[ 9.96047661e-01 -6.02089159e-02 -6.52988742e-02 4.59964099e+00] [ 6.02730450e-02 9.98181437e-01 -9.89246251e-04 1.39493943e-02] [ 6.52396855e-02 -2.95042557e-03 9.97865261e-01 2.64109928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.794839173 meters 0.08029596434887733 Centerline is valid? [True, True] Translation: X:4.63, Y:0.01, Z:0.27 [[ 9.96028330e-01 -6.05277110e-02 -6.52990220e-02 4.62689830e+00] [ 6.05931522e-02 9.98162066e-01 -9.79630394e-04 1.45379857e-02] [ 6.52383015e-02 -2.98093395e-03 9.97865260e-01 2.66891796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.824839173 meters 0.07988679360461595 Centerline is valid? [True, True] Translation: X:4.65, Y:0.01, Z:0.27 [[ 9.96258409e-01 -5.82115675e-02 -6.38795462e-02 4.65406309e+00] [ 5.82677412e-02 9.98300506e-01 -9.84824746e-04 1.21985914e-02] [ 6.38283115e-02 -2.74097693e-03 9.97957130e-01 2.71997184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.854839173 meters 0.07876975194591322 Centerline is valid? [True, True] Translation: X:4.68, Y:0.01, Z:0.28 [[ 9.96439846e-01 -5.42626539e-02 -6.45228447e-02 4.68386271e+00] [ 5.43107873e-02 9.98523570e-01 -1.00904364e-03 7.45689946e-03] [ 6.44823346e-02 -2.49883520e-03 9.97915720e-01 2.76553742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.884839173 meters 0.07850495432159792 Centerline is valid? [True, True] Translation: X:4.71, Y:0.00, Z:0.28 [[ 9.96403450e-01 -5.43403504e-02 -6.50176287e-02 4.71295818e+00] [ 5.43899340e-02 9.98519263e-01 -1.00847655e-03 2.60650728e-03] [ 6.49761557e-02 -2.53145502e-03 9.97883606e-01 2.78626223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.914839173 meters 0.0783448065457323 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.01, Z:0.29 [[ 9.96466269e-01 -5.30833828e-02 -6.50932289e-02 4.74147207e+00] [ 5.31292019e-02 9.98587117e-01 -1.02813465e-03 -8.75656625e-03] [ 6.50558366e-02 -2.43384980e-03 9.97878657e-01 2.86150566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.944839173 meters 0.07835330963612525 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.01, Z:0.29 [[ 9.96449531e-01 -5.16719175e-02 -6.64706402e-02 4.77012141e+00] [ 5.17147884e-02 9.98661315e-01 -1.07669236e-03 -8.94410133e-03] [ 6.64372917e-02 -2.36464549e-03 9.97787800e-01 2.90559497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.974839173 meters 0.07903991614399392 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.02, Z:0.30 [[ 9.96544600e-01 -5.20995383e-02 -6.46876942e-02 4.79808676e+00] [ 5.21411876e-02 9.98639176e-01 -1.04534567e-03 -1.92682547e-02] [ 6.46541277e-02 -2.33115962e-03 9.97905010e-01 2.98212811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.004839173 meters 0.07921852588588024 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.03, Z:0.30 [[ 9.96455450e-01 -5.26463540e-02 -6.56117240e-02 4.82645935e+00] [ 5.26891351e-02 9.98610379e-01 -1.07937724e-03 -2.82947982e-02] [ 6.55773739e-02 -2.38147365e-03 9.97844646e-01 3.00970402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.034839173 meters 0.07994559628639455 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.04, Z:0.30 [[ 9.96065790e-01 -5.46522984e-02 -6.97572080e-02 4.85468132e+00] [ 5.47040625e-02 9.98501927e-01 -1.16948459e-03 -3.98205559e-02] [ 6.97166217e-02 -2.65111908e-03 9.97563313e-01 3.04009307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.064839173 meters 0.07909363270803162 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.04, Z:0.31 [[ 9.96279206e-01 -5.37183621e-02 -6.73949665e-02 4.88315468e+00] [ 5.37633121e-02 9.98553047e-01 -1.14792447e-03 -4.01884071e-02] [ 6.73591138e-02 -2.47972333e-03 9.97725714e-01 3.08370993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0948391729999996 meters 0.07943456612091777 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.04, Z:0.32 [[ 9.96417449e-01 -5.35207970e-02 -6.54812281e-02 4.91065384e+00] [ 5.35611774e-02 9.98563919e-01 -1.13994584e-03 -4.35688653e-02] [ 6.54482026e-02 -2.37138975e-03 9.97853150e-01 3.15371418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.124839173 meters 0.07934558268235264 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.05, Z:0.32 [[ 9.96104042e-01 -5.57716875e-02 -6.83100089e-02 4.93950982e+00] [ 5.58208540e-02 9.98440091e-01 -1.19031645e-03 -4.57864019e-02] [ 6.82698374e-02 -2.62744401e-03 9.97663433e-01 3.16363079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.154839173 meters 0.0823328137492327 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.07, Z:0.32 [[ 9.95660723e-01 -6.01939247e-02 -7.09677179e-02 4.96816036e+00] [ 6.02562693e-02 9.98182140e-01 -1.26395391e-03 -7.05919049e-02] [ 7.09147909e-02 -3.01778066e-03 9.97477812e-01 3.15712260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.184839173 meters 0.08239080535462183 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.08, Z:0.32 [[ 9.95635742e-01 -6.24128681e-02 -6.93837443e-02 4.99720860e+00] [ 6.24772451e-02 9.98045613e-01 -1.24396519e-03 -7.78263023e-02] [ 6.93257811e-02 -3.09636900e-03 9.97589268e-01 3.18157151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.214839173 meters 0.0815941011831281 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.08, Z:0.32 [[ 9.95314980e-01 -6.37719857e-02 -7.26720391e-02 5.02640455e+00] [ 6.38463949e-02 9.97958890e-01 -1.30100538e-03 -8.14847803e-02] [ 7.26066751e-02 -3.34493756e-03 9.97355043e-01 3.17106143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.244839173 meters 0.08117843192916868 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.08, Z:0.32 [[ 9.95542442e-01 -6.24515189e-02 -7.06756950e-02 5.05434030e+00] [ 6.25171900e-02 9.98043061e-01 -1.28458662e-03 -8.08003670e-02] [ 7.06176113e-02 -3.13958535e-03 9.97498519e-01 3.21619649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.274839173 meters 0.08178814792922841 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.08, Z:0.33 [[ 9.95967056e-01 -5.94295971e-02 -6.72141851e-02 5.08165941e+00] [ 5.94804741e-02 9.98228692e-01 -1.24581294e-03 -8.24250199e-02] [ 6.71691662e-02 -2.75714295e-03 9.97737792e-01 3.31145514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3048391729999995 meters 0.07972474604316294 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.08, Z:0.33 [[ 9.96512932e-01 -5.46879572e-02 -6.30174855e-02 5.11045228e+00] [ 5.47232747e-02 9.98500877e-01 -1.16669716e-03 -8.47541184e-02] [ 6.29868189e-02 -2.28589437e-03 9.98011741e-01 3.34218919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.334839173 meters 0.07884971841004997 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.09, Z:0.33 [[ 9.96390742e-01 -5.39843130e-02 -6.55071247e-02 5.13932818e+00] [ 5.40192003e-02 9.98539127e-01 -1.23983036e-03 -8.74226552e-02] [ 6.54783585e-02 -2.30328700e-03 9.97851331e-01 3.33253939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.364839173 meters 0.0788173335768765 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.09, Z:0.33 [[ 9.96188635e-01 -5.16434194e-02 -7.02933965e-02 5.16849285e+00] [ 5.16772558e-02 9.98662941e-01 -1.33830753e-03 -9.44697494e-02] [ 7.02685249e-02 -2.29936308e-03 9.97525462e-01 3.32741273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.394839173 meters 0.07908674705336508 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.10, Z:0.34 [[ 9.96488547e-01 -5.05006225e-02 -6.67851919e-02 5.19692799e+00] [ 5.05289775e-02 9.98721793e-01 -1.26562248e-03 -1.00523725e-01] [ 6.67637413e-02 -2.11340915e-03 9.97766574e-01 3.38936844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.424839173 meters 0.07851514366758258 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.10, Z:0.34 [[ 9.96519295e-01 -4.90536923e-02 -6.74020040e-02 5.22629245e+00] [ 4.90776283e-02 9.98794119e-01 -1.30167933e-03 -1.03462231e-01] [ 6.73845774e-02 -2.01078193e-03 9.97725050e-01 3.40209193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.454839173 meters 0.0781537771476002 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.10, Z:0.34 [[ 9.96452012e-01 -4.77191411e-02 -6.93272778e-02 5.25450648e+00] [ 4.77403529e-02 9.98858865e-01 -1.35179676e-03 -1.04391865e-01] [ 6.93126726e-02 -1.96270811e-03 9.97593054e-01 3.42751658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.484839173 meters 0.07813910072058247 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.11, Z:0.34 [[ 9.96188375e-01 -4.78195688e-02 -7.29521115e-02 5.28370632e+00] [ 4.78428781e-02 9.98853852e-01 -1.42890380e-03 -1.06784820e-01] [ 7.29368271e-02 -2.06678162e-03 9.97334421e-01 3.41582272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.514839173 meters 0.07906092064256072 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.12, Z:0.34 [[ 9.96149844e-01 -4.99327294e-02 -7.20569940e-02 5.31296176e+00] [ 4.99609907e-02 9.98750173e-01 -1.41123078e-03 -1.17362632e-01] [ 7.20374018e-02 -2.19424148e-03 9.97399518e-01 3.44028872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.544839173 meters 0.08021985283297513 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.12, Z:0.35 [[ 9.96144610e-01 -5.25966521e-02 -7.02104586e-02 5.34078955e+00] [ 5.26282420e-02 9.98613191e-01 -1.40108708e-03 -1.24106687e-01] [ 7.01867826e-02 -2.29936766e-03 9.97531217e-01 3.49257879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.574839173 meters 0.08198899934513416 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.13, Z:0.35 [[ 9.95677355e-01 -5.86695813e-02 -7.20033725e-02 5.37004563e+00] [ 5.87181627e-02 9.98273556e-01 -1.44363620e-03 -1.33850962e-01] [ 7.19637603e-02 -2.79050987e-03 9.97403344e-01 3.50529262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.604839173 meters 0.08133596300923823 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.13, Z:0.35 [[ 9.95733139e-01 -5.77676532e-02 -7.19612000e-02 5.39851391e+00] [ 5.78139958e-02 9.98326333e-01 -1.44046914e-03 -1.29612889e-01] [ 7.19239735e-02 -2.72604166e-03 9.97406392e-01 3.53316787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.634839173 meters 0.08020434913806888 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.12, Z:0.35 [[ 9.95851213e-01 -5.56487566e-02 -7.19970722e-02 5.42749660e+00] [ 5.56881026e-02 9.98447143e-01 -1.46224789e-03 -1.21952867e-01] [ 7.19666433e-02 -2.55319901e-03 9.97403772e-01 3.54770315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.664839173 meters 0.07991595559638118 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.12, Z:0.36 [[ 9.96203205e-01 -5.13202319e-02 -7.03235970e-02 5.45665715e+00] [ 5.13456890e-02 9.98679892e-01 -1.44679318e-03 -1.24244117e-01] [ 7.03050120e-02 -2.16951354e-03 9.97523182e-01 3.57017252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.694839173 meters 0.08031801043616484 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.13, Z:0.36 [[ 9.96511673e-01 -5.11331805e-02 -6.59536481e-02 5.48483101e+00] [ 5.11535754e-02 9.98689845e-01 -1.38056331e-03 -1.27614773e-01] [ 6.59378312e-02 -1.99801746e-03 9.97821733e-01 3.62934927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.724839173 meters 0.08041385353258884 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.13, Z:0.37 [[ 9.96431160e-01 -5.20968818e-02 -6.64142917e-02 5.51293777e+00] [ 5.21200521e-02 9.98639866e-01 -1.38492812e-03 -1.28988729e-01] [ 6.63961098e-02 -2.08153082e-03 9.97791172e-01 3.65665700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.754839173 meters 0.07996716175094622 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.12, Z:0.38 [[ 9.96912331e-01 -4.74980589e-02 -6.25279036e-02 5.53961521e+00] [ 4.75078077e-02 9.98869979e-01 -1.33165815e-03 -1.24595391e-01] [ 6.25204969e-02 -1.64301719e-03 9.98042328e-01 3.75560114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.784839173 meters 0.07933934184971264 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.12, Z:0.38 [[ 9.97007735e-01 -4.56746721e-02 -6.23650629e-02 5.56844847e+00] [ 4.56808600e-02 9.98955203e-01 -1.32735479e-03 -1.21087477e-01] [ 6.23605306e-02 -1.52550672e-03 9.98052522e-01 3.78608093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.814839173 meters 0.07929561497061018 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.13, Z:0.38 [[ 9.96717086e-01 -4.66733330e-02 -6.61562518e-02 5.59775978e+00] [ 4.66806555e-02 9.98908832e-01 -1.43595902e-03 -1.29828005e-01] [ 6.61510852e-02 -1.65697231e-03 9.97808242e-01 3.76358184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8448391729999996 meters 0.08001974840956635 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.14, Z:0.38 [[ 9.96440987e-01 -5.10636860e-02 -6.70660750e-02 5.62641149e+00] [ 5.10808023e-02 9.98693455e-01 -1.46070739e-03 -1.36708825e-01] [ 6.70530392e-02 -1.97028020e-03 9.97747467e-01 3.76888699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.874839173 meters 0.08295002023971373 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.16, Z:0.38 [[ 9.95593718e-01 -6.24199656e-02 -6.99778237e-02 5.65574347e+00] [ 6.24658094e-02 9.98045924e-01 -1.53512638e-03 -1.58917643e-01] [ 6.99369042e-02 -2.84285922e-03 9.97547366e-01 3.78095341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.904839173 meters 0.08350629361368384 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.16, Z:0.38 [[ 9.95364971e-01 -6.44773939e-02 -7.13529206e-02 5.68427899e+00] [ 6.45309079e-02 9.97914494e-01 -1.55733667e-03 -1.62682813e-01] [ 7.13045266e-02 -3.05435038e-03 9.97449916e-01 3.79583503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.934839173 meters 0.08454394836732711 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.17, Z:0.39 [[ 9.95562567e-01 -6.60413987e-02 -6.70351309e-02 5.71308616e+00] [ 6.60903113e-02 9.97812533e-01 -1.49019387e-03 -1.65349410e-01] [ 6.69869082e-02 -2.94679144e-03 9.97749503e-01 3.86759800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.964839173 meters 0.08430520715318213 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.17, Z:0.39 [[ 9.95445615e-01 -6.55733203e-02 -6.91965854e-02 5.74220204e+00] [ 6.56248321e-02 9.97843193e-01 -1.53100015e-03 -1.67479303e-01] [ 6.91477345e-02 -3.01698692e-03 9.97601869e-01 3.88531153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.994839173 meters 0.08256054308017645 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.16, Z:0.39 [[ 9.95517778e-01 -6.11130945e-02 -7.21771619e-02 5.77253424e+00] [ 6.11554992e-02 9.98126929e-01 -1.62431824e-03 -1.63212388e-01] [ 7.21412361e-02 -2.79699268e-03 9.97390505e-01 3.88418936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.024839173 meters 0.08249484309941456 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.16, Z:0.39 [[ 9.95678158e-01 -5.80079661e-02 -7.25264156e-02 5.80060863e+00] [ 5.80426516e-02 9.98312772e-01 -1.63103391e-03 -1.62181868e-01] [ 7.24986600e-02 -2.58564063e-03 9.97365158e-01 3.92035311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0548391729999995 meters 0.08178268532116202 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.16, Z:0.40 [[ 9.95978698e-01 -5.42718683e-02 -7.12811109e-02 5.82887183e+00] [ 5.42954053e-02 9.98523621e-01 -1.60877516e-03 -1.61102325e-01] [ 7.12631841e-02 -2.26793102e-03 9.97454969e-01 3.95306846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.084839173 meters 0.08065126306771943 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.15, Z:0.40 [[ 9.96411583e-01 -4.97143267e-02 -6.85014032e-02 5.85622816e+00] [ 4.97250946e-02 9.98761741e-01 -1.54897862e-03 -1.54838964e-01] [ 6.84935872e-02 -1.86281851e-03 9.97649818e-01 4.01867044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.114839173 meters 0.0791687171208436 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.15, Z:0.40 [[ 9.96442642e-01 -4.86036825e-02 -6.88457892e-02 5.88496190e+00] [ 4.86115579e-02 9.98816538e-01 -1.56193587e-03 -1.48779455e-01] [ 6.88402287e-02 -1.79032156e-03 9.97626091e-01 4.00948444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.144839173 meters 0.0795192175085098 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.15, Z:0.41 [[ 9.96581329e-01 -4.90365619e-02 -6.64911368e-02 5.91329824e+00] [ 4.90436008e-02 9.98795471e-01 -1.52740780e-03 -1.50200894e-01] [ 6.64859451e-02 -1.73877867e-03 9.97785847e-01 4.06281349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.174839173 meters 0.08032399067090491 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.16, Z:0.41 [[ 9.96336864e-01 -5.04762335e-02 -6.90289968e-02 5.94107515e+00] [ 5.04853364e-02 9.98723499e-01 -1.61379680e-03 -1.56128799e-01] [ 6.90223395e-02 -1.87706688e-03 9.97613349e-01 4.10286206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.204839173 meters 0.08059828271020629 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.16, Z:0.41 [[ 9.95924652e-01 -5.41098779e-02 -7.21540618e-02 5.96948789e+00] [ 5.41292371e-02 9.98532511e-01 -1.68847792e-03 -1.63953458e-01] [ 7.21395399e-02 -2.22404754e-03 9.97392070e-01 4.10373914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.234839173 meters 0.08225911280941145 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.18, Z:0.41 [[ 9.95313180e-01 -6.18742933e-02 -7.43185354e-02 6.00002599e+00] [ 6.19139081e-02 9.98079919e-01 -1.77292037e-03 -1.76904268e-01] [ 7.42855360e-02 -2.83673996e-03 9.97232978e-01 4.09804956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.264839173 meters 0.08249643477270001 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.18, Z:0.41 [[ 9.95180949e-01 -6.31052253e-02 -7.50507172e-02 6.02859260e+00] [ 6.31495412e-02 9.98002480e-01 -1.78480659e-03 -1.79628541e-01] [ 7.50134325e-02 -2.96321284e-03 9.97178121e-01 4.11611676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.294839173 meters 0.0818312390105282 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.18, Z:0.41 [[ 9.95323075e-01 -6.10222345e-02 -7.48883362e-02 6.05750739e+00] [ 6.10587881e-02 9.98132542e-01 -1.80344948e-03 -1.75403988e-01] [ 7.48585360e-02 -2.77757617e-03 9.97190295e-01 4.14451197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.324839173 meters 0.08108750109919856 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.17, Z:0.42 [[ 9.95757465e-01 -5.61424903e-02 -7.29046698e-02 6.08565028e+00] [ 5.61622927e-02 9.98420066e-01 -1.77995097e-03 -1.69635117e-01] [ 7.28894161e-02 -2.32209394e-03 9.97337326e-01 4.18859169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.354839173 meters 0.08073633593885274 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.17, Z:0.42 [[ 9.95658245e-01 -5.69522418e-02 -7.36281348e-02 6.11403425e+00] [ 5.69747325e-02 9.98374004e-01 -1.79653619e-03 -1.69565473e-01] [ 7.36107326e-02 -2.40620721e-03 9.97284147e-01 4.19834953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.384839173 meters 0.08082224755735178 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.17, Z:0.42 [[ 9.95510614e-01 -5.91254296e-02 -7.39107689e-02 6.14250909e+00] [ 5.91520911e-02 9.98247304e-01 -1.83012815e-03 -1.71758355e-01] [ 7.38894329e-02 -2.55006454e-03 9.97263179e-01 4.23898970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.414839173 meters 0.08137707538622699 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.17, Z:0.43 [[ 9.95300927e-01 -5.91514381e-02 -7.66627228e-02 6.17037418e+00] [ 5.91780068e-02 9.98245586e-01 -1.92710291e-03 -1.70775709e-01] [ 7.66422156e-02 -2.61869982e-03 9.97055221e-01 4.26470729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.444839173 meters 0.08086517772903519 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.17, Z:0.43 [[ 9.95363781e-01 -5.67756401e-02 -7.76367838e-02 6.19914418e+00] [ 5.67949979e-02 9.98383937e-01 -1.96045326e-03 -1.67020603e-01] [ 7.76226239e-02 -2.45801680e-03 9.96979782e-01 4.28416863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.474839173 meters 0.08052804738416289 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.17, Z:0.43 [[ 9.95469925e-01 -5.51700969e-02 -7.74331291e-02 6.22754208e+00] [ 5.51843907e-02 9.98474263e-01 -1.95679262e-03 -1.67011229e-01] [ 7.74229429e-02 -2.32517185e-03 9.96995628e-01 4.31009032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.504839173 meters 0.08079698292439647 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.17, Z:0.43 [[ 9.95660687e-01 -5.58761910e-02 -7.44153735e-02 6.25618050e+00] [ 5.58898186e-02 9.98435133e-01 -1.90091017e-03 -1.71253287e-01] [ 7.44051390e-02 -2.26640020e-03 9.97225520e-01 4.34569240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.534839173 meters 0.08116324155942684 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.17, Z:0.44 [[ 9.95594047e-01 -5.77571176e-02 -7.38688615e-02 6.28429215e+00] [ 5.77737836e-02 9.98327867e-01 -1.91291684e-03 -1.72172661e-01] [ 7.38558275e-02 -2.36319499e-03 9.97266129e-01 4.38280816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.564839173 meters 0.08150478139472218 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.18, Z:0.44 [[ 9.95481692e-01 -6.05950500e-02 -7.31056816e-02 6.31332545e+00] [ 6.06184083e-02 9.98159203e-01 -1.90123538e-03 -1.75968093e-01] [ 7.30863143e-02 -2.53890505e-03 9.97322388e-01 4.42387359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5948391729999996 meters 0.08177243752298961 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.18, Z:0.45 [[ 9.95414809e-01 -6.05647523e-02 -7.40355901e-02 6.34058021e+00] [ 6.05883017e-02 9.98160976e-01 -1.92987560e-03 -1.75903046e-01] [ 7.40163193e-02 -2.56466392e-03 9.97253732e-01 4.45268323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.624839173 meters 0.08094753595375331 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.18, Z:0.45 [[ 9.95993891e-01 -5.76137914e-02 -6.83872754e-02 6.36844914e+00] [ 5.76265826e-02 9.98336608e-01 -1.78736277e-03 -1.75056402e-01] [ 6.83764973e-02 -2.16072257e-03 9.97657249e-01 4.53357276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.654839173 meters 0.08060812087159411 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.18, Z:0.46 [[ 9.96180055e-01 -5.57921966e-02 -6.71753637e-02 6.39663053e+00] [ 5.57991082e-02 9.98440439e-01 -1.77485554e-03 -1.75114865e-01] [ 6.71696227e-02 -1.98024970e-03 9.97739606e-01 4.58194676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.684839173 meters 0.08060812087159411 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.17, Z:0.46 [[ 9.96161280e-01 -5.61270012e-02 -6.71748774e-02 6.42393176e+00] [ 5.61334478e-02 9.98421665e-01 -1.79303289e-03 -1.74153673e-01] [ 6.71694905e-02 -1.98460754e-03 9.97739606e-01 4.60985933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.714839173 meters 0.08024051409229696 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.17, Z:0.46 [[ 9.96149993e-01 -5.45400908e-02 -6.86335910e-02 6.45207865e+00] [ 5.45408609e-02 9.98509800e-01 -1.86405706e-03 -1.72575598e-01] [ 6.86329790e-02 -1.88645471e-03 9.97640193e-01 4.63788078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.744839173 meters 0.07896959427791501 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.16, Z:0.47 [[ 9.96484452e-01 -4.85717314e-02 -6.82607042e-02 6.48078870e+00] [ 4.85581232e-02 9.98818628e-01 -1.85956589e-03 -1.64241106e-01] [ 6.82703852e-02 -1.46158318e-03 9.97665785e-01 4.66405858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.774839173 meters 0.07886659973953099 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.16, Z:0.47 [[ 9.96464789e-01 -4.66960960e-02 -6.98383831e-02 6.50844357e+00] [ 4.66768859e-02 9.98908218e-01 -1.90784561e-03 -1.64114747e-01] [ 6.98512237e-02 -1.35873726e-03 9.97556495e-01 4.68699499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8048391729999995 meters 0.07854700159968146 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.17, Z:0.48 [[ 9.97011226e-01 -4.33988038e-02 -6.39152424e-02 6.53679397e+00] [ 4.33755317e-02 9.99057302e-01 -1.75231690e-03 -1.65518382e-01] [ 6.39310381e-02 -1.02527800e-03 9.97953792e-01 4.76964054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.834839173 meters 0.07727357148562926 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.16, Z:0.48 [[ 9.97180460e-01 -3.41024594e-02 -6.68442421e-02 6.56614910e+00] [ 3.40555612e-02 9.99418245e-01 -1.84129488e-03 -1.55715681e-01] [ 6.68681478e-02 -4.40314900e-04 9.97761724e-01 4.79993715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.864839173 meters 0.07715064002254841 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.15, Z:0.49 [[ 9.97574040e-01 -2.68032445e-02 -6.42465635e-02 6.59276713e+00] [ 2.67449132e-02 9.99640727e-01 -1.76793449e-03 -1.46953201e-01] [ 6.42708679e-02 4.53767898e-05 9.97932489e-01 4.87353813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.894839173 meters 0.07688742085814859 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.14, Z:0.49 [[ 9.97602297e-01 -2.01344040e-02 -6.62137709e-02 6.62224771e+00] [ 2.00577257e-02 9.99797162e-01 -1.82268412e-03 -1.41372877e-01] [ 6.62370389e-02 4.90216210e-04 9.97803796e-01 4.85030495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.924839173 meters 0.07788319338404025 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.13, Z:0.48 [[ 9.97509265e-01 -7.30298165e-03 -7.01564904e-02 6.64970721e+00] [ 7.18326355e-03 9.99972282e-01 -1.95858256e-03 -1.33258553e-01] [ 7.01688493e-02 1.44975169e-03 9.97534075e-01 4.84969658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.954839173 meters 0.07849815622025197 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.13, Z:0.48 [[ 9.97177461e-01 -2.42624732e-03 -7.50414806e-02 6.67837346e+00] [ 2.27516256e-03 9.99995209e-01 -2.09877089e-03 -1.28392563e-01] [ 7.50462133e-02 1.92211546e-03 9.97178204e-01 4.82636176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.984839173 meters 0.07841142974739855 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.13, Z:0.48 [[ 9.96911930e-01 -5.37576829e-03 -7.83435047e-02 6.70833975e+00] [ 5.21766968e-03 9.99983918e-01 -2.22257971e-03 -1.32211080e-01] [ 7.83541928e-02 1.80694570e-03 9.96923947e-01 4.80775852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0148391729999995 meters 0.07768014097265555 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.14, Z:0.49 [[ 9.97259602e-01 -1.17138193e-02 -7.30484281e-02 6.73706606e+00] [ 1.15937317e-02 9.99930652e-01 -2.06776066e-03 -1.41480545e-01] [ 7.30675838e-02 1.21519029e-03 9.97326251e-01 4.86934064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.044839173 meters 0.07702164482094853 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.17, Z:0.50 [[ 9.97370339e-01 -2.78663393e-02 -6.69019748e-02 6.76497375e+00] [ 2.78002572e-02 9.99611657e-01 -1.91871243e-03 -1.65053944e-01] [ 6.69294613e-02 5.37747572e-05 9.97757708e-01 4.96890487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.074839173 meters 0.07746976460015391 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.18, Z:0.50 [[ 9.97038864e-01 -3.58376692e-02 -6.80379650e-02 6.79257517e+00] [ 3.57873324e-02 9.99357508e-01 -1.95894404e-03 -1.79287970e-01] [ 6.80644551e-02 -4.81753928e-04 9.97680810e-01 5.01838802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.104839173 meters 0.07876143128784277 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.21, Z:0.50 [[ 9.96040402e-01 -5.07967900e-02 -7.29602927e-02 6.82288311e+00] [ 5.07787323e-02 9.98707713e-01 -2.10357004e-03 -2.05354740e-01] [ 7.29728616e-02 -1.60959042e-03 9.97332628e-01 4.95005808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.134839173 meters 0.08032865303302383 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.22, Z:0.50 [[ 9.95852451e-01 -5.66792339e-02 -7.11713387e-02 6.85090530e+00] [ 5.66750850e-02 9.98390510e-01 -2.07930568e-03 -2.17628180e-01] [ 7.11746426e-02 -1.96296001e-03 9.97461938e-01 5.00353098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.164839173 meters 0.08274471805906276 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.24, Z:0.51 [[ 9.95560165e-01 -6.46366365e-02 -6.84256093e-02 6.88141512e+00] [ 6.46509988e-02 9.97905918e-01 -2.00689496e-03 -2.35665781e-01] [ 6.84120394e-02 -2.42579931e-03 9.97654203e-01 5.05047490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.194839173 meters 0.08432681869860784 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.24, Z:0.51 [[ 9.95331663e-01 -6.83552539e-02 -6.81354533e-02 6.91004770e+00] [ 6.83782313e-02 9.97657470e-01 -1.99765258e-03 -2.43987973e-01] [ 6.81123940e-02 -2.67065492e-03 9.97674080e-01 5.09745106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2248391729999994 meters 0.08381519590975682 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.25, Z:0.51 [[ 9.95033064e-01 -7.12823252e-02 -6.94840407e-02 6.93857735e+00] [ 7.13131407e-02 9.97451890e-01 -2.04013960e-03 -2.48429941e-01] [ 6.94524137e-02 -2.92511881e-03 9.97580977e-01 5.09926201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.254839173 meters 0.08395223777672595 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.25, Z:0.51 [[ 9.95077523e-01 -6.93571045e-02 -7.07835823e-02 6.96603442e+00] [ 6.93837818e-02 9.97587863e-01 -2.08471960e-03 -2.47543805e-01] [ 7.07574328e-02 -2.83677502e-03 9.97489518e-01 5.12328037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.284839173 meters 0.08301901067367595 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.24, Z:0.51 [[ 9.95177112e-01 -6.87857934e-02 -6.99359081e-02 6.99395179e+00] [ 6.88101273e-02 9.97627639e-01 -2.06395987e-03 -2.40581601e-01] [ 6.99119660e-02 -2.75829312e-03 9.97549352e-01 5.14537038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.314839173 meters 0.08358274228235232 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.24, Z:0.52 [[ 9.95102565e-01 -7.00014554e-02 -6.97902616e-02 7.02215704e+00] [ 7.00265107e-02 9.97542940e-01 -2.09050960e-03 -2.40293129e-01] [ 6.97651214e-02 -2.80689703e-03 9.97559497e-01 5.16866725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3448391729999996 meters 0.08501880689985507 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.25, Z:0.52 [[ 9.94965919e-01 -7.11219325e-02 -7.06009254e-02 7.04986563e+00] [ 7.11498528e-02 9.97463380e-01 -2.12241537e-03 -2.47218728e-01] [ 7.05727879e-02 -2.91151449e-03 9.97502383e-01 5.20558599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.374839173 meters 0.08413831284826506 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.25, Z:0.52 [[ 9.94593360e-01 -7.41678645e-02 -7.26854569e-02 7.07910612e+00] [ 7.42054169e-02 9.97240579e-01 -2.18735942e-03 -2.45074218e-01] [ 7.26471189e-02 -3.21812148e-03 9.97352515e-01 5.18144628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.404839173 meters 0.08579563416187128 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.25, Z:0.52 [[ 9.94391908e-01 -7.64433820e-02 -7.30831250e-02 7.10692395e+00] [ 7.64854400e-02 9.97068211e-01 -2.22710047e-03 -2.48256550e-01] [ 7.30391077e-02 -3.37518429e-03 9.97323366e-01 5.21585258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.434839173 meters 0.0856545589477512 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.25, Z:0.52 [[ 9.94218304e-01 -7.50881235e-02 -7.67576512e-02 7.13563715e+00] [ 7.51297859e-02 9.97170998e-01 -2.34883086e-03 -2.47133576e-01] [ 7.67168729e-02 -3.43153526e-03 9.97047013e-01 5.22666821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.464839173 meters 0.08352703040291107 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.24, Z:0.52 [[ 9.94644693e-01 -7.03584164e-02 -7.57075138e-02 7.16518559e+00] [ 7.03849119e-02 9.97517205e-01 -2.32145819e-03 -2.38706928e-01] [ 7.56828818e-02 -3.01964062e-03 9.97127366e-01 5.24790974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.494839173 meters 0.08067341035374748 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.23, Z:0.53 [[ 9.95697288e-01 -5.96223351e-02 -7.09372135e-02 7.19381585e+00] [ 5.96180891e-02 9.98218882e-01 -2.17898392e-03 -2.27570439e-01] [ 7.09407820e-02 -2.05953274e-03 9.97478403e-01 5.33071081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.524839173 meters 0.07937901340492112 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.22, Z:0.54 [[ 9.96276211e-01 -5.13448909e-02 -6.92633638e-02 7.22209157e+00] [ 5.13206633e-02 9.98679954e-01 -2.13038104e-03 -2.20773856e-01] [ 6.92813171e-02 -1.43219382e-03 9.97596135e-01 5.39057007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5548391729999995 meters 0.07908146903945559 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.22, Z:0.54 [[ 9.96163300e-01 -5.23072365e-02 -7.01614823e-02 7.25127794e+00] [ 5.22851287e-02 9.98629877e-01 -2.15278729e-03 -2.18743530e-01] [ 7.01779588e-02 -1.52387444e-03 9.97533324e-01 5.37112156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.584839173 meters 0.07985304958877 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.22, Z:0.54 [[ 9.95580223e-01 -5.70690296e-02 -7.45864967e-02 7.28034259e+00] [ 5.70555416e-02 9.98368326e-01 -2.31332422e-03 -2.23348727e-01] [ 7.45968149e-02 -1.95247312e-03 9.97211865e-01 5.35460261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.614839173 meters 0.08324391176704049 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.25, Z:0.53 [[ 9.94518167e-01 -6.99468053e-02 -7.77242526e-02 7.31190325e+00] [ 6.99689118e-02 9.97546183e-01 -2.44215534e-03 -2.47129634e-01] [ 7.77043525e-02 -3.00951352e-03 9.96971904e-01 5.33608498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.644839173 meters 0.08522425729516328 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.26, Z:0.54 [[ 9.94127878e-01 -7.77471766e-02 -7.52671174e-02 7.34237117e+00] [ 7.77900502e-02 9.96966955e-01 -2.36634992e-03 -2.63292399e-01] [ 7.52228058e-02 -3.50257842e-03 9.97160600e-01 5.37607966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.674839173 meters 0.08448256989182418 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.26, Z:0.54 [[ 9.94201902e-01 -7.66891553e-02 -7.53747364e-02 7.37137419e+00] [ 7.67293972e-02 9.97049147e-01 -2.36610068e-03 -2.62852356e-01] [ 7.53337709e-02 -3.43107630e-03 9.97152471e-01 5.41875549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.704839173 meters 0.08221048500716088 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.25, Z:0.54 [[ 9.94661512e-01 -6.79102396e-02 -7.76960430e-02 7.39944245e+00] [ 6.79251086e-02 9.97687404e-01 -2.45442904e-03 -2.52966518e-01] [ 7.76830443e-02 -2.83618606e-03 9.96974072e-01 5.44835912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.734839173 meters 0.08119293051763189 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.24, Z:0.55 [[ 9.94920814e-01 -6.37729456e-02 -7.78818635e-02 7.42927608e+00] [ 6.37749398e-02 9.97961264e-01 -2.46417318e-03 -2.44892300e-01] [ 7.78802306e-02 -2.51525398e-03 9.96959549e-01 5.49023090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7648391729999995 meters 0.08073603102747497 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.24, Z:0.55 [[ 9.95300044e-01 -6.13965434e-02 -7.48885027e-02 7.45655460e+00] [ 6.13918681e-02 9.98110935e-01 -2.36661609e-03 -2.39135418e-01] [ 7.48923354e-02 -2.24205198e-03 9.97189105e-01 5.53000767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.794839173 meters 0.0807396761337562 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.23, Z:0.56 [[ 9.95217190e-01 -6.32761777e-02 -7.44235860e-02 7.48474207e+00] [ 6.32744517e-02 9.97993318e-01 -2.38339120e-03 -2.34335118e-01] [ 7.44250534e-02 -2.33711971e-03 9.97223871e-01 5.55262512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.824839173 meters 0.08220348705637721 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.24, Z:0.56 [[ 9.94848193e-01 -6.64822292e-02 -7.65322508e-02 7.51284715e+00] [ 6.64892125e-02 9.97784112e-01 -2.45960427e-03 -2.38009055e-01] [ 7.65261839e-02 -2.64163622e-03 9.97064073e-01 5.58552864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.854839173 meters 0.08353844911156058 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.24, Z:0.56 [[ 9.94554820e-01 -7.37194658e-02 -7.36624092e-02 7.54282616e+00] [ 7.37449368e-02 9.97274301e-01 -2.37769055e-03 -2.44175418e-01] [ 7.36369097e-02 -3.06748612e-03 9.97280400e-01 5.61963401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.884839173 meters 0.08389571993962835 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.25, Z:0.56 [[ 9.94523488e-01 -7.37478511e-02 -7.40559722e-02 7.57129399e+00] [ 7.37742176e-02 9.97272122e-01 -2.38311315e-03 -2.46521535e-01] [ 7.40297060e-02 -3.09335940e-03 9.97251239e-01 5.64843708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.914839173 meters 0.08319598535853502 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.24, Z:0.57 [[ 9.94797280e-01 -7.31630063e-02 -7.08910909e-02 7.59974166e+00] [ 7.31842756e-02 9.97315782e-01 -2.30074813e-03 -2.43496781e-01] [ 7.08691334e-02 -2.89933515e-03 9.97481408e-01 5.69660179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.944839173 meters 0.08323803260155971 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.24, Z:0.57 [[ 9.94862107e-01 -7.31495946e-02 -6.99894635e-02 7.62851689e+00] [ 7.31688248e-02 9.97316935e-01 -2.29231990e-03 -2.40571875e-01] [ 6.99693595e-02 -2.84050459e-03 9.97545097e-01 5.73593071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9748391729999994 meters 0.08204529769049837 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.23, Z:0.58 [[ 9.95229398e-01 -6.94748926e-02 -6.84958688e-02 7.65656122e+00] [ 6.94827744e-02 9.97580568e-01 -2.27025517e-03 -2.29267761e-01] [ 6.84878735e-02 -2.49985831e-03 9.97648817e-01 5.77263350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.004839172999999 meters 0.08202939444726469 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.23, Z:0.58 [[ 9.95240410e-01 -6.79130151e-02 -6.98881138e-02 7.68444212e+00] [ 6.79170935e-02 9.97688270e-01 -2.32060192e-03 -2.25339468e-01] [ 6.98841504e-02 -2.43704075e-03 9.97552137e-01 5.79203237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.034839173 meters 0.08368576728699072 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.23, Z:0.58 [[ 9.94771350e-01 -7.44336043e-02 -6.99256739e-02 7.71521769e+00] [ 7.44526922e-02 9.97221809e-01 -2.33688734e-03 -2.32570859e-01] [ 6.99053499e-02 -2.88148610e-03 9.97549467e-01 5.81750974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.064839173 meters 0.08735076670505322 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.25, Z:0.59 [[ 9.93836041e-01 -8.58523598e-02 -7.01376864e-02 7.74545690e+00] [ 8.58999175e-02 9.96301015e-01 -2.34337892e-03 -2.45995549e-01] [ 7.00794328e-02 -3.69588705e-03 9.97534568e-01 5.85152147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.094839173 meters 0.08778219550940204 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.25, Z:0.59 [[ 9.93451654e-01 -8.86493739e-02 -7.20770442e-02 7.77396104e+00] [ 8.87074298e-02 9.96054830e-01 -2.40151673e-03 -2.45729505e-01] [ 7.20055809e-02 -4.00797856e-03 9.97396176e-01 5.86909126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.124839173 meters 0.08893883476502767 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.25, Z:0.59 [[ 9.93211996e-01 -8.94182449e-02 -7.43929288e-02 7.80150974e+00] [ 8.94801809e-02 9.95985448e-01 -2.50671153e-03 -2.46369265e-01] [ 7.43184203e-02 -4.16699676e-03 9.97225856e-01 5.88297895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.154839173 meters 0.08678932246580111 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.24, Z:0.59 [[ 9.93670402e-01 -8.56799630e-02 -7.26503755e-02 7.83133787e+00] [ 8.57283490e-02 9.96315517e-01 -2.45771235e-03 -2.39775516e-01] [ 7.25932732e-02 -3.78604073e-03 9.97354442e-01 5.91319445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.184839173 meters 0.08559317858584278 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.24, Z:0.60 [[ 9.94441960e-01 -7.86918057e-02 -6.99484603e-02 7.85957365e+00] [ 7.87193414e-02 9.96894008e-01 -2.36707576e-03 -2.35719422e-01] [ 6.99174703e-02 -3.15237727e-03 9.97547798e-01 5.98460858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.214839173 meters 0.08392783041909958 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.23, Z:0.60 [[ 9.94755493e-01 -7.44411041e-02 -7.01429399e-02 7.88967603e+00] [ 7.44580085e-02 9.97221316e-01 -2.37718650e-03 -2.30730206e-01] [ 7.01249952e-02 -2.85798428e-03 9.97534118e-01 6.00730401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.244839172999999 meters 0.08276394487522343 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.23, Z:0.60 [[ 9.94985987e-01 -7.12557379e-02 -7.01819484e-02 7.91875779e+00] [ 7.12649084e-02 9.97454593e-01 -2.37636410e-03 -2.26339695e-01] [ 7.01726364e-02 -2.63706114e-03 9.97531376e-01 6.03765371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.274839173 meters 0.08265041888215999 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.23, Z:0.60 [[ 9.94789311e-01 -7.20590949e-02 -7.21229097e-02 7.94770607e+00] [ 7.20704940e-02 9.97396537e-01 -2.44769255e-03 -2.25121385e-01] [ 7.21115189e-02 -2.76299535e-03 9.97392748e-01 6.03918372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.304839173 meters 0.0836536597401084 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.23, Z:0.61 [[ 9.94625184e-01 -7.44889788e-02 -7.19175654e-02 7.97600393e+00] [ 7.45046425e-02 9.97217612e-01 -2.46849059e-03 -2.28825179e-01] [ 7.19013381e-02 -2.90296959e-03 9.97407525e-01 6.08161429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.334839173 meters 0.08586362791115588 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.24, Z:0.61 [[ 9.94282818e-01 -7.75159413e-02 -7.34367594e-02 8.00349210e+00] [ 7.75402895e-02 9.96986025e-01 -2.52370439e-03 -2.39479516e-01] [ 7.34110502e-02 -3.18503168e-03 9.97296683e-01 6.11264322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.364839173 meters 0.08350154980299446 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.23, Z:0.61 [[ 9.94422679e-01 -7.59604877e-02 -7.31678882e-02 8.03186416e+00] [ 7.59801732e-02 9.97106148e-01 -2.51834443e-03 -2.34070980e-01] [ 7.31474459e-02 -3.05501000e-03 9.97316458e-01 6.11937676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.394839173 meters 0.08210279006747717 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.23, Z:0.61 [[ 9.94717041e-01 -7.12207764e-02 -7.39297534e-02 8.06196218e+00] [ 7.12256138e-02 9.97456909e-01 -2.57438487e-03 -2.30754363e-01] [ 7.39250929e-02 -2.70490757e-03 9.97260129e-01 6.13037974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.424839173 meters 0.08249694138309867 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.23, Z:0.62 [[ 9.94729333e-01 -7.18737968e-02 -7.31280499e-02 8.09071656e+00] [ 7.18807357e-02 9.97409999e-01 -2.54030293e-03 -2.33211210e-01] [ 7.31212294e-02 -2.72958418e-03 9.97319325e-01 6.16395825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.454839173 meters 0.08484962386885421 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.25, Z:0.62 [[ 9.94151819e-01 -7.97673961e-02 -7.27964472e-02 8.12115686e+00] [ 7.97932174e-02 9.96808155e-01 -2.55807426e-03 -2.46128141e-01] [ 7.27681432e-02 -3.26554856e-03 9.97343538e-01 6.20050154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.484839173 meters 0.08676058200834069 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.25, Z:0.62 [[ 9.94019950e-01 -8.10696673e-02 -7.31576975e-02 8.14866709e+00] [ 8.10994100e-02 9.96702707e-01 -2.56877260e-03 -2.50177262e-01] [ 7.31247247e-02 -3.37963490e-03 9.97317077e-01 6.24693131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.514839173 meters 0.0848870935184566 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.24, Z:0.62 [[ 9.93538423e-01 -8.29643037e-02 -7.74488669e-02 8.17748984e+00] [ 8.30031207e-02 9.96545566e-01 -2.72333690e-03 -2.42251220e-01] [ 7.74072647e-02 -3.72275780e-03 9.96992606e-01 6.20176380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.544839173 meters 0.08548500475497531 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.24, Z:0.62 [[ 9.93611759e-01 -8.15878398e-02 -7.79685651e-02 8.20499456e+00] [ 8.16207901e-02 9.96659609e-01 -2.76942122e-03 -2.43145626e-01] [ 7.79340707e-02 -3.61212640e-03 9.96951971e-01 6.23064909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.574839172999999 meters 0.08548500475497531 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.24, Z:0.63 [[ 9.93585016e-01 -8.19129718e-02 -7.79684626e-02 8.23233939e+00] [ 8.19466916e-02 9.96632858e-01 -2.77233061e-03 -2.41934761e-01] [ 7.79330216e-02 -3.63471141e-03 9.96951971e-01 6.25857209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.604839173 meters 0.08523768327863078 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.24, Z:0.63 [[ 9.93634902e-01 -8.01356303e-02 -7.91704691e-02 8.26106325e+00] [ 8.01622468e-02 9.96777763e-01 -2.84712312e-03 -2.43352742e-01] [ 7.91435191e-02 -3.51748179e-03 9.96857026e-01 6.25907763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.634839173 meters 0.08421563348711639 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.24, Z:0.63 [[ 9.93677326e-01 -8.04908848e-02 -7.82725303e-02 8.28949971e+00] [ 8.05178864e-02 9.96749186e-01 -2.81613207e-03 -2.42867547e-01] [ 7.82447539e-02 -3.50401212e-03 9.96928022e-01 6.28573192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.664839173 meters 0.08430247123913849 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.24, Z:0.63 [[ 9.93454906e-01 -8.14448832e-02 -8.00879589e-02 8.31789014e+00] [ 8.14743677e-02 9.96671204e-01 -2.90504891e-03 -2.42488436e-01] [ 8.00579638e-02 -3.63908073e-03 9.96783567e-01 6.29574864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.694839173 meters 0.08443932566635189 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.24, Z:0.63 [[ 9.93392058e-01 -8.08392865e-02 -8.14691870e-02 8.34540550e+00] [ 8.08650746e-02 9.96720577e-01 -2.98833733e-03 -2.40592066e-01] [ 8.14435902e-02 -3.61942132e-03 9.96671381e-01 6.31515963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.724839173 meters 0.08243024788725768 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.23, Z:0.64 [[ 9.94165569e-01 -7.28609033e-02 -7.95368448e-02 8.37360622e+00] [ 7.28592158e-02 9.97337940e-01 -2.92718994e-03 -2.27789786e-01] [ 7.95383906e-02 -2.88488068e-03 9.96827629e-01 6.37997878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.754839173 meters 0.0811164027969723 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.22, Z:0.64 [[ 9.94344090e-01 -7.04910443e-02 -7.94408203e-02 8.40183430e+00] [ 7.04820291e-02 9.97508773e-01 -2.92099199e-03 -2.18135451e-01] [ 7.94488189e-02 -2.69467909e-03 9.96835304e-01 6.40166303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.784839173 meters 0.08110393317071593 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.21, Z:0.65 [[ 9.94540019e-01 -6.88705656e-02 -7.84027786e-02 8.42926611e+00] [ 6.88546938e-02 9.97622458e-01 -2.90900957e-03 -2.13984577e-01] [ 7.84167179e-02 -2.50527288e-03 9.96917520e-01 6.46347255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.814839173 meters 0.08119859494333453 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.21, Z:0.65 [[ 9.94392500e-01 -7.03258314e-02 -7.89799562e-02 8.45796023e+00] [ 7.03139703e-02 9.97520593e-01 -2.93467319e-03 -2.11724626e-01] [ 7.89905160e-02 -2.63517728e-03 9.96871885e-01 6.49359145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.844839173 meters 0.08180511961199607 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.21, Z:0.65 [[ 9.93770471e-01 -7.32795870e-02 -8.39663849e-02 8.48620874e+00] [ 7.32745975e-02 9.97306844e-01 -3.14533466e-03 -2.09357262e-01] [ 8.39707391e-02 -3.02686234e-03 9.96463624e-01 6.47334622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.874839173 meters 0.08318463512601194 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.21, Z:0.65 [[ 9.93348987e-01 -7.64310468e-02 -8.61166906e-02 8.51398861e+00] [ 7.64347693e-02 9.97069258e-01 -3.25890812e-03 -2.10185415e-01] [ 8.61133866e-02 -3.34507630e-03 9.96279727e-01 6.47595182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.904839173 meters 0.08328968887677818 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.21, Z:0.65 [[ 9.92891673e-01 -7.93143903e-02 -8.87431895e-02 8.54260712e+00] [ 7.93290782e-02 9.96842796e-01 -3.36699011e-03 -2.09135998e-01] [ 8.87300599e-02 -3.69685898e-03 9.96048849e-01 6.45807850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.934839173 meters 0.08306009958306788 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.21, Z:0.65 [[ 9.93210538e-01 -7.67522687e-02 -8.74180514e-02 8.56977000e+00] [ 7.67553348e-02 9.97044393e-01 -3.33125382e-03 -2.06384163e-01] [ 8.74153593e-02 -3.40116541e-03 9.96166144e-01 6.51820805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.964839173 meters 0.08052424149900075 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.19, Z:0.65 [[ 9.93853002e-01 -6.86915066e-02 -8.68198557e-02 8.59927708e+00] [ 6.86629450e-02 9.97634395e-01 -3.31877567e-03 -1.89682431e-01] [ 8.68424459e-02 -2.66293181e-03 9.96218499e-01 6.54570784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.994839172999999 meters 0.07930161305742645 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.18, Z:0.66 [[ 9.94295879e-01 -6.22814273e-02 -8.65836467e-02 8.62732699e+00] [ 6.22287007e-02 9.98056426e-01 -3.31053285e-03 -1.78592968e-01] [ 8.66215496e-02 -2.09633867e-03 9.96239084e-01 6.59093481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.024839173 meters 0.0772815630732497 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.16, Z:0.66 [[ 9.95049518e-01 -4.89525981e-02 -8.64875692e-02 8.65618566e+00] [ 4.88491914e-02 9.98800671e-01 -3.31288581e-03 -1.55741313e-01] [ 8.65460165e-02 -9.28362395e-04 9.96247422e-01 6.61936773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.054839173 meters 0.07718585097286125 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.15, Z:0.67 [[ 9.95296988e-01 -4.77830300e-02 -8.42655818e-02 8.68322171e+00] [ 4.76806621e-02 9.98857414e-01 -3.22806118e-03 -1.51815975e-01] [ 8.43235477e-02 -8.04959159e-04 9.96438102e-01 6.67218600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.084839173 meters 0.07785004717131244 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.15, Z:0.67 [[ 9.94856011e-01 -5.37050677e-02 -8.58911173e-02 8.71217898e+00] [ 5.36202037e-02 9.98555961e-01 -3.29642396e-03 -1.53265609e-01] [ 8.59441219e-02 -1.32603202e-03 9.96299076e-01 6.67048801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.114839173 meters 0.07846534135430162 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.16, Z:0.67 [[ 9.94950338e-01 -5.56187243e-02 -8.35486884e-02 8.73964154e+00] [ 5.55427878e-02 9.98451068e-01 -3.23475025e-03 -1.55945845e-01] [ 8.35991899e-02 -1.42211122e-03 9.96498446e-01 6.73950778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.144839173 meters 0.0783118416301016 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.16, Z:0.68 [[ 9.95129535e-01 -5.53501291e-02 -8.15694245e-02 8.76783354e+00] [ 5.52764552e-02 9.98466078e-01 -3.16286689e-03 -1.56578820e-01] [ 8.16193684e-02 -1.36140637e-03 9.96662644e-01 6.78669177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.174839173 meters 0.07802314646329174 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.15, Z:0.68 [[ 9.95215432e-01 -5.30644549e-02 -8.20390557e-02 8.79669904e+00] [ 5.29801594e-02 9.98590420e-01 -3.20559588e-03 -1.54412246e-01] [ 8.20935183e-02 -1.15618376e-03 9.96623960e-01 6.81193106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.204839173 meters 0.07855668158628605 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.16, Z:0.68 [[ 9.94853032e-01 -5.40068840e-02 -8.57362313e-02 8.82472832e+00] [ 5.39156985e-02 9.98539769e-01 -3.38043014e-03 -1.57978086e-01] [ 8.57936031e-02 -1.25949763e-03 9.96312135e-01 6.80021455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.234839173 meters 0.07938942748189105 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.16, Z:0.68 [[ 9.94693404e-01 -5.93834150e-02 -8.40157262e-02 8.85348709e+00] [ 5.93141752e-02 9.98233836e-01 -3.32217942e-03 -1.64889417e-01] [ 8.40646230e-02 -1.67877355e-03 9.96458891e-01 6.83886625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.264839173 meters 0.08073069150728475 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.17, Z:0.69 [[ 9.94751759e-01 -6.91187735e-02 -7.54422454e-02 8.88292947e+00] [ 6.90904675e-02 9.97605923e-01 -2.98816387e-03 -1.71453514e-01] [ 7.54681691e-02 -2.23985874e-03 9.97145696e-01 6.94502491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.294839173 meters 0.08084394385910224 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.17, Z:0.70 [[ 9.94851163e-01 -6.92577206e-02 -7.39900832e-02 8.91045001e+00] [ 6.92310162e-02 9.97596356e-01 -2.92867291e-03 -1.67930690e-01] [ 7.40150705e-02 -2.20881499e-03 9.97254677e-01 6.99615019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.324839172999999 meters 0.08025277670839992 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.15, Z:0.71 [[ 9.95559165e-01 -6.32655985e-02 -6.97094865e-02 8.93710749e+00] [ 6.32263703e-02 9.97995364e-01 -2.77123740e-03 -1.53137540e-01] [ 6.97450684e-02 -1.64854701e-03 9.97563486e-01 7.09040252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.354839173 meters 0.07961523684710178 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.15, Z:0.71 [[ 9.95567079e-01 -6.08847485e-02 -7.16884870e-02 8.96599987e+00] [ 6.08364932e-02 9.98143652e-01 -2.85841438e-03 -1.46261413e-01] [ 7.17294421e-02 -1.51553289e-03 9.97422975e-01 7.08086676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.384839173 meters 0.079234583249269 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.14, Z:0.71 [[ 9.95892833e-01 -5.60707758e-02 -7.10882124e-02 8.99347514e+00] [ 5.60106975e-02 9.98426130e-01 -2.83978962e-03 -1.36698624e-01] [ 7.11355580e-02 -1.15357423e-03 9.97465990e-01 7.12504118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.414839172999999 meters 0.07937097986679743 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.13, Z:0.71 [[ 9.95736798e-01 -5.73352957e-02 -7.22557414e-02 9.02259771e+00] [ 5.72763999e-02 9.98354181e-01 -2.88853285e-03 -1.34658527e-01] [ 7.23024364e-02 -1.26233029e-03 9.97381955e-01 7.12072004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.444839173 meters 0.0811244860073557 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.14, Z:0.72 [[ 9.95531554e-01 -6.56704717e-02 -6.78551002e-02 9.05232159e+00] [ 6.56359560e-02 9.97839873e-01 -2.74039675e-03 -1.41894827e-01] [ 6.78884876e-02 -1.72558293e-03 9.97691423e-01 7.20070043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.474839173 meters 0.08196077129692196 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.14, Z:0.73 [[ 9.95408658e-01 -6.85536921e-02 -6.67981723e-02 9.07996569e+00] [ 6.85268043e-02 9.97645632e-01 -2.69643944e-03 -1.44151604e-01] [ 6.68257557e-02 -1.89340612e-03 9.97762864e-01 7.27051697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.504839173 meters 0.0820386742084705 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.14, Z:0.73 [[ 9.95100291e-01 -7.09303002e-02 -6.88788986e-02 9.10769588e+00] [ 7.09075468e-02 9.97479023e-01 -2.77829629e-03 -1.41524354e-01] [ 6.89023219e-02 -2.11935028e-03 9.97621160e-01 7.26743934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.534839173 meters 0.08205054923860058 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.14, Z:0.73 [[ 9.94840275e-01 -7.16843395e-02 -7.17926371e-02 9.13701403e+00] [ 7.16596320e-02 9.97424861e-01 -2.92306178e-03 -1.38211646e-01] [ 7.18172988e-02 -2.23665437e-03 9.97415296e-01 7.25786010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.564839173 meters 0.08172410548190559 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.13, Z:0.73 [[ 9.94833551e-01 -7.16443435e-02 -7.19256068e-02 9.16525268e+00] [ 7.16180900e-02 9.97427773e-01 -2.94719964e-03 -1.34665064e-01] [ 7.19517481e-02 -2.21920150e-03 9.97405645e-01 7.28576835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.594839173 meters 0.08149704933568046 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.13, Z:0.73 [[ 9.95204738e-01 -7.02926019e-02 -6.80182333e-02 9.19349734e+00] [ 7.02647036e-02 9.97524436e-01 -2.80545581e-03 -1.30263853e-01] [ 6.80470526e-02 -1.98727809e-03 9.97680134e-01 7.34985428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.624839173 meters 0.08241288646831706 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.13, Z:0.74 [[ 9.95019490e-01 -7.32093628e-02 -6.76506067e-02 9.22208620e+00] [ 7.31866305e-02 9.97314282e-01 -2.81770412e-03 -1.27493333e-01] [ 6.76751986e-02 -2.14744944e-03 9.97705095e-01 7.38916160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.654839173 meters 0.08337533855443643 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.13, Z:0.74 [[ 9.94840310e-01 -7.62559613e-02 -6.69162550e-02 9.24999352e+00] [ 7.62403652e-02 9.97085563e-01 -2.79049597e-03 -1.26736466e-01] [ 6.69340237e-02 -2.32562184e-03 9.97754693e-01 7.43427502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.684839173 meters 0.08521314968151433 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.13, Z:0.74 [[ 9.94180558e-01 -8.27242797e-02 -6.90051605e-02 9.27947413e+00] [ 8.27227830e-02 9.96568424e-01 -2.88416824e-03 -1.29753821e-01] [ 6.90069547e-02 -2.84091493e-03 9.97612134e-01 7.41836693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.714839173 meters 0.08659061078013322 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.13, Z:0.75 [[ 9.94299654e-01 -8.31510082e-02 -6.67391097e-02 9.30668751e+00] [ 8.31503826e-02 9.96533100e-01 -2.79199586e-03 -1.32089648e-01] [ 6.67398891e-02 -2.77330199e-03 9.97766554e-01 7.49039873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.744839172999999 meters 0.08586103360237601 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.13, Z:0.75 [[ 9.94398536e-01 -8.26154039e-02 -6.59260643e-02 9.33400361e+00] [ 8.26137006e-02 9.96577833e-01 -2.75668319e-03 -1.29086423e-01] [ 6.59281987e-02 -2.70515440e-03 9.97820703e-01 7.51082140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.774839173 meters 0.08383936411705772 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.12, Z:0.76 [[ 9.95480483e-01 -7.34662066e-02 -6.01774404e-02 9.36193368e+00] [ 7.34469082e-02 9.97295905e-01 -2.53555893e-03 -1.15073182e-01] [ 6.02009928e-02 -1.89574751e-03 9.98184475e-01 7.59430313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.804839173 meters 0.07973651786982774 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.09, Z:0.76 [[ 9.96170878e-01 -5.82473595e-02 -6.51983644e-02 9.39169595e+00] [ 5.81902908e-02 9.98301651e-01 -2.77556300e-03 -8.75749419e-02] [ 6.52493040e-02 -1.02897674e-03 9.97868463e-01 7.55481335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.834839173 meters 0.07894029751966987 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.07, Z:0.76 [[ 9.96652595e-01 -5.04110223e-02 -6.43609688e-02 9.41884097e+00] [ 5.03393958e-02 9.98728424e-01 -2.73506542e-03 -7.41481191e-02] [ 6.44170063e-02 -5.13982235e-04 9.97922935e-01 7.60877736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.864839173 meters 0.07872025186268686 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.06, Z:0.77 [[ 9.97135790e-01 -4.27251288e-02 -6.24081694e-02 9.44649282e+00] [ 4.26424982e-02 9.99086865e-01 -2.65596300e-03 -5.57814812e-02] [ 6.24646587e-02 -1.28844928e-05 9.98047176e-01 7.65659192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.894839173 meters 0.07895304684193462 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.06, Z:0.77 [[ 9.97048539e-01 -4.57508397e-02 -6.16528334e-02 9.47514178e+00] [ 4.56748974e-02 9.98952865e-01 -2.64128548e-03 -5.55819317e-02] [ 6.17091156e-02 -1.82497012e-04 9.98094160e-01 7.66926632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.924839173 meters 0.08049576986761893 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.07, Z:0.77 [[ 9.96420633e-01 -5.56417410e-02 -6.36389686e-02 9.50269780e+00] [ 5.55792443e-02 9.98450483e-01 -2.75330341e-03 -6.91725980e-02] [ 6.36935576e-02 -7.93557454e-04 9.97969188e-01 7.72256944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.954839173 meters 0.08100207394170222 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.08, Z:0.77 [[ 9.96171118e-01 -6.05320900e-02 -6.30790816e-02 9.53248481e+00] [ 6.04805030e-02 9.98165649e-01 -2.72868149e-03 -7.68192559e-02] [ 6.31285452e-02 -1.09682089e-03 9.98004801e-01 7.70493900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.984839173 meters 0.08154400045234814 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.09, Z:0.77 [[ 9.95948763e-01 -6.43304397e-02 -6.28303730e-02 9.56132601e+00] [ 6.42857071e-02 9.97927786e-01 -2.73534522e-03 -8.70075471e-02] [ 6.28761410e-02 -1.31483127e-03 9.98020472e-01 7.72478645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.014839173 meters 0.08129523422368949 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.09, Z:0.78 [[ 9.96032328e-01 -6.30952077e-02 -6.27582435e-02 9.58967456e+00] [ 6.30469945e-02 9.98006770e-01 -2.75023291e-03 -8.68568660e-02] [ 6.28066784e-02 -1.21739775e-03 9.98024969e-01 7.75132156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.044839173 meters 0.0814782040340982 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.09, Z:0.78 [[ 9.96061850e-01 -6.11811688e-02 -6.41689688e-02 9.61820285e+00] [ 6.11250651e-02 9.98126078e-01 -2.83898236e-03 -9.25767164e-02] [ 6.42224134e-02 -1.09453038e-03 9.97935010e-01 7.77186763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.074839172999999 meters 0.08120208586754724 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.10, Z:0.77 [[ 9.95738340e-01 -6.41821480e-02 -6.62254435e-02 9.64744586e+00] [ 6.41291554e-02 9.97937312e-01 -2.92790027e-03 -9.65756577e-02] [ 6.62767600e-02 -1.33155920e-03 9.97800390e-01 7.74666492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.104839173 meters 0.08233777537217976 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.10, Z:0.78 [[ 9.95318483e-01 -7.11790425e-02 -6.53808887e-02 9.67594700e+00] [ 7.11406730e-02 9.97462025e-01 -2.91775061e-03 -1.04113673e-01] [ 6.54226364e-02 -1.74714931e-03 9.97856115e-01 7.79269267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.134839173 meters 0.08324494490960155 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.11, Z:0.78 [[ 9.95186041e-01 -7.31828405e-02 -6.51844813e-02 9.70305664e+00] [ 7.31488634e-02 9.97316785e-01 -2.91093007e-03 -1.06930782e-01] [ 6.52226075e-02 -1.87125375e-03 9.97868984e-01 7.84420639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.164839172999999 meters 0.0832014977294555 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.11, Z:0.79 [[ 9.95429486e-01 -7.23945149e-02 -6.22830064e-02 9.73131376e+00] [ 7.23615334e-02 9.97374571e-01 -2.78798821e-03 -1.08696035e-01] [ 6.23213219e-02 -1.73164818e-03 9.98054635e-01 7.89968114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.194839173 meters 0.0823893166190826 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.11, Z:0.79 [[ 9.95845995e-01 -6.95944279e-02 -5.87142998e-02 9.75979394e+00] [ 6.95593882e-02 9.97574311e-01 -2.64288671e-03 -1.06110096e-01] [ 5.87558074e-02 -1.45222263e-03 9.98271329e-01 7.94877121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.224839173 meters 0.0831466679635994 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.12, Z:0.80 [[ 9.95887511e-01 -7.06508246e-02 -5.67144300e-02 9.78847749e+00] [ 7.06183551e-02 9.97500074e-01 -2.57897037e-03 -1.15213800e-01] [ 5.67548545e-02 -1.43671537e-03 9.98387110e-01 8.01369675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.254839173 meters 0.08316530433834429 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.12, Z:0.80 [[ 9.95597370e-01 -7.36156895e-02 -5.80224791e-02 9.81721664e+00] [ 7.35866241e-02 9.97285334e-01 -2.64032316e-03 -1.18413029e-01] [ 5.80593367e-02 -1.64097957e-03 9.98311785e-01 8.00320908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.284839173 meters 0.08453254909249615 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.12, Z:0.80 [[ 9.95258892e-01 -7.67836884e-02 -5.96992704e-02 9.84488569e+00] [ 7.67582061e-02 9.97046018e-01 -2.72337575e-03 -1.24739426e-01] [ 5.97320306e-02 -1.87194496e-03 9.98212693e-01 8.04179642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.314839173 meters 0.08347438494619844 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.12, Z:0.80 [[ 9.95291177e-01 -7.42546814e-02 -6.23034084e-02 9.87476361e+00] [ 7.42213899e-02 9.97237711e-01 -2.85175402e-03 -1.24405114e-01] [ 6.23430645e-02 -1.78591996e-03 9.98053181e-01 8.04107914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.344839173 meters 0.08298857848963692 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.13, Z:0.81 [[ 9.95166980e-01 -7.44007422e-02 -6.40875233e-02 9.90353009e+00] [ 7.43662566e-02 9.97226702e-01 -2.92668023e-03 -1.28150097e-01] [ 6.41275366e-02 -1.85341367e-03 9.97939990e-01 8.05060709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.374839173 meters 0.08370914874631175 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.13, Z:0.81 [[ 9.95076378e-01 -7.60295636e-02 -6.35807182e-02 9.93073668e+00] [ 7.59973442e-02 9.97103719e-01 -2.92853928e-03 -1.32517137e-01] [ 6.36192262e-02 -1.91784547e-03 9.97972402e-01 8.09533077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.404839173 meters 0.08404895123809225 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.14, Z:0.82 [[ 9.95118578e-01 -7.58246612e-02 -6.31635751e-02 9.95861829e+00] [ 7.57918967e-02 9.97119388e-01 -2.91806364e-03 -1.40309470e-01] [ 6.32028865e-02 -1.88346782e-03 9.97998922e-01 8.16490187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.434839173 meters 0.08309166754198989 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.14, Z:0.82 [[ 9.95128256e-01 -7.44168944e-02 -6.46674516e-02 9.98739050e+00] [ 7.43790892e-02 9.97225541e-01 -2.99523734e-03 -1.40130076e-01] [ 6.47109307e-02 -1.82926084e-03 9.97902375e-01 8.16466784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.464839173 meters 0.08309166754198989 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.14, Z:0.82 [[ 9.95103476e-01 -7.47473676e-02 -6.46676308e-02 1.00147058e+01] [ 7.47105067e-02 9.97200778e-01 -2.99142323e-03 -1.38625849e-01] [ 6.47102128e-02 -1.85457581e-03 9.97902374e-01 8.19257682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.494839172999999 meters 0.08199569340436164 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.14, Z:0.82 [[ 9.95454334e-01 -6.99837038e-02 -6.45983810e-02 1.00434323e+01] [ 6.99349082e-02 9.97546988e-01 -3.01904559e-03 -1.40427263e-01] [ 6.46512044e-02 -1.51235983e-03 9.97906776e-01 8.23283527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.524839173 meters 0.08278132344777822 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.15, Z:0.82 [[ 9.94834561e-01 -7.40417799e-02 -6.94406971e-02 1.00725885e+01] [ 7.39952801e-02 9.97253311e-01 -3.24518938e-03 -1.46333527e-01] [ 6.94902447e-02 -1.90985728e-03 9.97580803e-01 8.20426154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.554839173 meters 0.08686194525839115 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.17, Z:0.83 [[ 9.94016439e-01 -8.74149961e-02 -6.54976146e-02 1.01021294e+01] [ 8.74007644e-02 9.96168445e-01 -3.08811410e-03 -1.68324889e-01] [ 6.55166043e-02 -2.65490540e-03 9.97847947e-01 8.30333628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.584839172999999 meters 0.08659196436760853 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.17, Z:0.83 [[ 9.93658978e-01 -9.12180015e-02 -6.57351689e-02 1.01318399e+01] [ 9.12119912e-02 9.95826676e-01 -3.09887957e-03 -1.71102130e-01] [ 6.57435083e-02 -2.91660614e-03 9.97832293e-01 8.32287830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.614839173 meters 0.08598989360758674 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.18, Z:0.83 [[ 9.93499051e-01 -8.98409943e-02 -6.99158945e-02 1.01619883e+01] [ 8.98305994e-02 9.95951595e-01 -3.29919665e-03 -1.75088532e-01] [ 6.99292497e-02 -3.00283797e-03 9.97547434e-01 8.32010612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.644839173 meters 0.08729614473936147 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.18, Z:0.84 [[ 9.93758337e-01 -8.66432363e-02 -7.02660393e-02 1.01908316e+01] [ 8.66245514e-02 9.96235501e-01 -3.31878182e-03 -1.79890216e-01] [ 7.02890729e-02 -2.78869703e-03 9.97522766e-01 8.39151447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.674839173 meters 0.08493241199912062 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.18, Z:0.84 [[ 9.93827331e-01 -8.33810744e-02 -7.31767174e-02 1.02214064e+01] [ 8.33517190e-02 9.96514183e-01 -3.46021044e-03 -1.76408701e-01] [ 7.32101528e-02 -2.66055347e-03 9.97312987e-01 8.35215232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.704839173 meters 0.0840997410232653 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.18, Z:0.83 [[ 9.93460003e-01 -8.42580592e-02 -7.70571394e-02 1.02510055e+01] [ 8.42285034e-02 9.96439820e-01 -3.63932673e-03 -1.75216708e-01] [ 7.70894447e-02 -2.87488198e-03 9.97020036e-01 8.33551527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.734839173 meters 0.08385663895838126 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.17, Z:0.84 [[ 9.94315980e-01 -8.13670519e-02 -6.86668461e-02 1.02793731e+01] [ 8.13350561e-02 9.96681464e-01 -3.26629743e-03 -1.68848321e-01] [ 6.87047417e-02 -2.33729006e-03 9.97634300e-01 8.43859246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.764839173 meters 0.08570808261690487 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.18, Z:0.85 [[ 9.94077468e-01 -8.45862286e-02 -6.82287081e-02 1.03079771e+01] [ 8.45620445e-02 9.96412923e-01 -3.24772607e-03 -1.76175716e-01] [ 6.82586794e-02 -2.54106774e-03 9.97664420e-01 8.50418660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.794839173 meters 0.08520060610718294 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.18, Z:0.85 [[ 9.93887484e-01 -8.45401507e-02 -7.09974047e-02 1.03364836e+01] [ 8.45135571e-02 9.96416584e-01 -3.38380797e-03 -1.78365036e-01] [ 7.10290591e-02 -2.63711882e-03 9.97470761e-01 8.52822583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.824839172999999 meters 0.08503162262944676 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.18, Z:0.86 [[ 9.93837095e-01 -8.55461889e-02 -7.04959470e-02 1.03655289e+01] [ 8.55225518e-02 9.96330573e-01 -3.35904386e-03 -1.78353240e-01] [ 7.05246207e-02 -2.69065089e-03 9.97506410e-01 8.55530446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.854839173 meters 0.08615766920050064 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.19, Z:0.86 [[ 9.93595871e-01 -8.87547150e-02 -6.99274305e-02 1.03953551e+01] [ 8.87373600e-02 9.96049390e-01 -3.36070083e-03 -1.85893906e-01] [ 6.99494525e-02 -2.86599711e-03 9.97546420e-01 8.61949517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.884839173 meters 0.08752804181620104 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.19, Z:0.87 [[ 9.93226805e-01 -9.26723684e-02 -7.00881316e-02 1.04241858e+01] [ 9.26644907e-02 9.95691684e-01 -3.37076397e-03 -1.89019063e-01] [ 7.00985465e-02 -3.14674789e-03 9.97535108e-01 8.65379066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.914839172999999 meters 0.08801830089413877 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.19, Z:0.86 [[ 9.92585428e-01 -9.61886434e-02 -7.43095791e-02 1.04529663e+01] [ 9.61893509e-02 9.95356624e-01 -3.57767253e-03 -1.92628674e-01] [ 7.43086632e-02 -3.59664456e-03 9.97228804e-01 8.64121899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.944839173 meters 0.08893036042546673 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.19, Z:0.87 [[ 9.92418340e-01 -9.51595674e-02 -7.77849302e-02 1.04820204e+01] [ 9.51564370e-02 9.95455248e-01 -3.75519454e-03 -1.94945926e-01] [ 7.77887596e-02 -3.67501287e-03 9.96963090e-01 8.65548915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.974839173 meters 0.08595315438693076 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.18, Z:0.87 [[ 9.93423781e-01 -8.77981084e-02 -7.34893362e-02 1.05111014e+01] [ 8.77748789e-02 9.96134004e-01 -3.55193295e-03 -1.81386749e-01] [ 7.35170798e-02 -2.92194292e-03 9.97289678e-01 8.71904904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.004839173 meters 0.08494953659905508 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.17, Z:0.88 [[ 9.94052416e-01 -8.43293347e-02 -6.89083211e-02 1.05382261e+01] [ 8.43011836e-02 9.96434783e-01 -3.32161708e-03 -1.72479450e-01] [ 6.89427578e-02 -2.50719155e-03 9.97617467e-01 8.80374283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.034839173 meters 0.08395179908042125 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.16, Z:0.88 [[ 9.94283502e-01 -8.12407882e-02 -6.92838461e-02 1.05666481e+01] [ 8.12030774e-02 9.96691896e-01 -3.36521385e-03 -1.56525031e-01] [ 6.93280406e-02 -2.28008491e-03 9.97591311e-01 8.81795595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.064839173 meters 0.08418928023696036 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.15, Z:0.88 [[ 9.94262283e-01 -8.20978532e-02 -6.85744516e-02 1.05955809e+01] [ 8.20617275e-02 9.96621624e-01 -3.34840740e-03 -1.51730038e-01] [ 6.86176783e-02 -2.29814277e-03 9.97640382e-01 8.83537803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.094839173 meters 0.08468238073940312 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.15, Z:0.89 [[ 9.94503462e-01 -8.13728761e-02 -6.58886880e-02 1.06222522e+01] [ 8.13363434e-02 9.96681440e-01 -3.24122890e-03 -1.49722524e-01] [ 6.59337806e-02 -2.13573159e-03 9.97821715e-01 8.91471678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.124839173 meters 0.08451840929074163 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.15, Z:0.89 [[ 9.94567921e-01 -8.29236159e-02 -6.29152106e-02 1.06518884e+01] [ 8.28927455e-02 9.96553636e-01 -3.10521649e-03 -1.48234646e-01] [ 6.29558777e-02 -2.12686583e-03 9.98014045e-01 8.92097240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.154839173 meters 0.08461335592544007 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.15, Z:0.89 [[ 9.94181386e-01 -8.56366433e-02 -6.53432293e-02 1.06804593e+01] [ 8.56097229e-02 9.96323555e-01 -3.21704311e-03 -1.47240645e-01] [ 6.53784953e-02 -2.39569137e-03 9.97857662e-01 8.92122842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.184839173 meters 0.0856833908075495 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.15, Z:0.89 [[ 9.93634429e-01 -9.06876725e-02 -6.68308938e-02 1.07099511e+01] [ 9.06687032e-02 9.95875566e-01 -3.32319582e-03 -1.47789680e-01] [ 6.68566271e-02 -2.75742869e-03 9.97758782e-01 8.92295226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.214839173 meters 0.08803161552124072 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.15, Z:0.90 [[ 9.92925098e-01 -9.76207174e-02 -6.76013639e-02 1.07396749e+01] [ 9.76167213e-02 9.95218376e-01 -3.37033504e-03 -1.54804674e-01] [ 6.76071341e-02 -3.25253324e-03 9.97706719e-01 8.96082713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.244839172999999 meters 0.09016293239671729 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.16, Z:0.90 [[ 9.92706438e-01 -1.00245133e-01 -6.69689555e-02 1.07679610e+01] [ 1.00247160e-01 9.94956964e-01 -3.33874129e-03 -1.59021404e-01] [ 6.69659212e-02 -3.39905763e-03 9.97749473e-01 9.01951820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.274839173 meters 0.08976534939099616 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.15, Z:0.91 [[ 9.92906178e-01 -1.00484153e-01 -6.35630077e-02 1.07965879e+01] [ 1.00486157e-01 9.94933396e-01 -3.17344970e-03 -1.52018662e-01] [ 6.35598405e-02 -3.23626453e-03 9.97972782e-01 9.08497543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.304839173 meters 0.08843716760799279 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.14, Z:0.91 [[ 9.93260816e-01 -9.80009207e-02 -6.18770567e-02 1.08250183e+01] [ 9.79984656e-02 9.95181794e-01 -3.08185442e-03 -1.42298613e-01] [ 6.18809449e-02 -3.00277138e-03 9.98079021e-01 9.11503606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.334839172999999 meters 0.08764570610912922 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.13, Z:0.92 [[ 9.93903127e-01 -9.22787617e-02 -6.03423914e-02 1.08531598e+01] [ 9.22642557e-02 9.95729939e-01 -3.03258591e-03 -1.28834462e-01] [ 6.03645689e-02 -2.55334921e-03 9.98173131e-01 9.16346872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.364839173 meters 0.08649488165918064 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.12, Z:0.92 [[ 9.93855311e-01 -9.15846237e-02 -6.21600996e-02 1.08817337e+01] [ 9.15678199e-02 9.95793939e-01 -3.12498114e-03 -1.20144481e-01] [ 6.21848507e-02 -2.58608570e-03 9.98061299e-01 9.15186649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.394839173 meters 0.08942736915166825 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.12, Z:0.92 [[ 9.93113463e-01 -9.94063963e-02 -6.20001382e-02 1.09107184e+01] [ 9.94044003e-02 9.95042212e-01 -3.12438199e-03 -1.15784561e-01] [ 6.20033382e-02 -3.06022074e-03 9.98071251e-01 9.18718191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.424839173 meters 0.09198031119687987 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.12, Z:0.92 [[ 9.92262780e-01 -1.05720291e-01 -6.50983491e-02 1.09414241e+01] [ 1.05731466e-01 9.94389299e-01 -3.28315134e-03 -1.18315859e-01] [ 6.50801975e-02 -3.62519498e-03 9.97873452e-01 9.19762305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.454839173 meters 0.0955856926760276 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.12, Z:0.92 [[ 9.91240881e-01 -1.12163394e-01 -6.97200769e-02 1.09712373e+01] [ 1.12192146e-01 9.93680312e-01 -3.51570003e-03 -1.18767785e-01] [ 6.96738006e-02 -4.33713945e-03 9.97560400e-01 9.17879290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.484839173 meters 0.0918400153458249 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.11, Z:0.92 [[ 9.91151679e-01 -1.13814151e-01 -6.82985176e-02 1.10007843e+01] [ 1.13845605e-01 9.93492484e-01 -3.44430107e-03 -1.05535803e-01] [ 6.82460741e-02 -4.36166126e-03 9.97658984e-01 9.16750468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.514839173 meters 0.09246426773479043 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.10, Z:0.92 [[ 9.91527394e-01 -1.10376979e-01 -6.84861229e-02 1.10291110e+01] [ 1.10400244e-01 9.93881199e-01 -3.45674069e-03 -9.73203418e-02] [ 6.84486145e-02 -4.13343157e-03 9.97646080e-01 9.21093693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.544839173 meters 0.0917157643793225 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.09, Z:0.92 [[ 9.91524939e-01 -1.10163725e-01 -6.88639861e-02 1.10580752e+01] [ 1.10187051e-01 9.93904806e-01 -3.47128447e-03 -8.89806561e-02] [ 6.88266564e-02 -4.14605445e-03 9.97620019e-01 9.22444128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.574839172999999 meters 0.09313990809617864 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.09, Z:0.93 [[ 9.91382953e-01 -1.10937403e-01 -6.96615657e-02 1.10852917e+01] [ 1.10961460e-01 9.93818419e-01 -3.53615631e-03 -8.55887657e-02] [ 6.96232391e-02 -4.22406397e-03 9.97564415e-01 9.25882090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.604839173 meters 0.09316489147175566 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.08, Z:0.93 [[ 9.91061887e-01 -1.12615172e-01 -7.15133546e-02 1.11133716e+01] [ 1.12644736e-01 9.93628688e-01 -3.63233350e-03 -7.76147411e-02] [ 7.14667765e-02 -4.45573568e-03 9.97433028e-01 9.28132986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.634839173 meters 0.09137106839063867 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.07, Z:0.93 [[ 9.91254463e-01 -1.11488641e-01 -7.06036299e-02 1.11414884e+01] [ 1.11513206e-01 9.93756410e-01 -3.60588342e-03 -6.79019020e-02] [ 7.05648249e-02 -4.29888912e-03 9.97497932e-01 9.31434740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.664839172999999 meters 0.09164060773053419 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.06, Z:0.94 [[ 9.91809688e-01 -1.08387174e-01 -6.75704291e-02 1.11681034e+01] [ 1.08400782e-01 9.94101196e-01 -3.47598370e-03 -5.77164623e-02] [ 6.75485964e-02 -3.87717305e-03 9.97708452e-01 9.39443150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.694839173 meters 0.09052723527284687 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.05, Z:0.94 [[ 9.91727152e-01 -1.07878885e-01 -6.95658137e-02 1.11973622e+01] [ 1.07891923e-01 9.94156180e-01 -3.58092631e-03 -5.27315550e-02] [ 6.95455899e-02 -3.95428759e-03 9.97570937e-01 9.39172850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.724839173 meters 0.09042371061983322 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.05, Z:0.94 [[ 9.91711106e-01 -1.08387347e-01 -6.90019190e-02 1.12259237e+01] [ 1.08400175e-01 9.94100931e-01 -3.56954148e-03 -5.10044395e-02] [ 6.89817650e-02 -3.93986614e-03 9.97610141e-01 9.41945964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.754839173 meters 0.09108687111754593 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.05, Z:0.95 [[ 9.91753806e-01 -1.09781379e-01 -6.61244006e-02 1.12552225e+01] [ 1.09794455e-01 9.93948336e-01 -3.44729676e-03 -5.06238442e-02] [ 6.61026869e-02 -3.84122287e-03 9.97805432e-01 9.47937034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.784839173 meters 0.09043542970142333 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.04, Z:0.95 [[ 9.91623170e-01 -1.11095656e-01 -6.58881152e-02 1.12836350e+01] [ 1.11111935e-01 9.93801983e-01 -3.42875743e-03 -4.47231818e-02] [ 6.58606596e-02 -3.92092065e-03 9.97821126e-01 9.51953136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.814839173 meters 0.09242023600378368 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.05, Z:0.95 [[ 9.91341237e-01 -1.09467642e-01 -7.25216301e-02 1.13131972e+01] [ 1.09480795e-01 9.93981626e-01 -3.80572584e-03 -4.82505958e-02] [ 7.25017716e-02 -4.16695277e-03 9.97359579e-01 9.52458772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.844839173 meters 0.0917269522295628 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.05, Z:0.95 [[ 9.90990672e-01 -1.11380782e-01 -7.43761366e-02 1.13424102e+01] [ 1.11400340e-01 9.93767964e-01 -3.89849763e-03 -4.69461491e-02] [ 7.43468396e-02 -4.42215211e-03 9.97222639e-01 9.51229699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.874839173 meters 0.09048367391269602 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.04, Z:0.96 [[ 9.91087810e-01 -1.11465547e-01 -7.29409672e-02 1.13709528e+01] [ 1.11483099e-01 9.93758898e-01 -3.84336647e-03 -4.23180296e-02] [ 7.29141381e-02 -4.32257142e-03 9.97328854e-01 9.55544386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.904839173 meters 0.09091838609415581 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.04, Z:0.96 [[ 9.90790271e-01 -1.13566871e-01 -7.37373982e-02 1.13998106e+01] [ 1.13588993e-01 9.93520143e-01 -3.90717204e-03 -4.26001819e-02] [ 7.37033157e-02 -4.50456880e-03 9.97270039e-01 9.57222102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.934839173 meters 0.09103543444436693 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.04, Z:0.96 [[ 9.90857335e-01 -1.13683250e-01 -7.26488844e-02 1.14281478e+01] [ 1.13703501e-01 9.93507189e-01 -3.87037186e-03 -4.16504045e-02] [ 7.26171854e-02 -4.42544616e-03 9.97350069e-01 9.62412520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.964839173 meters 0.08957549861796679 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.03, Z:0.97 [[ 9.91597592e-01 -1.09555881e-01 -6.87875333e-02 1.14547702e+01] [ 1.09562366e-01 9.93973074e-01 -3.68987186e-03 -2.95186760e-02] [ 6.87772031e-02 -3.87765685e-03 9.97624509e-01 9.72862265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.994839172999999 meters 0.08864008406734623 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.02, Z:0.97 [[ 9.91654379e-01 -1.07021588e-01 -7.18886141e-02 1.14846126e+01] [ 1.07021493e-01 9.94249198e-01 -3.86425033e-03 -2.27876819e-02] [ 7.18887551e-02 -3.86162604e-03 9.97405181e-01 9.73398058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.024839173 meters 0.08663956590209435 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.01, Z:0.98 [[ 9.91960890e-01 -1.04574641e-01 -7.12582447e-02 1.15126929e+01] [ 1.04568287e-01 9.94510335e-01 -3.82987521e-03 -8.84911586e-03] [ 7.12675686e-02 -3.65226614e-03 9.97450547e-01 9.76111111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.054839173 meters 0.08746275355520738 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.01, Z:0.98 [[ 9.91544346e-01 -1.07194960e-01 -7.31371976e-02 1.15416366e+01] [ 1.07195348e-01 9.94230206e-01 -3.93132223e-03 -5.47830545e-03] [ 7.31366289e-02 -3.94188704e-03 9.97314141e-01 9.76057457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.084839172999999 meters 0.08836576390837922 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.00, Z:0.97 [[ 9.90761600e-01 -1.10952775e-01 -7.79803371e-02 1.15705385e+01] [ 1.10962903e-01 9.93815604e-01 -4.21663941e-03 -8.67289752e-04] [ 7.79659236e-02 -4.47524019e-03 9.96945980e-01 9.72213985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.114839173 meters 0.08924591254334698 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.00, Z:0.97 [[ 9.90710006e-01 -1.11764784e-01 -7.74746239e-02 1.15981346e+01] [ 1.11775125e-01 9.93724581e-01 -4.21658233e-03 -9.55316223e-04] [ 7.74597036e-02 -4.48232546e-03 9.96985408e-01 9.74778887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.144839173 meters 0.08684007382693502 Centerline is valid? [True, True] Translation: X:11.63, Y:0.02, Z:0.99 [[ 9.92410964e-01 -1.02951719e-01 -6.72415179e-02 1.16264462e+01] [ 1.02938667e-01 9.94680942e-01 -3.66813506e-03 1.55197186e-02] [ 6.72614971e-02 -3.28145479e-03 9.97729985e-01 9.87693863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.174839173 meters 0.0844356771861178 Centerline is valid? [True, True] Translation: X:11.66, Y:0.03, Z:0.99 [[ 9.93112603e-01 -9.61319828e-02 -6.69776031e-02 1.16560523e+01] [ 9.61034431e-02 9.95364640e-01 -3.65548975e-03 2.78465770e-02] [ 6.70185472e-02 -2.80646532e-03 9.97747783e-01 9.91123582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.204839173 meters 0.08324228816702471 Centerline is valid? [True, True] Translation: X:11.68, Y:0.04, Z:1.00 [[ 9.93699514e-01 -9.03563392e-02 -6.63099381e-02 1.16836816e+01] [ 9.03155616e-02 9.95906625e-01 -3.61857026e-03 4.28826773e-02] [ 6.63654674e-02 -2.39304780e-03 9.97792513e-01 9.96455285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.234839173 meters 0.08402174677744528 Centerline is valid? [True, True] Translation: X:11.71, Y:0.04, Z:1.00 [[ 9.93183890e-01 -9.46860185e-02 -6.79729194e-02 1.17127667e+01] [ 9.46536489e-02 9.95503374e-01 -3.70400004e-03 4.34578573e-02] [ 6.80179876e-02 -2.75513168e-03 9.97680291e-01 9.98370111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.264839173 meters 0.08619618727195621 Centerline is valid? [True, True] Translation: X:11.74, Y:0.04, Z:1.00 [[ 9.92058772e-01 -1.03346701e-01 -7.16857897e-02 1.17428687e+01] [ 1.03331095e-01 9.94639227e-01 -3.93612424e-03 4.13360300e-02] [ 7.17082839e-02 -3.50250455e-03 9.97419498e-01 9.97429110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.294839173 meters 0.08742304492011826 Centerline is valid? [True, True] Translation: X:11.77, Y:0.04, Z:1.00 [[ 9.91805686e-01 -1.04322157e-01 -7.37452961e-02 1.17710057e+01] [ 1.04308322e-01 9.94536764e-01 -4.04952585e-03 4.10215858e-02] [ 7.37648635e-02 -3.67590536e-03 9.97268887e-01 9.98745623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.324839172999999 meters 0.08435721733270114 Centerline is valid? [True, True] Translation: X:11.80, Y:0.06, Z:1.00 [[ 9.92359555e-01 -9.54380307e-02 -7.81926850e-02 1.18002933e+01] [ 9.53942216e-02 9.95430268e-01 -4.30394730e-03 5.70540735e-02] [ 7.82461257e-02 -3.18806710e-03 9.96928974e-01 9.95991524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.354839173 meters 0.08263081238431802 Centerline is valid? [True, True] Translation: X:11.83, Y:0.07, Z:1.00 [[ 9.92550295e-01 -9.32990830e-02 -7.83529999e-02 1.18284729e+01] [ 9.32483659e-02 9.95633533e-01 -4.31384376e-03 7.14041027e-02] [ 7.84133518e-02 -3.02458231e-03 9.96916345e-01 9.96493204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.384839173 meters 0.08263081238431802 Centerline is valid? [True, True] Translation: X:11.86, Y:0.07, Z:1.00 [[ 9.92519300e-01 -9.36282695e-02 -7.83529587e-02 1.18557370e+01] [ 9.35785143e-02 9.95602554e-01 -4.31461359e-03 7.31214920e-02] [ 7.84123756e-02 -3.04981621e-03 9.96916345e-01 9.99281133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.414839172999999 meters 0.08410539791649045 Centerline is valid? [True, True] Translation: X:11.88, Y:0.08, Z:1.01 [[ 9.92687620e-01 -9.46956244e-02 -7.48600588e-02 1.18832425e+01] [ 9.46509532e-02 9.95501861e-01 -4.15229394e-03 8.42464238e-02] [ 7.49165320e-02 -2.96364514e-03 9.97185404e-01 1.00557761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.444839173 meters 0.08270052759939288 Centerline is valid? [True, True] Translation: X:11.91, Y:0.10, Z:1.01 [[ 9.92970126e-01 -9.39840811e-02 -7.19536084e-02 1.19116099e+01] [ 9.39409250e-02 9.95569773e-01 -3.99115788e-03 9.68254937e-02] [ 7.20099429e-02 -2.79628799e-03 9.97399994e-01 1.00849151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.474839173 meters 0.08061059249472062 Centerline is valid? [True, True] Translation: X:11.94, Y:0.12, Z:1.02 [[ 9.94252047e-01 -8.30424382e-02 -6.75782525e-02 1.19385400e+01] [ 8.29773333e-02 9.96544286e-01 -3.77464320e-03 1.23536479e-01] [ 6.76581770e-02 -1.85451646e-03 9.97706837e-01 1.01692043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.504839173 meters 0.07882524009149691 Centerline is valid? [True, True] Translation: X:11.97, Y:0.14, Z:1.02 [[ 9.94534393e-01 -7.70540517e-02 -7.04557610e-02 1.19681229e+01] [ 7.69680720e-02 9.97025780e-01 -3.93837611e-03 1.37573608e-01] [ 7.05496779e-02 -1.50599360e-03 9.97507130e-01 1.01527734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.534839173 meters 0.07851558051275258 Centerline is valid? [True, True] Translation: X:12.00, Y:0.15, Z:1.01 [[ 9.94543086e-01 -7.43605843e-02 -7.31748157e-02 1.19972924e+01] [ 7.42603219e-02 9.97230488e-01 -4.09364984e-03 1.53361491e-01] [ 7.32765634e-02 -1.36267423e-03 9.97310728e-01 1.01368387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.564839173 meters 0.07858863506497812 Centerline is valid? [True, True] Translation: X:12.03, Y:0.16, Z:1.02 [[ 9.94515500e-01 -7.40291402e-02 -7.38823859e-02 1.20251300e+01] [ 7.39262806e-02 9.97255158e-01 -4.12967331e-03 1.61561012e-01] [ 7.39853067e-02 -1.35482587e-03 9.97258411e-01 1.01634399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.594839173 meters 0.07964433584545053 Centerline is valid? [True, True] Translation: X:12.05, Y:0.16, Z:1.02 [[ 9.94205739e-01 -7.92432742e-02 -7.26323083e-02 1.20534398e+01] [ 7.91558766e-02 9.96853879e-01 -4.08548950e-03 1.64940802e-01] [ 7.27275458e-02 -1.68745693e-03 9.97350418e-01 1.01990027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.624839173 meters 0.08108603157141052 Centerline is valid? [True, True] Translation: X:12.08, Y:0.16, Z:1.02 [[ 9.93853456e-01 -8.40414262e-02 -7.20579411e-02 1.20832704e+01] [ 8.39674885e-02 9.96460223e-01 -4.06006048e-03 1.63935004e-01] [ 7.21440853e-02 -2.01541920e-03 9.97392184e-01 1.01747670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.654839173 meters 0.08212414429465179 Centerline is valid? [True, True] Translation: X:12.11, Y:0.16, Z:1.02 [[ 9.93190060e-01 -9.34099173e-02 -6.96282370e-02 1.21141102e+01] [ 9.33634258e-02 9.95624344e-01 -3.92888224e-03 1.58635496e-01] [ 6.96905644e-02 -2.59860396e-03 9.97565272e-01 1.02213909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.684839173 meters 0.083387750554764 Centerline is valid? [True, True] Translation: X:12.14, Y:0.16, Z:1.02 [[ 9.92973557e-01 -9.48078770e-02 -7.08165361e-02 1.21415341e+01] [ 9.47636123e-02 9.95491799e-01 -3.99204615e-03 1.57021649e-01] [ 7.08757583e-02 -2.74683451e-03 9.97481369e-01 1.02435278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.714839173 meters 0.08286845102099763 Centerline is valid? [True, True] Translation: X:12.17, Y:0.16, Z:1.02 [[ 9.92802694e-01 -9.44544921e-02 -7.36285225e-02 1.21704622e+01] [ 9.44046546e-02 9.95525197e-01 -4.16457405e-03 1.59560288e-01] [ 7.36924121e-02 -2.81627490e-03 9.97277041e-01 1.02223643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.744839172999999 meters 0.08333284477101839 Centerline is valid? [True, True] Translation: X:12.20, Y:0.16, Z:1.02 [[ 9.92351179e-01 -9.74201355e-02 -7.58185624e-02 1.21993631e+01] [ 9.73758350e-02 9.95238436e-01 -4.28969726e-03 1.62500878e-01] [ 7.58754504e-02 -3.12600968e-03 9.97112403e-01 1.02146554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.774839173 meters 0.07516822291913819 Centerline is valid? [True, True] Translation: X:12.23, Y:0.24, Z:1.00 [[ 9.89640247e-01 -8.81876430e-02 -1.13292192e-01 1.22276299e+01] [ 8.80242331e-02 9.96097427e-01 -6.45375787e-03 2.37452473e-01] [ 1.13419202e-01 -3.58555976e-03 9.93540753e-01 9.96707751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.804839173 meters 0.08952535814294627 Centerline is valid? [True, True] Translation: X:12.26, Y:0.18, Z:1.00 [[ 9.92716480e-01 -1.04458541e-01 -6.00200306e-02 1.22590958e+01] [ 1.04441945e-01 9.94525097e-01 -3.42220141e-03 1.81046833e-01] [ 6.00489049e-02 -2.87133301e-03 9.98191307e-01 1.00440681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.834839172999999 meters 0.08202688720160609 Centerline is valid? [True, True] Translation: X:12.28, Y:0.19, Z:1.04 [[ 9.92229307e-01 -9.32617607e-02 -8.23604683e-02 1.22840102e+01] [ 9.31923528e-02 9.95637054e-01 -4.69498351e-03 1.92715806e-01] [ 8.24389964e-02 -3.01686558e-03 9.96591546e-01 1.04099516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.864839173 meters 0.08279122182438839 Centerline is valid? [True, True] Translation: X:12.31, Y:0.20, Z:1.05 [[ 9.92451198e-01 -9.63981572e-02 -7.58156680e-02 1.23139725e+01] [ 9.63481989e-02 9.95338294e-01 -4.32485689e-03 1.97156865e-01] [ 7.58791459e-02 -3.01249367e-03 9.97112471e-01 1.04700641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.894839173 meters 0.08421205208390722 Centerline is valid? [True, True] Translation: X:12.34, Y:0.19, Z:1.05 [[ 9.92332113e-01 -9.82441856e-02 -7.50003888e-02 1.23418091e+01] [ 9.82007855e-02 9.95157439e-01 -4.27516706e-03 1.93333705e-01] [ 7.50572051e-02 -3.12271153e-03 9.97174340e-01 1.04580526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.924839173 meters 0.08696461855930271 Centerline is valid? [True, True] Translation: X:12.37, Y:0.19, Z:1.04 [[ 9.91850404e-01 -1.01953522e-01 -7.64084755e-02 1.23702710e+01] [ 1.01918676e-01 9.94783155e-01 -4.36556824e-03 1.93638430e-01] [ 7.64549493e-02 -3.45746003e-03 9.97067042e-01 1.04395387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.954839173 meters 0.08418292609712055 Centerline is valid? [True, True] Translation: X:12.40, Y:0.21, Z:1.05 [[ 9.92177138e-01 -9.80353816e-02 -7.72890048e-02 1.23988847e+01] [ 9.79872323e-02 9.95177837e-01 -4.42426941e-03 2.05261553e-01] [ 7.73500396e-02 -3.18367671e-03 9.96998915e-01 1.04830665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.984839173 meters 0.08342002258887612 Centerline is valid? [True, True] Translation: X:12.43, Y:0.21, Z:1.04 [[ 9.91832013e-01 -9.77788720e-02 -8.19057413e-02 1.24287091e+01] [ 9.77238296e-02 9.95202520e-01 -4.69023388e-03 2.10297838e-01] [ 8.19714059e-02 -3.35221860e-03 9.96629044e-01 1.04337080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.014839173 meters 0.08408654720753926 Centerline is valid? [True, True] Translation: X:12.46, Y:0.23, Z:1.05 [[ 9.92218132e-01 -9.56248852e-02 -7.97437123e-02 1.24557301e+01] [ 9.55651902e-02 9.95412667e-01 -4.57349565e-03 2.27891515e-01] [ 7.98152413e-02 -3.08281772e-03 9.96804907e-01 1.04872125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.044839173 meters 0.0811312289173245 Centerline is valid? [True, True] Translation: X:12.49, Y:0.24, Z:1.04 [[ 9.91823092e-01 -9.50961930e-02 -8.51097379e-02 1.24850798e+01] [ 9.50240699e-02 9.95462879e-01 -4.90734899e-03 2.38745726e-01] [ 8.51902550e-02 -3.22025164e-03 9.96359499e-01 1.04471105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.074839172999999 meters 0.08197674282934254 Centerline is valid? [True, True] Translation: X:12.52, Y:0.23, Z:1.03 [[ 9.89558306e-01 -1.14951871e-01 -8.69507142e-02 1.25171415e+01] [ 1.14950332e-01 9.93358447e-01 -5.04143954e-03 2.29226134e-01] [ 8.69527494e-02 -5.00621509e-03 9.96199858e-01 1.03117815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.104839173 meters 0.07993187674127046 Centerline is valid? [True, True] Translation: X:12.54, Y:0.26, Z:1.06 [[ 9.93103855e-01 -8.34669867e-02 -8.23285830e-02 1.25418136e+01] [ 8.33574971e-02 9.96508281e-01 -4.77223930e-03 2.58323146e-01] [ 8.24394392e-02 -2.12337538e-03 9.96593814e-01 1.05908728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.134839173 meters 0.07958438163526313 Centerline is valid? [True, True] Translation: X:12.57, Y:0.25, Z:1.07 [[ 9.92807527e-01 -8.74704708e-02 -8.17443080e-02 1.25701157e+01] [ 8.73757817e-02 9.96164137e-01 -4.74176607e-03 2.49902200e-01] [ 8.18455126e-02 -2.43481177e-03 9.96642054e-01 1.06709678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.164839172999999 meters 0.08069753129529918 Centerline is valid? [True, True] Translation: X:12.60, Y:0.25, Z:1.07 [[ 9.92455181e-01 -9.00182356e-02 -8.32431994e-02 1.25986747e+01] [ 8.99288792e-02 9.95936478e-01 -4.82997226e-03 2.50683516e-01] [ 8.33397244e-02 -2.69243663e-03 9.96517557e-01 1.06731388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.194839173 meters 0.0804388432659557 Centerline is valid? [True, True] Translation: X:12.63, Y:0.26, Z:1.06 [[ 9.92161004e-01 -8.91445715e-02 -8.75773215e-02 1.26275649e+01] [ 8.90398097e-02 9.96014961e-01 -5.10976934e-03 2.56279943e-01] [ 8.76838307e-02 -2.72815416e-03 9.96144620e-01 1.06382707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.224839173 meters 0.08156340775254113 Centerline is valid? [True, True] Translation: X:12.65, Y:0.26, Z:1.08 [[ 9.92860043e-01 -8.65875742e-02 -8.20458859e-02 1.26537396e+01] [ 8.64864935e-02 9.96241499e-01 -4.79184457e-03 2.63766760e-01] [ 8.21524306e-02 -2.33822997e-03 9.96617033e-01 1.07521386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.254839172999999 meters 0.08065455743601863 Centerline is valid? [True, True] Translation: X:12.68, Y:0.27, Z:1.08 [[ 9.93160242e-01 -8.58666186e-02 -7.91180011e-02 1.26820193e+01] [ 8.57696348e-02 9.96304239e-01 -4.62960217e-03 2.69803981e-01] [ 7.92231281e-02 -2.18798525e-03 9.96854507e-01 1.08119411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.284839173 meters 0.08136784690683138 Centerline is valid? [True, True] Translation: X:12.71, Y:0.28, Z:1.08 [[ 9.92422476e-01 -8.71673470e-02 -8.65995504e-02 1.27114693e+01] [ 8.70535694e-02 9.96190594e-01 -5.09670339e-03 2.76102469e-01] [ 8.67139236e-02 -2.48071697e-03 9.96230165e-01 1.07551134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.314839173 meters 0.08085608107867812 Centerline is valid? [True, True] Translation: X:12.74, Y:0.29, Z:1.07 [[ 9.92178988e-01 -8.65758935e-02 -8.99192416e-02 1.27397999e+01] [ 8.64503669e-02 9.96242076e-01 -5.29709070e-03 2.89468285e-01] [ 9.00399323e-02 -2.51788934e-03 9.95934973e-01 1.07356785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.344839173 meters 0.0845122223777508 Centerline is valid? [True, True] Translation: X:12.77, Y:0.29, Z:1.07 [[ 9.92123896e-01 -8.82810502e-02 -8.88629880e-02 1.27673873e+01] [ 8.81628895e-02 9.96092175e-01 -5.26151423e-03 2.91517245e-01] [ 8.89802190e-02 -2.61434380e-03 9.96029962e-01 1.07470131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.374839173 meters 0.0857577854731844 Centerline is valid? [True, True] Translation: X:12.80, Y:0.29, Z:1.07 [[ 9.92679697e-01 -8.83364530e-02 -8.23631590e-02 1.27967800e+01] [ 8.82344340e-02 9.96087759e-01 -4.88480806e-03 2.92519769e-01] [ 8.24724411e-02 -2.41821693e-03 9.96590412e-01 1.06984004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.404839173 meters 0.08222749313872456 Centerline is valid? [True, True] Translation: X:12.82, Y:0.30, Z:1.07 [[ 9.91720225e-01 -9.19233635e-02 -8.96721281e-02 1.28237328e+01] [ 9.18168583e-02 9.95761695e-01 -5.32081573e-03 3.04992847e-01] [ 8.97811776e-02 -2.95665251e-03 9.95957127e-01 1.06999950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.434839173 meters 0.08169830235388885 Centerline is valid? [True, True] Translation: X:12.85, Y:0.31, Z:1.08 [[ 9.91582597e-01 -9.06045715e-02 -9.24919686e-02 1.28517569e+01] [ 9.04827217e-02 9.95882735e-01 -5.51870831e-03 3.13046248e-01] [ 9.26111748e-02 -2.89666993e-03 9.95698137e-01 1.07622453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.464839173 meters 0.07995735333542077 Centerline is valid? [True, True] Translation: X:12.88, Y:0.35, Z:1.04 [[ 9.91065251e-01 -7.14994316e-02 -1.12594405e-01 1.28823480e+01] [ 7.11920903e-02 9.97439763e-01 -6.75317085e-03 3.47548008e-01] [ 1.12788985e-01 -1.32299811e-03 9.93618083e-01 1.04446200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.494839172999999 meters 0.08054262860972226 Centerline is valid? [True, True] Translation: X:12.91, Y:0.34, Z:1.06 [[ 9.90932324e-01 -8.88629048e-02 -1.00779527e-01 1.29124016e+01] [ 8.87059409e-02 9.96039504e-01 -6.04665871e-03 3.37185277e-01] [ 1.00917713e-01 -2.94791317e-03 9.94890408e-01 1.05776643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.524839173 meters 0.07856129833667798 Centerline is valid? [True, True] Translation: X:12.94, Y:0.34, Z:1.09 [[ 9.92128524e-01 -7.45948405e-02 -1.00581316e-01 1.29396368e+01] [ 7.43650870e-02 9.97212810e-01 -6.03697144e-03 3.36466970e-01] [ 1.00751304e-01 -1.49028678e-03 9.94910526e-01 1.09098357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.554839173 meters 0.07852328848281943 Centerline is valid? [True, True] Translation: X:12.97, Y:0.35, Z:1.09 [[ 9.92893405e-01 -7.13036128e-02 -9.52810632e-02 1.29682156e+01] [ 7.10824038e-02 9.97454057e-01 -5.71811279e-03 3.46658958e-01] [ 9.54462051e-02 -1.09533053e-03 9.95433987e-01 1.09298323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.584839172999999 meters 0.0784935416658328 Centerline is valid? [True, True] Translation: X:12.99, Y:0.36, Z:1.10 [[ 9.93831452e-01 -6.44479551e-02 -9.02524570e-02 1.29945361e+01] [ 6.42190945e-02 9.97920994e-01 -5.44042171e-03 3.62476406e-01] [ 9.04154457e-02 -3.89068861e-04 9.95904060e-01 1.09798052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.614839173 meters 0.07843637185164108 Centerline is valid? [True, True] Translation: X:13.02, Y:0.37, Z:1.09 [[ 9.93198674e-01 -6.30203702e-02 -9.79021276e-02 1.30228057e+01] [ 6.27430141e-02 9.98012204e-01 -5.91223312e-03 3.69323499e-01] [ 9.80801093e-02 -2.70652475e-04 9.95178486e-01 1.09155168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.644839173 meters 0.07832778982096542 Centerline is valid? [True, True] Translation: X:13.05, Y:0.38, Z:1.09 [[ 9.93286422e-01 -6.32108933e-02 -9.68837755e-02 1.30509525e+01] [ 6.29393733e-02 9.98000153e-01 -5.85914617e-03 3.78255831e-01] [ 9.70603847e-02 -2.77993775e-04 9.95278456e-01 1.08902661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.674839173 meters 0.07760374967359386 Centerline is valid? [True, True] Translation: X:13.08, Y:0.38, Z:1.09 [[ 9.93540458e-01 -6.82679276e-02 -9.06468380e-02 1.30783113e+01] [ 6.80484981e-02 9.97666784e-01 -5.51268945e-03 3.83529112e-01] [ 9.08116793e-02 -6.91301190e-04 9.95867843e-01 1.09057787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.704839173 meters 0.07667612957812116 Centerline is valid? [True, True] Translation: X:13.11, Y:0.39, Z:1.09 [[ 9.93453496e-01 -6.72598087e-02 -9.23378011e-02 1.31071870e+01] [ 6.70270134e-02 9.97735313e-01 -5.62354229e-03 3.92675759e-01] [ 9.25069233e-02 -6.02399284e-04 9.95711859e-01 1.08939350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.734839173 meters 0.07808310029295251 Centerline is valid? [True, True] Translation: X:13.14, Y:0.40, Z:1.08 [[ 9.92345678e-01 -7.01526923e-02 -1.01629987e-01 1.31370724e+01] [ 6.98823217e-02 9.97535834e-01 -6.22261658e-03 3.97867139e-01] [ 1.01816087e-01 -9.27152739e-04 9.94802807e-01 1.08131696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.764839173 meters 0.07713515051554047 Centerline is valid? [True, True] Translation: X:13.16, Y:0.41, Z:1.09 [[ 9.93561148e-01 -6.43719290e-02 -9.32335801e-02 1.31621756e+01] [ 6.41166158e-02 9.97925937e-01 -5.73440582e-03 4.08750615e-01] [ 9.34093426e-02 -2.80338802e-04 9.95627750e-01 1.09186169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.794839173 meters 0.07822299838836859 Centerline is valid? [True, True] Translation: X:13.19, Y:0.42, Z:1.10 [[ 9.93711546e-01 -6.07901999e-02 -9.40314605e-02 1.31890995e+01] [ 6.05130508e-02 9.98150563e-01 -5.79864414e-03 4.20973895e-01] [ 9.42100560e-02 7.20490893e-05 9.95552339e-01 1.09764926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.824839172999999 meters 0.07825862452175839 Centerline is valid? [True, True] Translation: X:13.22, Y:0.43, Z:1.10 [[ 9.94336929e-01 -5.72265201e-02 -8.95499666e-02 1.32168510e+01] [ 5.69601750e-02 9.98361141e-01 -5.52907475e-03 4.34224519e-01] [ 8.97196165e-02 3.96981441e-04 9.95966984e-01 1.09813639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.854839173 meters 0.08174503551845447 Centerline is valid? [True, True] Translation: X:13.26, Y:0.44, Z:1.00 [[ 9.75620538e-01 -1.11742576e-01 -1.88886637e-01 1.32566061e+01] [ 1.11542215e-01 9.93690527e-01 -1.17248282e-02 4.43747320e-01] [ 1.89005025e-01 -9.62985071e-03 9.81928901e-01 1.00289718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.884839173 meters 0.0942019337275561 Centerline is valid? [True, True] Translation: X:13.29, Y:0.43, Z:1.01 [[ 0.94400386 -0.13545047 -0.30084862 13.28621392] [ 0.13616772 0.99050953 -0.01868755 0.43461568] [ 0.30052466 -0.02332475 0.9534888 1.01026751] [ 0. 0. 0. 1. ]] SLAMing on 13.914839172999999 meters 0.058730061346662976 Centerline is valid? [True, True] Translation: X:13.33, Y:0.44, Z:0.90 [[ 9.89823080e-01 -7.78978897e-02 -1.19088996e-01 1.33269141e+01] [ 7.75690876e-02 9.96959509e-01 -7.40092480e-03 4.39581663e-01] [ 1.19303424e-01 -1.91201861e-03 9.92856000e-01 8.95896832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.944839173 meters 0.087514126437516 Centerline is valid? [True, True] Translation: X:13.34, Y:0.44, Z:1.07 [[ 0.95156738 -0.11436586 -0.2853769 13.33905394] [ 0.11405642 0.99331547 -0.0177625 0.44450355] [ 0.28550072 -0.01564686 0.95825076 1.06951105] [ 0. 0. 0. 1. ]] SLAMing on 13.974839173 meters 0.07525873585109893 Centerline is valid? [True, True] Translation: X:13.36, Y:0.45, Z:1.11 [[ 9.93719128e-01 -6.44130698e-02 -9.15054725e-02 1.33641553e+01] [ 6.41610934e-02 9.97923300e-01 -5.69580558e-03 4.47136735e-01] [ 9.16823274e-02 -2.11060219e-04 9.95788284e-01 1.10747477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.004839172999999 meters 0.07713060151921303 Centerline is valid? [True, True] Translation: X:13.39, Y:0.45, Z:1.12 [[ 9.94914733e-01 -5.89111486e-02 -8.16954710e-02 1.33922752e+01] [ 5.86914592e-02 9.98263194e-01 -5.09004745e-03 4.54688998e-01] [ 8.18534424e-02 2.69336801e-04 9.96644340e-01 1.11569514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.034839173 meters 0.07794229162306943 Centerline is valid? [True, True] Translation: X:13.42, Y:0.46, Z:1.11 [[ 9.94399390e-01 -5.97678574e-02 -8.71645370e-02 1.34217827e+01] [ 5.95207513e-02 9.98212281e-01 -5.43352262e-03 4.57984018e-01] [ 8.73334612e-02 2.14992854e-04 9.96179111e-01 1.11361704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.064839173 meters 0.08441819283968363 Centerline is valid? [True, True] Translation: X:13.46, Y:0.46, Z:1.05 [[ 9.74671193e-01 -1.04961652e-01 -1.97481943e-01 1.34583716e+01] [ 1.04584007e-01 9.94439116e-01 -1.23705163e-02 4.57220806e-01] [ 1.97682199e-01 -8.59626711e-03 9.80228469e-01 1.05047888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.094839173 meters 0.07837768372425297 Centerline is valid? [True, True] Translation: X:13.48, Y:0.49, Z:1.07 [[ 9.92335457e-01 -6.86912725e-02 -1.02722194e-01 1.34845138e+01] [ 6.83921389e-02 9.97637760e-01 -6.43544261e-03 4.85677609e-01] [ 1.02921599e-01 -6.39272705e-04 9.94689266e-01 1.07259204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.124839173 meters 0.07910399638263811 Centerline is valid? [True, True] Translation: X:13.52, Y:0.49, Z:1.04 [[ 9.87534816e-01 -8.15233135e-02 -1.34643741e-01 1.35178137e+01] [ 8.11264291e-02 9.96668076e-01 -8.44087407e-03 4.91048666e-01] [ 1.34883247e-01 -2.58750891e-03 9.90858120e-01 1.04488045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.154839173 meters 0.0800996641273562 Centerline is valid? [True, True] Translation: X:13.55, Y:0.49, Z:1.07 [[ 9.89062459e-01 -8.30992506e-02 -1.21860437e-01 1.35457238e+01] [ 8.27857559e-02 9.96538065e-01 -7.64221026e-03 4.88310887e-01] [ 1.22073626e-01 -2.52968515e-03 9.92517824e-01 1.06540616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.184839173 meters 0.10058685619151932 Centerline is valid? [True, False] Translation: X:13.58, Y:0.50, Z:1.04 [[ 0.99395713 -0.03889993 -0.10264514 13.57682936] [ 0.0359256 0.99888377 -0.03066876 0.4988443 ] [ 0.10372358 0.02679584 0.99424514 1.04239043] [ 0. 0. 0. 1. ]] SLAMing on 14.214839173 meters 0.07651379679024664 Centerline is valid? [False, True] Translation: X:13.33, Y:0.53, Z:1.12 [[ 9.95024391e-01 -9.96120336e-02 -1.97605318e-03 1.33323815e+01] [ 9.85471017e-02 9.86918017e-01 -1.27598183e-01 5.33294502e-01] [ 1.46605169e-02 1.26768569e-01 9.91823976e-01 1.12190508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.244839172999999 meters 0.08423330879087389 Centerline is valid? [True, True] Translation: X:13.37, Y:0.47, Z:1.09 [[ 9.94288148e-01 -9.90708900e-02 3.96993407e-02 1.33706088e+01] [ 9.89875326e-02 9.95080372e-01 4.06474227e-03 4.65313034e-01] [-3.99067323e-02 -1.11785282e-04 9.99203403e-01 1.08883123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.274839173 meters 0.08423330879087389 Centerline is valid? [True, True] Translation: X:13.40, Y:0.47, Z:1.09 [[ 9.94317401e-01 -9.87763764e-02 3.97005443e-02 1.34031306e+01] [ 9.86932546e-02 9.95109650e-01 4.05296584e-03 4.68446755e-01] [-3.99067320e-02 -1.11758543e-04 9.99203403e-01 1.08851411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.304839173 meters 0.08832067413058244 Centerline is valid? [True, True] Translation: X:13.43, Y:0.48, Z:1.08 [[ 9.94147903e-01 -9.88004105e-02 4.36855310e-02 1.34337208e+01] [ 9.87002772e-02 9.95107264e-01 4.44844286e-03 4.78092180e-01] [-4.39112972e-02 -1.10636118e-04 9.99035428e-01 1.08346567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.334839172999999 meters 0.08333117883489671 Centerline is valid? [True, True] Translation: X:13.46, Y:0.50, Z:1.10 [[ 9.94353683e-01 -1.00302639e-01 3.46429581e-02 1.34625821e+01] [ 1.00240670e-01 9.94956974e-01 3.52539786e-03 5.00157928e-01] [-3.48218595e-02 -3.28590040e-05 9.99393535e-01 1.10407154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.364839173 meters 0.08040598908282653 Centerline is valid? [True, True] Translation: X:13.49, Y:0.51, Z:1.11 [[ 9.94091566e-01 -1.04648335e-01 2.88216086e-02 1.34924977e+01] [ 1.04607287e-01 9.94509284e-01 2.93250384e-03 5.07531440e-01] [-2.89702390e-02 9.97729440e-05 9.99580270e-01 1.10712317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.394839173 meters 0.08377128983504 Centerline is valid? [True, True] Translation: X:13.52, Y:0.51, Z:1.10 [[ 9.93944904e-01 -1.03506432e-01 3.68774526e-02 1.35235533e+01] [ 1.03438482e-01 9.94628781e-01 3.75090957e-03 5.12692948e-01] [-3.70676190e-02 8.63502723e-05 9.99312756e-01 1.09683252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.424839172999999 meters 0.08224934224920463 Centerline is valid? [True, True] Translation: X:13.55, Y:0.52, Z:1.11 [[ 9.94165332e-01 -1.01529307e-01 3.64292812e-02 1.35541622e+01] [ 1.01461922e-01 9.94832548e-01 3.69851763e-03 5.18167799e-01] [-3.66165426e-02 1.92468588e-05 9.99329389e-01 1.11349039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.454839173 meters 0.08080169037576825 Centerline is valid? [True, True] Translation: X:13.58, Y:0.52, Z:1.12 [[ 9.94005741e-01 -1.04886548e-01 3.08447411e-02 1.35844701e+01] [ 1.04839932e-01 9.94484186e-01 3.12917566e-03 5.19432438e-01] [-3.10028157e-02 1.23341992e-04 9.99519290e-01 1.11811099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.484839173 meters 0.08832425261635002 Centerline is valid? [True, True] Translation: X:13.61, Y:0.53, Z:1.10 [[ 9.93818113e-01 -1.01422794e-01 4.51550138e-02 1.36144814e+01] [ 1.01319351e-01 9.94843413e-01 4.57961196e-03 5.29829873e-01] [-4.53866450e-02 2.37753622e-05 9.98969495e-01 1.09859644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.514839173 meters 0.08638200988418589 Centerline is valid? [True, True] Translation: X:13.64, Y:0.54, Z:1.10 [[ 9.93836058e-01 -1.03847814e-01 3.88010495e-02 1.36432788e+01] [ 1.03773301e-01 9.94593192e-01 3.93494275e-03 5.43171903e-01] [-3.89998949e-02 1.15825013e-04 9.99239208e-01 1.10314914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.544839173 meters 0.08696638711646433 Centerline is valid? [True, True] Translation: X:13.67, Y:0.55, Z:1.10 [[ 9.94076539e-01 -1.00207985e-01 4.20736673e-02 1.36745084e+01] [ 1.00117281e-01 9.94966512e-01 4.26273711e-03 5.50639274e-01] [-4.22890503e-02 -2.51857681e-05 9.99105418e-01 1.10343461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.574839172999999 meters 0.08661795508179958 Centerline is valid? [True, True] Translation: X:13.71, Y:0.56, Z:1.10 [[ 9.94195490e-01 -9.98898267e-02 3.99668681e-02 1.37059317e+01] [ 9.98080878e-02 9.94998503e-01 4.04027991e-03 5.55360009e-01] [-4.01705568e-02 -2.78113819e-05 9.99192837e-01 1.10311567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.604839173 meters 0.09213461289058536 Centerline is valid? [True, True] Translation: X:13.74, Y:0.56, Z:1.09 [[ 9.93901010e-01 -9.86264860e-02 4.93315077e-02 1.37355202e+01] [ 9.85006128e-02 9.95124519e-01 4.98212602e-03 5.59069705e-01] [-4.95823624e-02 -9.25563518e-05 9.98770034e-01 1.09375556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.634839173 meters 0.09029509229714751 Centerline is valid? [True, True] Translation: X:13.77, Y:0.57, Z:1.10 [[ 9.93934595e-01 -9.91504304e-02 4.75732315e-02 1.37668948e+01] [ 9.90344634e-02 9.95072454e-01 4.79435156e-03 5.71093433e-01] [-4.78141743e-02 -5.38824224e-05 9.98856247e-01 1.09899402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.664839172999999 meters 0.08642606097265904 Centerline is valid? [True, True] Translation: X:13.80, Y:0.58, Z:1.11 [[ 9.93877166e-01 -1.03842209e-01 3.77488290e-02 1.37967551e+01] [ 1.03772663e-01 9.94593775e-01 3.80235128e-03 5.77390209e-01] [-3.79395949e-02 1.38226386e-04 9.99280025e-01 1.11174076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.694839173 meters 0.08374193897132196 Centerline is valid? [True, True] Translation: X:13.83, Y:0.59, Z:1.12 [[ 9.93835535e-01 -1.06893014e-01 2.94076937e-02 1.38266705e+01] [ 1.06852160e-01 9.94270509e-01 2.96171772e-03 5.88628656e-01] [-2.95557896e-02 1.98815281e-04 9.99563112e-01 1.12333200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.724839173 meters 0.08527091924119606 Centerline is valid? [True, True] Translation: X:13.86, Y:0.59, Z:1.12 [[ 9.93812832e-01 -1.06127526e-01 3.27567362e-02 1.38578085e+01] [ 1.06076606e-01 9.94352507e-01 3.29334618e-03 5.94769954e-01] [-3.29212575e-02 2.01753717e-04 9.99457928e-01 1.11993658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.754839172999999 meters 0.0832142360887548 Centerline is valid? [True, True] Translation: X:13.89, Y:0.60, Z:1.13 [[ 9.93184810e-01 -1.12585168e-01 3.01415443e-02 1.38903343e+01] [ 1.12545271e-01 9.93642002e-01 3.02234880e-03 6.02456133e-01] [-3.02901761e-02 3.90537346e-04 9.99541071e-01 1.13174463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.784839173 meters 0.08407777894445399 Centerline is valid? [True, True] Translation: X:13.92, Y:0.60, Z:1.13 [[ 9.92663757e-01 -1.16109828e-01 3.37219958e-02 1.39209958e+01] [ 1.16062069e-01 9.93236222e-01 3.37693751e-03 6.01989418e-01] [-3.38860034e-02 5.61681139e-04 9.99425547e-01 1.13382778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.814839173 meters 0.08536602819394587 Centerline is valid? [True, True] Translation: X:13.95, Y:0.60, Z:1.14 [[ 9.92066756e-01 -1.19347142e-01 3.94944517e-02 1.39516293e+01] [ 1.19284236e-01 9.92852274e-01 3.95386928e-03 6.01179560e-01] [-3.96840392e-02 7.88563234e-04 9.99211967e-01 1.14153501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.844839173 meters 0.08455845874434008 Centerline is valid? [True, True] Translation: X:13.98, Y:0.62, Z:1.14 [[ 9.92522564e-01 -1.14548388e-01 4.21619135e-02 1.39836976e+01] [ 1.14472777e-01 9.93417459e-01 4.21125498e-03 6.15281817e-01] [-4.23667734e-02 6.46625744e-04 9.99101916e-01 1.13986191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.874839173 meters 0.08402615930659905 Centerline is valid? [True, True] Translation: X:14.01, Y:0.62, Z:1.14 [[ 9.93011486e-01 -1.10338548e-01 4.18759395e-02 1.40147712e+01] [ 1.10260654e-01 9.93893948e-01 4.17228828e-03 6.23174747e-01] [-4.20806071e-02 4.74138313e-04 9.99114106e-01 1.14431404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.904839173 meters 0.08382919833366599 Centerline is valid? [True, True] Translation: X:14.04, Y:0.63, Z:1.15 [[ 9.93671819e-01 -1.05016516e-01 3.98477948e-02 1.40447053e+01] [ 1.04941837e-01 9.94470449e-01 3.96698565e-03 6.33463356e-01] [-4.00440534e-02 2.39818924e-04 9.99197886e-01 1.14558096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.934839173 meters 0.08315510623594399 Centerline is valid? [True, True] Translation: X:14.07, Y:0.65, Z:1.13 [[ 9.94931024e-01 -9.55494844e-02 3.13457151e-02 1.40739000e+01] [ 9.54985983e-02 9.95424675e-01 3.11992586e-03 6.47440255e-01] [-3.15004055e-02 -1.10639181e-04 9.99503733e-01 1.13100621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.964839173 meters 0.08350567944694937 Centerline is valid? [True, True] Translation: X:14.11, Y:0.65, Z:1.13 [[ 9.95200629e-01 -9.31297021e-02 3.00427395e-02 1.41065954e+01] [ 9.30820184e-02 9.95653970e-01 2.98489485e-03 6.49550893e-01] [-3.01901552e-02 -1.74130410e-04 9.99544158e-01 1.12699629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.994839172999999 meters 0.08389682829534924 Centerline is valid? [True, True] Translation: X:14.14, Y:0.65, Z:1.13 [[ 9.95062602e-01 -9.34017400e-02 3.35638668e-02 1.41381313e+01] [ 9.33426565e-02 9.95628487e-01 3.32638538e-03 6.52621870e-01] [-3.37278321e-02 -1.77021200e-04 9.99431039e-01 1.13155109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.024839173 meters 0.08429871202174813 Centerline is valid? [True, True] Translation: X:14.17, Y:0.65, Z:1.13 [[ 9.94634098e-01 -9.70379058e-02 3.58699863e-02 1.41704581e+01] [ 9.69731159e-02 9.95280685e-01 3.54574232e-03 6.51691849e-01] [-3.60447760e-02 -4.82918716e-05 9.99350175e-01 1.12808988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.054839173 meters 0.08468857539692087 Centerline is valid? [True, True] Translation: X:14.20, Y:0.65, Z:1.13 [[ 9.94176783e-01 -1.01050337e-01 3.74346665e-02 1.42019836e+01] [ 1.00982958e-01 9.94881308e-01 3.69118697e-03 6.47641554e-01] [-3.76160457e-02 1.10570990e-04 9.99292260e-01 1.13185038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.084839172999999 meters 0.08470456164297553 Centerline is valid? [True, True] Translation: X:14.23, Y:0.65, Z:1.13 [[ 9.93719550e-01 -1.05170153e-01 3.82190346e-02 1.42342894e+01] [ 1.05103334e-01 9.94454202e-01 3.75893159e-03 6.46227563e-01] [-3.84024070e-02 2.81624146e-04 9.99262316e-01 1.13408128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.114839173 meters 0.08418295030443572 Centerline is valid? [True, True] Translation: X:14.27, Y:0.65, Z:1.14 [[ 9.93703721e-01 -1.05158986e-01 3.86588087e-02 1.42663447e+01] [ 1.05090994e-01 9.94455379e-01 3.79235249e-03 6.51071484e-01] [-3.88432602e-02 2.94217841e-04 9.99245272e-01 1.13626368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.144839173 meters 0.08318255757897806 Centerline is valid? [True, True] Translation: X:14.30, Y:0.66, Z:1.14 [[ 9.94068738e-01 -1.02904970e-01 3.51839749e-02 1.42968135e+01] [ 1.02847355e-01 9.94691174e-01 3.44830827e-03 6.58566328e-01] [-3.53520373e-02 1.90723289e-04 9.99374903e-01 1.13529587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.174839172999999 meters 0.0833997337417652 Centerline is valid? [True, True] Translation: X:14.33, Y:0.66, Z:1.13 [[ 9.94266716e-01 -1.02089021e-01 3.18045573e-02 1.43289887e+01] [ 1.02041717e-01 9.94775255e-01 3.11117631e-03 6.58181684e-01] [-3.19560036e-02 1.52052574e-04 9.99489265e-01 1.13111125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.204839173 meters 0.08368181842566931 Centerline is valid? [True, True] Translation: X:14.36, Y:0.65, Z:1.13 [[ 9.94712193e-01 -9.83870265e-02 2.94558320e-02 1.43620829e+01] [ 9.83450447e-02 9.95148226e-01 2.87412857e-03 6.52110581e-01] [-2.95956959e-02 3.79043773e-05 9.99561951e-01 1.12503963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.234839173 meters 0.08384670117454165 Centerline is valid? [True, True] Translation: X:14.39, Y:0.65, Z:1.12 [[ 9.94878304e-01 -9.63731695e-02 3.04856034e-02 1.43945631e+01] [ 9.63274942e-02 9.95345273e-01 2.96679623e-03 6.51225669e-01] [-3.06296208e-02 -1.49994176e-05 9.99530803e-01 1.12449193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.264839173 meters 0.08367980978773543 Centerline is valid? [True, True] Translation: X:14.43, Y:0.65, Z:1.12 [[ 9.94888139e-01 -9.63258068e-02 3.03138558e-02 1.44278819e+01] [ 9.62808824e-02 9.95349858e-01 2.94156191e-03 6.49434406e-01] [-3.04562404e-02 -7.88026356e-06 9.99536101e-01 1.12281122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.294839173 meters 0.08314805059652712 Centerline is valid? [True, True] Translation: X:14.46, Y:0.64, Z:1.12 [[ 9.94481794e-01 -1.01287329e-01 2.73283311e-02 1.44600001e+01] [ 1.01252877e-01 9.94857205e-01 2.64509787e-03 6.44194616e-01] [-2.74557020e-02 1.36570465e-04 9.99623012e-01 1.12072399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.324839172999999 meters 0.08384616267440528 Centerline is valid? [True, True] Translation: X:14.49, Y:0.64, Z:1.13 [[ 9.94382341e-01 -1.00885082e-01 3.20306126e-02 1.44928153e+01] [ 1.00837803e-01 9.94898073e-01 3.09216517e-03 6.36718522e-01] [-3.21791481e-02 1.55102155e-04 9.99482105e-01 1.12530090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.354839173 meters 0.08393142404443417 Centerline is valid? [True, True] Translation: X:14.53, Y:0.63, Z:1.12 [[ 9.94301694e-01 -1.02103618e-01 3.06429752e-02 1.45260460e+01] [ 1.02061161e-01 9.94773750e-01 2.95055306e-03 6.32506195e-01] [-3.07840895e-02 1.93717708e-04 9.99526039e-01 1.12335330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.384839173 meters 0.08404959801472629 Centerline is valid? [True, True] Translation: X:14.56, Y:0.63, Z:1.12 [[ 9.94287694e-01 -1.02761628e-01 2.88449056e-02 1.45576374e+01] [ 1.02724435e-01 9.94705989e-01 2.77223397e-03 6.29820701e-01] [-2.89770797e-02 2.06678506e-04 9.99580055e-01 1.12122350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.414839172999999 meters 0.08406580940118281 Centerline is valid? [True, True] Translation: X:14.59, Y:0.62, Z:1.12 [[ 9.94209184e-01 -1.04365534e-01 2.56112028e-02 1.45896547e+01] [ 1.04336876e-01 9.94538980e-01 2.45642321e-03 6.23243200e-01] [-2.57277054e-02 2.29994368e-04 9.99668961e-01 1.11612685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.444839173 meters 0.08419230266979183 Centerline is valid? [True, True] Translation: X:14.62, Y:0.62, Z:1.12 [[ 9.94393494e-01 -1.01735861e-01 2.88338862e-02 1.46218980e+01] [ 1.01698634e-01 9.94811429e-01 2.75847343e-03 6.15502430e-01] [-2.89649152e-02 1.89358810e-04 9.99580411e-01 1.11692951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.474839173 meters 0.08391064905200403 Centerline is valid? [True, True] Translation: X:14.65, Y:0.61, Z:1.12 [[ 9.94505807e-01 -1.00723857e-01 2.85114868e-02 1.46543055e+01] [ 1.00687240e-01 9.94914407e-01 2.72068697e-03 6.13963932e-01] [-2.86405270e-02 1.65003934e-04 9.99589762e-01 1.11762715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.504839172999999 meters 0.0832243851515109 Centerline is valid? [True, True] Translation: X:14.69, Y:0.61, Z:1.12 [[ 9.94789571e-01 -9.80773122e-02 2.78307295e-02 1.46872937e+01] [ 9.80415005e-02 9.95178794e-01 2.65171075e-03 6.12790283e-01] [-2.79566245e-02 9.06722847e-05 9.99609133e-01 1.11788385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.534839173 meters 0.0831496425677356 Centerline is valid? [True, True] Translation: X:14.72, Y:0.61, Z:1.12 [[ 9.94924329e-01 -9.59964924e-02 3.01703928e-02 1.47186663e+01] [ 9.59536224e-02 9.95381671e-01 2.86889255e-03 6.14226020e-01] [-3.03064596e-02 4.06274789e-05 9.99540653e-01 1.12110614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.564839173 meters 0.08272405733998142 Centerline is valid? [True, True] Translation: X:14.75, Y:0.61, Z:1.13 [[ 9.95234034e-01 -9.10621563e-02 3.48841244e-02 1.47489784e+01] [ 9.10019004e-02 9.95845203e-01 3.31449070e-03 6.12898199e-01] [-3.50410126e-02 -1.24172335e-04 9.99385867e-01 1.12597372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.594839173 meters 0.08213784473538803 Centerline is valid? [True, True] Translation: X:14.78, Y:0.61, Z:1.12 [[ 9.95390369e-01 -8.88185028e-02 3.61840589e-02 1.47810406e+01] [ 8.87524459e-02 9.96047806e-01 3.43093042e-03 6.13405671e-01] [-3.63457826e-02 -2.03691367e-04 9.99339253e-01 1.12370613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.624839173 meters 0.08215676925259108 Centerline is valid? [True, True] Translation: X:14.81, Y:0.61, Z:1.12 [[ 9.95781205e-01 -8.45043009e-02 3.57605321e-02 1.48128976e+01] [ 8.44373224e-02 9.96423054e-01 3.38179998e-03 6.11468293e-01] [-3.59183953e-02 -3.48009274e-04 9.99354666e-01 1.12376947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.654839173 meters 0.0821788943978978 Centerline is valid? [True, True] Translation: X:14.84, Y:0.61, Z:1.12 [[ 9.95799315e-01 -8.52739071e-02 3.33479422e-02 1.48443906e+01] [ 8.52163571e-02 9.96357504e-01 3.14584033e-03 6.07399272e-01] [-3.34947305e-02 -2.90835501e-04 9.99438852e-01 1.12163494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.684839173 meters 0.08207882618244891 Centerline is valid? [True, True] Translation: X:14.88, Y:0.59, Z:1.12 [[ 9.95658099e-01 -8.69866823e-02 3.31401089e-02 1.48769919e+01] [ 8.69310496e-02 9.96209449e-01 3.11861766e-03 5.94224357e-01] [-3.32857678e-02 -2.24172486e-04 9.99445850e-01 1.12141914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.714839173 meters 0.08161006415814968 Centerline is valid? [True, True] Translation: X:14.91, Y:0.59, Z:1.12 [[ 9.95468834e-01 -8.80336844e-02 3.59426199e-02 1.49098768e+01] [ 8.79692649e-02 9.96117479e-01 3.37288324e-03 5.86393470e-01] [-3.60999992e-02 -1.95754293e-04 9.99348163e-01 1.11639413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.744839172999999 meters 0.08137877937841374 Centerline is valid? [True, True] Translation: X:14.94, Y:0.58, Z:1.13 [[ 9.95164373e-01 -8.83716883e-02 4.28755788e-02 1.49406789e+01] [ 8.82805619e-02 9.96087546e-01 4.01785960e-03 5.77731127e-01] [-4.30628951e-02 -2.13350542e-04 9.99072340e-01 1.12522367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.774839173 meters 0.08050209187102636 Centerline is valid? [True, True] Translation: X:14.97, Y:0.58, Z:1.13 [[ 9.95198882e-01 -8.67940649e-02 4.52324691e-02 1.49723366e+01] [ 8.66914473e-02 9.96226233e-01 4.22910772e-03 5.79658576e-01] [-4.54288338e-02 -2.87535063e-04 9.98967536e-01 1.12694837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.804839173 meters 0.08000059019686534 Centerline is valid? [True, True] Translation: X:15.00, Y:0.58, Z:1.13 [[ 9.95292047e-01 -8.83202783e-02 3.99157905e-02 1.50034908e+01] [ 8.82417121e-02 9.96092110e-01 3.72930638e-03 5.77420256e-01] [-4.00891774e-02 -1.89511285e-04 9.99196088e-01 1.12852969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.834839172999999 meters 0.08011318960284104 Centerline is valid? [True, True] Translation: X:15.03, Y:0.57, Z:1.12 [[ 9.95450453e-01 -8.88817574e-02 3.43282544e-02 1.50341714e+01] [ 8.88240098e-02 9.96042174e-01 3.20663391e-03 5.73454666e-01] [-3.44774004e-02 -1.42871978e-04 9.99405467e-01 1.12481411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.864839173 meters 0.08017303129468974 Centerline is valid? [True, True] Translation: X:15.07, Y:0.56, Z:1.11 [[ 9.95533509e-01 -9.21571382e-02 2.04961815e-02 1.50660319e+01] [ 9.21372565e-02 9.95744476e-01 1.91425921e-03 5.55203843e-01] [-2.05853722e-02 -1.72472560e-05 9.99788099e-01 1.11090132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.894839173 meters 0.08126246578369847 Centerline is valid? [True, True] Translation: X:15.10, Y:0.54, Z:1.11 [[ 9.94984404e-01 -9.84262118e-02 1.78414176e-02 1.51007074e+01] [ 9.84122046e-02 9.95144347e-01 1.66351698e-03 5.39659840e-01] [-1.79185195e-02 1.00639793e-04 9.99839445e-01 1.10947327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.924839172999999 meters 0.07957916350347198 Centerline is valid? [True, True] Translation: X:15.13, Y:0.54, Z:1.10 [[ 9.94607371e-01 -1.02980216e-01 1.22985122e-02 1.51327914e+01] [ 1.02973945e-01 9.94683396e-01 1.14374369e-03 5.36442741e-01] [-1.23509089e-02 1.28850415e-04 9.99923716e-01 1.09714485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.954839173 meters 0.08211016455672684 Centerline is valid? [True, True] Translation: X:15.16, Y:0.53, Z:1.11 [[ 9.94359156e-01 -1.04079456e-01 2.04287861e-02 1.51646602e+01] [ 1.04062540e-01 9.94568956e-01 1.89224830e-03 5.33084099e-01] [-2.05147806e-02 2.44296931e-04 9.99789520e-01 1.11030929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.984839173 meters 0.08215028174852876 Centerline is valid? [True, True] Translation: X:15.20, Y:0.52, Z:1.11 [[ 9.94334047e-01 -1.04691039e-01 1.84279436e-02 1.51984752e+01] [ 1.04677472e-01 9.94504766e-01 1.70194487e-03 5.23722059e-01] [-1.85048561e-02 2.36688824e-04 9.99828742e-01 1.10636230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.014839173 meters 0.08216813729918282 Centerline is valid? [True, True] Translation: X:15.23, Y:0.51, Z:1.11 [[ 9.94431033e-01 -1.04076954e-01 1.65803439e-02 1.52310203e+01] [ 1.04065960e-01 9.94569226e-01 1.52681428e-03 5.12130728e-01] [-1.66492060e-02 2.07137906e-04 9.99861371e-01 1.10571281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.044839173 meters 0.0818444763023368 Centerline is valid? [True, True] Translation: X:15.26, Y:0.52, Z:1.11 [[ 9.94817904e-01 -1.00319854e-01 1.65307148e-02 1.52631541e+01] [ 1.00308480e-01 9.94955228e-01 1.51790065e-03 5.15971249e-01] [-1.65995967e-02 1.48136127e-04 9.99862206e-01 1.10547263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.074839173 meters 0.0806453863046404 Centerline is valid? [True, True] Translation: X:15.29, Y:0.52, Z:1.10 [[ 9.95093985e-01 -9.84790860e-02 9.47791091e-03 1.52949912e+01] [ 9.84752775e-02 9.95139118e-01 8.68815400e-04 5.19302560e-01] [-9.51740006e-03 6.87869289e-05 9.99954706e-01 1.09748014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.104839173 meters 0.0830599356665744 Centerline is valid? [True, True] Translation: X:15.33, Y:0.52, Z:1.10 [[ 9.95652293e-01 -9.28301404e-02 7.68616745e-03 1.53257185e+01] [ 9.28274809e-02 9.95681960e-01 7.02810326e-04 5.24497172e-01] [-7.71822025e-03 1.37328488e-05 9.99970214e-01 1.09916202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.134839173 meters 0.08314389287576733 Centerline is valid? [True, True] Translation: X:15.36, Y:0.53, Z:1.10 [[ 9.95798955e-01 -9.11897484e-02 8.29880722e-03 1.53583553e+01] [ 9.11866108e-02 9.95833535e-01 7.56469186e-04 5.29366451e-01] [-8.33321277e-03 3.44887897e-06 9.99965278e-01 1.09983934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.164839173 meters 0.081473454794086 Centerline is valid? [True, True] Translation: X:15.39, Y:0.53, Z:1.10 [[ 9.96323248e-01 -8.48960501e-02 1.15172195e-02 1.53905505e+01] [ 8.48896440e-02 9.96389812e-01 1.04482731e-03 5.26376256e-01] [-1.15643418e-02 -6.32930831e-05 9.99933129e-01 1.10068082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.194839173 meters 0.081473454794086 Centerline is valid? [True, True] Translation: X:15.42, Y:0.53, Z:1.10 [[ 9.96349444e-01 -8.45880111e-02 1.15175381e-02 1.54230624e+01] [ 8.45816252e-02 9.96416010e-01 1.04130415e-03 5.29091807e-01] [-1.15643412e-02 -6.33307227e-05 9.99933129e-01 1.10036381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.224839173 meters 0.08197972315471184 Centerline is valid? [True, True] Translation: X:15.45, Y:0.53, Z:1.10 [[ 9.96961568e-01 -7.66618888e-02 1.38052818e-02 1.54547961e+01] [ 7.66520098e-02 9.97057131e-01 1.24408628e-03 5.32381626e-01] [-1.38600286e-02 -1.82103615e-04 9.99903929e-01 1.10303595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.254839173 meters 0.0811296465430793 Centerline is valid? [True, True] Translation: X:15.49, Y:0.53, Z:1.10 [[ 9.96990168e-01 -7.58533497e-02 1.60273138e-02 1.54869022e+01] [ 7.58399792e-02 9.97118960e-01 1.44126826e-03 5.31175793e-01] [-1.60904635e-02 -2.21419141e-04 9.99870516e-01 1.10166429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.284839172999998 meters 0.08116258444747285 Centerline is valid? [True, True] Translation: X:15.52, Y:0.53, Z:1.10 [[ 9.96826576e-01 -7.80270497e-02 1.57657103e-02 1.55184816e+01] [ 7.80144552e-02 9.96951226e-01 1.41323619e-03 5.30021604e-01] [-1.58279149e-02 -1.78798097e-04 9.99874715e-01 1.10336130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.314839173 meters 0.07942467390818696 Centerline is valid? [True, True] Translation: X:15.55, Y:0.52, Z:1.10 [[ 9.96233031e-01 -8.56410586e-02 1.36145935e-02 1.55516406e+01] [ 8.56324240e-02 9.96326055e-01 1.21698165e-03 5.17525037e-01] [-1.36687978e-02 -4.65466786e-05 9.99906577e-01 1.09701067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.344839173 meters 0.07946568771504521 Centerline is valid? [True, True] Translation: X:15.58, Y:0.52, Z:1.10 [[ 9.96546972e-01 -8.10489416e-02 1.80333514e-02 1.55840236e+01] [ 8.10331523e-02 9.96710113e-01 1.60575450e-03 5.17299557e-01] [-1.81041685e-02 -1.38910469e-04 9.99836096e-01 1.10380158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.374839172999998 meters 0.07972205199524358 Centerline is valid? [True, True] Translation: X:15.62, Y:0.52, Z:1.10 [[ 9.96553735e-01 -8.07347587e-02 1.90407799e-02 1.56174721e+01] [ 8.07172168e-02 9.96735611e-01 1.68927163e-03 5.15479043e-01] [-1.91150063e-02 -1.46531193e-04 9.99817281e-01 1.10486610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.404839173 meters 0.07884942765105822 Centerline is valid? [True, True] Translation: X:15.65, Y:0.51, Z:1.10 [[ 9.96247490e-01 -8.44787493e-02 1.88223227e-02 1.56504026e+01] [ 8.44623885e-02 9.96425279e-01 1.66391551e-03 5.10000722e-01] [-1.88956036e-02 -6.78933224e-05 9.99821460e-01 1.09741882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.434839173 meters 0.08017265716118824 Centerline is valid? [True, True] Translation: X:15.68, Y:0.51, Z:1.09 [[ 9.96924081e-01 -7.77428425e-02 9.92106070e-03 1.56834486e+01] [ 7.77379797e-02 9.96973440e-01 8.75423165e-04 5.10595019e-01] [-9.95909190e-03 -1.01487218e-04 9.99950402e-01 1.08606366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.464839172999998 meters 0.09756228814198538 Centerline is valid? [True, True] Translation: X:15.71, Y:0.57, Z:1.03 [[ 9.99427906e-01 5.11242850e-03 -3.34323863e-02 1.57078434e+01] [-5.21355389e-03 9.99982092e-01 -2.93829769e-03 5.67891388e-01] [ 3.34167658e-02 3.11091825e-03 9.99436662e-01 1.03281319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.494839173 meters 0.07629581677373176 Centerline is valid? [True, True] Translation: X:15.74, Y:0.51, Z:1.00 [[ 9.94637293e-01 -1.01193314e-01 -2.13674764e-02 1.57430971e+01] [ 1.01176307e-01 9.94866738e-01 -1.87830402e-03 5.10013356e-01] [ 2.14478633e-02 -2.93651116e-04 9.99769925e-01 1.00179124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.524839173 meters 0.06449055606047821 Centerline is valid? [True, True] Translation: X:15.79, Y:0.28, Z:1.07 [[ 9.58959451e-01 -2.50806597e-01 -1.32260430e-01 1.57940765e+01] [ 2.51511103e-01 9.67784571e-01 -1.16271025e-02 2.82218595e-01] [ 1.30915758e-01 -2.21150469e-02 9.91146805e-01 1.06578176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.554839173 meters 0.09247803572261767 Centerline is valid? [True, True] Translation: X:15.80, Y:0.50, Z:0.89 [[ 9.98778587e-01 -4.93019498e-02 3.26382714e-03 1.58026189e+01] [ 4.93012758e-02 9.98783912e-01 2.86685119e-04 4.95561661e-01] [-3.27399217e-03 -1.25424116e-04 9.99994633e-01 8.93643351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.584839173 meters 0.07641469594035165 Centerline is valid? [True, True] Translation: X:15.84, Y:0.49, Z:1.07 [[ 9.96656419e-01 -8.10966422e-02 9.96579444e-03 1.58359097e+01] [ 8.10919322e-02 9.96706241e-01 8.76460668e-04 4.90398730e-01] [-1.00040475e-02 -6.53846237e-05 9.99949956e-01 1.07477435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.614839173 meters 0.0653060555698818 Centerline is valid? [True, True] Translation: X:15.87, Y:0.47, Z:0.95 [[ 9.94427143e-01 -1.05344804e-01 4.13883926e-03 1.58679960e+01] [ 1.05344200e-01 9.94435753e-01 3.64262597e-04 4.70730659e-01] [-4.15418291e-03 7.37700973e-05 9.99991369e-01 9.48351248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.644839173 meters 0.08577200412216987 Centerline is valid? [True, True] Translation: X:15.90, Y:0.48, Z:1.01 [[ 9.93657024e-01 -8.62715737e-02 7.21313675e-02 1.58993900e+01] [ 8.60383835e-02 9.96271653e-01 6.33953453e-03 4.75649295e-01] [-7.24093584e-02 -9.32567537e-05 9.97374993e-01 1.01286062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.674839173 meters 0.0824922893489852 Centerline is valid? [True, True] Translation: X:15.93, Y:0.47, Z:1.06 [[ 9.94461333e-01 -9.82596956e-02 -3.73053572e-02 1.59311425e+01] [ 9.82058647e-02 9.95160725e-01 -3.27713960e-03 4.73171986e-01] [ 3.74468371e-02 -4.04616249e-04 9.99298539e-01 1.05504041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.704839173 meters 0.08215332510146778 Centerline is valid? [True, True] Translation: X:15.96, Y:0.47, Z:1.07 [[ 9.94550978e-01 -1.04231096e-01 2.05680356e-03 1.59613182e+01] [ 1.04230945e-01 9.94553104e-01 1.80580352e-04 4.71004114e-01] [-2.06442245e-03 3.47862138e-05 9.99997868e-01 1.06941214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.734839173 meters 0.07793035218470441 Centerline is valid? [True, True] Translation: X:15.99, Y:0.47, Z:1.08 [[ 9.95061469e-01 -9.91904165e-02 -3.73275390e-03 1.59941538e+01] [ 9.91898895e-02 9.95068470e-01 -3.26505624e-04 4.67661552e-01] [ 3.74673194e-03 -4.53582808e-05 9.99992980e-01 1.08120083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.764839173 meters 0.05206263157361772 Centerline is valid? [True, True] Translation: X:16.03, Y:0.44, Z:0.90 [[ 9.91910116e-01 -8.51445772e-02 9.41526571e-02 1.60260175e+01] [ 8.47430249e-02 9.96368583e-01 8.26230692e-03 4.35142118e-01] [-9.45142402e-02 -2.16684848e-04 9.95523486e-01 9.00629418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.794839173 meters 0.04514526851199402 Centerline is valid? [True, True] Translation: X:16.05, Y:0.49, Z:1.07 [[ 9.82923854e-01 -1.83990371e-01 -2.87057128e-03 1.60535504e+01] [ 1.83990416e-01 9.82928006e-01 -2.50813595e-04 4.92353781e-01] [ 2.86771219e-03 -2.81626937e-04 9.99995848e-01 1.07020252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.824839173 meters 0.0666311679636882 Centerline is valid? [True, True] Translation: X:16.08, Y:0.54, Z:1.05 [[ 9.76632091e-01 -2.02288952e-01 -7.25874571e-02 1.60786895e+01] [ 2.02366552e-01 9.79289191e-01 -6.36080575e-03 5.41582548e-01] [ 7.23708328e-02 -8.47710641e-03 9.97341768e-01 1.04597494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.854839173 meters 0.027591290674699863 Centerline is valid? [True, True] Translation: X:16.11, Y:0.46, Z:0.73 [[ 9.95032417e-01 -9.07399058e-02 4.09482487e-02 1.61122043e+01] [ 9.06689839e-02 9.95874615e-01 3.58966952e-03 4.57319850e-01] [-4.11050477e-02 1.40898556e-04 9.99154820e-01 7.29673988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.884839173 meters 0.03497011553011566 Centerline is valid? [True, True] Translation: X:16.10, Y:0.99, Z:1.11 [[ 9.73402477e-01 -1.80815650e-01 -1.40688726e-01 1.61006994e+01] [ 1.80901782e-01 9.83424444e-01 -1.22844741e-02 9.88408578e-01] [ 1.40577958e-01 -1.34931038e-02 9.89977663e-01 1.10864881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.914839173 meters 0.10766835321778212 Centerline is valid? [True, False] Translation: X:16.22, Y:0.98, Z:1.04 [[ 9.95532751e-01 -9.42069781e-02 -6.29183852e-03 1.62226796e+01] [ 9.42783575e-02 9.95470867e-01 1.22206703e-02 9.75543036e-01] [ 5.11206952e-03 -1.27592618e-02 9.99905530e-01 1.04263741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.944839173 meters 0.08036468073182805 Centerline is valid? [False, True] Translation: X:16.61, Y:0.55, Z:1.25 [[ 9.45201091e-01 1.88641021e-01 -2.66476008e-01 1.66106225e+01] [ 1.10698119e-02 7.97201435e-01 6.03611905e-01 5.46569416e-01] [ 3.26301022e-01 -5.73484470e-01 7.51427445e-01 1.25254119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.974839173 meters 0.0766318477674439 Centerline is valid? [True, True] Translation: X:16.17, Y:0.61, Z:2.50 [[ 9.34423417e-01 1.06323974e-01 3.39923653e-01 1.61693749e+01] [ 1.09503613e-01 -9.93937347e-01 9.87465309e-03 6.10846236e-01] [ 3.38912726e-01 2.79957609e-02 -9.40401192e-01 2.49728949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.004839173 meters 0.08467803620134025 Centerline is valid? [True, True] Translation: X:16.22, Y:0.59, Z:2.51 [[ 0.88791045 0.18079093 0.42300078 16.2171117 ] [ 0.1734465 -0.9832407 0.05616075 0.59359279] [ 0.42606494 0.02350229 -0.90438725 2.50514651] [ 0. 0. 0. 1. ]] SLAMing on 17.034839172999998 meters 0.0775322757891126 Centerline is valid? [True, True] Translation: X:16.27, Y:0.61, Z:2.49 [[ 0.89219353 0.27100344 0.36131404 16.26878715] [ 0.2618308 -0.96218381 0.07514619 0.61016803] [ 0.3680154 0.0275582 -0.92941122 2.4934205 ] [ 0. 0. 0. 1. ]] SLAMing on 17.064839173 meters 0.08233831330042111 Centerline is valid? [True, True] Translation: X:16.29, Y:0.64, Z:2.53 [[ 0.87654523 0.35166099 0.32863812 16.29378879] [ 0.33957881 -0.93571291 0.09553833 0.64210364] [ 0.34110803 0.02785487 -0.93961131 2.52885292] [ 0. 0. 0. 1. ]] SLAMing on 17.094839173 meters 0.07985008055612618 Centerline is valid? [True, True] Translation: X:16.34, Y:0.67, Z:2.51 [[ 0.82669681 0.43977954 0.35095063 16.34266307] [ 0.41873975 -0.89751305 0.13830167 0.6692497 ] [ 0.37580501 0.03262343 -0.92612435 2.51090573] [ 0. 0. 0. 1. ]] SLAMing on 17.124839172999998 meters 0.07461314152054137 Centerline is valid? [True, True] Translation: X:16.36, Y:0.70, Z:2.57 [[ 0.80465697 0.4965656 0.32549926 16.35599319] [ 0.47079471 -0.86764897 0.15980493 0.69784932] [ 0.36177273 0.02465518 -0.93194024 2.57067968] [ 0. 0. 0. 1. ]] SLAMing on 17.154839173 meters 0.08140342158291178 Centerline is valid? [True, True] Translation: X:16.40, Y:0.73, Z:2.55 [[ 0.76976839 0.55560147 0.3142668 16.40005334] [ 0.52278995 -0.83123666 0.18904044 0.72975565] [ 0.36626123 0.01877817 -0.93032257 2.55090458] [ 0. 0. 0. 1. ]] SLAMing on 17.184839173 meters 0.07955740582806346 Centerline is valid? [True, True] Translation: X:16.43, Y:0.78, Z:2.54 [[ 0.72063381 0.62890115 0.29183941 16.42703169] [ 0.59314517 -0.77718351 0.21015373 0.77508301] [ 0.35897871 0.02165926 -0.9330944 2.54372509] [ 0. 0. 0. 1. ]] SLAMing on 17.214839172999998 meters 0.08060849493749786 Centerline is valid? [True, True] Translation: X:16.46, Y:0.81, Z:2.56 [[ 0.6737694 0.68955757 0.26560339 16.45523462] [ 0.65168557 -0.72393775 0.22631848 0.80717348] [ 0.34833994 0.02060344 -0.93714182 2.55585972] [ 0. 0. 0. 1. ]] SLAMing on 17.244839173 meters 0.08137996547658988 Centerline is valid? [True, True] Translation: X:16.49, Y:0.83, Z:2.56 [[ 0.61106042 0.75326766 0.24329612 16.49120217] [ 0.71270369 -0.65728745 0.24500336 0.83434715] [ 0.34446859 0.02368619 -0.93849899 2.5646933 ] [ 0. 0. 0. 1. ]] SLAMing on 17.274839173 meters 0.08602131866690209 Centerline is valid? [True, True] Translation: X:16.52, Y:0.86, Z:2.59 [[ 0.56024871 0.80046967 0.21300163 16.52028227] [ 0.76006459 -0.59901449 0.25195922 0.8596268 ] [ 0.32927678 0.02073517 -0.94400575 2.59151771] [ 0. 0. 0. 1. ]] SLAMing on 17.304839173 meters 0.09008299256766038 Centerline is valid? [True, True] Translation: X:16.53, Y:0.90, Z:2.62 [[ 0.47861039 0.85253763 0.21002784 16.53458632] [ 0.7978331 -0.52214509 0.30137492 0.89930325] [ 0.36659847 0.02332599 -0.9300868 2.61545769] [ 0. 0. 0. 1. ]] SLAMing on 17.334839173 meters 0.0834207526456105 Centerline is valid? [True, True] Translation: X:16.59, Y:0.92, Z:2.61 [[ 0.40895782 0.89915206 0.15581746 16.59116218] [ 0.86155506 -0.43671475 0.25884959 0.92494511] [ 0.30079293 0.02838676 -0.95326691 2.61465857] [ 0. 0. 0. 1. ]] SLAMing on 17.364839173 meters 0.08604329740830259 Centerline is valid? [True, True] Translation: X:16.61, Y:0.96, Z:2.64 [[ 0.3371851 0.93267611 0.1281463 16.61272252] [ 0.89708435 -0.3595968 0.25676802 0.96240752] [ 0.28556239 0.02837969 -0.95793983 2.63748473] [ 0. 0. 0. 1. ]] SLAMing on 17.394839173 meters 0.0808696551871043 Centerline is valid? [True, True] Translation: X:16.62, Y:1.02, Z:2.62 [[ 0.26705098 0.95629272 0.11911342 16.61594084] [ 0.90433067 -0.29138908 0.31189491 1.02296339] [ 0.33297118 0.02442607 -0.94262058 2.61533826] [ 0. 0. 0. 1. ]] SLAMing on 17.424839173 meters 0.08189199409035655 Centerline is valid? [True, True] Translation: X:16.62, Y:1.07, Z:2.62 [[ 0.19053536 0.97726838 0.09296656 16.62485864] [ 0.92270194 -0.21061364 0.32289784 1.07053009] [ 0.33513788 0.02425697 -0.94185678 2.61943038] [ 0. 0. 0. 1. ]] SLAMing on 17.454839173 meters 0.08174075893487784 Centerline is valid? [True, True] Translation: X:16.64, Y:1.12, Z:2.63 [[ 0.11180155 0.99155471 0.06572415 16.63764154] [ 0.93507062 -0.12735888 0.33079096 1.11767536] [ 0.33636789 0.02447378 -0.9414126 2.62829408] [ 0. 0. 0. 1. ]] SLAMing on 17.484839173 meters 0.08078728224507509 Centerline is valid? [True, True] Translation: X:16.64, Y:1.17, Z:2.64 [[ 0.03567027 0.99863947 0.03803738 16.6434793 ] [ 0.93794238 -0.04659148 0.34364711 1.16526908] [ 0.34495178 0.02341889 -0.93832821 2.63713833] [ 0. 0. 0. 1. ]] SLAMing on 17.514839173 meters 0.0821218720713893 Centerline is valid? [True, True] Translation: X:16.64, Y:1.21, Z:2.65 [[-4.02620804e-02 9.99144100e-01 9.48850608e-03 1.66364948e+01] [ 9.39998113e-01 3.46553997e-02 3.39415014e-01 1.21215716e+00] [ 3.38795681e-01 2.25847324e-02 -9.40588867e-01 2.64822834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.544839173 meters 0.0825516059662316 Centerline is valid? [True, True] Translation: X:16.61, Y:1.26, Z:2.66 [[-0.11329628 0.99339202 -0.01833717 16.61429499] [ 0.93553565 0.11287626 0.33471182 1.25587728] [ 0.33456988 0.02076653 -0.9421421 2.66053378] [ 0. 0. 0. 1. ]] SLAMing on 17.574839173 meters 0.08398800381688637 Centerline is valid? [True, True] Translation: X:16.60, Y:1.30, Z:2.67 [[-0.18728255 0.98125732 -0.04537981 16.59707063] [ 0.92500234 0.19171683 0.32804776 1.30080959] [ 0.33059934 0.01946119 -0.94357053 2.67017676] [ 0. 0. 0. 1. ]] SLAMing on 17.604839173 meters 0.08405920540860108 Centerline is valid? [True, True] Translation: X:16.58, Y:1.34, Z:2.69 [[-0.25819282 0.9635902 -0.0695011 16.5812356 ] [ 0.91146291 0.26681026 0.31312562 1.34213559] [ 0.32026838 0.01749911 -0.94716522 2.69037402] [ 0. 0. 0. 1. ]] SLAMing on 17.634839173 meters 0.0832903008617343 Centerline is valid? [True, True] Translation: X:16.57, Y:1.39, Z:2.71 [[-0.33572617 0.93744421 -0.09212104 16.56528869] [ 0.88896387 0.34765975 0.29812067 1.38541654] [ 0.31149827 0.01819463 -0.95007251 2.70751124] [ 0. 0. 0. 1. ]] SLAMing on 17.664839173 meters 0.08713375551872123 Centerline is valid? [True, True] Translation: X:16.56, Y:1.42, Z:2.76 [[-0.41054502 0.90604808 -0.10261416 16.5582153 ] [ 0.8675861 0.42277153 0.26183698 1.42135743] [ 0.28061924 0.01846925 -0.95964146 2.75691265] [ 0. 0. 0. 1. ]] SLAMing on 17.694839173 meters 0.08233681930031461 Centerline is valid? [True, True] Translation: X:16.51, Y:1.47, Z:2.71 [[-0.47830673 0.86562657 -0.14803148 16.50526376] [ 0.81554598 0.50035428 0.29074104 1.46922991] [ 0.32574135 0.01833692 -0.94528109 2.71169754] [ 0. 0. 0. 1. ]] SLAMing on 17.724839173 meters 0.08151178901281479 Centerline is valid? [True, True] Translation: X:16.47, Y:1.50, Z:2.72 [[-0.54410863 0.82160227 -0.17004559 16.47077759] [ 0.77442589 0.56977898 0.27498446 1.50453686] [ 0.32281626 0.01793371 -0.94629173 2.72307418] [ 0. 0. 0. 1. ]] SLAMing on 17.754839173 meters 0.08281840220563232 Centerline is valid? [True, True] Translation: X:16.44, Y:1.55, Z:2.73 [[-0.607131 0.77092176 -0.19253984 16.43904035] [ 0.72599176 0.63667402 0.25996568 1.54528706] [ 0.32299832 0.01805089 -0.94622738 2.72696988] [ 0. 0. 0. 1. ]] SLAMing on 17.784839172999998 meters 0.0814183478752646 Centerline is valid? [True, True] Translation: X:16.40, Y:1.57, Z:2.74 [[-0.66486073 0.71583138 -0.21341426 16.40029509] [ 0.67361068 0.69804871 0.24285107 1.57150447] [ 0.32281397 0.01770402 -0.94629684 2.74402156] [ 0. 0. 0. 1. ]] SLAMing on 17.814839173 meters 0.08157771502185593 Centerline is valid? [True, True] Translation: X:16.40, Y:1.62, Z:2.74 [[-7.14061351e-01 6.60083563e-01 -2.33251104e-01 1.63976898e+01] [ 6.20965038e-01 7.51034611e-01 2.24386797e-01 1.62251244e+00] [ 3.23293688e-01 1.53851586e-02 -9.46173604e-01 2.74376966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.844839173 meters 0.08249587433678422 Centerline is valid? [True, True] Translation: X:16.37, Y:1.68, Z:2.75 [[-7.60052039e-01 6.00936768e-01 -2.47378048e-01 1.63712623e+01] [ 5.65274917e-01 7.99143964e-01 2.04531642e-01 1.68499476e+00] [ 3.20601258e-01 1.56180856e-02 -9.47085481e-01 2.75293980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.874839172999998 meters 0.08369984351896648 Centerline is valid? [True, True] Translation: X:16.37, Y:1.73, Z:2.76 [[-8.01228399e-01 5.37665553e-01 -2.62581044e-01 1.63672881e+01] [ 5.04894359e-01 8.43004795e-01 1.85538679e-01 1.72850376e+00] [ 3.21114836e-01 1.60831705e-02 -9.46903688e-01 2.75521411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.904839173 meters 0.08256357247815176 Centerline is valid? [True, True] Translation: X:16.37, Y:1.76, Z:2.76 [[-8.35811274e-01 4.76158070e-01 -2.73300212e-01 1.63673933e+01] [ 4.47305303e-01 8.79236212e-01 1.63895237e-01 1.75868750e+00] [ 3.18335483e-01 1.47368523e-02 -9.47863569e-01 2.75975785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.934839173 meters 0.08275412724842116 Centerline is valid? [True, True] Translation: X:16.33, Y:1.81, Z:2.77 [[-8.68316467e-01 4.08498133e-01 -2.81346386e-01 1.63341154e+01] [ 3.83548676e-01 9.12638667e-01 1.41354439e-01 1.80937584e+00] [ 3.14510615e-01 1.48303537e-02 -9.49138100e-01 2.77218843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.964839172999998 meters 0.08460947558443944 Centerline is valid? [True, True] Translation: X:16.31, Y:1.85, Z:2.78 [[-8.95044395e-01 3.38629285e-01 -2.90216708e-01 1.63050591e+01] [ 3.17208140e-01 9.40802544e-01 1.19455304e-01 1.85170035e+00] [ 3.13487681e-01 1.48586982e-02 -9.49476010e-01 2.77551063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.994839173 meters 0.0849438226907357 Centerline is valid? [True, True] Translation: X:16.29, Y:1.88, Z:2.78 [[-9.16683419e-01 2.68256397e-01 -2.96192531e-01 1.62899730e+01] [ 2.50620907e-01 9.63239140e-01 9.67446118e-02 1.88367269e+00] [ 3.11256600e-01 1.44521407e-02 -9.50216010e-01 2.77941727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.024839173 meters 0.08470810247388898 Centerline is valid? [True, True] Translation: X:16.26, Y:1.92, Z:2.80 [[-9.36576312e-01 1.95535100e-01 -2.90845040e-01 1.62580574e+01] [ 1.82291677e-01 9.80587498e-01 7.22350552e-02 1.92442727e+00] [ 2.99323499e-01 1.46350114e-02 -9.54039443e-01 2.79571998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.054839172999998 meters 0.08538055703502472 Centerline is valid? [True, True] Translation: X:16.26, Y:1.97, Z:2.84 [[-9.48006916e-01 1.17293964e-01 -2.95846266e-01 1.62626973e+01] [ 1.07184416e-01 9.92969945e-01 5.02214011e-02 1.96786184e+00] [ 2.99657117e-01 1.59001265e-02 -9.53914460e-01 2.84251503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.084839173 meters 0.08538055703502472 Centerline is valid? [True, True] Translation: X:16.23, Y:2.00, Z:2.85 [[-9.53629430e-01 4.26245534e-02 -2.97949757e-01 1.62283186e+01] [ 3.59428390e-02 9.98965112e-01 2.78714529e-02 2.00139939e+00] [ 2.98829421e-01 1.58698776e-02 -9.54174577e-01 2.84712120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.114839173 meters 0.08753999449228303 Centerline is valid? [True, True] Translation: X:16.25, Y:2.04, Z:2.78 [[-9.54155403e-01 -3.05008635e-02 -2.97753529e-01 1.62540263e+01] [-3.36729312e-02 9.99417616e-01 5.52842802e-03 2.04370049e+00] [ 2.97411500e-01 1.53012136e-02 -9.54626771e-01 2.78397172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.144839173 meters 0.08537244411397606 Centerline is valid? [True, True] Translation: X:16.11, Y:2.06, Z:2.79 [[-0.94630595 -0.11316913 -0.30281645 16.10629282] [-0.11316704 0.99341983 -0.01761404 2.06227963] [ 0.30281723 0.01760057 -0.95288611 2.79371788] [ 0. 0. 0. 1. ]] SLAMing on 18.174839173 meters 0.08459904738719404 Centerline is valid? [True, True] Translation: X:16.06, Y:2.09, Z:2.80 [[-0.93522791 -0.18462864 -0.30209439 16.06258069] [-0.18090335 0.98266561 -0.04052495 2.08592246] [ 0.30433983 0.01674982 -0.95241625 2.79627528] [ 0. 0. 0. 1. ]] SLAMing on 18.204839173 meters 0.08546966746180226 Centerline is valid? [True, True] Translation: X:16.03, Y:2.11, Z:2.80 [[-9.20493335e-01 -2.54249506e-01 -2.96730870e-01 1.60321710e+01] [-2.46912387e-01 9.67012427e-01 -6.26197920e-02 2.10606495e+00] [ 3.02863490e-01 1.56254263e-02 -9.52905847e-01 2.79860973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.234839173 meters 0.08711662686649929 Centerline is valid? [True, True] Translation: X:16.00, Y:2.12, Z:2.80 [[-9.02772096e-01 -3.16682140e-01 -2.91058352e-01 1.59975220e+01] [-3.05424354e-01 9.48449261e-01 -8.46165636e-02 2.11780758e+00] [ 3.02850634e-01 1.25068366e-02 -9.52955966e-01 2.80008362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.264839173 meters 0.08896665296048435 Centerline is valid? [True, True] Translation: X:15.97, Y:2.14, Z:2.79 [[-8.78427580e-01 -3.83864276e-01 -2.84628185e-01 1.59737953e+01] [-3.68962180e-01 9.23318722e-01 -1.06533782e-01 2.14409751e+00] [ 3.03697045e-01 1.14348230e-02 -9.52700031e-01 2.79309747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.294839173 meters 0.089431015852832 Centerline is valid? [True, True] Translation: X:15.93, Y:2.16, Z:2.80 [[-8.52051997e-01 -4.46183844e-01 -2.73728646e-01 1.59275535e+01] [-4.28033738e-01 8.94890586e-01 -1.26324812e-01 2.15698476e+00] [ 3.01321278e-01 9.52978668e-03 -9.53475050e-01 2.79593257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.324839173 meters 0.08908962056159346 Centerline is valid? [True, True] Translation: X:15.90, Y:2.17, Z:2.80 [[-8.17756915e-01 -5.10269609e-01 -2.66267825e-01 1.58976675e+01] [-4.88326571e-01 8.59969846e-01 -1.48286962e-01 2.17378392e+00] [ 3.04648631e-01 8.76296542e-03 -9.52424497e-01 2.79559023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.354839173 meters 0.09019012183608784 Centerline is valid? [True, True] Translation: X:15.84, Y:2.17, Z:2.81 [[-7.79875937e-01 -5.72911937e-01 -2.52121868e-01 1.58352319e+01] [-5.48416900e-01 8.19569319e-01 -1.65966969e-01 2.17024800e+00] [ 3.01715805e-01 8.83424824e-03 -9.53356979e-01 2.80781893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.384839173 meters 0.08933626736867951 Centerline is valid? [True, True] Translation: X:15.81, Y:2.20, Z:2.80 [[-7.34069058e-01 -6.35337378e-01 -2.39768710e-01 1.58106458e+01] [-6.07874211e-01 7.72171036e-01 -1.85042793e-01 2.20171494e+00] [ 3.02707056e-01 9.91502652e-03 -9.53032072e-01 2.79954099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.414839173 meters 0.09115633052330374 Centerline is valid? [True, True] Translation: X:15.76, Y:2.21, Z:2.81 [[-6.91819725e-01 -6.87860915e-01 -2.19619740e-01 1.57640089e+01] [-6.59262597e-01 7.25788453e-01 -1.96478879e-01 2.20620060e+00] [ 2.94547612e-01 8.85911612e-03 -9.55595741e-01 2.81091417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.444839173 meters 0.09107946249257028 Centerline is valid? [True, True] Translation: X:15.71, Y:2.20, Z:2.82 [[-6.43544868e-01 -7.38594491e-01 -2.00818775e-01 1.57138222e+01] [-7.08745649e-01 6.74096904e-01 -2.08021560e-01 2.20248333e+00] [ 2.89014893e-01 8.45822610e-03 -9.57287235e-01 2.81766601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.474839173 meters 0.08886039462820361 Centerline is valid? [True, True] Translation: X:15.65, Y:2.21, Z:2.82 [[-5.80123458e-01 -7.92778564e-01 -1.86973048e-01 1.56514677e+01] [-7.60080479e-01 6.09406285e-01 -2.25613929e-01 2.20706557e+00] [ 2.92804437e-01 1.12306312e-02 -9.56106393e-01 2.81653891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.504839173 meters 0.08802712449253028 Centerline is valid? [True, True] Translation: X:15.60, Y:2.20, Z:2.82 [[-5.13342800e-01 -8.40613093e-01 -1.72768044e-01 1.55988408e+01] [-8.04477348e-01 5.41464517e-01 -2.44197405e-01 2.20039813e+00] [ 2.98823302e-01 1.36309983e-02 -9.54211104e-01 2.81540318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.534839172999998 meters 0.08879016846076486 Centerline is valid? [True, True] Translation: X:15.56, Y:2.17, Z:2.82 [[-4.58774904e-01 -8.75212003e-01 -1.53393410e-01 1.55562938e+01] [-8.37322405e-01 4.83603831e-01 -2.54987304e-01 2.17390766e+00] [ 2.97349590e-01 1.14579633e-02 -9.54699920e-01 2.82491807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.564839173 meters 0.0902246902348093 Centerline is valid? [True, True] Translation: X:15.52, Y:2.14, Z:2.83 [[-4.02600973e-01 -9.05613073e-01 -1.33331987e-01 1.55161802e+01] [-8.66282989e-01 4.24006003e-01 -2.64145209e-01 2.13733091e+00] [ 2.95746917e-01 9.15811444e-03 -9.55222430e-01 2.83313304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.594839173 meters 0.09147898189422572 Centerline is valid? [True, True] Translation: X:15.49, Y:2.11, Z:2.84 [[-3.41430867e-01 -9.32815042e-01 -1.15243480e-01 1.54898798e+01] [-8.90017923e-01 3.60284106e-01 -2.79398387e-01 2.10853732e+00] [ 3.02147413e-01 7.17352946e-03 -9.53234222e-01 2.83939801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.624839172999998 meters 0.0926061801126001 Centerline is valid? [True, True] Translation: X:15.45, Y:2.08, Z:2.84 [[-2.75934608e-01 -9.56547394e-01 -9.42187643e-02 1.54481135e+01] [-9.12308385e-01 2.91502301e-01 -2.87610534e-01 2.07721416e+00] [ 3.02578093e-01 6.59486872e-03 -9.53101781e-01 2.83927162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.654839173 meters 0.09316763520600917 Centerline is valid? [True, True] Translation: X:15.41, Y:2.05, Z:2.84 [[-2.11641077e-01 -9.74658670e-01 -7.24467455e-02 1.54096960e+01] [-9.29506214e-01 2.23635147e-01 -2.93266976e-01 2.04594788e+00] [ 3.02036840e-01 5.27236129e-03 -9.53281674e-01 2.84256735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.684839173 meters 0.09230818848955236 Centerline is valid? [True, True] Translation: X:15.36, Y:2.01, Z:2.84 [[-1.37133331e-01 -9.89232327e-01 -5.11258593e-02 1.53646040e+01] [-9.40931269e-01 1.46221217e-01 -3.05397615e-01 2.01419893e+00] [ 3.09584879e-01 6.22572732e-03 -9.50851431e-01 2.83699555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.714839172999998 meters 0.09155857618733346 Centerline is valid? [True, True] Translation: X:15.32, Y:1.98, Z:2.85 [[-6.79005915e-02 -9.97293521e-01 -2.81982667e-02 1.53246313e+01] [-9.50101702e-01 7.32608962e-02 -3.03215429e-01 1.98405873e+00] [ 3.04460613e-01 6.20271418e-03 -9.52504730e-01 2.84646175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.744839173 meters 0.09046642477026468 Centerline is valid? [True, True] Translation: X:15.29, Y:1.94, Z:2.85 [[ 1.04530232e-02 -9.99930161e-01 -5.51436958e-03 1.52857554e+01] [-9.52242730e-01 -8.27124178e-03 -3.05230028e-01 1.94266017e+00] [ 3.05163100e-01 8.44159489e-03 -9.52262685e-01 2.84753382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.774839173 meters 0.09022939472851872 Centerline is valid? [True, True] Translation: X:15.26, Y:1.90, Z:2.86 [[ 8.44720696e-02 -9.96284599e-01 1.67770069e-02 1.52554829e+01] [-9.49623587e-01 -8.55925782e-02 -3.01477950e-01 1.90062255e+00] [ 3.01793825e-01 9.53462486e-03 -9.53325536e-01 2.86195434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.804839172999998 meters 0.09115799375355939 Centerline is valid? [True, True] Translation: X:15.23, Y:1.86, Z:2.87 [[ 1.51852310e-01 -9.87679934e-01 3.78050777e-02 1.52303106e+01] [-9.43240111e-01 -1.56237446e-01 -2.93066466e-01 1.86095302e+00] [ 2.95362437e-01 8.84355407e-03 -9.55344348e-01 2.86953597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.834839173 meters 0.09301435342251224 Centerline is valid? [True, True] Translation: X:15.20, Y:1.82, Z:2.89 [[ 2.16228882e-01 -9.74670622e-01 5.71161129e-02 1.52031933e+01] [-9.33236842e-01 -2.23518943e-01 -2.81261939e-01 1.81613212e+00] [ 2.86904282e-01 7.51409351e-03 -9.57929784e-01 2.88500593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.864839173 meters 0.09430668747860113 Centerline is valid? [True, True] Translation: X:15.19, Y:1.76, Z:2.90 [[ 2.80955811e-01 -9.56711024e-01 7.59463495e-02 1.51855153e+01] [-9.17537897e-01 -2.90967702e-01 -2.71038749e-01 1.76066158e+00] [ 2.81403694e-01 6.46625774e-03 -9.59567688e-01 2.89757543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.894839173 meters 0.09454044157140563 Centerline is valid? [True, True] Translation: X:15.17, Y:1.71, Z:2.90 [[ 3.48791123e-01 -9.32156596e-01 9.71021825e-02 1.51688624e+01] [-8.93004852e-01 -3.61996049e-01 -2.67397072e-01 1.71236119e+00] [ 2.84406550e-01 6.55300480e-03 -9.58681372e-01 2.90012408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.924839173 meters 0.09290092113813593 Centerline is valid? [True, True] Translation: X:15.14, Y:1.65, Z:2.89 [[ 4.19061667e-01 -8.99683017e-01 1.22302039e-01 1.51445729e+01] [-8.58357402e-01 -4.36470003e-01 -2.69659985e-01 1.65335594e+00] [ 2.95989680e-01 8.02530259e-03 -9.55157424e-01 2.88785110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.954839173 meters 0.09287253069403928 Centerline is valid? [True, True] Translation: X:15.13, Y:1.61, Z:2.89 [[ 4.82124732e-01 -8.64347126e-01 1.43037717e-01 1.51288673e+01] [-8.23887202e-01 -5.02828469e-01 -2.61483094e-01 1.60666675e+00] [ 2.97935597e-01 8.22052193e-03 -9.54550576e-01 2.88597482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.984839173 meters 0.09250396461637032 Centerline is valid? [True, True] Translation: X:15.12, Y:1.55, Z:2.89 [[ 5.43099484e-01 -8.24164750e-01 1.60609511e-01 1.51178670e+01] [-7.85952607e-01 -5.66285409e-01 -2.48192133e-01 1.54926971e+00] [ 2.95502030e-01 8.56155533e-03 -9.55303747e-01 2.89172183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.014839173 meters 0.09040189790063874 Centerline is valid? [True, True] Translation: X:15.11, Y:1.48, Z:2.91 [[ 6.03225825e-01 -7.78592166e-01 1.72953297e-01 1.51135930e+01] [-7.44150074e-01 -6.27457398e-01 -2.29211433e-01 1.47996861e+00] [ 2.86983052e-01 9.56304674e-03 -9.57887925e-01 2.90700796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.044839173 meters 0.08947053782842043 Centerline is valid? [True, True] Translation: X:15.11, Y:1.43, Z:2.91 [[ 6.63466266e-01 -7.24195688e-01 1.88024252e-01 1.51134640e+01] [-6.91855160e-01 -6.89487942e-01 -2.14342750e-01 1.42500329e+00] [ 2.84866551e-01 1.21236349e-02 -9.58490514e-01 2.91447764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.074839173 meters 0.08832305992165941 Centerline is valid? [True, True] Translation: X:15.16, Y:1.39, Z:2.93 [[ 0.72441735 -0.65942624 0.20093912 15.16233037] [-0.62926319 -0.75157919 -0.19788016 1.38622428] [ 0.28150903 0.01690422 -0.95940967 2.92562359] [ 0. 0. 0. 1. ]] SLAMing on 19.104839173 meters 0.0875039562715842 Centerline is valid? [True, True] Translation: X:16.07, Y:1.86, Z:1.74 [[ 7.38919124e-01 6.26691368e-01 -2.47500418e-01 1.60723407e+01] [-5.92470230e-01 7.79255546e-01 2.04303256e-01 1.85693515e+00] [ 3.20901161e-01 -4.32695325e-03 9.47102805e-01 1.73691533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.134839173 meters 0.0873890181031467 Centerline is valid? [True, True] Translation: X:16.10, Y:1.84, Z:1.74 [[ 7.37229612e-01 6.28189695e-01 -2.48737224e-01 1.60958977e+01] [-5.93718525e-01 7.78051669e-01 2.05265469e-01 1.84296361e+00] [ 3.22476065e-01 -3.64788403e-03 9.46570589e-01 1.74355593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.164839173 meters 0.08713535636191111 Centerline is valid? [True, True] Translation: X:16.12, Y:1.83, Z:1.75 [[ 7.35422910e-01 6.30587087e-01 -2.48018281e-01 1.61220612e+01] [-5.96493874e-01 7.76114503e-01 2.04551547e-01 1.83225930e+00] [ 3.21478149e-01 -2.49050823e-03 9.46913722e-01 1.75246982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.194839173 meters 0.08703120386574469 Centerline is valid? [True, True] Translation: X:16.15, Y:1.82, Z:1.76 [[ 7.35685917e-01 6.29437235e-01 -2.50149951e-01 1.61485097e+01] [-5.94712025e-01 7.77045807e-01 2.06197530e-01 1.82076517e+00] [ 3.24166374e-01 -2.92943490e-03 9.45995550e-01 1.75741924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.224839173 meters 0.08728208768245639 Centerline is valid? [True, True] Translation: X:16.17, Y:1.81, Z:1.77 [[ 7.34274392e-01 6.31273883e-01 -2.49668585e-01 1.61745408e+01] [-5.96824599e-01 7.75557326e-01 2.05696943e-01 1.81031694e+00] [ 3.23483408e-01 -2.02964417e-03 9.46231666e-01 1.76745985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.254839173 meters 0.08577607829264237 Centerline is valid? [True, True] Translation: X:16.20, Y:1.80, Z:1.77 [[ 7.32379870e-01 6.32770483e-01 -2.51438345e-01 1.62049740e+01] [-5.97939079e-01 7.74338326e-01 2.07048340e-01 1.80233140e+00] [ 3.25712425e-01 -1.29322427e-03 9.45468003e-01 1.76903921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.284839172999998 meters 0.08721525621300064 Centerline is valid? [True, True] Translation: X:16.23, Y:1.79, Z:1.78 [[ 7.31998527e-01 6.34746574e-01 -2.47537762e-01 1.62290591e+01] [-6.01148032e-01 7.72720298e-01 2.03775327e-01 1.79388393e+00] [ 3.20623144e-01 -3.56400899e-04 9.47206774e-01 1.78303804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.314839173 meters 0.08715643245285576 Centerline is valid? [True, True] Translation: X:16.26, Y:1.78, Z:1.79 [[ 7.31757954e-01 6.36236400e-01 -2.44404461e-01 1.62551517e+01] [-6.03605050e-01 7.71494090e-01 2.01141276e-01 1.78458210e+00] [ 3.16529999e-01 3.37038189e-04 9.48582440e-01 1.79497652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.344839173 meters 0.08630847710194915 Centerline is valid? [True, True] Translation: X:16.28, Y:1.77, Z:1.79 [[ 7.33155221e-01 6.32032178e-01 -2.51035350e-01 1.62774977e+01] [-5.97353016e-01 7.74940826e-01 2.06485086e-01 1.76731497e+00] [ 3.25042760e-01 -1.42889520e-03 9.45698241e-01 1.79427268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.374839172999998 meters 0.08768346126604953 Centerline is valid? [True, True] Translation: X:16.30, Y:1.75, Z:1.80 [[ 7.35560852e-01 6.29418751e-01 -2.50563904e-01 1.62995418e+01] [-5.94754946e-01 7.77062247e-01 2.06011693e-01 1.75287445e+00] [ 3.24371372e-01 -2.51001537e-03 9.45926484e-01 1.80194927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.404839173 meters 0.08810370457692367 Centerline is valid? [True, True] Translation: X:16.32, Y:1.74, Z:1.81 [[ 7.37439345e-01 6.26183000e-01 -2.53136452e-01 1.63218028e+01] [-5.90634722e-01 7.79666423e-01 2.08016571e-01 1.73536132e+00] [ 3.27618432e-01 -3.88842639e-03 9.44802118e-01 1.80544114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.434839173 meters 0.08921666112790937 Centerline is valid? [True, True] Translation: X:16.35, Y:1.72, Z:1.81 [[ 7.39004961e-01 6.24285619e-01 -2.53257050e-01 1.63466285e+01] [-5.88632540e-01 7.81182391e-01 2.08004337e-01 1.72194003e+00] [ 3.27694064e-01 -4.64089641e-03 9.44772493e-01 1.80985597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.464839172999998 meters 0.09029233224958035 Centerline is valid? [True, True] Translation: X:16.37, Y:1.70, Z:1.81 [[ 7.41926814e-01 6.18727143e-01 -2.58304713e-01 1.63671906e+01] [-5.81291932e-01 7.85573040e-01 2.12072365e-01 1.70093128e+00] [ 3.34132147e-01 -7.19172815e-03 9.42498800e-01 1.81144160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.494839173 meters 0.0914539467418093 Centerline is valid? [True, True] Translation: X:16.38, Y:1.68, Z:1.83 [[ 7.44236907e-01 6.19323952e-01 -2.50098518e-01 1.63846190e+01] [-5.84357717e-01 7.85107684e-01 2.05260768e-01 1.68447267e+00] [ 3.23477179e-01 -6.61563950e-03 9.46212845e-01 1.82753180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.524839173 meters 0.09180378775854474 Centerline is valid? [True, True] Translation: X:16.40, Y:1.67, Z:1.84 [[ 7.45484259e-01 6.18253788e-01 -2.49029061e-01 1.64020098e+01] [-5.83575912e-01 7.85947797e-01 2.04267508e-01 1.66566729e+00] [ 3.22013003e-01 -6.95085083e-03 9.46709729e-01 1.83743992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.554839172999998 meters 0.0915876458097633 Centerline is valid? [True, True] Translation: X:16.42, Y:1.65, Z:1.84 [[ 7.44235902e-01 6.19825448e-01 -2.48856055e-01 1.64232451e+01] [-5.85309015e-01 7.84715204e-01 2.04047556e-01 1.65005990e+00] [ 3.21754998e-01 -6.20182399e-03 9.46802650e-01 1.84464951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.584839173 meters 0.08948826250460237 Centerline is valid? [True, True] Translation: X:16.45, Y:1.65, Z:1.86 [[ 7.40205025e-01 6.25167326e-01 -2.47512293e-01 1.64531118e+01] [-5.91347326e-01 7.80481497e-01 2.02871814e-01 1.64628759e+00] [ 3.20007594e-01 -3.80100296e-03 9.47407353e-01 1.85719094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.614839173 meters 0.08876573705138911 Centerline is valid? [True, True] Translation: X:16.48, Y:1.64, Z:1.87 [[ 7.37800469e-01 6.28404278e-01 -2.46492456e-01 1.64785247e+01] [-5.95081375e-01 7.77883521e-01 2.01929160e-01 1.63767054e+00] [ 3.18635567e-01 -2.30035946e-03 9.47874508e-01 1.87066479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.644839173 meters 0.08873816411462701 Centerline is valid? [True, True] Translation: X:16.50, Y:1.63, Z:1.88 [[ 7.34537056e-01 6.32069516e-01 -2.46867253e-01 1.65032663e+01] [-5.98880883e-01 7.74911439e-01 2.02123600e-01 1.62592961e+00] [ 3.19056425e-01 -6.23195628e-04 9.47735517e-01 1.87771950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.674839173 meters 0.0894497417052259 Centerline is valid? [True, True] Translation: X:16.53, Y:1.61, Z:1.88 [[ 7.30772878e-01 6.35116209e-01 -2.50196727e-01 1.65295241e+01] [-6.01200486e-01 7.72416207e-01 2.04771041e-01 1.61322648e+00] [ 3.23309414e-01 7.77270684e-04 9.46292988e-01 1.87813178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.704839173 meters 0.08925169871780632 Centerline is valid? [True, True] Translation: X:16.55, Y:1.60, Z:1.89 [[ 7.31671913e-01 6.34555683e-01 -2.48988548e-01 1.65495045e+01] [-6.00969744e-01 7.72876924e-01 2.03707209e-01 1.59621049e+00] [ 3.21701070e-01 5.87740548e-04 9.46841104e-01 1.88961053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.734839173 meters 0.08860600638898664 Centerline is valid? [True, True] Translation: X:16.57, Y:1.58, Z:1.91 [[ 7.37691551e-01 6.29191170e-01 -2.44805327e-01 1.65658898e+01] [-5.96501021e-01 7.77248851e-01 2.00176813e-01 1.57805336e+00] [ 3.16224142e-01 -1.64211630e-03 9.48683085e-01 1.90629628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.764839173 meters 0.08844332707806053 Centerline is valid? [True, True] Translation: X:16.59, Y:1.56, Z:1.92 [[ 7.38668279e-01 6.28091482e-01 -2.44684006e-01 1.65866921e+01] [-5.95414700e-01 7.78136893e-01 1.99960771e-01 1.56196408e+00] [ 3.15991309e-01 -2.01622443e-03 9.48759942e-01 1.91616438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.794839173 meters 0.08899162140764472 Centerline is valid? [True, True] Translation: X:16.61, Y:1.55, Z:1.92 [[ 7.34745683e-01 6.30690401e-01 -2.49756680e-01 1.66137676e+01] [-5.96792400e-01 7.76034109e-01 2.03985031e-01 1.54957604e+00] [ 3.22471104e-01 -8.24232405e-04 9.46578949e-01 1.91565104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.824839173 meters 0.09025476251676712 Centerline is valid? [True, True] Translation: X:16.64, Y:1.53, Z:1.92 [[ 7.30044133e-01 6.34417256e-01 -2.54067529e-01 1.66383531e+01] [-5.99564265e-01 7.72990221e-01 2.07385654e-01 1.53378753e+00] [ 3.27960753e-01 9.29131680e-04 9.44690892e-01 1.91597340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.854839173 meters 0.09022370466813824 Centerline is valid? [True, True] Translation: X:16.66, Y:1.52, Z:1.93 [[ 7.29358056e-01 6.35853710e-01 -2.52441846e-01 1.66615574e+01] [-6.01569109e-01 7.71807881e-01 2.05978643e-01 1.52061139e+00] [ 3.25808890e-01 1.62903400e-03 9.45434246e-01 1.92754746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.884839173 meters 0.08999628180047191 Centerline is valid? [True, True] Translation: X:16.69, Y:1.51, Z:1.94 [[ 7.28962100e-01 6.36975225e-01 -2.50752505e-01 1.66851152e+01] [-6.03262000e-01 7.70881128e-01 2.04492655e-01 1.50890376e+00] [ 3.23557129e-01 2.20206258e-03 9.46206074e-01 1.93580216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.914839173 meters 0.08968386236679665 Centerline is valid? [True, True] Translation: X:16.71, Y:1.50, Z:1.95 [[ 7.29008199e-01 6.36930717e-01 -2.50731545e-01 1.67110194e+01] [-6.03248810e-01 7.70917767e-01 2.04393419e-01 1.49954114e+00] [ 3.23477850e-01 2.24902730e-03 9.46233070e-01 1.94623735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.944839173 meters 0.08943499447245644 Centerline is valid? [True, True] Translation: X:16.73, Y:1.48, Z:1.95 [[ 7.31443831e-01 6.33786963e-01 -2.51602875e-01 1.67308400e+01] [-5.99723428e-01 7.73507058e-01 2.04984492e-01 1.48115489e+00] [ 3.24533098e-01 9.57496424e-04 9.45873856e-01 1.95418439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.974839173 meters 0.08920595658618452 Centerline is valid? [True, True] Translation: X:16.75, Y:1.47, Z:1.97 [[ 7.30877710e-01 6.34364003e-01 -2.51793735e-01 1.67534238e+01] [-6.00321622e-01 7.73033369e-01 2.05020390e-01 1.46762583e+00] [ 3.24702514e-01 1.31239019e-03 9.45815286e-01 1.96545015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.004839173 meters 0.08920595658618452 Centerline is valid? [True, True] Translation: X:16.77, Y:1.45, Z:1.97 [[ 7.31056090e-01 6.34134412e-01 -2.51854205e-01 1.67737918e+01] [-6.00104388e-01 7.73221719e-01 2.04946082e-01 1.45139131e+00] [ 3.24702505e-01 1.31173258e-03 9.45815290e-01 1.97369776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.034839172999998 meters 0.08971855811127319 Centerline is valid? [True, True] Translation: X:16.80, Y:1.45, Z:1.98 [[ 7.27051965e-01 6.39370616e-01 -2.50201230e-01 1.68022706e+01] [-6.06138665e-01 7.68889727e-01 2.03480976e-01 1.44627882e+00] [ 3.22476912e-01 3.71539553e-03 9.46570038e-01 1.98143853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.064839173 meters 0.09012644812011811 Centerline is valid? [True, True] Translation: X:16.82, Y:1.43, Z:1.99 [[ 7.25327774e-01 6.40719507e-01 -2.51750140e-01 1.68248081e+01] [-6.07171086e-01 7.67762361e-01 2.04656368e-01 1.43086712e+00] [ 3.24411609e-01 4.41245806e-03 9.45905724e-01 1.98735674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.094839173 meters 0.09135272659141057 Centerline is valid? [True, True] Translation: X:16.85, Y:1.41, Z:1.99 [[ 7.24113590e-01 6.41660665e-01 -2.52846001e-01 1.68450298e+01] [-6.07894623e-01 7.66972857e-01 2.05467183e-01 1.41071027e+00] [ 3.25766229e-01 4.92214471e-03 9.45437537e-01 1.98690171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.124839172999998 meters 0.0912405593386082 Centerline is valid? [True, True] Translation: X:16.86, Y:1.39, Z:1.99 [[ 7.25000670e-01 6.40519495e-01 -2.53197167e-01 1.68643226e+01] [-6.06630395e-01 7.67928651e-01 2.05633535e-01 1.39121649e+00] [ 3.26149647e-01 4.51264701e-03 9.45307381e-01 1.99421744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.154839173 meters 0.09092120369798029 Centerline is valid? [True, True] Translation: X:16.89, Y:1.38, Z:2.00 [[ 7.25394883e-01 6.40213083e-01 -2.52842783e-01 1.68853691e+01] [-6.06444363e-01 7.68184401e-01 2.05226606e-01 1.37564032e+00] [ 3.25618639e-01 4.46475087e-03 9.45490649e-01 2.00298882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.184839173 meters 0.08980625201156135 Centerline is valid? [True, True] Translation: X:16.90, Y:1.36, Z:2.02 [[ 7.29146786e-01 6.37671398e-01 -2.48435409e-01 1.69040378e+01] [-6.04996480e-01 7.70301192e-01 2.01532460e-01 1.36202679e+00] [ 3.19881578e-01 3.35580283e-03 9.47451590e-01 2.01950647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.214839172999998 meters 0.0880066383794091 Centerline is valid? [True, True] Translation: X:16.92, Y:1.33, Z:2.03 [[ 7.35046876e-01 6.29990394e-01 -2.50635578e-01 1.69166134e+01] [-5.96322596e-01 7.76602918e-01 2.03192689e-01 1.33433033e+00] [ 3.22653763e-01 1.03507538e-04 9.46517057e-01 2.02583272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.244839173 meters 0.08745470343018025 Centerline is valid? [True, True] Translation: X:16.93, Y:1.31, Z:2.04 [[ 7.36995113e-01 6.28922589e-01 -2.47577422e-01 1.69325768e+01] [-5.96073294e-01 7.77467881e-01 2.00599906e-01 1.31328548e+00] [ 3.18645306e-01 -2.66861421e-04 9.47873988e-01 2.03748127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.274839173 meters 0.08672272215063491 Centerline is valid? [True, True] Translation: X:16.95, Y:1.29, Z:2.05 [[ 7.41012598e-01 6.24954829e-01 -2.45625307e-01 1.69452751e+01] [-5.92460842e-01 7.80658684e-01 1.98902413e-01 1.28901275e+00] [ 3.16054552e-01 -1.86581705e-03 9.48739184e-01 2.05119148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.304839172999998 meters 0.08731026632879282 Centerline is valid? [True, True] Translation: X:16.96, Y:1.27, Z:2.06 [[ 7.39277354e-01 6.28508224e-01 -2.41756917e-01 1.69647427e+01] [-5.97277765e-01 7.77802899e-01 1.95657662e-01 1.27425393e+00] [ 3.11011680e-01 -2.49247696e-04 9.50406057e-01 2.06488401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.334839173 meters 0.08772634791594412 Centerline is valid? [True, True] Translation: X:16.98, Y:1.25, Z:2.07 [[ 7.37746812e-01 6.30475031e-01 -2.41310748e-01 1.69794094e+01] [-5.99502984e-01 7.76209239e-01 1.95180404e-01 1.25258194e+00] [ 3.10364003e-01 6.72792790e-04 9.50617553e-01 2.07345657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.364839173 meters 0.08773160577663645 Centerline is valid? [True, True] Translation: X:17.00, Y:1.23, Z:2.08 [[ 7.37032736e-01 6.31528921e-01 -2.40736303e-01 1.69980603e+01] [-6.00796321e-01 7.75351396e-01 1.94612419e-01 1.23389533e+00] [ 3.09558599e-01 1.19776156e-03 9.50879613e-01 2.08091333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.394839173 meters 0.08846371390270961 Centerline is valid? [True, True] Translation: X:17.02, Y:1.21, Z:2.08 [[ 7.31370121e-01 6.35079162e-01 -2.48540144e-01 1.70192925e+01] [-6.02502094e-01 7.72441694e-01 2.00810995e-01 1.21306530e+00] [ 3.19513649e-01 2.87879559e-03 9.47577301e-01 2.07961301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.424839173 meters 0.08943856565921289 Centerline is valid? [True, True] Translation: X:17.04, Y:1.20, Z:2.08 [[ 7.28127280e-01 6.37521164e-01 -2.51788463e-01 1.70418470e+01] [-6.04244504e-01 7.70421935e-01 2.03319013e-01 1.19637895e+00] [ 3.23603529e-01 4.09967467e-03 9.46183887e-01 2.08175831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.454839173 meters 0.0890306730697125 Centerline is valid? [True, True] Translation: X:17.06, Y:1.18, Z:2.09 [[ 7.24799911e-01 6.40656010e-01 -2.53426450e-01 1.70618292e+01] [-6.07144584e-01 7.67807621e-01 2.04565177e-01 1.17879217e+00] [ 3.25638670e-01 5.59767413e-03 9.45477722e-01 2.09030334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.484839173 meters 0.08870196350641844 Centerline is valid? [True, True] Translation: X:17.08, Y:1.16, Z:2.10 [[ 7.24856315e-01 6.41415456e-01 -2.51335505e-01 1.70797657e+01] [-6.08540994e-01 7.67170664e-01 2.02798003e-01 1.16153632e+00] [ 3.22895000e-01 5.94854446e-03 9.46416100e-01 2.10404025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.514839173 meters 0.08888075187510354 Centerline is valid? [True, True] Translation: X:17.10, Y:1.15, Z:2.12 [[ 7.23237614e-01 6.43178669e-01 -2.51492650e-01 1.71014517e+01] [-6.10404951e-01 7.65685641e-01 2.02808517e-01 1.14654178e+00] [ 3.23006423e-01 6.83361068e-03 9.46372100e-01 2.11501778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.544839173 meters 0.08903133114445516 Centerline is valid? [True, True] Translation: X:17.12, Y:1.13, Z:2.12 [[ 7.21424540e-01 6.45830679e-01 -2.49898712e-01 1.71232741e+01] [-6.13674218e-01 7.63438187e-01 2.01410249e-01 1.13241150e+00] [ 3.20859137e-01 8.05410063e-03 9.47092680e-01 2.12260524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.574839173 meters 0.08889410859096954 Centerline is valid? [True, True] Translation: X:17.14, Y:1.11, Z:2.13 [[ 7.22634508e-01 6.44737942e-01 -2.49223503e-01 1.71407513e+01] [-6.12733534e-01 7.64365555e-01 2.00755861e-01 1.11221986e+00] [ 3.19932781e-01 7.63448458e-03 9.47409484e-01 2.13106312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.604839173 meters 0.08654712738917235 Centerline is valid? [True, True] Translation: X:17.15, Y:1.08, Z:2.14 [[ 7.25165461e-01 6.41475482e-01 -2.50288354e-01 1.71522992e+01] [-6.09038246e-01 7.67117562e-01 2.01502014e-01 1.08273333e+00] [ 3.21259194e-01 6.31287932e-03 9.46970262e-01 2.13974198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.634839173 meters 0.08623125056529839 Centerline is valid? [True, True] Translation: X:17.17, Y:1.06, Z:2.15 [[ 7.27238628e-01 6.38870798e-01 -2.50934416e-01 1.71717726e+01] [-6.06145722e-01 7.69296064e-01 2.01918127e-01 1.06427692e+00] [ 3.22042453e-01 5.26016081e-03 9.46710615e-01 2.14700406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.664839173 meters 0.08696233131630533 Centerline is valid? [True, True] Translation: X:17.19, Y:1.05, Z:2.16 [[ 7.27732005e-01 6.38837202e-01 -2.49585973e-01 1.71923741e+01] [-6.06484638e-01 7.69324044e-01 2.00790683e-01 1.04883314e+00] [ 3.20285048e-01 5.24825169e-03 9.47306679e-01 2.16106887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.694839173 meters 0.08719626984404635 Centerline is valid? [True, True] Translation: X:17.21, Y:1.03, Z:2.17 [[ 7.28501017e-01 6.38111846e-01 -2.49197795e-01 1.72135922e+01] [-6.05856882e-01 7.69927404e-01 2.00372731e-01 1.03245971e+00] [ 3.19724424e-01 5.00646080e-03 9.47497350e-01 2.16538603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.724839173 meters 0.08534390344787864 Centerline is valid? [True, True] Translation: X:17.22, Y:1.01, Z:2.18 [[ 7.32719669e-01 6.34735190e-01 -2.45424380e-01 1.72224354e+01] [-6.03319779e-01 7.72721613e-01 1.97247440e-01 1.00599970e+00] [ 3.14844614e-01 3.54230412e-03 9.49136619e-01 2.18389238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.754839173 meters 0.08439596801054597 Centerline is valid? [True, True] Translation: X:17.24, Y:0.98, Z:2.19 [[ 7.35005406e-01 6.32854922e-01 -2.43437264e-01 1.72401855e+01] [-6.01897228e-01 7.74265310e-01 1.95532495e-01 9.84445619e-01] [ 3.12228731e-01 2.80677315e-03 9.50002812e-01 2.19409008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.784839172999998 meters 0.08398060859632409 Centerline is valid? [True, True] Translation: X:17.25, Y:0.96, Z:2.21 [[ 7.40044301e-01 6.29190091e-01 -2.37601055e-01 1.72527012e+01] [-5.99579337e-01 7.77250379e-01 1.90752373e-01 9.59177322e-01] [ 3.04695013e-01 1.29547655e-03 9.52449091e-01 2.20826863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.814839173 meters 0.08382018736878488 Centerline is valid? [True, True] Translation: X:17.27, Y:0.94, Z:2.21 [[ 7.42307441e-01 6.25846862e-01 -2.39364511e-01 1.72683804e+01] [-5.95648426e-01 7.79945963e-01 1.92060530e-01 9.36734027e-01] [ 3.06891864e-01 9.13387406e-06 9.51744390e-01 2.21482922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.844839173 meters 0.08471763566304456 Centerline is valid? [True, True] Translation: X:17.28, Y:0.91, Z:2.22 [[ 7.45252242e-01 6.20593032e-01 -2.43851152e-01 1.72806751e+01] [-5.88983043e-01 7.84129991e-01 1.95548288e-01 9.05982106e-01] [ 3.12566906e-01 -2.10860644e-03 9.49893406e-01 2.21835487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.874839172999998 meters 0.08456505473451653 Centerline is valid? [True, True] Translation: X:17.30, Y:0.88, Z:2.22 [[ 7.47654488e-01 6.16431268e-01 -2.47032910e-01 1.72959763e+01] [-5.83781870e-01 7.87399472e-01 1.97991918e-01 8.79256630e-01] [ 3.16561992e-01 -3.81621236e-03 9.48564148e-01 2.22160718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.904839173 meters 0.08521299132343726 Centerline is valid? [True, True] Translation: X:17.32, Y:0.86, Z:2.23 [[ 7.47664051e-01 6.17315277e-01 -2.44786264e-01 1.73158022e+01] [-5.85355317e-01 7.86708871e-01 1.96082395e-01 8.63613591e-01] [ 3.13620183e-01 -3.31681631e-03 9.49542721e-01 2.23273400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.934839173 meters 0.08553450478506251 Centerline is valid? [True, True] Translation: X:17.33, Y:0.84, Z:2.25 [[ 7.52181610e-01 6.12605450e-01 -2.42770237e-01 1.73319991e+01] [-5.80956310e-01 7.90371720e-01 1.94428162e-01 8.42360757e-01] [ 3.10986481e-01 -5.20638663e-03 9.50400075e-01 2.24509858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.964839172999998 meters 0.08599946021380599 Centerline is valid? [True, True] Translation: X:17.35, Y:0.82, Z:2.26 [[ 7.54291481e-01 6.10410869e-01 -2.41749733e-01 1.73474587e+01] [-5.78958855e-01 7.92062259e-01 1.93504576e-01 8.20446607e-01] [ 3.09598136e-01 -5.99570476e-03 9.50848592e-01 2.25582179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.994839173 meters 0.08620027299642888 Centerline is valid? [True, True] Translation: X:17.36, Y:0.80, Z:2.27 [[ 7.56036397e-01 6.08011762e-01 -2.42344102e-01 1.73647241e+01] [-5.76300616e-01 7.93897633e-01 1.93917892e-01 7.98349094e-01] [ 3.10300768e-01 -6.94592895e-03 9.50613059e-01 2.26555970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.024839173 meters 0.08634776070080231 Centerline is valid? [True, True] Translation: X:17.39, Y:0.78, Z:2.27 [[ 7.55890940e-01 6.07498433e-01 -2.44078963e-01 1.73851678e+01] [-5.75328539e-01 7.94288941e-01 1.95197719e-01 7.81428906e-01] [ 3.12451530e-01 -7.12259408e-03 9.49907001e-01 2.27321556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.054839172999998 meters 0.087203018494562 Centerline is valid? [True, True] Translation: X:17.41, Y:0.76, Z:2.27 [[ 7.59178507e-01 5.99364029e-01 -2.53792741e-01 1.74053989e+01] [-5.64083504e-01 8.00402762e-01 2.02892135e-01 7.55703863e-01] [ 3.24742659e-01 -1.08710496e-02 9.45739936e-01 2.26593034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.084839173 meters 0.08818281868808711 Centerline is valid? [True, True] Translation: X:17.42, Y:0.74, Z:2.28 [[ 7.57707455e-01 6.04071075e-01 -2.46936326e-01 1.74231090e+01] [-5.71004513e-01 7.96885168e-01 1.97301484e-01 7.40262410e-01] [ 3.15964015e-01 -8.49504869e-03 9.48733142e-01 2.28104476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.114839173 meters 0.08946290965685248 Centerline is valid? [True, True] Translation: X:17.44, Y:0.72, Z:2.29 [[ 7.60144587e-01 6.01235147e-01 -2.46366607e-01 1.74382655e+01] [-5.68197319e-01 7.99014396e-01 1.96793804e-01 7.15261342e-01] [ 3.15169817e-01 -9.60689937e-03 9.48986667e-01 2.28741813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.144839172999998 meters 0.08936857831161207 Centerline is valid? [True, True] Translation: X:17.46, Y:0.70, Z:2.29 [[ 7.60921442e-01 6.01227340e-01 -2.43975911e-01 1.74634211e+01] [-5.68877723e-01 7.99022452e-01 1.94785159e-01 7.01321087e-01] [ 3.12052394e-01 -9.42374353e-03 9.50018156e-01 2.29455881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.174839173 meters 0.08784301574594466 Centerline is valid? [True, True] Translation: X:17.49, Y:0.70, Z:2.31 [[ 7.58720249e-01 6.03558862e-01 -2.45071996e-01 1.74908478e+01] [-5.71061605e-01 7.97273956e-01 1.95557874e-01 6.95882029e-01] [ 3.13420208e-01 -8.42251095e-03 9.49577187e-01 2.30940130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.204839173 meters 0.08724346639863913 Centerline is valid? [True, True] Translation: X:17.52, Y:0.68, Z:2.32 [[ 7.58435990e-01 6.04268273e-01 -2.44202176e-01 1.75153459e+01] [-5.72078943e-01 7.96740698e-01 1.94756112e-01 6.84140517e-01] [ 3.12250751e-01 -8.00712195e-03 9.49965975e-01 2.32046452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.234839173 meters 0.0862296713670412 Centerline is valid? [True, True] Translation: X:17.54, Y:0.67, Z:2.33 [[ 7.57279042e-01 6.05857551e-01 -2.43854628e-01 1.75384921e+01] [-5.73876653e-01 7.95540077e-01 1.94374825e-01 6.70065259e-01] [ 3.11759586e-01 -7.25350359e-03 9.50133331e-01 2.32652965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.264839173 meters 0.08620176756440795 Centerline is valid? [True, True] Translation: X:17.57, Y:0.66, Z:2.34 [[ 7.53645669e-01 6.09945129e-01 -2.44918651e-01 1.75659686e+01] [-5.77899142e-01 7.92424139e-01 1.95183413e-01 6.62665042e-01] [ 3.13130623e-01 -5.56085534e-03 9.49693787e-01 2.33533363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.294839173 meters 0.08597099475350505 Centerline is valid? [True, True] Translation: X:17.59, Y:0.65, Z:2.35 [[ 7.55769864e-01 6.09034031e-01 -2.40602290e-01 1.75908372e+01] [-5.78114811e-01 7.93123133e-01 1.91674100e-01 6.53444648e-01] [ 3.07563292e-01 -5.76576095e-03 9.51510156e-01 2.35123369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.324839173 meters 0.08598935221329666 Centerline is valid? [True, True] Translation: X:17.61, Y:0.64, Z:2.36 [[ 7.57366320e-01 6.07328475e-01 -2.39892433e-01 1.76145806e+01] [-5.76545375e-01 7.94425426e-01 1.91006998e-01 6.41291129e-01] [ 3.06580637e-01 -6.35339443e-03 9.51823485e-01 2.36231826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.354839173 meters 0.08627333603438819 Centerline is valid? [True, True] Translation: X:17.64, Y:0.63, Z:2.37 [[ 7.57549898e-01 6.07194846e-01 -2.39650936e-01 1.76371022e+01] [-5.76487988e-01 7.94527588e-01 1.90755109e-01 6.27586188e-01] [ 3.06234799e-01 -6.35062696e-03 9.51934828e-01 2.37143904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.384839173 meters 0.08580001784084433 Centerline is valid? [True, True] Translation: X:17.66, Y:0.61, Z:2.38 [[ 7.53968693e-01 6.10956956e-01 -2.41376899e-01 1.76631865e+01] [-5.80019992e-01 7.91649468e-01 1.92010230e-01 6.14823950e-01] [ 3.08395879e-01 -4.76627520e-03 9.51246164e-01 2.37687767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.414839173 meters 0.08530049298242076 Centerline is valid? [True, True] Translation: X:17.69, Y:0.61, Z:2.38 [[ 7.50138106e-01 6.14535749e-01 -2.44210228e-01 1.76918308e+01] [-5.83067370e-01 7.88882262e-01 1.94157715e-01 6.06906885e-01] [ 3.11969974e-01 -3.25408576e-03 9.50086389e-01 2.37922751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.444839173 meters 0.0853945193223697 Centerline is valid? [True, True] Translation: X:17.72, Y:0.60, Z:2.39 [[ 7.47688214e-01 6.17597271e-01 -2.43999887e-01 1.77183446e+01] [-5.86373524e-01 7.86492214e-01 1.93897106e-01 5.96967492e-01] [ 3.11654335e-01 -1.89950701e-03 9.50193647e-01 2.38852784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.474839173 meters 0.08481707092483623 Centerline is valid? [True, True] Translation: X:17.75, Y:0.59, Z:2.40 [[ 7.46587154e-01 6.19630369e-01 -2.42210295e-01 1.77451531e+01] [-5.89011743e-01 7.84893168e-01 1.92374328e-01 5.87644843e-01] [ 3.09310182e-01 -9.59493636e-04 9.50960720e-01 2.40001406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.504839173 meters 0.08446691318769228 Centerline is valid? [True, True] Translation: X:17.77, Y:0.59, Z:2.41 [[ 7.43922549e-01 6.24206593e-01 -2.38632291e-01 1.77740012e+01] [-5.94768542e-01 7.81258674e-01 1.89434069e-01 5.85535025e-01] [ 3.04679542e-01 1.00670411e-03 9.52454389e-01 2.41381292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.534839172999998 meters 0.08466338325498052 Centerline is valid? [True, True] Translation: X:17.80, Y:0.57, Z:2.42 [[ 7.42199621e-01 6.25940646e-01 -2.39453608e-01 1.77983684e+01] [-5.96406358e-01 7.79868656e-01 1.90011409e-01 5.73892922e-01] [ 3.05678228e-01 1.78525861e-03 9.52133202e-01 2.42262858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.564839173 meters 0.08504110100387757 Centerline is valid? [True, True] Translation: X:17.82, Y:0.56, Z:2.43 [[ 7.42149613e-01 6.24261117e-01 -2.43950837e-01 1.78220805e+01] [-5.93527452e-01 7.81214817e-01 1.93464657e-01 5.58565752e-01] [ 3.11350471e-01 1.21179820e-03 9.50294384e-01 2.42516396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.594839173 meters 0.08551452335347572 Centerline is valid? [True, True] Translation: X:17.84, Y:0.54, Z:2.43 [[ 7.45657310e-01 6.19151329e-01 -2.46265726e-01 1.78422395e+01] [-5.87565888e-01 7.85271202e-01 1.95231831e-01 5.38988218e-01] [ 3.14263430e-01 -8.78701816e-04 9.49335412e-01 2.43145320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.624839172999998 meters 0.08544540413579721 Centerline is valid? [True, True] Translation: X:17.86, Y:0.52, Z:2.44 [[ 7.48376784e-01 6.16668588e-01 -2.44237675e-01 1.78609507e+01] [-5.85518954e-01 7.87220765e-01 1.93522665e-01 5.21246599e-01] [ 3.11608318e-01 -1.82208238e-03 9.50208891e-01 2.44065254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.654839173 meters 0.0855867450981368 Centerline is valid? [True, True] Translation: X:17.88, Y:0.50, Z:2.45 [[ 7.51204274e-01 6.14103151e-01 -2.42011278e-01 1.78800230e+01] [-5.83427991e-01 7.89220817e-01 1.91682764e-01 5.03646594e-01] [ 3.08713327e-01 -2.79675785e-03 9.51151018e-01 2.45170098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.684839173 meters 0.08582922160538489 Centerline is valid? [True, True] Translation: X:17.91, Y:0.49, Z:2.46 [[ 7.52638040e-01 6.12037461e-01 -2.42788235e-01 1.79065098e+01] [-5.81092206e-01 7.90820750e-01 1.92183219e-01 4.92694551e-01] [ 3.09625303e-01 -3.56205020e-03 9.50851978e-01 2.46015662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.714839172999998 meters 0.08623264888504657 Centerline is valid? [True, True] Translation: X:17.93, Y:0.48, Z:2.47 [[ 7.53735244e-01 6.10924987e-01 -2.42185554e-01 1.79271002e+01] [-5.80114768e-01 7.91678771e-01 1.91602661e-01 4.77766150e-01] [ 3.08788015e-01 -3.92226217e-03 9.51122798e-01 2.46744872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.744839173 meters 0.08668078434027889 Centerline is valid? [True, True] Translation: X:17.95, Y:0.47, Z:2.48 [[ 7.56107080e-01 6.08727399e-01 -2.40318617e-01 1.79497679e+01] [-5.78328242e-01 7.93365576e-01 1.90019755e-01 4.65535510e-01] [ 3.06330749e-01 -4.69223878e-03 9.51913575e-01 2.47886336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.774839173 meters 0.08737461811134992 Centerline is valid? [True, True] Translation: X:17.97, Y:0.45, Z:2.49 [[ 7.58407930e-01 6.06824481e-01 -2.37868577e-01 1.79712544e+01] [-5.77001268e-01 7.94818129e-01 1.87972545e-01 4.51380523e-01] [ 3.03128599e-01 -5.30939809e-03 9.52934868e-01 2.48941158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.804839172999998 meters 0.08717996547792525 Centerline is valid? [True, True] Translation: X:17.99, Y:0.44, Z:2.50 [[ 7.59627455e-01 6.05893825e-01 -2.36344668e-01 1.79948907e+01] [-5.76433548e-01 7.95525824e-01 1.86716439e-01 4.38905348e-01] [ 3.01148624e-01 -5.59793767e-03 9.53560784e-01 2.50043876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.834839173 meters 0.08705568798467232 Centerline is valid? [True, True] Translation: X:18.02, Y:0.43, Z:2.51 [[ 7.60242011e-01 6.06076007e-01 -2.33888773e-01 1.80193939e+01] [-5.77282448e-01 7.95388595e-01 1.84667155e-01 4.29497208e-01] [ 2.97954795e-01 -5.37184607e-03 9.54564866e-01 2.51424666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.864839173 meters 0.08678468426039063 Centerline is valid? [True, True] Translation: X:18.04, Y:0.42, Z:2.52 [[ 7.58275666e-01 6.07812723e-01 -2.35757734e-01 1.80442939e+01] [-5.78663486e-01 7.94066875e-01 1.86027870e-01 4.17227566e-01] [ 3.00277513e-01 -4.63601499e-03 9.53840617e-01 2.52169088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.894839172999998 meters 0.08678468426039063 Centerline is valid? [True, True] Translation: X:18.06, Y:0.40, Z:2.53 [[ 7.58445073e-01 6.07582697e-01 -2.35805721e-01 1.80649055e+01] [-5.78441513e-01 7.94242836e-01 1.85967023e-01 4.01294021e-01] [ 3.00277350e-01 -4.64595400e-03 9.53840620e-01 2.52993110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.924839173 meters 0.08633669605933192 Centerline is valid? [True, True] Translation: X:18.10, Y:0.40, Z:2.53 [[ 7.51641607e-01 6.14596375e-01 -2.39387113e-01 1.80973323e+01] [-5.84921553e-01 7.88839703e-01 1.88676179e-01 3.96306712e-01] [ 3.04797754e-01 -1.79418416e-03 9.52415408e-01 2.53241296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.954839173 meters 0.08622214707922743 Centerline is valid? [True, True] Translation: X:18.12, Y:0.39, Z:2.54 [[ 7.49822785e-01 6.17132316e-01 -2.38565495e-01 1.81230840e+01] [-5.87826454e-01 7.86859108e-01 1.87917013e-01 3.86365756e-01] [ 3.03687094e-01 -6.69349190e-04 9.52771589e-01 2.54190320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.984839173 meters 0.08608541356443236 Centerline is valid? [True, True] Translation: X:18.15, Y:0.38, Z:2.55 [[ 7.48155878e-01 6.19648539e-01 -2.37272988e-01 1.81482742e+01] [-5.90825911e-01 7.84879286e-01 1.86786641e-01 3.78086211e-01] [ 3.01972723e-01 4.41506025e-04 9.53316464e-01 2.55174676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.014839173 meters 0.0860610244535465 Centerline is valid? [True, True] Translation: X:18.17, Y:0.36, Z:2.56 [[ 7.48923200e-01 6.19175848e-01 -2.36083270e-01 1.81694074e+01] [-5.90657549e-01 7.85252290e-01 1.85748490e-01 3.64263082e-01] [ 3.00395907e-01 3.33012382e-04 9.53814546e-01 2.56202644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.044839173 meters 0.08566214807217441 Centerline is valid? [True, True] Translation: X:18.19, Y:0.35, Z:2.58 [[ 7.51910298e-01 6.17516092e-01 -2.30878281e-01 1.81909024e+01] [-5.90215045e-01 7.86558202e-01 1.81583026e-01 3.52209555e-01] [ 2.93729646e-01 -2.66312173e-04 9.55888500e-01 2.57865960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.074839173 meters 0.08561298312489483 Centerline is valid? [True, True] Translation: X:18.21, Y:0.34, Z:2.59 [[ 7.53244983e-01 6.16144233e-01 -2.30191832e-01 1.82127229e+01] [-5.88977065e-01 7.87633018e-01 1.80942661e-01 3.37348838e-01] [ 2.92793465e-01 -7.16441905e-04 9.56175441e-01 2.58864292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.104839173 meters 0.08594503126617078 Centerline is valid? [True, True] Translation: X:18.23, Y:0.32, Z:2.59 [[ 7.53309656e-01 6.14802027e-01 -2.33544495e-01 1.82348743e+01] [-5.86791171e-01 7.88680617e-01 1.83463911e-01 3.21214797e-01] [ 2.96986000e-01 -1.16328815e-03 9.54881125e-01 2.59201550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.134839173 meters 0.08635114057289144 Centerline is valid? [True, True] Translation: X:18.26, Y:0.31, Z:2.60 [[ 7.52983819e-01 6.15054948e-01 -2.33929004e-01 1.82569709e+01] [-5.86989725e-01 7.88483626e-01 1.83675348e-01 3.05409887e-01] [ 2.97419621e-01 -9.90642814e-04 9.54746347e-01 2.59864683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.164839173 meters 0.08635239122903687 Centerline is valid? [True, True] Translation: X:18.28, Y:0.29, Z:2.61 [[ 7.52323383e-01 6.16650233e-01 -2.31844813e-01 1.82804693e+01] [-5.89202918e-01 7.87237207e-01 1.81927186e-01 2.94915142e-01] [ 2.94702305e-01 -2.64435551e-04 9.55589076e-01 2.60891714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.194839173 meters 0.08638973571064193 Centerline is valid? [True, True] Translation: X:18.30, Y:0.28, Z:2.62 [[ 7.54028823e-01 6.15760863e-01 -2.28646220e-01 1.83017537e+01] [-5.89072850e-01 7.87932921e-01 1.79317846e-01 2.81834056e-01] [ 2.90574795e-01 -5.21544058e-04 9.56852139e-01 2.62236929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.224839173 meters 0.08632979053034082 Centerline is valid? [True, True] Translation: X:18.32, Y:0.27, Z:2.63 [[ 7.56135932e-01 6.13918570e-01 -2.26632837e-01 1.83221789e+01] [-5.87656287e-01 7.89368538e-01 1.77644027e-01 2.66470746e-01] [ 2.87955798e-01 -1.14081992e-03 9.57643022e-01 2.63497765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.254839173 meters 0.08651425927478625 Centerline is valid? [True, True] Translation: X:18.34, Y:0.25, Z:2.64 [[ 7.55904361e-01 6.13673113e-01 -2.28065579e-01 1.83443304e+01] [-5.87089361e-01 7.89559348e-01 1.78667622e-01 2.50554746e-01] [ 2.89714825e-01 -1.16075987e-03 9.57112309e-01 2.64102683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.284839172999998 meters 0.08666307735682414 Centerline is valid? [True, True] Translation: X:18.37, Y:0.23, Z:2.64 [[ 7.54475739e-01 6.12733069e-01 -2.35211704e-01 1.83678302e+01] [-5.84406153e-01 7.90288549e-01 1.84156072e-01 2.32685917e-01] [ 2.98723631e-01 -1.48212099e-03 9.54338512e-01 2.63941441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.314839173 meters 0.08708567661318858 Centerline is valid? [True, True] Translation: X:18.39, Y:0.21, Z:2.64 [[ 7.55029683e-01 6.11240938e-01 -2.37307170e-01 1.83886844e+01] [-5.82355926e-01 7.91442036e-01 1.85690816e-01 2.14505193e-01] [ 3.01316698e-01 -2.00484069e-03 9.53522012e-01 2.64353050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.344839173 meters 0.0868674059486143 Centerline is valid? [True, True] Translation: X:18.41, Y:0.20, Z:2.65 [[ 7.56475297e-01 6.09752837e-01 -2.36530340e-01 1.84085692e+01] [-5.81023606e-01 7.92587676e-01 1.84976604e-01 1.98260264e-01] [ 3.00261042e-01 -2.50052013e-03 9.53853791e-01 2.65462918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.374839172999998 meters 0.08649696739515814 Centerline is valid? [True, True] Translation: X:18.43, Y:0.19, Z:2.67 [[ 7.56454345e-01 6.10936389e-01 -2.33524201e-01 1.84295785e+01] [-5.83037042e-01 7.91677366e-01 1.82523299e-01 1.85506690e-01] [ 2.96385950e-01 -1.91728318e-03 9.55066329e-01 2.66788619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404839173 meters 0.08632347105955475 Centerline is valid? [True, True] Translation: X:18.45, Y:0.17, Z:2.68 [[ 7.57549864e-01 6.11178173e-01 -2.29302081e-01 1.84485445e+01] [-5.84339873e-01 7.91491194e-01 1.79132916e-01 1.68393790e-01] [ 2.90972706e-01 -1.71176751e-03 9.56729823e-01 2.68363178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.434839173 meters 0.086284229440222 Centerline is valid? [True, True] Translation: X:18.47, Y:0.15, Z:2.69 [[ 7.57477352e-01 6.10566409e-01 -2.31163840e-01 1.84689638e+01] [-5.83282399e-01 7.91962824e-01 1.80489692e-01 1.51540736e-01] [ 2.93274110e-01 -1.88305482e-03 9.56026543e-01 2.69192286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.464839172999998 meters 0.08625614929629723 Centerline is valid? [True, True] Translation: X:18.49, Y:0.14, Z:2.69 [[ 7.53621212e-01 6.12914093e-01 -2.37468702e-01 1.84930043e+01] [-5.84233794e-01 7.90149031e-01 1.85298088e-01 1.35941339e-01] [ 3.01207475e-01 -9.07328835e-04 9.53558196e-01 2.69369850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.494839173 meters 0.08673829208567838 Centerline is valid? [True, True] Translation: X:18.52, Y:0.12, Z:2.70 [[ 7.50945760e-01 6.14920819e-01 -2.40733986e-01 1.85167408e+01] [-5.85538764e-01 7.88588854e-01 1.87808345e-01 1.20613735e-01] [ 3.05327399e-01 -7.47998677e-05 9.52247433e-01 2.69760301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.524839173 meters 0.086959934731951 Centerline is valid? [True, True] Translation: X:18.54, Y:0.11, Z:2.70 [[ 7.47655517e-01 6.19020979e-01 -2.40466746e-01 1.85398124e+01] [-5.89948220e-01 7.85372636e-01 1.87485785e-01 1.07450601e-01] [ 3.04913636e-01 1.68814749e-03 9.52378509e-01 2.70384543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.554839172999998 meters 0.08705655979783458 Centerline is valid? [True, True] Translation: X:18.56, Y:0.09, Z:2.71 [[ 7.46853559e-01 6.20621236e-01 -2.38828480e-01 1.85625429e+01] [-5.92065116e-01 7.84106805e-01 1.86105929e-01 9.46379860e-02] [ 3.02768328e-01 2.40813609e-03 9.53061142e-01 2.71459523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.584839173 meters 0.08655161872102994 Centerline is valid? [True, True] Translation: X:18.58, Y:0.08, Z:2.73 [[ 7.48105264e-01 6.20090423e-01 -2.36276069e-01 1.85828527e+01] [-5.92164754e-01 7.84527097e-01 1.84005813e-01 8.04518854e-02] [ 2.99465221e-01 2.25864323e-03 9.54104544e-01 2.72849342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.614839173 meters 0.08662215531475945 Centerline is valid? [True, True] Translation: X:18.60, Y:0.06, Z:2.74 [[ 7.49452787e-01 6.18864173e-01 -2.35218314e-01 1.86010090e+01] [-5.91170495e-01 7.85495830e-01 1.83067602e-01 6.20199291e-02] [ 2.98056985e-01 1.85360197e-03 9.54546279e-01 2.73659114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.644839172999998 meters 0.08691973805333068 Centerline is valid? [True, True] Translation: X:18.62, Y:0.04, Z:2.74 [[ 7.48511268e-01 6.19111860e-01 -2.37552913e-01 1.86213895e+01] [-5.90897184e-01 7.85300114e-01 1.84781624e-01 4.40112960e-02] [ 3.00950825e-01 2.05821972e-03 9.53637439e-01 2.74146763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.674839173 meters 0.08688116566575252 Centerline is valid? [True, True] Translation: X:18.64, Y:0.03, Z:2.75 [[ 7.48106566e-01 6.19306883e-01 -2.38318170e-01 1.86435797e+01] [-5.90950884e-01 7.85145835e-01 1.85264866e-01 3.04382945e-02] [ 3.01850325e-01 2.23647024e-03 9.53352705e-01 2.74768017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.704839173 meters 0.08685544310944648 Centerline is valid? [True, True] Translation: X:18.67, Y:0.02, Z:2.76 [[ 7.46355592e-01 6.21615450e-01 -2.37797316e-01 1.86689590e+01] [-5.93532113e-01 7.83315841e-01 1.84759099e-01 2.08782429e-02] [ 3.01119515e-01 3.24435698e-03 9.53580889e-01 2.75937632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.734839173 meters 0.08654749581072449 Centerline is valid? [True, True] Translation: X:18.69, Y:0.01, Z:2.77 [[ 7.46651630e-01 6.21895998e-01 -2.36128591e-01 1.86903730e+01] [-5.94259656e-01 7.83092404e-01 1.83362339e-01 6.75944129e-03] [ 2.98942810e-01 3.41390596e-03 9.54264922e-01 2.77138129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.764839173 meters 0.08674199003725641 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.01, Z:2.78 [[ 7.46636695e-01 6.22519613e-01 -2.34527135e-01 1.87096310e+01] [-5.95330077e-01 7.82595320e-01 1.82007317e-01 -9.64245874e-03] [ 2.96842963e-01 3.72771514e-03 9.54919033e-01 2.78127202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.794839173 meters 0.08753743177773711 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.03, Z:2.78 [[ 7.44701560e-01 6.22570055e-01 -2.40470607e-01 1.87293336e+01] [-5.93987457e-01 7.82554161e-01 1.86515109e-01 -3.27999130e-02] [ 3.04299996e-01 3.93843188e-03 9.52568108e-01 2.78048359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.824839173 meters 0.08790182118008204 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.05, Z:2.78 [[ 7.42795363e-01 6.23169222e-01 -2.44775753e-01 1.87500514e+01] [-5.93596650e-01 7.82074882e-01 1.89741655e-01 -5.21700668e-02] [ 3.09674128e-01 4.35884568e-03 9.50832759e-01 2.78349963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.854839173 meters 0.08886222562257604 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.06, Z:2.79 [[ 7.38553721e-01 6.27475579e-01 -2.46602514e-01 1.87753231e+01] [-5.97705006e-01 7.78611007e-01 1.91085386e-01 -6.31302879e-02] [ 3.11908845e-01 6.26873419e-03 9.50091351e-01 2.78804286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.884839173 meters 0.08875917634791375 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.08, Z:2.80 [[ 7.36994905e-01 6.29157931e-01 -2.46979369e-01 1.87970815e+01] [-5.99410410e-01 7.77245490e-01 1.91302401e-01 -7.85174307e-02] [ 3.12323024e-01 7.05311013e-03 9.49949779e-01 2.79709539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.914839173 meters 0.08890267460379477 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.09, Z:2.81 [[ 7.38152322e-01 6.28806127e-01 -2.44405410e-01 1.88187653e+01] [-5.99696735e-01 7.77531616e-01 1.89231109e-01 -9.27544999e-02] [ 3.09022614e-01 6.88774368e-03 9.51029749e-01 2.80662007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.944839173 meters 0.08751147434926589 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.12, Z:2.82 [[ 7.43168210e-01 6.23820789e-01 -2.41968252e-01 1.88308304e+01] [-5.95068935e-01 7.81552566e-01 1.87265984e-01 -1.19253370e-01] [ 3.05931322e-01 4.81766383e-03 9.52041394e-01 2.81862448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.974839173 meters 0.08728268725019708 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.15, Z:2.82 [[ 7.48119440e-01 6.16627866e-01 -2.45127268e-01 1.88450632e+01] [-5.86757961e-01 7.87252268e-01 1.89602113e-01 -1.46937716e-01] [ 3.09890945e-01 1.98534925e-03 9.50770036e-01 2.82177583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.004839173 meters 0.08729053546800658 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.17, Z:2.83 [[ 7.49699079e-01 6.14402602e-01 -2.45887645e-01 1.88607902e+01] [-5.84238251e-01 7.88991908e-01 1.90151084e-01 -1.69676932e-01] [ 3.10832683e-01 1.10087518e-03 9.50464008e-01 2.82935199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.034839172999998 meters 0.08742818207573945 Centerline is valid? [True, True] Translation: X:18.87, Y:-0.20, Z:2.84 [[ 7.53359945e-01 6.10499620e-01 -2.44415646e-01 1.88737208e+01] [-5.80540190e-01 7.92016440e-01 1.88899568e-01 -1.97451720e-01] [ 3.08904324e-01 -4.16262206e-04 9.51093027e-01 2.83736808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.064839173 meters 0.08710514588971296 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.22, Z:2.85 [[ 7.56223773e-01 6.07624791e-01 -2.42729726e-01 1.88903288e+01] [-5.77979059e-01 7.94222829e-01 1.87484148e-01 -2.16393206e-01] [ 3.06701505e-01 -1.48727108e-03 9.51804589e-01 2.84821004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.094839173 meters 0.08697669741842376 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.24, Z:2.86 [[ 7.58925410e-01 6.03954267e-01 -2.43457318e-01 1.89077732e+01] [-5.73973738e-01 7.97013704e-01 1.87944949e-01 -2.35378009e-01] [ 3.07548973e-01 -2.89809111e-03 9.51527840e-01 2.85811867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.124839172999998 meters 0.08676682383853854 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.25, Z:2.87 [[ 7.59517598e-01 6.03174465e-01 -2.43543803e-01 1.89276348e+01] [-5.73147510e-01 7.97602952e-01 1.87966654e-01 -2.52898123e-01] [ 3.07627942e-01 -3.17745729e-03 9.51501421e-01 2.86761733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.154839173 meters 0.0867881511905154 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.27, Z:2.88 [[ 7.60534633e-01 6.02090477e-01 -2.43051701e-01 1.89455595e+01] [-5.72170766e-01 7.98420142e-01 1.87472376e-01 -2.71332391e-01] [ 3.06932706e-01 -3.51215679e-03 9.51724739e-01 2.87643565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.184839173 meters 0.08642136921112575 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.29, Z:2.89 [[ 7.61371764e-01 6.02013991e-01 -2.40607964e-01 1.89637697e+01] [-5.72737144e-01 7.98478223e-01 1.85485017e-01 -2.89289745e-01] [ 3.03784795e-01 -3.41793585e-03 9.52734546e-01 2.88805120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.214839172999998 meters 0.08685990362547069 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.31, Z:2.89 [[ 7.58593658e-01 6.03905721e-01 -2.44608958e-01 1.89840294e+01] [-5.73753233e-01 7.97051460e-01 1.88457417e-01 -3.09078163e-01] [ 3.08776439e-01 -2.61742058e-03 9.51131042e-01 2.88884982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.244839173 meters 0.08684335580078179 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.33, Z:2.90 [[ 7.57562190e-01 6.04684483e-01 -2.45878436e-01 1.90059167e+01] [-5.74283947e-01 7.96462003e-01 1.89330997e-01 -3.25503528e-01] [ 3.10318348e-01 -2.22596631e-03 9.50630090e-01 2.89585259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.274839173 meters 0.08644282057382449 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.34, Z:2.91 [[ 7.56932975e-01 6.05818519e-01 -2.45023250e-01 1.90272136e+01] [-5.75729523e-01 7.95601137e-01 1.88558604e-01 -3.40052872e-01] [ 3.09173071e-01 -1.65910589e-03 9.51004343e-01 2.90657869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.304839172999998 meters 0.08595090140733531 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.35, Z:2.92 [[ 7.56146232e-01 6.07132600e-01 -2.44198449e-01 1.90511091e+01] [-5.77353378e-01 7.94599870e-01 1.87814065e-01 -3.51429439e-01] [ 3.08068098e-01 -1.02609809e-03 9.51363755e-01 2.91710665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.334839173 meters 0.08525895398266037 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.36, Z:2.93 [[ 7.56046378e-01 6.07733296e-01 -2.43010523e-01 1.90758642e+01] [-5.78316842e-01 7.94140903e-01 1.86788269e-01 -3.60184543e-01] [ 3.06502046e-01 -6.83515983e-04 9.51869754e-01 2.93101818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364839173 meters 0.08556166721524161 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.38, Z:2.94 [[ 7.55098362e-01 6.08030492e-01 -2.45204781e-01 1.90975508e+01] [-5.78119134e-01 7.93913532e-01 1.88360214e-01 -3.77713275e-01] [ 3.09200147e-01 -4.72913700e-04 9.50996869e-01 2.93729762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.394839172999998 meters 0.08590758302034243 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.40, Z:2.94 [[ 7.55655955e-01 6.06772898e-01 -2.46598313e-01 1.91179479e+01] [-5.76480536e-01 7.94874725e-01 1.89326074e-01 -3.97673726e-01] [ 3.10892697e-01 -9.06247178e-04 9.50444585e-01 2.94219589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.424839173 meters 0.08619069888646524 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.42, Z:2.95 [[ 7.56596834e-01 6.05669477e-01 -2.46425883e-01 1.91362047e+01] [-5.75397282e-01 7.95715317e-01 1.89090193e-01 -4.16396323e-01] [ 3.10611008e-01 -1.27225809e-03 9.50536261e-01 2.94833245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.454839173 meters 0.08650553995721928 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.44, Z:2.95 [[ 7.57794405e-01 6.03139353e-01 -2.48938869e-01 1.91561766e+01] [-5.72132317e-01 7.97632674e-01 1.90910267e-01 -4.37508307e-01] [ 3.13707271e-01 -2.24476047e-03 9.49517093e-01 2.95359940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.484839173 meters 0.0865557889759555 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.46, Z:2.96 [[ 7.59243696e-01 6.00456564e-01 -2.50999852e-01 1.91756398e+01] [-5.68810859e-01 7.99650573e-01 1.92388067e-01 -4.58188001e-01] [ 3.16232853e-01 -3.29798532e-03 9.48675870e-01 2.95694925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.514839173 meters 0.0872526041997158 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.48, Z:2.97 [[ 7.63027211e-01 5.96731519e-01 -2.48396800e-01 1.91925383e+01] [-5.65583802e-01 8.02426969e-01 1.90331086e-01 -4.76819138e-01] [ 3.12896850e-01 -4.73859115e-03 9.49775293e-01 2.96979268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.544839173 meters 0.08746755206542445 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.50, Z:2.98 [[ 7.64428252e-01 5.95316359e-01 -2.47483092e-01 1.92119621e+01] [-5.64369480e-01 8.03474587e-01 1.89514324e-01 -4.95474812e-01] [ 3.11667353e-01 -5.19819917e-03 9.50177057e-01 2.97871341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.574839173 meters 0.08836535930682615 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.52, Z:2.98 [[ 7.65555304e-01 5.92447728e-01 -2.50860052e-01 1.92306109e+01] [-5.60514988e-01 8.05583762e-01 1.91983723e-01 -5.17915885e-01] [ 3.15829105e-01 -6.36333797e-03 9.48794754e-01 2.98322213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.604839173 meters 0.08855286763529124 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.54, Z:2.99 [[ 7.64996955e-01 5.92591544e-01 -2.52219984e-01 1.92506231e+01] [-5.60330149e-01 8.05478560e-01 1.92962209e-01 -5.36278949e-01] [ 3.17505563e-01 -6.28904093e-03 9.48235554e-01 2.98843756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.634839173 meters 0.08717217816019968 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.55, Z:3.00 [[ 7.61500232e-01 5.97562967e-01 -2.51069507e-01 1.92743708e+01] [-5.65886290e-01 8.01811269e-01 1.92019259e-01 -5.46893263e-01] [ 3.16053958e-01 -4.14591829e-03 9.48732158e-01 2.99930841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.664839173 meters 0.08579392284308697 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.55, Z:3.01 [[ 7.56731609e-01 6.04339352e-01 -2.49261347e-01 1.93032294e+01] [-5.73523159e-01 7.96726092e-01 1.90522230e-01 -5.51701962e-01] [ 3.13733100e-01 -1.21703869e-03 9.49510432e-01 3.01313820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.694839173 meters 0.08529346890891842 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.56, Z:3.02 [[ 7.56343058e-01 6.05712847e-01 -2.47097400e-01 1.93251352e+01] [-5.75547857e-01 7.95683126e-01 1.88767124e-01 -5.64490060e-01] [ 3.10949903e-01 -5.56324714e-04 9.50426140e-01 3.02457433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.724839173 meters 0.0852177916470897 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.58, Z:3.04 [[ 7.56207450e-01 6.06008387e-01 -2.46787616e-01 1.93454322e+01] [-5.75956308e-01 7.95458162e-01 1.88469210e-01 -5.80670387e-01] [ 3.10523145e-01 -3.82936163e-04 9.50565742e-01 3.03597543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.754839173 meters 0.0855407339015156 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.61, Z:3.04 [[ 7.57618368e-01 6.02545029e-01 -2.50906153e-01 1.93611821e+01] [-5.71307886e-01 7.98082999e-01 1.91496282e-01 -6.05359433e-01] [ 3.15629067e-01 -1.73643633e-03 9.48881066e-01 3.03921237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.784839172999998 meters 0.08728663560044181 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.64, Z:3.04 [[ 7.61890960e-01 5.95984835e-01 -2.53622242e-01 1.93725738e+01] [-5.63708165e-01 8.02983224e-01 1.93522732e-01 -6.37523323e-01] [ 3.18991019e-01 -4.47429146e-03 9.47747176e-01 3.04173135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.814839173 meters 0.08728663560044181 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.65, Z:3.05 [[ 7.62054977e-01 5.95761781e-01 -2.53653529e-01 1.93934510e+01] [-5.63486730e-01 8.03148511e-01 1.93481715e-01 -6.53142411e-01] [ 3.18990466e-01 -4.51330621e-03 9.47747178e-01 3.04995727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.844839173 meters 0.08813026491062219 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.68, Z:3.05 [[ 7.64270490e-01 5.92426276e-01 -2.54797422e-01 1.94093660e+01] [-5.59708128e-01 8.05603495e-01 1.94241654e-01 -6.77764121e-01] [ 3.20339553e-01 -5.84097566e-03 9.47284780e-01 3.05372241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.874839172999998 meters 0.08905801885601833 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.70, Z:3.06 [[ 7.65624572e-01 5.89656620e-01 -2.57146038e-01 1.94262420e+01] [-5.56178967e-01 8.07623457e-01 1.95982931e-01 -7.01597469e-01] [ 3.23239805e-01 -7.03013014e-03 9.46290973e-01 3.05873404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.904839173 meters 0.08867717978215872 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.72, Z:3.07 [[ 7.63796606e-01 5.91297131e-01 -2.58809676e-01 1.94492223e+01] [-5.57502371e-01 8.06429288e-01 1.97136778e-01 -7.15266960e-01] [ 3.25278115e-01 -6.28539410e-03 9.45597505e-01 3.06544677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.934839173 meters 0.08826227751598209 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.73, Z:3.08 [[ 7.63162345e-01 5.92076350e-01 -2.58899266e-01 1.94720464e+01] [-5.58339937e-01 8.05860573e-01 1.97091989e-01 -7.28574566e-01] [ 3.25330216e-01 -5.85938460e-03 9.45582317e-01 3.07512881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.964839172999998 meters 0.08721412796633046 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.74, Z:3.09 [[ 7.63796824e-01 5.93530694e-01 -2.53644883e-01 1.94912698e+01] [-5.61306200e-01 8.04795691e-01 1.92974728e-01 -7.43066004e-01] [ 3.18668733e-01 -5.02103918e-03 9.47852851e-01 3.08829516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.994839173 meters 0.08675465559517416 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.76, Z:3.11 [[ 7.69345666e-01 5.88978077e-01 -2.47410732e-01 1.95071906e+01] [-5.58168000e-01 8.08121820e-01 1.88115946e-01 -7.60451042e-01] [ 3.10734179e-01 -6.62943404e-03 9.50473735e-01 3.10767085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.024839173 meters 0.08708990554660083 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.78, Z:3.12 [[ 7.72726104e-01 5.86127472e-01 -2.43616409e-01 1.95240668e+01] [-5.56176992e-01 8.10183639e-01 1.85120569e-01 -7.79006315e-01] [ 3.05878280e-01 -7.55365487e-03 9.52040661e-01 3.12109657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.054839172999998 meters 0.08747959736666527 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.80, Z:3.14 [[ 7.75753318e-01 5.82562863e-01 -2.42543399e-01 1.95402677e+01] [-5.52730554e-01 8.12737255e-01 1.84247362e-01 -7.97213999e-01] [ 3.04459726e-01 -8.86935517e-03 9.52483916e-01 3.13552780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084839173 meters 0.08683107565298097 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.81, Z:3.14 [[ 7.73946225e-01 5.84366812e-01 -2.43972683e-01 1.95644451e+01] [-5.54273755e-01 8.11448446e-01 1.85289027e-01 -8.11176406e-01] [ 3.06248013e-01 -8.17608785e-03 9.51916649e-01 3.14272153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.114839173 meters 0.08595165329852553 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.82, Z:3.15 [[ 7.70629675e-01 5.87655782e-01 -2.46557471e-01 1.95903713e+01] [-5.57100938e-01 8.09081914e-01 1.87149675e-01 -8.23191906e-01] [ 3.09464779e-01 -6.86569533e-03 9.50886120e-01 3.14939026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144839172999998 meters 0.08521913936746385 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.84, Z:3.15 [[ 7.65599651e-01 5.94202130e-01 -2.46538037e-01 1.96141354e+01] [-5.64015427e-01 8.04305107e-01 1.87029125e-01 -8.35481893e-01] [ 3.09424907e-01 -4.13817708e-03 9.50914877e-01 3.15486398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.174839173 meters 0.08518337125471373 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.85, Z:3.16 [[ 7.63082121e-01 5.96439184e-01 -2.48929661e-01 1.96361428e+01] [-5.65781428e-01 8.02651804e-01 1.88789455e-01 -8.52100932e-01] [ 3.12405270e-01 -3.22207861e-03 9.49943454e-01 3.15828106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204839173 meters 0.08540246784891203 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.87, Z:3.17 [[ 7.63400648e-01 5.95971684e-01 -2.49072684e-01 1.96570315e+01] [-5.65288662e-01 8.02998565e-01 1.88790978e-01 -8.69425954e-01] [ 3.12519085e-01 -3.32519075e-03 9.49905661e-01 3.16622452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.234839173 meters 0.08510234865200005 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.89, Z:3.18 [[ 7.65526985e-01 5.93886829e-01 -2.47521454e-01 1.96756511e+01] [-5.63526304e-01 8.04538391e-01 1.87499551e-01 -8.87282366e-01] [ 3.10494026e-01 -4.05111558e-03 9.50566698e-01 3.17682638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.264839173 meters 0.08518230357528356 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.90, Z:3.19 [[ 7.65784474e-01 5.93633098e-01 -2.47333550e-01 1.96974464e+01] [-5.63344732e-01 8.04725619e-01 1.87241533e-01 -9.00981264e-01] [ 3.10188415e-01 -4.05260648e-03 9.50666463e-01 3.18632244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.294839173 meters 0.08487559016982323 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.92, Z:3.20 [[ 7.66192135e-01 5.92868101e-01 -2.47905278e-01 1.97201553e+01] [-5.62430914e-01 8.05288181e-01 1.87569754e-01 -9.15116133e-01] [ 3.10839314e-01 -4.28487783e-03 9.50452819e-01 3.19624833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324839173 meters 0.08539506858884603 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.93, Z:3.20 [[ 7.66928153e-01 5.91483395e-01 -2.48934933e-01 1.97421858e+01] [-5.60750617e-01 8.06303035e-01 1.88239638e-01 -9.31368987e-01] [ 3.12057612e-01 -4.77586039e-03 9.50051177e-01 3.20343506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.354839173 meters 0.08573724515092061 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.95, Z:3.21 [[ 7.67585725e-01 5.90550293e-01 -2.49123475e-01 1.97629279e+01] [-5.59741695e-01 8.06984671e-01 1.88321470e-01 -9.48679589e-01] [ 3.12252125e-01 -5.10807575e-03 9.49985536e-01 3.21090986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384839173 meters 0.08598738883223735 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.96, Z:3.22 [[ 7.67858629e-01 5.89657264e-01 -2.50394561e-01 1.97858613e+01] [-5.58496357e-01 8.07635155e-01 1.89228106e-01 -9.64267942e-01] [ 3.13807178e-01 -5.45598367e-03 9.49471057e-01 3.21819999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.414839173 meters 0.08638140435218433 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.98, Z:3.22 [[ 7.67912370e-01 5.89591405e-01 -2.50384839e-01 1.98064046e+01] [-5.58463363e-01 8.07683640e-01 1.89118508e-01 -9.80629872e-01] [ 3.13734385e-01 -5.39568221e-03 9.49495457e-01 3.22364796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.444839173 meters 0.08555936587695284 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.99, Z:3.24 [[ 7.69131220e-01 5.88773603e-01 -2.48561485e-01 1.98303667e+01] [-5.58101753e-01 8.08278623e-01 1.87638221e-01 -9.90835836e-01] [ 3.11383366e-01 -5.59581309e-03 9.50267902e-01 3.23555217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.474839173 meters 0.08559834069620569 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.01, Z:3.24 [[ 7.68296633e-01 5.89432186e-01 -2.49579609e-01 1.98517315e+01] [-5.58573242e-01 8.07800765e-01 1.88291944e-01 -1.00577992e+00] [ 3.12595931e-01 -5.25557578e-03 9.49871656e-01 3.24225403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504839173 meters 0.08638560167716135 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.02, Z:3.24 [[ 7.63475964e-01 5.93360049e-01 -2.55006479e-01 1.98780562e+01] [-5.61354578e-01 8.04928897e-01 1.92277163e-01 -1.02110700e+00] [ 3.19351671e-01 -3.64993808e-03 9.47629246e-01 3.24062756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.534839172999998 meters 0.08654809327702426 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.04, Z:3.24 [[ 7.61371620e-01 5.95385182e-01 -2.56573072e-01 1.99023428e+01] [-5.63120427e-01 8.03435754e-01 1.93355563e-01 -1.03601481e+00] [ 3.21261016e-01 -2.73390058e-03 9.46986740e-01 3.24488404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.564839173 meters 0.0852838637197445 Centerline is valid? [True, True] Translation: X:19.93, Y:-1.04, Z:3.26 [[ 7.61654871e-01 5.95672310e-01 -2.55061474e-01 1.99293643e+01] [-5.63850041e-01 8.03223653e-01 1.92106466e-01 -1.04245520e+00] [ 3.19303911e-01 -2.50240292e-03 9.47649065e-01 3.25878458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.594839173 meters 0.0849726764328428 Centerline is valid? [True, True] Translation: X:19.95, Y:-1.05, Z:3.27 [[ 7.62815041e-01 5.95911926e-01 -2.51002368e-01 1.99514827e+01] [-5.65166952e-01 8.03046570e-01 1.88951113e-01 -1.05323053e+00] [ 3.14164813e-01 -2.27650759e-03 9.49365729e-01 3.27179136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.624839172999998 meters 0.08514173162480508 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.07, Z:3.29 [[ 7.67662058e-01 5.91211151e-01 -2.47314253e-01 1.99691590e+01] [-5.61162610e-01 8.06506392e-01 1.86128893e-01 -1.07086623e+00] [ 3.09502003e-01 -4.10057716e-03 9.50889949e-01 3.28675040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.654839173 meters 0.08566186980960727 Centerline is valid? [True, True] Translation: X:19.99, Y:-1.09, Z:3.30 [[ 7.69722435e-01 5.88727380e-01 -2.46834852e-01 1.99880466e+01] [-5.58710715e-01 8.08316243e-01 1.85653410e-01 -1.09165618e+00] [ 3.08819866e-01 -4.99231835e-03 9.51107442e-01 3.29503634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.684839173 meters 0.08731002399185439 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.12, Z:3.30 [[ 7.72477535e-01 5.83798442e-01 -2.49915661e-01 2.00038697e+01] [-5.52788927e-01 8.11868693e-01 1.87865982e-01 -1.11803734e+00] [ 3.12574568e-01 -6.97164028e-03 9.49867641e-01 3.29656005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.714839172999998 meters 0.08848934318860498 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.13, Z:3.30 [[ 7.75480816e-01 5.79766058e-01 -2.50001643e-01 2.00245632e+01] [-5.48565737e-01 8.14738553e-01 1.87820984e-01 -1.13481115e+00] [ 3.12578209e-01 -8.50923480e-03 9.49853913e-01 3.30476404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.744839173 meters 0.08765701411934324 Centerline is valid? [True, True] Translation: X:20.05, Y:-1.15, Z:3.32 [[ 7.76304852e-01 5.79088013e-01 -2.49013755e-01 2.00486060e+01] [-5.48141549e-01 8.15219114e-01 1.86972295e-01 -1.14563914e+00] [ 3.11274187e-01 -8.65271434e-03 9.50280754e-01 3.31684674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.774839173 meters 0.08765276653772346 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.16, Z:3.33 [[ 7.77307394e-01 5.78002503e-01 -2.48407571e-01 2.00712480e+01] [-5.47194260e-01 8.15985751e-01 1.86401977e-01 -1.16007004e+00] [ 3.10437848e-01 -8.96443813e-03 9.50551409e-01 3.32767527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.804839172999998 meters 0.08772892324695379 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.17, Z:3.34 [[ 7.78231965e-01 5.76916570e-01 -2.48036851e-01 2.00944038e+01] [-5.46181217e-01 8.16750163e-01 1.86024861e-01 -1.17222214e+00] [ 3.09904964e-01 -9.29742420e-03 9.50722079e-01 3.33875029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.834839173 meters 0.08813877047390378 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.19, Z:3.35 [[ 7.79231931e-01 5.75753376e-01 -2.47599773e-01 2.01154207e+01] [-5.45090049e-01 8.17565951e-01 1.85641464e-01 -1.18762236e+00] [ 3.09312844e-01 -9.69358382e-03 9.50910931e-01 3.34868486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.864839173 meters 0.0886721876304594 Centerline is valid? [True, True] Translation: X:20.14, Y:-1.21, Z:3.36 [[ 7.82392891e-01 5.71755720e-01 -2.46894229e-01 2.01352262e+01] [-5.41095887e-01 8.20347574e-01 1.85054314e-01 -1.20612290e+00] [ 3.08344944e-01 -1.11917277e-02 9.51208779e-01 3.35889674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.894839172999998 meters 0.0899758142599081 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.23, Z:3.36 [[ 7.82494697e-01 5.71367100e-01 -2.47470576e-01 2.01542901e+01] [-5.40573495e-01 8.20616978e-01 1.85386280e-01 -1.22625223e+00] [ 3.09002177e-01 -1.12877467e-02 9.50994344e-01 3.36448470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.924839173 meters 0.08923922829374965 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.24, Z:3.37 [[ 7.82315448e-01 5.71833965e-01 -2.46958409e-01 2.01786210e+01] [-5.41210962e-01 8.20295189e-01 1.84949987e-01 -1.23974664e+00] [ 3.08339480e-01 -1.10326339e-02 9.51212409e-01 3.37294050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.954839173 meters 0.0882880572510991 Centerline is valid? [True, True] Translation: X:20.20, Y:-1.25, Z:3.38 [[ 7.81673297e-01 5.72931975e-01 -2.46446362e-01 2.02026749e+01] [-5.42524272e-01 8.19535781e-01 1.84468202e-01 -1.25361360e+00] [ 3.07659343e-01 -1.04907339e-02 9.51438738e-01 3.38253301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.984839173 meters 0.08680435008870777 Centerline is valid? [True, True] Translation: X:20.23, Y:-1.26, Z:3.39 [[ 7.78272221e-01 5.76842896e-01 -2.48081891e-01 2.02302149e+01] [-5.46242090e-01 8.16806254e-01 1.85599361e-01 -1.26196838e+00] [ 3.09696513e-01 -8.93405684e-03 9.50793486e-01 3.39242813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.014839173 meters 0.08621667715027533 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.28, Z:3.40 [[ 7.76557127e-01 5.79072041e-01 -2.48263166e-01 2.02542306e+01] [-5.48557393e-01 8.15237162e-01 1.85669483e-01 -1.27519672e+00] [ 3.09909366e-01 -7.99636549e-03 9.50732477e-01 3.40103879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.044839173 meters 0.08585157222218183 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.29, Z:3.41 [[ 7.74826702e-01 5.81858227e-01 -2.47152959e-01 2.02769596e+01] [-5.51795065e-01 8.13262142e-01 1.84734659e-01 -1.28960722e+00] [ 3.08489526e-01 -6.75956364e-03 9.51203722e-01 3.40838782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.074839173 meters 0.08537104253853099 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.30, Z:3.42 [[ 7.74057057e-01 5.82991488e-01 -2.46893898e-01 2.03005935e+01] [-5.53083724e-01 8.12454531e-01 1.84434350e-01 -1.30232768e+00] [ 3.08113722e-01 -6.20971360e-03 9.51329267e-01 3.41832725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.104839173 meters 0.08471732822325831 Centerline is valid? [True, True] Translation: X:20.33, Y:-1.31, Z:3.42 [[ 7.68650410e-01 5.88973296e-01 -2.49573645e-01 2.03276356e+01] [-5.58732414e-01 8.08143636e-01 1.86338275e-01 -1.31172689e+00] [ 3.11439621e-01 -3.78410613e-03 9.50258409e-01 3.42159477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.134839173 meters 0.08478259568548283 Centerline is valid? [True, True] Translation: X:20.35, Y:-1.32, Z:3.43 [[ 7.63882464e-01 5.94511737e-01 -2.51076434e-01 2.03548107e+01] [-5.64208128e-01 8.04085560e-01 1.87391570e-01 -1.32286534e+00] [ 3.13293423e-01 -1.48576916e-03 9.49655213e-01 3.42532633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164839173 meters 0.08489309960854564 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.34, Z:3.43 [[ 7.62332494e-01 5.96267893e-01 -2.51622274e-01 2.03785994e+01] [-5.65954257e-01 8.02785234e-01 1.87700950e-01 -1.33542332e+00] [ 3.13918696e-01 -6.83836237e-04 9.49449622e-01 3.43186334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.194839173 meters 0.08473324984625659 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.35, Z:3.44 [[ 7.59998828e-01 5.99175236e-01 -2.51775334e-01 2.04036694e+01] [-5.69004644e-01 8.00617698e-01 1.87736561e-01 -1.34574582e+00] [ 3.14062887e-01 5.81768216e-04 9.49402004e-01 3.44247489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.224839173 meters 0.0843767949865873 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.36, Z:3.45 [[ 7.60118445e-01 5.99901192e-01 -2.49676811e-01 2.04277689e+01] [-5.70320943e-01 8.00073506e-01 1.86054849e-01 -1.35773767e+00] [ 3.11374327e-01 9.72191951e-04 9.50286843e-01 3.45361075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.254839173 meters 0.0843560697045495 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.38, Z:3.46 [[ 7.61086716e-01 5.99117089e-01 -2.48607571e-01 2.04472219e+01] [-5.69788957e-01 8.00661086e-01 1.85154991e-01 -1.37520342e+00] [ 3.09979926e-01 7.34844525e-04 9.50742818e-01 3.46264326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284839172999998 meters 0.084854556260807 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.39, Z:3.47 [[ 7.59418979e-01 6.00740418e-01 -2.49787439e-01 2.04678812e+01] [-5.71248802e-01 7.99442743e-01 1.85919622e-01 -1.39225358e+00] [ 3.11380187e-01 1.49988617e-03 9.50284236e-01 3.46939183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.314839173 meters 0.08505713242550385 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.41, Z:3.48 [[ 7.58545507e-01 6.02241900e-01 -2.48824048e-01 2.04897608e+01] [-5.73080111e-01 7.98310750e-01 1.85146248e-01 -1.40702629e+00] [ 3.10141741e-01 2.15425845e-03 9.50687888e-01 3.47724726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.344839173 meters 0.08594393346008723 Centerline is valid? [True, True] Translation: X:20.51, Y:-1.42, Z:3.48 [[ 7.56130653e-01 6.04979712e-01 -2.49531529e-01 2.05136846e+01] [-5.75830390e-01 7.96233700e-01 1.85556614e-01 -1.42012705e+00] [ 3.10943399e-01 3.38279446e-03 9.50422411e-01 3.48193095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.374839172999998 meters 0.08621308097852706 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.44, Z:3.49 [[ 7.57839564e-01 6.03598264e-01 -2.47685953e-01 2.05304270e+01] [-5.74839533e-01 7.97283522e-01 1.84115444e-01 -1.44227581e+00] [ 3.08607691e-01 2.84970963e-03 9.51185141e-01 3.48864290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.404839173 meters 0.08608068741988383 Centerline is valid? [True, True] Translation: X:20.55, Y:-1.46, Z:3.50 [[ 7.59975310e-01 6.01315768e-01 -2.46691864e-01 2.05480249e+01] [-5.72687453e-01 7.99009117e-01 1.83339881e-01 -1.46343389e+00] [ 3.07354210e-01 1.94355266e-03 9.51593197e-01 3.49822431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.434839173 meters 0.08584461490178028 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.49, Z:3.51 [[ 7.63464742e-01 5.97929157e-01 -2.44135846e-01 2.05634190e+01] [-5.69767096e-01 8.01548688e-01 1.81342652e-01 -1.48587733e+00] [ 3.04116826e-01 6.51850520e-04 9.52634521e-01 3.50880247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.464839172999998 meters 0.08569759913474223 Centerline is valid? [True, True] Translation: X:20.58, Y:-1.50, Z:3.52 [[ 7.65260686e-01 5.95733914e-01 -2.43879450e-01 2.05823749e+01] [-5.67534929e-01 8.03181840e-01 1.81116086e-01 -1.50365761e+00] [ 3.03776540e-01 -1.90913534e-04 9.52743290e-01 3.51874459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.494839173 meters 0.08558599485984195 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.52, Z:3.53 [[ 7.66505838e-01 5.93806127e-01 -2.44669336e-01 2.06025526e+01] [-5.65359868e-01 8.04607692e-01 1.81589321e-01 -1.52062989e+00] [ 3.04691681e-01 -8.63051664e-04 9.52450647e-01 3.52729423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524839173 meters 0.08567812681262989 Centerline is valid? [True, True] Translation: X:20.62, Y:-1.54, Z:3.53 [[ 7.66103792e-01 5.93137021e-01 -2.47534754e-01 2.06248904e+01] [-5.64006168e-01 8.05100850e-01 1.83601916e-01 -1.53562855e+00] [ 3.08191534e-01 -1.04699565e-03 9.51323753e-01 3.53295581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.554839172999998 meters 0.08587979168546556 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.55, Z:3.54 [[ 7.65626145e-01 5.93041654e-01 -2.49235236e-01 2.06462782e+01] [-5.63512947e-01 8.05171104e-01 1.84804362e-01 -1.55230352e+00] [ 3.10273694e-01 -1.04376869e-03 9.50646698e-01 3.53995534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584839173 meters 0.08502161746489689 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.58, Z:3.54 [[ 7.68587683e-01 5.87916326e-01 -2.52244656e-01 2.06648620e+01] [-5.57398795e-01 8.08915767e-01 1.86980922e-01 -1.57607889e+00] [ 3.13973816e-01 -3.11036613e-03 9.49426547e-01 3.54281646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.614839173 meters 0.08571140474279842 Centerline is valid? [True, True] Translation: X:20.68, Y:-1.59, Z:3.56 [[ 7.70773518e-01 5.88810556e-01 -2.43331694e-01 2.06834269e+01] [-5.60538656e-01 8.08267026e-01 1.80279864e-01 -1.59020695e+00] [ 3.02827672e-01 -2.55812418e-03 9.53041897e-01 3.56326543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644839172999998 meters 0.08575903140253961 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.61, Z:3.57 [[ 7.71605729e-01 5.88060693e-01 -2.42506125e-01 2.07036033e+01] [-5.59982996e-01 8.08812126e-01 1.79560543e-01 -1.60591823e+00] [ 3.01734392e-01 -2.75063717e-03 9.53388059e-01 3.57149544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.674839173 meters 0.0856698873655086 Centerline is valid? [True, True] Translation: X:20.72, Y:-1.62, Z:3.58 [[ 7.71493775e-01 5.88422803e-01 -2.41983389e-01 2.07244188e+01] [-5.60518585e-01 8.08549487e-01 1.79071617e-01 -1.62173952e+00] [ 3.01025367e-01 -2.51645113e-03 9.53612812e-01 3.58077757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.704839173 meters 0.0856698873655086 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.64, Z:3.59 [[ 7.71656449e-01 5.88188072e-01 -2.42035362e-01 2.07455258e+01] [-5.60294618e-01 8.08720261e-01 1.79001344e-01 -1.63701745e+00] [ 3.01025356e-01 -2.51643090e-03 9.53612816e-01 3.58902286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.734839172999997 meters 0.08529223904006751 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.65, Z:3.60 [[ 7.70406787e-01 5.89832387e-01 -2.42014749e-01 2.07698154e+01] [-5.62057174e-01 8.07523733e-01 1.78877484e-01 -1.64778273e+00] [ 3.00940387e-01 -1.78230139e-03 9.53641288e-01 3.59850336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.764839173 meters 0.08435349022351889 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.66, Z:3.61 [[ 7.70376112e-01 5.90716782e-01 -2.39946514e-01 2.07931983e+01] [-5.63500646e-01 8.06877875e-01 1.77243104e-01 -1.65525693e+00] [ 2.98308009e-01 -1.33383736e-03 9.54468728e-01 3.61305477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.794839173 meters 0.08451806501596207 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.67, Z:3.62 [[ 7.69222738e-01 5.92043243e-01 -2.40377156e-01 2.08154962e+01] [-5.64820418e-01 8.05905857e-01 1.77464489e-01 -1.66947484e+00] [ 2.98788009e-01 -7.39794999e-04 9.54319222e-01 3.62088967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.824839173 meters 0.08454536832249832 Centerline is valid? [True, True] Translation: X:20.84, Y:-1.68, Z:3.63 [[ 7.64548686e-01 5.97429105e-01 -2.41958201e-01 2.08431214e+01] [-5.70135268e-01 8.01920400e-01 1.78520163e-01 -1.67750464e+00] [ 3.00684359e-01 1.46154761e-03 9.53722591e-01 3.62678846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.854839173 meters 0.08422600069270983 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.69, Z:3.64 [[ 7.63651713e-01 5.98926869e-01 -2.41086431e-01 2.08665255e+01] [-5.71929149e-01 8.00800964e-01 1.77805691e-01 -1.69039766e+00] [ 2.99554852e-01 2.10273729e-03 9.54076763e-01 3.63696128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884839173 meters 0.08430414888130679 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.70, Z:3.65 [[ 7.63110054e-01 5.99636721e-01 -2.41037027e-01 2.08890675e+01] [-5.72718422e-01 8.00268517e-01 1.77662348e-01 -1.70419351e+00] [ 2.99427212e-01 2.47042176e-03 9.54115948e-01 3.64606907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.914839173 meters 0.08412444970052967 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.72, Z:3.65 [[ 7.63279684e-01 5.99118384e-01 -2.41787689e-01 2.09103191e+01] [-5.72037630e-01 8.00656953e-01 1.78105008e-01 -1.71816514e+00] [ 3.00294979e-01 2.36772206e-03 9.53843446e-01 3.65366481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.944839173 meters 0.08440837904329926 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.74, Z:3.66 [[ 7.64944084e-01 5.97309072e-01 -2.41002949e-01 2.09292360e+01] [-5.70351262e-01 8.02009268e-01 1.77427654e-01 -1.73742194e+00] [ 2.99265746e-01 1.73410198e-03 9.54168227e-01 3.66059134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.974839173 meters 0.08415396784019065 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.76, Z:3.67 [[ 7.66698708e-01 5.95469844e-01 -2.39976575e-01 2.09477108e+01] [-5.68680500e-01 8.03376948e-01 1.76601157e-01 -1.75614247e+00] [ 2.97952312e-01 1.07011951e-03 9.54580156e-01 3.67135656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004839173 meters 0.08413438776377892 Centerline is valid? [True, True] Translation: X:20.97, Y:-1.77, Z:3.68 [[ 7.68256413e-01 5.93934670e-01 -2.38796341e-01 2.09674156e+01] [-5.67374478e-01 8.04513079e-01 1.75627184e-01 -1.77404532e+00] [ 2.96425853e-01 5.60238936e-04 9.55055705e-01 3.68022265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.034839172999998 meters 0.083517665243995 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.79, Z:3.69 [[ 7.70206440e-01 5.91193627e-01 -2.39315975e-01 2.09885669e+01] [-5.64418871e-01 8.06529560e-01 1.75901698e-01 -1.78961064e+00] [ 2.97007370e-01 -4.06168548e-04 9.54875100e-01 3.69023336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.064839173 meters 0.0836003273558916 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.81, Z:3.70 [[ 7.71174167e-01 5.90121909e-01 -2.38844168e-01 2.10087543e+01] [-5.63438811e-01 8.07313822e-01 1.75445432e-01 -1.80674650e+00] [ 2.96356392e-01 -7.24911005e-04 9.55077151e-01 3.69747641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.094839173 meters 0.08352804128197412 Centerline is valid? [True, True] Translation: X:21.03, Y:-1.82, Z:3.71 [[ 7.71449172e-01 5.90066612e-01 -2.38091513e-01 2.10293894e+01] [-5.63586365e-01 8.07354302e-01 1.74783985e-01 -1.82323702e+00] [ 2.95358401e-01 -6.51830190e-04 9.55386304e-01 3.70583592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.124839172999998 meters 0.08349290547586194 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.84, Z:3.72 [[ 7.72662079e-01 5.90179763e-01 -2.33840030e-01 2.10484337e+01] [-5.64694942e-01 8.07271695e-01 1.71557666e-01 -1.84215494e+00] [ 2.90022300e-01 -5.07820856e-04 9.57019753e-01 3.71705801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.154839173 meters 0.08316846251437188 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.86, Z:3.73 [[ 7.73288824e-01 5.89201958e-01 -2.34233744e-01 2.10685371e+01] [-5.63613566e-01 8.07985406e-01 1.71753696e-01 -1.85943324e+00] [ 2.90455061e-01 -7.97898224e-04 9.56888301e-01 3.72589093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.184839173 meters 0.08311381274671849 Centerline is valid? [True, True] Translation: X:21.09, Y:-1.88, Z:3.74 [[ 7.73460415e-01 5.88931635e-01 -2.34346999e-01 2.10877272e+01] [-5.63340014e-01 8.08182456e-01 1.71724044e-01 -1.87518678e+00] [ 2.90528855e-01 -8.04709386e-04 9.56865893e-01 3.73529922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.214839172999998 meters 0.08276751218391715 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.89, Z:3.74 [[ 7.74950888e-01 5.86034112e-01 -2.36675181e-01 2.11077063e+01] [-5.59818647e-01 8.10284326e-01 1.73327416e-01 -1.89395837e+00] [ 2.93349968e-01 -1.82505500e-03 9.56003382e-01 3.74099109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.244839173 meters 0.08278319096472074 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.91, Z:3.75 [[ 7.77087823e-01 5.83252681e-01 -2.36539268e-01 2.11263095e+01] [-5.56976177e-01 8.12286025e-01 1.73115427e-01 -1.91202662e+00] [ 2.93107579e-01 -2.77915309e-03 9.56075428e-01 3.75071863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.274839173 meters 0.08374387748497376 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.94, Z:3.76 [[ 7.82767130e-01 5.77303562e-01 -2.32370863e-01 2.11399286e+01] [-5.51723039e-01 8.16515039e-01 1.70014350e-01 -1.93641866e+00] [ 2.87884194e-01 -4.87728650e-03 9.57652809e-01 3.76340863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.304839172999998 meters 0.0847387259791586 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.96, Z:3.77 [[ 7.85175530e-01 5.73836156e-01 -2.32833530e-01 2.11563887e+01] [-5.48018606e-01 8.18947291e-01 1.70296631e-01 -1.95804695e+00] [ 2.88400753e-01 -6.11564113e-03 9.57490263e-01 3.77329515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.334839173 meters 0.08562807793014086 Centerline is valid? [True, True] Translation: X:21.17, Y:-1.98, Z:3.78 [[ 7.88038434e-01 5.70233999e-01 -2.32009943e-01 2.11732179e+01] [-5.44465651e-01 8.21449317e-01 1.69641309e-01 -1.97871179e+00] [ 2.87319651e-01 -7.36242711e-03 9.57806459e-01 3.78177204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.364839173 meters 0.0846482718794839 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.99, Z:3.79 [[ 7.88223752e-01 5.69781626e-01 -2.32491322e-01 2.11976546e+01] [-5.43902495e-01 8.21761983e-01 1.69933283e-01 -1.99062259e+00] [ 2.87877392e-01 -7.49283962e-03 9.57637961e-01 3.78912223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.394839172999998 meters 0.08491894946718251 Centerline is valid? [True, True] Translation: X:21.22, Y:-2.00, Z:3.80 [[ 7.89975246e-01 5.68130777e-01 -2.30578687e-01 2.12202994e+01] [-5.42648007e-01 8.22900053e-01 1.68429935e-01 -2.00250849e+00] [ 2.85433443e-01 -7.93241456e-03 9.58365706e-01 3.80260678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.424839173 meters 0.08507461306468732 Centerline is valid? [True, True] Translation: X:21.24, Y:-2.02, Z:3.81 [[ 7.90389857e-01 5.67684492e-01 -2.30256796e-01 2.12422600e+01] [-5.42282359e-01 8.23207287e-01 1.68105937e-01 -2.01548623e+00] [ 2.84980206e-01 -8.00502888e-03 9.58499975e-01 3.81320641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.454839173 meters 0.08585580638563402 Centerline is valid? [True, True] Translation: X:21.26, Y:-2.03, Z:3.82 [[ 7.92192172e-01 5.65892205e-01 -2.28467887e-01 2.12635420e+01] [-5.40831892e-01 8.24435001e-01 1.66756692e-01 -2.03270058e+00] [ 2.82723234e-01 -8.54062624e-03 9.59163506e-01 3.82201775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.484839172999997 meters 0.086810092328537 Centerline is valid? [True, True] Translation: X:21.28, Y:-2.05, Z:3.83 [[ 7.94192722e-01 5.63456429e-01 -2.27540709e-01 2.12820303e+01] [-5.38531783e-01 8.26093538e-01 1.65990920e-01 -2.05181384e+00] [ 2.81498560e-01 -9.29087704e-03 9.59516670e-01 3.83120546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.514839173 meters 0.08641852250892494 Centerline is valid? [True, True] Translation: X:21.31, Y:-2.06, Z:3.85 [[ 7.96647961e-01 5.60650278e-01 -2.25883360e-01 2.13065491e+01] [-5.36013073e-01 8.27990859e-01 1.64684924e-01 -2.06032348e+00] [ 2.79360006e-01 -1.01194748e-02 9.60133107e-01 3.84586316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.544839173 meters 0.08560150158862667 Centerline is valid? [True, True] Translation: X:21.33, Y:-2.07, Z:3.85 [[ 7.96473729e-01 5.60614719e-01 -2.26584940e-01 2.13322021e+01] [-5.35834437e-01 8.28014912e-01 1.65144669e-01 -2.07203027e+00] [ 2.80198241e-01 -1.01213764e-02 9.59888797e-01 3.85437503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.574839173 meters 0.08511224479960347 Centerline is valid? [True, True] Translation: X:21.36, Y:-2.08, Z:3.86 [[ 7.94057043e-01 5.64140562e-01 -2.26315792e-01 2.13557957e+01] [-5.39587926e-01 8.25632023e-01 1.64853368e-01 -2.08301126e+00] [ 2.79854036e-01 -8.78570909e-03 9.60002359e-01 3.86308852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.604839173 meters 0.0849308226722575 Centerline is valid? [True, True] Translation: X:21.38, Y:-2.10, Z:3.87 [[ 7.93421504e-01 5.64972902e-01 -2.26468400e-01 2.13795087e+01] [-5.40430939e-01 8.25066036e-01 1.64925545e-01 -2.09766158e+00] [ 2.80029848e-01 -8.46494370e-03 9.59953972e-01 3.86989351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.634839173 meters 0.08536528221030787 Centerline is valid? [True, True] Translation: X:21.40, Y:-2.12, Z:3.87 [[ 7.92531541e-01 5.65615695e-01 -2.27975088e-01 2.14007939e+01] [-5.40792395e-01 8.24628024e-01 1.65928320e-01 -2.11524887e+00] [ 2.81846309e-01 -8.21623343e-03 9.59424386e-01 3.87453062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.664839173 meters 0.0853419205543484 Centerline is valid? [True, True] Translation: X:21.42, Y:-2.13, Z:3.88 [[ 7.92537649e-01 5.65142985e-01 -2.29123287e-01 2.14240634e+01] [-5.40058920e-01 8.24950347e-01 1.66713193e-01 -2.12979964e+00] [ 2.83232127e-01 -8.38640741e-03 9.59014719e-01 3.88085266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.694839173 meters 0.08550942151059543 Centerline is valid? [True, True] Translation: X:21.45, Y:-2.14, Z:3.89 [[ 7.93324666e-01 5.64068909e-01 -2.29046371e-01 2.14485775e+01] [-5.38989236e-01 8.25682134e-01 1.66552148e-01 -2.13879050e+00] [ 2.83066385e-01 -8.67639874e-03 9.59061073e-01 3.89233860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.724839173 meters 0.0854598251593135 Centerline is valid? [True, True] Translation: X:21.47, Y:-2.15, Z:3.90 [[ 7.94585633e-01 5.63107428e-01 -2.27032368e-01 2.14730778e+01] [-5.38453178e-01 8.26335888e-01 1.65036891e-01 -2.15052933e+00] [ 2.80538492e-01 -8.88964286e-03 9.59801609e-01 3.90330813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.754839173 meters 0.08527775273737245 Centerline is valid? [True, True] Translation: X:21.50, Y:-2.16, Z:3.92 [[ 7.96669829e-01 5.61500272e-01 -2.23684217e-01 2.14962177e+01] [-5.37546474e-01 8.27425060e-01 1.62516332e-01 -2.16263845e+00] [ 2.76334891e-01 -9.23119641e-03 9.61017072e-01 3.91663363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.784839172999998 meters 0.08528916334325565 Centerline is valid? [True, True] Translation: X:21.52, Y:-2.18, Z:3.93 [[ 7.97706528e-01 5.60155768e-01 -2.23360274e-01 2.15189323e+01] [-5.36246640e-01 8.28331606e-01 1.62192142e-01 -2.17699979e+00] [ 2.75869238e-01 -9.60553371e-03 9.61147178e-01 3.92650886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.814839173 meters 0.08614009421503088 Centerline is valid? [True, True] Translation: X:21.54, Y:-2.19, Z:3.94 [[ 7.99799565e-01 5.57559235e-01 -2.22369860e-01 2.15385745e+01] [-5.33793102e-01 8.30072314e-01 1.61384253e-01 -2.19273254e+00] [ 2.74564345e-01 -1.03755577e-02 9.61512750e-01 3.93906129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.844839173 meters 0.0879289782647152 Centerline is valid? [True, True] Translation: X:21.56, Y:-2.21, Z:3.95 [[ 8.02137019e-01 5.53554579e-01 -2.23949842e-01 2.15558800e+01] [-5.29316465e-01 8.32729948e-01 1.62434337e-01 -2.21346959e+00] [ 2.76406011e-01 -1.17542554e-02 9.60969070e-01 3.94836137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.874839172999998 meters 0.08810657251222866 Centerline is valid? [True, True] Translation: X:21.58, Y:-2.23, Z:3.95 [[ 8.02547128e-01 5.52231309e-01 -2.25740314e-01 2.15769658e+01] [-5.27571666e-01 8.33601192e-01 1.63637375e-01 -2.23229313e+00] [ 2.78543076e-01 -1.22325120e-02 9.60345834e-01 3.95256233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.904839173 meters 0.08913036306591282 Centerline is valid? [True, True] Translation: X:21.60, Y:-2.25, Z:3.96 [[ 8.02771998e-01 5.51490139e-01 -2.26750404e-01 2.15954137e+01] [-5.26606607e-01 8.34088399e-01 1.64262062e-01 -2.25268531e+00] [ 2.79718789e-01 -1.24567229e-02 9.60001161e-01 3.95795889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.934839173 meters 0.0900665736535585 Centerline is valid? [True, True] Translation: X:21.61, Y:-2.27, Z:3.97 [[ 8.05090499e-01 5.49508315e-01 -2.23315696e-01 2.16142541e+01] [-5.25324259e-01 8.35388601e-01 1.61741485e-01 -2.27303308e+00] [ 2.75433678e-01 -1.29033807e-02 9.61233474e-01 3.96739850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.964839172999998 meters 0.09106585959095842 Centerline is valid? [True, True] Translation: X:21.63, Y:-2.29, Z:3.98 [[ 8.06848059e-01 5.47174813e-01 -2.22701446e-01 2.16332618e+01] [-5.23064284e-01 8.36908109e-01 1.61209713e-01 -2.29191858e+00] [ 2.74590541e-01 -1.35845717e-02 9.61465285e-01 3.97836873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.994839173 meters 0.0925691149345212 Centerline is valid? [True, True] Translation: X:21.65, Y:-2.31, Z:3.99 [[ 8.09648632e-01 5.43029271e-01 -2.22684313e-01 2.16513963e+01] [-5.18793259e-01 8.39581271e-01 1.61111276e-01 -2.31245188e+00] [ 2.74449718e-01 -1.49164041e-02 9.61485753e-01 3.98752898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.024839173 meters 0.09249980421182685 Centerline is valid? [True, True] Translation: X:21.67, Y:-2.33, Z:4.00 [[ 8.09626687e-01 5.42585493e-01 -2.23842826e-01 2.16734990e+01] [-5.18100978e-01 8.39865391e-01 1.61856423e-01 -2.32820937e+00] [ 2.75818789e-01 -1.50700925e-02 9.61091509e-01 3.99530347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.054839172999998 meters 0.09304831454509183 Centerline is valid? [True, True] Translation: X:21.70, Y:-2.34, Z:4.00 [[ 8.09242871e-01 5.42140267e-01 -2.26296060e-01 2.16970851e+01] [-5.17112265e-01 8.40148259e-01 1.63541458e-01 -2.34368928e+00] [ 2.78784651e-01 -1.53242911e-02 9.60231370e-01 4.00117699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.084839173 meters 0.09172947774412743 Centerline is valid? [True, True] Translation: X:21.72, Y:-2.36, Z:4.01 [[ 8.08677725e-01 5.42924422e-01 -2.26436325e-01 2.17209813e+01] [-5.17920012e-01 8.39647805e-01 1.63555572e-01 -2.36017852e+00] [ 2.78925078e-01 -1.49878436e-02 9.60195900e-01 4.00511798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.114839173 meters 0.0961462892716709 Centerline is valid? [True, True] Translation: X:21.73, Y:-2.39, Z:4.02 [[ 8.08948155e-01 5.43109564e-01 -2.25021963e-01 2.17333766e+01] [-5.18457982e-01 8.39532437e-01 1.62439554e-01 -2.38652050e+00] [ 2.77135712e-01 -1.47407451e-02 9.60717704e-01 4.01761693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.144839172999998 meters 0.09511287127798684 Centerline is valid? [True, True] Translation: X:21.75, Y:-2.40, Z:4.03 [[ 8.10890695e-01 5.41487083e-01 -2.21918948e-01 2.17549676e+01] [-5.17474646e-01 8.40574470e-01 1.60170382e-01 -2.40293931e+00] [ 2.73269595e-01 -1.50432433e-02 9.61819853e-01 4.02690404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.174839173 meters 0.09325104909089935 Centerline is valid? [True, True] Translation: X:21.78, Y:-2.42, Z:4.04 [[ 8.12276344e-01 5.40784938e-01 -2.18537850e-01 2.17782335e+01] [-5.17501924e-01 8.41027306e-01 1.57685857e-01 -2.41545156e+00] [ 2.69070436e-01 -1.49907336e-02 9.63003831e-01 4.03774653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.204839173 meters 0.09328450583681253 Centerline is valid? [True, True] Translation: X:21.80, Y:-2.43, Z:4.05 [[ 8.10418281e-01 5.43077034e-01 -2.19748823e-01 2.18009157e+01] [-5.19638006e-01 8.39562219e-01 1.58466470e-01 -2.42819379e+00] [ 2.70552310e-01 -1.42342840e-02 9.62600038e-01 4.04780478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.234839172999997 meters 0.09089143092319307 Centerline is valid? [True, True] Translation: X:21.83, Y:-2.44, Z:4.05 [[ 8.06606451e-01 5.46958630e-01 -2.24103304e-01 2.18304519e+01] [-5.22727403e-01 8.37056382e-01 1.61532277e-01 -2.43579509e+00] [ 2.75938573e-01 -1.31480384e-02 9.61085341e-01 4.05089421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.264839173 meters 0.09105823662898432 Centerline is valid? [True, True] Translation: X:21.85, Y:-2.45, Z:4.06 [[ 8.05561179e-01 5.47667480e-01 -2.26122793e-01 2.18520518e+01] [-5.23042751e-01 8.36595904e-01 1.62891297e-01 -2.45220114e+00] [ 2.78383668e-01 -1.29470170e-02 9.60382688e-01 4.05726575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.294839173 meters 0.09092774653822411 Centerline is valid? [True, True] Translation: X:21.87, Y:-2.47, Z:4.07 [[ 8.06028836e-01 5.48023470e-01 -2.23579498e-01 2.18729645e+01] [-5.24002322e-01 8.36368259e-01 1.60964909e-01 -2.46883436e+00] [ 2.75207344e-01 -1.25861824e-02 9.61302505e-01 4.06681947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.324839173 meters 0.08946457106590311 Centerline is valid? [True, True] Translation: X:21.90, Y:-2.48, Z:4.08 [[ 8.06783800e-01 5.47932275e-01 -2.21065876e-01 2.18973775e+01] [-5.24481925e-01 8.36430985e-01 1.59065762e-01 -2.48057423e+00] [ 2.72063614e-01 -1.23866237e-02 9.62199544e-01 4.07618690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.354839173 meters 0.08959665028186822 Centerline is valid? [True, True] Translation: X:21.92, Y:-2.49, Z:4.09 [[ 8.07188330e-01 5.48496400e-01 -2.18171261e-01 2.19204928e+01] [-5.25698705e-01 8.36066872e-01 1.56949220e-01 -2.49017325e+00] [ 2.68491846e-01 -1.19952297e-02 9.63207269e-01 4.09004944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.384839173 meters 0.08985327518236343 Centerline is valid? [True, True] Translation: X:21.94, Y:-2.50, Z:4.10 [[ 8.07257916e-01 5.48522275e-01 -2.17848503e-01 2.19416383e+01] [-5.25815716e-01 8.36051244e-01 1.56640190e-01 -2.50339951e+00] [ 2.68053146e-01 -1.19008668e-02 9.63330618e-01 4.09920376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.414839173 meters 0.08920650867882425 Centerline is valid? [True, True] Translation: X:21.96, Y:-2.52, Z:4.11 [[ 8.05694420e-01 5.50832342e-01 -2.17807788e-01 2.19634469e+01] [-5.28235098e-01 8.34542443e-01 1.56545814e-01 -2.52105063e+00] [ 2.68000341e-01 -1.10743703e-02 9.63355166e-01 4.10601794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.444839173 meters 0.08984771063495166 Centerline is valid? [True, True] Translation: X:21.98, Y:-2.54, Z:4.12 [[ 8.05832200e-01 5.51052877e-01 -2.16737612e-01 2.19821114e+01] [-5.28714784e-01 8.34399604e-01 1.55685507e-01 -2.53987164e+00] [ 2.66636724e-01 -1.08640147e-02 9.63735872e-01 4.11623626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.474839173 meters 0.08989664717092241 Centerline is valid? [True, True] Translation: X:22.00, Y:-2.55, Z:4.13 [[ 8.03824996e-01 5.53354316e-01 -2.18321730e-01 2.20028779e+01] [-5.30778305e-01 8.32884271e-01 1.56774303e-01 -2.55495414e+00] [ 2.68588472e-01 -1.01386659e-02 9.63201661e-01 4.12574704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.504839173 meters 0.08766551682954651 Centerline is valid? [True, True] Translation: X:22.03, Y:-2.57, Z:4.13 [[ 8.01649761e-01 5.55803471e-01 -2.20091258e-01 2.20298220e+01] [-5.32952497e-01 8.31260913e-01 1.58009270e-01 -2.56606863e+00] [ 2.70775361e-01 -9.36990838e-03 9.62596961e-01 4.13028206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.534839172999998 meters 0.08562446969980919 Centerline is valid? [True, True] Translation: X:22.06, Y:-2.58, Z:4.13 [[ 7.96067866e-01 5.63055054e-01 -2.21912052e-01 2.20578763e+01] [-5.40105505e-01 8.26390340e-01 1.59264086e-01 -2.57607560e+00] [ 2.73060425e-01 -6.92910066e-03 9.61971929e-01 4.13407014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564839173 meters 0.08433698768611092 Centerline is valid? [True, True] Translation: X:22.08, Y:-2.59, Z:4.14 [[ 7.92602920e-01 5.67843525e-01 -2.22113356e-01 2.20840601e+01] [-5.45061260e-01 8.23120038e-01 1.59316120e-01 -2.58726287e+00] [ 2.73292581e-01 -5.20903618e-03 9.61916852e-01 4.14108594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.594839173 meters 0.08346884180705551 Centerline is valid? [True, True] Translation: X:22.11, Y:-2.59, Z:4.15 [[ 7.87347113e-01 5.75722477e-01 -2.20517918e-01 2.21134439e+01] [-5.53599282e-01 8.17641689e-01 1.58081950e-01 -2.58889998e+00] [ 2.71315975e-01 -2.38680563e-03 9.62487374e-01 4.15246650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624839172999998 meters 0.08346884180705551 Centerline is valid? [True, True] Translation: X:22.13, Y:-2.60, Z:4.16 [[ 7.87506789e-01 5.75488109e-01 -2.20559503e-01 2.21347783e+01] [-5.53372150e-01 8.17806645e-01 1.58023908e-01 -2.60387138e+00] [ 2.71315907e-01 -2.39341447e-03 9.62487377e-01 4.16071157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.654839173 meters 0.08250532062373825 Centerline is valid? [True, True] Translation: X:22.16, Y:-2.61, Z:4.17 [[ 7.85784362e-01 5.77693377e-01 -2.20937321e-01 2.21630129e+01] [-5.55612852e-01 8.16252381e-01 1.58197372e-01 -2.61314634e+00] [ 2.71730188e-01 -1.55340617e-03 9.62372221e-01 4.16510827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684839173 meters 0.08226089191716043 Centerline is valid? [True, True] Translation: X:22.19, Y:-2.62, Z:4.17 [[ 7.83278495e-01 5.80833938e-01 -2.21600398e-01 2.21888178e+01] [-5.58768525e-01 8.14021983e-01 1.58574736e-01 -2.62214174e+00] [ 2.72493184e-01 -3.84852484e-04 9.62157636e-01 4.17466975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.714839172999998 meters 0.08269663033249758 Centerline is valid? [True, True] Translation: X:22.21, Y:-2.64, Z:4.19 [[ 7.82679631e-01 5.81987608e-01 -2.20687604e-01 2.22099007e+01] [-5.60160897e-01 8.13197653e-01 1.57890301e-01 -2.63501996e+00] [ 2.71352840e-01 4.30442198e-05 9.62479940e-01 4.18728925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744839173 meters 0.08237409544552769 Centerline is valid? [True, True] Translation: X:22.23, Y:-2.65, Z:4.19 [[ 7.82664773e-01 5.82377881e-01 -2.19708572e-01 2.22325979e+01] [-5.60773204e-01 8.12918176e-01 1.57154234e-01 -2.65141578e+00] [ 2.70128241e-01 2.07596821e-04 9.62824330e-01 4.19221887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.774839173 meters 0.08222892704099141 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.67, Z:4.20 [[ 7.81394814e-01 5.83332229e-01 -2.21688194e-01 2.22559356e+01] [-5.61380823e-01 8.12233444e-01 1.58519413e-01 -2.66625401e+00] [ 2.72532048e-01 5.85253851e-04 9.62146527e-01 4.20087837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804839172999998 meters 0.08245908679367273 Centerline is valid? [True, True] Translation: X:22.28, Y:-2.68, Z:4.21 [[ 7.79224022e-01 5.85575701e-01 -2.23407748e-01 2.22807999e+01] [-5.63393617e-01 8.10616408e-01 1.59651719e-01 -2.67748677e+00] [ 2.74586153e-01 1.46204447e-03 9.61561390e-01 4.20782179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.834839173 meters 0.08279285417020522 Centerline is valid? [True, True] Translation: X:22.30, Y:-2.69, Z:4.21 [[ 7.78457580e-01 5.86232059e-01 -2.24356345e-01 2.23025236e+01] [-5.63892318e-01 8.10141344e-01 1.60301145e-01 -2.69177235e+00] [ 2.75734021e-01 1.72517840e-03 9.61232424e-01 4.21459114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864839173 meters 0.08291951192885612 Centerline is valid? [True, True] Translation: X:22.32, Y:-2.71, Z:4.22 [[ 7.78604205e-01 5.85353537e-01 -2.26134314e-01 2.23235811e+01] [-5.62637231e-01 8.10776795e-01 1.61494069e-01 -2.71190360e+00] [ 2.77875579e-01 1.49162340e-03 9.60615916e-01 4.21790353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.894839172999998 meters 0.08347767236424135 Centerline is valid? [True, True] Translation: X:22.34, Y:-2.73, Z:4.23 [[ 7.79741208e-01 5.84293057e-01 -2.24956156e-01 2.23431951e+01] [-5.61800537e-01 8.11541879e-01 1.60561316e-01 -2.72981931e+00] [ 2.76376204e-01 1.18421488e-03 9.61048798e-01 4.22519064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924839173 meters 0.08349587405570108 Centerline is valid? [True, True] Translation: X:22.36, Y:-2.75, Z:4.23 [[ 7.81386426e-01 5.82206328e-01 -2.24657616e-01 2.23627702e+01] [-5.59702831e-01 8.13040933e-01 1.60303408e-01 -2.74796845e+00] [ 2.75985496e-01 4.82596811e-04 9.61161679e-01 4.23249445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.954839173 meters 0.08344559737321029 Centerline is valid? [True, True] Translation: X:22.38, Y:-2.76, Z:4.24 [[ 7.82658069e-01 5.79951682e-01 -2.26058384e-01 2.23840226e+01] [-5.57098406e-01 8.14650842e-01 1.61199787e-01 -2.76485403e+00] [ 2.77646741e-01 -2.27548983e-04 9.60683213e-01 4.24081161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984839172999997 meters 0.08394135581433983 Centerline is valid? [True, True] Translation: X:22.40, Y:-2.79, Z:4.25 [[ 7.86032018e-01 5.75274061e-01 -2.26303826e-01 2.24019510e+01] [-5.52204713e-01 8.17958725e-01 1.61286945e-01 -2.78615514e+00] [ 2.77891385e-01 -1.81066330e-03 9.60610795e-01 4.24844119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.014839173 meters 0.08398708536800666 Centerline is valid? [True, True] Translation: X:22.42, Y:-2.80, Z:4.26 [[ 7.88146428e-01 5.72429992e-01 -2.26161697e-01 2.24222154e+01] [-5.49304167e-01 8.19949064e-01 1.61085272e-01 -2.80329590e+00] [ 2.77651113e-01 -2.72721880e-03 9.60678105e-01 4.25858149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.044839173 meters 0.08465724023522435 Centerline is valid? [True, True] Translation: X:22.44, Y:-2.82, Z:4.27 [[ 7.93434845e-01 5.64466132e-01 -2.27682088e-01 2.24415345e+01] [-5.40724393e-01 8.25438006e-01 1.62077849e-01 -2.82197257e+00] [ 2.79424905e-01 -5.48495414e-03 9.60151883e-01 4.26777944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.074839173 meters 0.08515117808743274 Centerline is valid? [True, True] Translation: X:22.46, Y:-2.84, Z:4.28 [[ 7.93002276e-01 5.65481015e-01 -2.26668506e-01 2.24626056e+01] [-5.42021638e-01 8.24746006e-01 1.61265524e-01 -2.83507907e+00] [ 2.78136537e-01 -5.02469308e-03 9.60528406e-01 4.27729434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.104839173 meters 0.08538220347660588 Centerline is valid? [True, True] Translation: X:22.49, Y:-2.85, Z:4.28 [[ 7.91947191e-01 5.66836306e-01 -2.26971915e-01 2.24871527e+01] [-5.43386938e-01 8.23818170e-01 1.61413314e-01 -2.84810840e+00] [ 2.78478514e-01 -4.49724649e-03 9.60431930e-01 4.28409909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.134839173 meters 0.08523846561937068 Centerline is valid? [True, True] Translation: X:22.51, Y:-2.86, Z:4.29 [[ 7.92255807e-01 5.66621614e-01 -2.26430306e-01 2.25095624e+01] [-5.43303483e-01 8.23965918e-01 1.60939406e-01 -2.86162864e+00] [ 2.77762601e-01 -4.48480489e-03 9.60639279e-01 4.29297857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164839173 meters 0.08558294253353876 Centerline is valid? [True, True] Translation: X:22.53, Y:-2.87, Z:4.30 [[ 7.92328740e-01 5.65953672e-01 -2.27841190e-01 2.25313382e+01] [-5.42328900e-01 8.24423665e-01 1.61879538e-01 -2.87406147e+00] [ 2.79453988e-01 -4.69694836e-03 9.60147597e-01 4.30406411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.194839173 meters 0.08520099873480741 Centerline is valid? [True, True] Translation: X:22.56, Y:-2.89, Z:4.31 [[ 7.92676552e-01 5.65403095e-01 -2.27998300e-01 2.25550624e+01] [-5.41743338e-01 8.24800566e-01 1.61920294e-01 -2.88871123e+00] [ 2.79603362e-01 -4.83386004e-03 9.60103429e-01 4.30874821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224839173 meters 0.08570768571391138 Centerline is valid? [True, True] Translation: X:22.57, Y:-2.91, Z:4.32 [[ 7.94681943e-01 5.63026969e-01 -2.26894781e-01 2.25748564e+01] [-5.39534932e-01 8.26419860e-01 1.61035000e-01 -2.90765571e+00] [ 2.78177401e-01 -5.55394682e-03 9.60513658e-01 4.31884903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.254839173 meters 0.08554305584538581 Centerline is valid? [True, True] Translation: X:22.60, Y:-2.92, Z:4.33 [[ 7.95158362e-01 5.62197357e-01 -2.27282449e-01 2.25975468e+01] [-5.38615268e-01 8.26982904e-01 1.61223044e-01 -2.92197676e+00] [ 2.78597869e-01 -5.78005422e-03 9.60390451e-01 4.32738663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284839172999998 meters 0.08606949992886855 Centerline is valid? [True, True] Translation: X:22.62, Y:-2.93, Z:4.34 [[ 7.95240494e-01 5.61975165e-01 -2.27544435e-01 2.26184422e+01] [-5.38358596e-01 8.27133937e-01 1.61305527e-01 -2.93474407e+00] [ 2.78859425e-01 -5.77618471e-03 9.60314561e-01 4.33964228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.314839173 meters 0.08562740869210994 Centerline is valid? [True, True] Translation: X:22.64, Y:-2.95, Z:4.35 [[ 7.96048228e-01 5.60789295e-01 -2.27645744e-01 2.26425598e+01] [-5.37130198e-01 8.27935964e-01 1.61286051e-01 -2.94840249e+00] [ 2.78923589e-01 -6.11607177e-03 9.60293822e-01 4.34653875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344839173 meters 0.08770259700131253 Centerline is valid? [True, True] Translation: X:22.66, Y:-2.97, Z:4.36 [[ 7.99277297e-01 5.56305875e-01 -2.27331424e-01 2.26565825e+01] [-5.32560740e-01 8.30942883e-01 1.60975100e-01 -2.97296610e+00] [ 2.78450823e-01 -7.59595128e-03 9.60420450e-01 4.35767517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.374839172999998 meters 0.08771894765756368 Centerline is valid? [True, True] Translation: X:22.68, Y:-2.99, Z:4.36 [[ 8.01253413e-01 5.53222817e-01 -2.27897964e-01 2.26776707e+01] [-5.29261882e-01 8.32988835e-01 1.61280690e-01 -2.99247983e+00] [ 2.79060618e-01 -8.60899828e-03 9.60234897e-01 4.36290334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.404839173 meters 0.0882522017261985 Centerline is valid? [True, True] Translation: X:22.70, Y:-3.02, Z:4.36 [[ 8.01671057e-01 5.51278757e-01 -2.31117391e-01 2.26950013e+01] [-5.26567892e-01 8.34268740e-01 1.63468422e-01 -3.01686619e+00] [ 2.82930683e-01 -9.34890497e-03 9.59094796e-01 4.36473482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.434839173 meters 0.08817130846742682 Centerline is valid? [True, True] Translation: X:22.72, Y:-3.04, Z:4.37 [[ 8.00594554e-01 5.51661109e-01 -2.33919604e-01 2.27174053e+01] [-5.26380869e-01 8.34017143e-01 1.65343841e-01 -3.03544699e+00] [ 2.86306726e-01 -9.24257412e-03 9.58093437e-01 4.36967281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464839172999998 meters 0.0872376396119111 Centerline is valid? [True, True] Translation: X:22.74, Y:-3.05, Z:4.37 [[ 7.96297402e-01 5.56208071e-01 -2.37787784e-01 2.27415730e+01] [-5.30289384e-01 8.31007666e-01 1.67986394e-01 -3.04895179e+00] [ 2.91038860e-01 -7.67079114e-03 9.56680480e-01 4.37177594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.494839173 meters 0.08743982185442328 Centerline is valid? [True, True] Translation: X:22.76, Y:-3.06, Z:4.38 [[ 7.93534282e-01 5.58887578e-01 -2.40723946e-01 2.27641667e+01] [-5.32443548e-01 8.29216046e-01 1.70013579e-01 -3.06319548e+00] [ 2.94630636e-01 -6.73969181e-03 9.55587445e-01 4.37687965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524839173 meters 0.08527636699649016 Centerline is valid? [True, True] Translation: X:22.80, Y:-3.06, Z:4.38 [[ 7.88196708e-01 5.65620346e-01 -2.42527472e-01 2.27966950e+01] [-5.39091046e-01 8.24654912e-01 1.71245791e-01 -3.06395662e+00] [ 2.96861574e-01 -4.23098019e-03 9.54911150e-01 4.38393081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.554839172999998 meters 0.0849049762336216 Centerline is valid? [True, True] Translation: X:22.82, Y:-3.07, Z:4.39 [[ 7.86203483e-01 5.68449978e-01 -2.42381325e-01 2.28211350e+01] [-5.42118214e-01 8.22712106e-01 1.71034012e-01 -3.07469084e+00] [ 2.96634331e-01 -3.06820470e-03 9.54986209e-01 4.39238511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584839173 meters 0.08479564629033624 Centerline is valid? [True, True] Translation: X:22.85, Y:-3.09, Z:4.40 [[ 7.85325743e-01 5.69313777e-01 -2.43198069e-01 2.28461255e+01] [-5.42850662e-01 8.22115809e-01 1.71577255e-01 -3.08553584e+00] [ 2.97618273e-01 -2.72380226e-03 9.54681070e-01 4.40049631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.614839173 meters 0.08533637747623884 Centerline is valid? [True, True] Translation: X:22.87, Y:-3.10, Z:4.41 [[ 7.86847832e-01 5.66684098e-01 -2.44416904e-01 2.28651235e+01] [-5.39857744e-01 8.23927078e-01 1.72330459e-01 -3.10489131e+00] [ 2.99038636e-01 -3.64748937e-03 9.54234033e-01 4.40679648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644839172999998 meters 0.0856335821966994 Centerline is valid? [True, True] Translation: X:22.89, Y:-3.12, Z:4.41 [[ 7.85991147e-01 5.66187265e-01 -2.48293975e-01 2.28862205e+01] [-5.38474399e-01 8.24267623e-01 1.75009162e-01 -3.12417607e+00] [ 3.03748643e-01 -3.85570333e-03 9.52744402e-01 4.40975820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.674839173 meters 0.08640545939719335 Centerline is valid? [True, True] Translation: X:22.91, Y:-3.14, Z:4.41 [[ 7.84482531e-01 5.68593880e-01 -2.47564450e-01 2.29115567e+01] [-5.41198113e-01 8.22613533e-01 1.74389154e-01 -3.13907405e+00] [ 3.02806473e-01 -2.82383172e-03 9.53047882e-01 4.41174362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.704839173 meters 0.0855913523987472 Centerline is valid? [True, True] Translation: X:22.93, Y:-3.15, Z:4.42 [[ 7.82436860e-01 5.69778013e-01 -2.51287833e-01 2.29342687e+01] [-5.41622567e-01 8.21795377e-01 1.76910582e-01 -3.15196148e+00] [ 3.07306940e-01 -2.31819886e-03 9.51607624e-01 4.42042280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.734839172999997 meters 0.08591480221190553 Centerline is valid? [True, True] Translation: X:22.96, Y:-3.17, Z:4.42 [[ 7.80974431e-01 5.71054483e-01 -2.52934214e-01 2.29562536e+01] [-5.42617139e-01 8.20910312e-01 1.77968816e-01 -3.16638915e+00] [ 3.09266195e-01 -1.74265556e-03 9.50973913e-01 4.42475869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.764839173 meters 0.08598341856362178 Centerline is valid? [True, True] Translation: X:22.98, Y:-3.18, Z:4.43 [[ 7.80225133e-01 5.71032478e-01 -2.55285431e-01 2.29788132e+01] [-5.42081122e-01 8.20925742e-01 1.79524326e-01 -3.18196499e+00] [ 3.12084603e-01 -1.68397824e-03 9.50052822e-01 4.43163708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.794839173 meters 0.0858983444666055 Centerline is valid? [True, True] Translation: X:23.00, Y:-3.20, Z:4.44 [[ 7.79616142e-01 5.71402518e-01 -2.56315886e-01 2.30017458e+01] [-5.42249140e-01 8.20668589e-01 1.80191391e-01 -3.19526814e+00] [ 3.13312211e-01 -1.49304833e-03 9.49649003e-01 4.43849471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.824839172999997 meters 0.0855549158849024 Centerline is valid? [True, True] Translation: X:23.03, Y:-3.20, Z:4.45 [[ 7.79014259e-01 5.72837288e-01 -2.54939653e-01 2.30279224e+01] [-5.44102822e-01 8.19668666e-01 1.79151884e-01 -3.20472414e+00] [ 3.11590924e-01 -8.48487642e-04 9.50215963e-01 4.44995032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.854839173 meters 0.0856248797472487 Centerline is valid? [True, True] Translation: X:23.05, Y:-3.22, Z:4.46 [[ 7.78749019e-01 5.73547190e-01 -2.54152682e-01 2.30498809e+01] [-5.45062285e-01 8.19172381e-01 1.78504107e-01 -3.21787766e+00] [ 3.10575386e-01 -4.80856853e-04 9.50548630e-01 4.45877868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884839173 meters 0.08589115044740783 Centerline is valid? [True, True] Translation: X:23.07, Y:-3.23, Z:4.47 [[ 7.78253200e-01 5.74334761e-01 -2.53892773e-01 2.30708630e+01] [-5.45979822e-01 8.18620532e-01 1.78231477e-01 -3.23336322e+00] [ 3.10206369e-01 -8.88864596e-05 9.50669238e-01 4.46804418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.914839173 meters 0.0859835278277689 Centerline is valid? [True, True] Translation: X:23.09, Y:-3.25, Z:4.47 [[ 7.76933861e-01 5.75456675e-01 -2.55388706e-01 2.30938078e+01] [-5.46853215e-01 8.17832138e-01 1.79170743e-01 -3.24828846e+00] [ 3.11970091e-01 4.56317959e-04 9.50091813e-01 4.47404494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944839173 meters 0.08619622168641364 Centerline is valid? [True, True] Translation: X:23.12, Y:-3.26, Z:4.48 [[ 7.76042146e-01 5.75606731e-01 -2.57750809e-01 2.31168933e+01] [-5.46483634e-01 8.17726463e-01 1.80773531e-01 -3.26467963e+00] [ 3.14824119e-01 5.68719481e-04 9.49149857e-01 4.48042976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.974839173 meters 0.08614410075146206 Centerline is valid? [True, True] Translation: X:23.14, Y:-3.28, Z:4.49 [[ 7.75530295e-01 5.75452588e-01 -2.59628736e-01 2.31397962e+01] [-5.45914984e-01 8.17834928e-01 1.81996869e-01 -3.27785815e+00] [ 3.17064018e-01 5.91131588e-04 9.48403954e-01 4.48955196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004839173 meters 0.08579570102670377 Centerline is valid? [True, True] Translation: X:23.16, Y:-3.29, Z:4.50 [[ 7.75357495e-01 5.75863118e-01 -2.59234303e-01 2.31597569e+01] [-5.46460481e-01 8.17545725e-01 1.81658831e-01 -3.29312875e+00] [ 3.16546516e-01 8.10765947e-04 9.48576642e-01 4.50165805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.034839172999998 meters 0.08564151214813841 Centerline is valid? [True, True] Translation: X:23.18, Y:-3.31, Z:4.51 [[ 7.75831565e-01 5.75418709e-01 -2.58802417e-01 2.31810429e+01] [-5.46129106e-01 8.17858659e-01 1.81246279e-01 -3.30788033e+00] [ 3.15956298e-01 7.22948613e-04 9.48773469e-01 4.51188333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064839173 meters 0.08568255960068513 Centerline is valid? [True, True] Translation: X:23.20, Y:-3.32, Z:4.52 [[ 7.76386661e-01 5.74738084e-01 -2.58650125e-01 2.32014901e+01] [-5.45483570e-01 8.18337243e-01 1.81029921e-01 -3.32431858e+00] [ 3.15707820e-01 5.40177861e-04 9.48856301e-01 4.52146000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.094839173 meters 0.08676984934582613 Centerline is valid? [True, True] Translation: X:23.22, Y:-3.35, Z:4.52 [[ 7.79762920e-01 5.68458711e-01 -2.62344208e-01 2.32157543e+01] [-5.38029325e-01 8.22709505e-01 1.83503448e-01 -3.35265643e+00] [ 3.20147207e-01 -1.94030687e-03 9.47365822e-01 4.52334312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124839172999998 meters 0.08849479471638565 Centerline is valid? [True, True] Translation: X:23.23, Y:-3.38, Z:4.53 [[ 7.83345683e-01 5.62413846e-01 -2.64688886e-01 2.32296289e+01] [-5.31101198e-01 8.26844093e-01 1.85095553e-01 -3.38167403e+00] [ 3.22956744e-01 -4.41721862e-03 9.46403418e-01 4.52600010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.154839173 meters 0.08859708587991622 Centerline is valid? [True, True] Translation: X:23.25, Y:-3.40, Z:4.54 [[ 7.84867715e-01 5.60449143e-01 -2.64347171e-01 2.32500687e+01] [-5.29146798e-01 8.28172971e-01 1.84751715e-01 -3.39943157e+00] [ 3.22469123e-01 -5.12719748e-03 9.46566097e-01 4.53597495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.184839173 meters 0.08822283107064526 Centerline is valid? [True, True] Translation: X:23.27, Y:-3.41, Z:4.55 [[ 7.86021115e-01 5.60187735e-01 -2.61458425e-01 2.32713168e+01] [-5.29602655e-01 8.28350046e-01 1.82639617e-01 -3.41150971e+00] [ 3.18891572e-01 -5.08951894e-03 9.47777538e-01 4.54958512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.214839172999998 meters 0.08814954229729105 Centerline is valid? [True, True] Translation: X:23.29, Y:-3.43, Z:4.56 [[ 7.87167119e-01 5.59102362e-01 -2.60331474e-01 2.32924842e+01] [-5.28744492e-01 8.29080622e-01 1.81809196e-01 -3.42624696e+00] [ 3.17485731e-01 -5.46538827e-03 9.48247299e-01 4.56159930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.244839173 meters 0.08798827952975383 Centerline is valid? [True, True] Translation: X:23.31, Y:-3.44, Z:4.58 [[ 7.89735069e-01 5.56671973e-01 -2.57749559e-01 2.33106702e+01] [-5.26839098e-01 8.30708658e-01 1.79899112e-01 -3.44294922e+00] [ 3.14259584e-01 -6.28009283e-03 9.49316319e-01 4.57572142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.274839173 meters 0.08744705434564362 Centerline is valid? [True, True] Translation: X:23.33, Y:-3.45, Z:4.59 [[ 7.90370530e-01 5.55857900e-01 -2.57558578e-01 2.33327303e+01] [-5.26063950e-01 8.31251882e-01 1.79658091e-01 -3.45481162e+00] [ 3.13960422e-01 -6.50417782e-03 9.49413792e-01 4.58851088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.304839172999998 meters 0.08731220638717778 Centerline is valid? [True, True] Translation: X:23.35, Y:-3.47, Z:4.60 [[ 7.90153440e-01 5.56386803e-01 -2.57082218e-01 2.33526860e+01] [-5.26770475e-01 8.30900416e-01 1.79213187e-01 -3.47002256e+00] [ 3.13321574e-01 -6.18259374e-03 9.49626962e-01 4.59929790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.334839173 meters 0.08702770232513002 Centerline is valid? [True, True] Translation: X:23.38, Y:-3.48, Z:4.61 [[ 7.89638537e-01 5.57516094e-01 -2.56216286e-01 2.33757413e+01] [-5.28190103e-01 8.30146976e-01 1.78525106e-01 -3.48480068e+00] [ 3.12227794e-01 -5.63939704e-03 9.49990527e-01 4.60984288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.364839173 meters 0.08614094478087568 Centerline is valid? [True, True] Translation: X:23.40, Y:-3.50, Z:4.62 [[ 7.89599070e-01 5.58598008e-01 -2.53971600e-01 2.33965224e+01] [-5.29868894e-01 8.29422748e-01 1.76909184e-01 -3.50136306e+00] [ 3.09470940e-01 -5.11567628e-03 9.50895140e-01 4.62307428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.394839172999998 meters 0.0857795699113862 Centerline is valid? [True, True] Translation: X:23.42, Y:-3.52, Z:4.63 [[ 7.88384988e-01 5.60103885e-01 -2.54426313e-01 2.34197108e+01] [-5.31374689e-01 8.28410397e-01 1.77135978e-01 -3.51507999e+00] [ 3.09983952e-01 -4.45564276e-03 9.50731348e-01 4.63253804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.424839173 meters 0.08533872578152685 Centerline is valid? [True, True] Translation: X:23.45, Y:-3.52, Z:4.64 [[ 7.83445719e-01 5.66872213e-01 -2.54693343e-01 2.34461403e+01] [-5.38463108e-01 8.23803997e-01 1.77213024e-01 -3.52499490e+00] [ 3.10274533e-01 -1.69381547e-03 9.50645489e-01 4.63965662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.454839173 meters 0.08539215387113672 Centerline is valid? [True, True] Translation: X:23.47, Y:-3.54, Z:4.65 [[ 7.82001948e-01 5.69009748e-01 -2.54363638e-01 2.34678590e+01] [-5.40819307e-01 8.22330429e-01 1.76881722e-01 -3.53859896e+00] [ 3.09818384e-01 -7.57084518e-04 9.50795454e-01 4.64802615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.484839172999997 meters 0.0853028978785179 Centerline is valid? [True, True] Translation: X:23.49, Y:-3.56, Z:4.66 [[ 7.81929130e-01 5.69694995e-01 -2.53050289e-01 2.34865045e+01] [-5.41860997e-01 8.21856093e-01 1.75895488e-01 -3.55833144e+00] [ 3.08177701e-01 -4.19723939e-04 9.51328717e-01 4.65784349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.514839173 meters 0.0853028978785179 Centerline is valid? [True, True] Translation: X:23.51, Y:-3.57, Z:4.67 [[ 7.82088719e-01 5.69453353e-01 -2.53100996e-01 2.35080479e+01] [-5.41630639e-01 8.22023540e-01 1.75822498e-01 -3.57297919e+00] [ 3.08177687e-01 -4.21537861e-04 9.51328721e-01 4.66608773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.544839173 meters 0.08500096963149616 Centerline is valid? [True, True] Translation: X:23.53, Y:-3.59, Z:4.67 [[ 7.82107484e-01 5.69734461e-01 -2.52409442e-01 2.35280746e+01] [-5.42117219e-01 8.21828813e-01 1.75232198e-01 -3.58985483e+00] [ 3.07273174e-01 -2.14908783e-04 9.51621327e-01 4.67453514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.574839172999997 meters 0.08520550817027459 Centerline is valid? [True, True] Translation: X:23.55, Y:-3.61, Z:4.68 [[ 7.80028090e-01 5.70692238e-01 -2.56644792e-01 2.35494163e+01] [-5.42203010e-01 8.21163992e-01 1.78060648e-01 -3.60879024e+00] [ 3.12365292e-01 2.61271393e-04 9.49962029e-01 4.67868920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604839173 meters 0.08555849308853747 Centerline is valid? [True, True] Translation: X:23.57, Y:-3.63, Z:4.69 [[ 7.78877841e-01 5.71127259e-01 -2.59158179e-01 2.35715847e+01] [-5.42105744e-01 8.20861384e-01 1.79744128e-01 -3.62596276e+00] [ 3.15389713e-01 4.92418881e-04 9.48962110e-01 4.68536981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.634839173 meters 0.08624236307751533 Centerline is valid? [True, True] Translation: X:23.59, Y:-3.65, Z:4.69 [[ 7.76033933e-01 5.73433075e-01 -2.62575407e-01 2.35929172e+01] [-5.43782443e-01 8.19250968e-01 1.82012378e-01 -3.64509011e+00] [ 3.19487074e-01 1.53611430e-03 9.47589389e-01 4.68733758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664839173 meters 0.08660703498006798 Centerline is valid? [True, True] Translation: X:23.62, Y:-3.66, Z:4.69 [[ 7.74382386e-01 5.75129208e-01 -2.63739102e-01 2.36155822e+01] [-5.45336752e-01 8.18059265e-01 1.82720734e-01 -3.66226346e+00] [ 3.20842247e-01 2.33090742e-03 9.47129780e-01 4.69390304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.694839173 meters 0.08683506863180689 Centerline is valid? [True, True] Translation: X:23.64, Y:-3.67, Z:4.70 [[ 7.71654780e-01 5.80241769e-01 -2.60515624e-01 2.36402209e+01] [-5.51507520e-01 8.14431968e-01 1.80388538e-01 -3.67052311e+00] [ 3.16841217e-01 4.47864837e-03 9.48468020e-01 4.70314697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724839173 meters 0.08632864216367094 Centerline is valid? [True, True] Translation: X:23.66, Y:-3.68, Z:4.72 [[ 7.71039174e-01 5.81946362e-01 -2.58528572e-01 2.36643487e+01] [-5.53785970e-01 8.13210415e-01 1.78913167e-01 -3.68028420e+00] [ 3.14355994e-01 5.22043576e-03 9.49290817e-01 4.71648925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.754839173 meters 0.08653344337288642 Centerline is valid? [True, True] Translation: X:23.69, Y:-3.69, Z:4.73 [[ 7.68735591e-01 5.83965413e-01 -2.60825588e-01 2.36884284e+01] [-5.55440298e-01 8.11754850e-01 1.80388857e-01 -3.69168303e+00] [ 3.17067289e-01 6.20170785e-03 9.48382767e-01 4.72637627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784839172999998 meters 0.08632359456903589 Centerline is valid? [True, True] Translation: X:23.71, Y:-3.71, Z:4.73 [[ 7.69294232e-01 5.82605850e-01 -2.62215195e-01 2.37078911e+01] [-5.53725281e-01 8.12734414e-01 1.81248686e-01 -3.70995912e+00] [ 3.18707858e-01 5.76161378e-03 9.47835484e-01 4.73226199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.814839173 meters 0.0860927737198933 Centerline is valid? [True, True] Translation: X:23.73, Y:-3.73, Z:4.74 [[ 7.72052933e-01 5.79144519e-01 -2.61774512e-01 2.37275047e+01] [-5.50195746e-01 8.15213075e-01 1.80865374e-01 -3.72918979e+00] [ 3.18149195e-01 4.38958004e-03 9.48030496e-01 4.73984910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.844839173 meters 0.08537623605487275 Centerline is valid? [True, True] Translation: X:23.75, Y:-3.75, Z:4.75 [[ 7.74620564e-01 5.76231444e-01 -2.60615242e-01 2.37473685e+01] [-5.47418411e-01 8.17280047e-01 1.79962241e-01 -3.74654096e+00] [ 3.16695539e-01 3.26312955e-03 9.48521632e-01 4.75126943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.874839172999998 meters 0.08495017307357666 Centerline is valid? [True, True] Translation: X:23.77, Y:-3.76, Z:4.76 [[ 7.75810713e-01 5.74886743e-01 -2.60044171e-01 2.37676790e+01] [-5.46163257e-01 8.18228223e-01 1.79466634e-01 -3.76339601e+00] [ 3.15948469e-01 2.79443466e-03 9.48772236e-01 4.75928524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904839173 meters 0.0851655521786838 Centerline is valid? [True, True] Translation: X:23.79, Y:-3.78, Z:4.77 [[ 7.76257052e-01 5.73499617e-01 -2.61769321e-01 2.37900590e+01] [-5.44343308e-01 8.19202485e-01 1.80548199e-01 -3.77941195e+00] [ 3.17986402e-01 2.34056516e-03 9.48092385e-01 4.76605252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.934839173 meters 0.08480371993358203 Centerline is valid? [True, True] Translation: X:23.81, Y:-3.80, Z:4.78 [[ 7.80093207e-01 5.68625772e-01 -2.60996780e-01 2.38073432e+01] [-5.39397498e-01 8.22596241e-01 1.79960450e-01 -3.80187781e+00] [ 3.17025120e-01 3.95085410e-04 9.48417059e-01 4.77707747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964839172999998 meters 0.08459337672946717 Centerline is valid? [True, True] Translation: X:23.83, Y:-3.82, Z:4.79 [[ 7.82503564e-01 5.65948023e-01 -2.59597781e-01 2.38271868e+01] [-5.36929586e-01 8.24440703e-01 1.78897029e-01 -3.81846659e+00] [ 3.15269396e-01 -6.01833528e-04 9.49002026e-01 4.78616761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.994839173 meters 0.08486925672162113 Centerline is valid? [True, True] Translation: X:23.85, Y:-3.84, Z:4.79 [[ 7.85309577e-01 5.61339983e-01 -2.61125048e-01 2.38459530e+01] [-5.31745648e-01 8.27581801e-01 1.79874756e-01 -3.83916991e+00] [ 3.17073230e-01 -2.40526030e-03 9.48398008e-01 4.79347264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024839173 meters 0.0849975279412834 Centerline is valid? [True, True] Translation: X:23.87, Y:-3.85, Z:4.80 [[ 7.86051533e-01 5.60864278e-01 -2.59912003e-01 2.38677780e+01] [-5.31552032e-01 8.27903936e-01 1.78962316e-01 -3.85358385e+00] [ 3.15555741e-01 -2.51684881e-03 9.48903704e-01 4.80302414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.054839172999998 meters 0.08417635594106447 Centerline is valid? [True, True] Translation: X:23.89, Y:-3.86, Z:4.82 [[ 7.87399126e-01 5.60404901e-01 -2.56805301e-01 2.38925334e+01] [-5.31819289e-01 8.28214786e-01 1.76715907e-01 -3.86227112e+00] [ 3.11722408e-01 -2.57193836e-03 9.50169735e-01 4.81796755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084839173 meters 0.0838895964447416 Centerline is valid? [True, True] Translation: X:23.92, Y:-3.87, Z:4.83 [[ 7.87082958e-01 5.61487142e-01 -2.55406748e-01 2.39168262e+01] [-5.33307704e-01 8.27482934e-01 1.75655588e-01 -3.87204679e+00] [ 3.09973079e-01 -2.04513345e-03 9.50743134e-01 4.82790644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.114839173 meters 0.0834577209449867 Centerline is valid? [True, True] Translation: X:23.94, Y:-3.88, Z:4.84 [[ 7.85538486e-01 5.63772564e-01 -2.55126994e-01 2.39426616e+01] [-5.35800504e-01 8.25929385e-01 1.75380932e-01 -3.88126350e+00] [ 3.09591838e-01 -1.07130009e-03 9.50868943e-01 4.83760575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.144839172999998 meters 0.08326651326391307 Centerline is valid? [True, True] Translation: X:23.97, Y:-3.89, Z:4.84 [[ 7.83266168e-01 5.66373806e-01 -2.56349025e-01 2.39675439e+01] [-5.38297591e-01 8.24148476e-01 1.76110743e-01 -3.89080856e+00] [ 3.11014170e-01 5.04751200e-05 9.50405273e-01 4.84498326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.174839173 meters 0.08373014697235268 Centerline is valid? [True, True] Translation: X:24.00, Y:-3.89, Z:4.85 [[ 7.78977268e-01 5.71726592e-01 -2.57532754e-01 2.39978675e+01] [-5.43700192e-01 8.20441046e-01 1.76823617e-01 -3.89380048e+00] [ 3.12385206e-01 2.27902955e-03 9.49952782e-01 4.85308826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204839173 meters 0.08379644255866774 Centerline is valid? [True, True] Translation: X:24.02, Y:-3.91, Z:4.86 [[ 7.78766120e-01 5.72828756e-01 -2.55715755e-01 2.40211045e+01] [-5.45284830e-01 8.19670440e-01 1.75513031e-01 -3.90621694e+00] [ 3.10141557e-01 2.75432007e-03 9.50686399e-01 4.86314376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.234839172999997 meters 0.08358667663044399 Centerline is valid? [True, True] Translation: X:24.05, Y:-3.91, Z:4.88 [[ 7.78634933e-01 5.73831640e-01 -2.53859982e-01 2.40462016e+01] [-5.46782199e-01 8.18966960e-01 1.74133126e-01 -3.91331159e+00] [ 3.07826035e-01 3.21998440e-03 9.51437210e-01 4.87594159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264839173 meters 0.0839300604574019 Centerline is valid? [True, True] Translation: X:24.07, Y:-3.92, Z:4.88 [[ 7.77783555e-01 5.74638888e-01 -2.54642671e-01 2.40715959e+01] [-5.47495764e-01 8.18398962e-01 1.74560955e-01 -3.92394247e+00] [ 3.08708811e-01 3.64514398e-03 9.51149611e-01 4.88175310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.294839173 meters 0.08454162234219341 Centerline is valid? [True, True] Translation: X:24.10, Y:-3.93, Z:4.88 [[ 7.75578769e-01 5.75444895e-01 -2.59500957e-01 2.40991821e+01] [-5.47290158e-01 8.17830311e-01 1.77840000e-01 -3.93370331e+00] [ 3.14564868e-01 4.09339187e-03 9.49227153e-01 4.88255537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324839172999997 meters 0.08414121230185356 Centerline is valid? [True, True] Translation: X:24.12, Y:-3.95, Z:4.89 [[ 7.77459505e-01 5.73190318e-01 -2.58862082e-01 2.41224228e+01] [-5.45069812e-01 8.19415992e-01 1.77359333e-01 -3.94599580e+00] [ 3.13776382e-01 3.20820674e-03 9.49491490e-01 4.89367657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.354839173 meters 0.08343316219431268 Centerline is valid? [True, True] Translation: X:24.14, Y:-3.96, Z:4.91 [[ 7.84215163e-01 5.65846143e-01 -2.54606990e-01 2.41400885e+01] [-5.38315485e-01 8.24510784e-01 1.74351386e-01 -3.96238462e+00] [ 3.08582269e-01 3.29884900e-04 9.51197600e-01 4.91003943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384839173 meters 0.08358643630488541 Centerline is valid? [True, True] Translation: X:24.16, Y:-3.98, Z:4.92 [[ 7.87860075e-01 5.61054643e-01 -2.53957062e-01 2.41584913e+01] [-5.33456810e-01 8.27777481e-01 1.73805275e-01 -3.98145403e+00] [ 3.07734194e-01 -1.45911220e-03 9.51471249e-01 4.92073794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.414839173 meters 0.0830866956004622 Centerline is valid? [True, True] Translation: X:24.18, Y:-4.00, Z:4.93 [[ 7.89738701e-01 5.58577043e-01 -2.53583262e-01 2.41799103e+01] [-5.30972673e-01 8.29449378e-01 1.73440909e-01 -3.99595715e+00] [ 3.07214589e-01 -2.32721556e-03 9.51637421e-01 4.93210314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.444839173 meters 0.08323640753068128 Centerline is valid? [True, True] Translation: X:24.20, Y:-4.01, Z:4.94 [[ 7.88695580e-01 5.59582778e-01 -2.54610283e-01 2.42011499e+01] [-5.31834991e-01 8.28772402e-01 1.74034040e-01 -4.01165550e+00] [ 3.08400427e-01 -1.84922076e-03 9.51254833e-01 4.93781977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.474839173 meters 0.08361993860424205 Centerline is valid? [True, True] Translation: X:24.23, Y:-4.03, Z:4.94 [[ 7.84266815e-01 5.64693475e-01 -2.56995804e-01 2.42265669e+01] [-5.36709254e-01 8.25300684e-01 1.75561834e-01 -4.02564188e+00] [ 3.11237435e-01 2.44705793e-04 9.50332152e-01 4.94079772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.504839173 meters 0.08385300294168135 Centerline is valid? [True, True] Translation: X:24.25, Y:-4.04, Z:4.95 [[ 7.82036592e-01 5.67079223e-01 -2.58534184e-01 2.42506234e+01] [-5.38912114e-01 8.23662238e-01 1.76505668e-01 -4.04033368e+00] [ 3.13037541e-01 1.29331262e-03 9.49739872e-01 4.94562493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.534839172999998 meters 0.08554383007556328 Centerline is valid? [True, True] Translation: X:24.28, Y:-4.06, Z:4.94 [[ 7.77704113e-01 5.71154472e-01 -2.62600230e-01 2.42757590e+01] [-5.42328228e-01 8.20836880e-01 1.79184009e-01 -4.05658405e+00] [ 3.17893702e-01 3.06337648e-03 9.48121411e-01 4.94196728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.564839173 meters 0.08557943551451418 Centerline is valid? [True, True] Translation: X:24.30, Y:-4.07, Z:4.95 [[ 7.76809942e-01 5.71683924e-01 -2.64090524e-01 2.42969462e+01] [-5.42565987e-01 8.20467143e-01 1.80154978e-01 -4.07381051e+00] [ 3.19669302e-01 3.34035778e-03 9.47523287e-01 4.94987240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.594839173 meters 0.08528264378550662 Centerline is valid? [True, True] Translation: X:24.32, Y:-4.09, Z:4.96 [[ 7.77676380e-01 5.71328618e-01 -2.62303370e-01 2.43173584e+01] [-5.42625649e-01 8.20714955e-01 1.78841740e-01 -4.09064078e+00] [ 3.17453702e-01 3.25153896e-03 9.48268197e-01 4.96158223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.624839172999998 meters 0.08458270458420644 Centerline is valid? [True, True] Translation: X:24.34, Y:-4.10, Z:4.98 [[ 7.78420795e-01 5.71858920e-01 -2.58917828e-01 2.43395117e+01] [-5.43971320e-01 8.20344510e-01 1.76437209e-01 -4.10393764e+00] [ 3.13299010e-01 3.50148038e-03 9.49648077e-01 4.97521145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.654839173 meters 0.0846091065323813 Centerline is valid? [True, True] Translation: X:24.36, Y:-4.12, Z:4.98 [[ 7.78450099e-01 5.70328872e-01 -2.62183946e-01 2.43627372e+01] [-5.41662779e-01 8.21410927e-01 1.78565181e-01 -4.11833924e+00] [ 3.17201636e-01 3.01120143e-03 9.48353338e-01 4.98076453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.684839173 meters 0.08496804859540522 Centerline is valid? [True, True] Translation: X:24.38, Y:-4.14, Z:4.99 [[ 7.77923726e-01 5.69989855e-01 -2.64473516e-01 2.43842226e+01] [-5.40811524e-01 8.21646396e-01 1.80055813e-01 -4.13647241e+00] [ 3.19933699e-01 2.96063606e-03 9.47435308e-01 4.98849731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.714839172999998 meters 0.08468371214631759 Centerline is valid? [True, True] Translation: X:24.41, Y:-4.15, Z:5.00 [[ 7.77999622e-01 5.70593193e-01 -2.62944854e-01 2.44053548e+01] [-5.41826696e-01 8.21226334e-01 1.78916571e-01 -4.15276248e+00] [ 3.18025816e-01 3.27351725e-03 9.48076402e-01 4.99746251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.744839173 meters 0.08412596257067534 Centerline is valid? [True, True] Translation: X:24.43, Y:-4.17, Z:5.01 [[ 7.78990930e-01 5.70521116e-01 -2.60151471e-01 2.44277083e+01] [-5.42409977e-01 8.21276309e-01 1.76908568e-01 -4.16585276e+00] [ 3.14586313e-01 3.29858337e-03 9.49223141e-01 5.01091958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.774839173 meters 0.08345026366314923 Centerline is valid? [True, True] Translation: X:24.45, Y:-4.18, Z:5.03 [[ 7.79483958e-01 5.71410512e-01 -2.56699798e-01 2.44498474e+01] [-5.44137547e-01 8.20656096e-01 1.74464617e-01 -4.17771246e+00] [ 3.10353170e-01 3.68762831e-03 9.50614176e-01 5.02561813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.804839172999998 meters 0.08367176665722068 Centerline is valid? [True, True] Translation: X:24.47, Y:-4.19, Z:5.03 [[ 7.78445383e-01 5.72529581e-01 -2.57357075e-01 2.44712403e+01] [-5.45204714e-01 8.19873155e-01 1.74813698e-01 -4.19435862e+00] [ 3.11086171e-01 4.22937418e-03 9.50372299e-01 5.03493664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.834839173 meters 0.08449990873026132 Centerline is valid? [True, True] Translation: X:24.49, Y:-4.21, Z:5.04 [[ 7.74509018e-01 5.76175946e-01 -2.61069072e-01 2.44946612e+01] [-5.48269836e-01 8.17304652e-01 1.77237955e-01 -4.21037993e+00] [ 3.15493213e-01 5.86390289e-03 9.48909715e-01 5.03830264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.864839173 meters 0.08495459544371609 Centerline is valid? [True, True] Translation: X:24.52, Y:-4.23, Z:5.05 [[ 7.72513076e-01 5.78116450e-01 -2.62687872e-01 2.45174243e+01] [-5.49983886e-01 8.15926314e-01 1.78275001e-01 -4.22614320e+00] [ 3.17397658e-01 6.75432737e-03 9.48268478e-01 5.04652770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.894839172999998 meters 0.08592479808857834 Centerline is valid? [True, True] Translation: X:24.54, Y:-4.24, Z:5.05 [[ 7.70393366e-01 5.79494471e-01 -2.65857519e-01 2.45404654e+01] [-5.50776044e-01 8.14941575e-01 1.80321875e-01 -4.24261913e+00] [ 3.21153875e-01 7.50917603e-03 9.46997255e-01 5.04836513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.924839173 meters 0.08606747239185616 Centerline is valid? [True, True] Translation: X:24.56, Y:-4.26, Z:5.06 [[ 7.70208748e-01 5.79779000e-01 -2.65772075e-01 2.45612312e+01] [-5.51132676e-01 8.14737221e-01 1.80155582e-01 -4.25771888e+00] [ 3.20984825e-01 7.71827012e-03 9.47052887e-01 5.05590046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.954839173 meters 0.08521246039181148 Centerline is valid? [True, True] Translation: X:24.58, Y:-4.28, Z:5.07 [[ 7.69810189e-01 5.80356544e-01 -2.65666248e-01 2.45799551e+01] [-5.51800263e-01 8.14322812e-01 1.79985633e-01 -4.27736029e+00] [ 3.20793926e-01 8.03993186e-03 9.47114891e-01 5.06839083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984839172999997 meters 0.08522919372958562 Centerline is valid? [True, True] Translation: X:24.60, Y:-4.29, Z:5.08 [[ 7.70804607e-01 5.79186851e-01 -2.65335355e-01 2.46011340e+01] [-5.50670399e-01 8.15159115e-01 1.79660038e-01 -4.29438046e+00] [ 3.20347265e-01 7.62954037e-03 9.47269455e-01 5.07605090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.014839173 meters 0.08400704532929418 Centerline is valid? [True, True] Translation: X:24.61, Y:-4.32, Z:5.08 [[ 7.74098633e-01 5.74198597e-01 -2.66584466e-01 2.46142348e+01] [-5.45151943e-01 8.18696357e-01 1.80404083e-01 -4.32384357e+00] [ 3.21839503e-01 5.67848530e-03 9.46777212e-01 5.08460700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044839173 meters 0.08378900900049034 Centerline is valid? [True, True] Translation: X:24.63, Y:-4.35, Z:5.09 [[ 7.77237590e-01 5.69374045e-01 -2.67796426e-01 2.46313250e+01] [-5.39811750e-01 8.22069863e-01 1.81119890e-01 -4.34854461e+00] [ 3.23272336e-01 3.78647015e-03 9.46298399e-01 5.09099828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.074839172999997 meters 0.08440981360891192 Centerline is valid? [True, True] Translation: X:24.64, Y:-4.38, Z:5.09 [[ 7.80084421e-01 5.64436187e-01 -2.69963120e-01 2.46421441e+01] [-5.34127380e-01 8.25474646e-01 1.82481644e-01 -4.38169352e+00] [ 3.25846955e-01 1.84360601e-03 9.45420733e-01 5.09252729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.104839173 meters 0.08442573789724986 Centerline is valid? [True, True] Translation: X:24.66, Y:-4.40, Z:5.10 [[ 7.80713122e-01 5.63192882e-01 -2.70741202e-01 2.46607855e+01] [-5.32667980e-01 8.26324244e-01 1.82901793e-01 -4.40347011e+00] [ 3.26729007e-01 1.42133912e-03 9.45116996e-01 5.09925607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.134839173 meters 0.0844238311434338 Centerline is valid? [True, True] Translation: X:24.68, Y:-4.42, Z:5.10 [[ 7.78651329e-01 5.65066694e-01 -2.72766821e-01 2.46825225e+01] [-5.34219465e-01 8.25041968e-01 1.84161110e-01 -4.41938915e+00] [ 3.29107385e-01 2.32005248e-03 9.44289652e-01 5.10453994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.164839173 meters 0.08445635898419433 Centerline is valid? [True, True] Translation: X:24.71, Y:-4.43, Z:5.11 [[ 7.76276352e-01 5.67523277e-01 -2.74430966e-01 2.47086970e+01] [-5.36453831e-01 8.23350222e-01 1.85234174e-01 -4.43040503e+00] [ 3.31077502e-01 3.42663363e-03 9.43597343e-01 5.11134032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.194839173 meters 0.0852236454175679 Centerline is valid? [True, True] Translation: X:24.73, Y:-4.45, Z:5.11 [[ 7.73472232e-01 5.70556781e-01 -2.76053740e-01 2.47332538e+01] [-5.39331887e-01 8.21243865e-01 1.86224674e-01 -4.44612517e+00] [ 3.32959191e-01 4.84496986e-03 9.42928790e-01 5.11400100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.224839173 meters 0.0857031016229699 Centerline is valid? [True, True] Translation: X:24.75, Y:-4.46, Z:5.12 [[ 7.73925426e-01 5.70339496e-01 -2.75231348e-01 2.47548028e+01] [-5.39329636e-01 8.21394882e-01 1.85563982e-01 -4.46338695e+00] [ 3.31908088e-01 4.82773898e-03 9.43299377e-01 5.12028685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.254839173 meters 0.08491395728482418 Centerline is valid? [True, True] Translation: X:24.77, Y:-4.48, Z:5.14 [[ 7.78356979e-01 5.66106112e-01 -2.71448492e-01 2.47731324e+01] [-5.35751096e-01 8.24326702e-01 1.82910503e-01 -4.48016982e+00] [ 3.27308994e-01 3.05916024e-03 9.44912411e-01 5.13573296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.284839172999998 meters 0.08392170986904669 Centerline is valid? [True, True] Translation: X:24.79, Y:-4.49, Z:5.15 [[ 7.81843596e-01 5.63326246e-01 -2.67178091e-01 2.47936629e+01] [-5.33822678e-01 8.26232251e-01 1.79926695e-01 -4.49355985e+00] [ 3.22108586e-01 1.95118976e-03 9.46700719e-01 5.15138524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.314839173 meters 0.08374381309783137 Centerline is valid? [True, True] Translation: X:24.81, Y:-4.51, Z:5.17 [[ 7.87423817e-01 5.57701493e-01 -2.62550522e-01 2.48102946e+01] [-5.28966164e-01 8.30041550e-01 1.76708299e-01 -4.50751223e+00] [ 3.16478325e-01 -2.63981004e-04 9.48599705e-01 5.17376580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344839173 meters 0.08487636065043204 Centerline is valid? [True, True] Translation: X:24.83, Y:-4.53, Z:5.18 [[ 7.85903560e-01 5.58001728e-01 -2.66438861e-01 2.48301490e+01] [-5.28418666e-01 8.29839781e-01 1.79275353e-01 -4.52514331e+00] [ 3.21137522e-01 -1.01870559e-04 9.47032566e-01 5.18422782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.374839172999998 meters 0.08546698927088082 Centerline is valid? [True, True] Translation: X:24.85, Y:-4.54, Z:5.19 [[ 7.83161238e-01 5.60848060e-01 -2.68529196e-01 2.48530950e+01] [-5.30982725e-01 8.27917934e-01 1.80580287e-01 -4.54112954e+00] [ 3.23598241e-01 1.16088313e-03 9.46193865e-01 5.19156376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.404839173 meters 0.08600308404600665 Centerline is valid? [True, True] Translation: X:24.88, Y:-4.56, Z:5.20 [[ 7.81416540e-01 5.62768637e-01 -2.69591640e-01 2.48752022e+01] [-5.32805498e-01 8.26611909e-01 1.81193412e-01 -4.55783807e+00] [ 3.24817630e-01 2.05237910e-03 9.45774442e-01 5.19746383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.434839173 meters 0.08600308404600665 Centerline is valid? [True, True] Translation: X:24.90, Y:-4.57, Z:5.21 [[ 7.81574390e-01 5.62533588e-01 -2.69624621e-01 2.48969834e+01] [-5.32573789e-01 8.26771972e-01 1.81144323e-01 -4.57218385e+00] [ 3.24817845e-01 2.01724184e-03 9.45774444e-01 5.20569363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464839172999998 meters 0.08637835671384683 Centerline is valid? [True, True] Translation: X:24.92, Y:-4.59, Z:5.21 [[ 7.80299983e-01 5.63948969e-01 -2.70358092e-01 2.49166841e+01] [-5.33942259e-01 8.25805188e-01 1.81525357e-01 -4.59129930e+00] [ 3.25634153e-01 2.71137749e-03 9.45491960e-01 5.21396669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.494839173 meters 0.08641463473089314 Centerline is valid? [True, True] Translation: X:24.94, Y:-4.61, Z:5.22 [[ 7.80945792e-01 5.63362755e-01 -2.69714804e-01 2.49370020e+01] [-5.33490508e-01 8.26205832e-01 1.81029836e-01 -4.60742927e+00] [ 3.24825411e-01 2.51579924e-03 9.45770650e-01 5.22388812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524839173 meters 0.08614276990936376 Centerline is valid? [True, True] Translation: X:24.95, Y:-4.63, Z:5.24 [[ 7.82270177e-01 5.62325744e-01 -2.68035684e-01 2.49530934e+01] [-5.32812855e-01 8.26912973e-01 1.79792648e-01 -4.63053440e+00] [ 3.22744219e-01 2.16643124e-03 9.46483743e-01 5.23564951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.554839172999998 meters 0.08629787010120252 Centerline is valid? [True, True] Translation: X:24.97, Y:-4.65, Z:5.24 [[ 7.83180061e-01 5.61381281e-01 -2.67357531e-01 2.49707621e+01] [-5.32003084e-01 8.27555189e-01 1.79234838e-01 -4.65226594e+00] [ 3.21872195e-01 1.86187958e-03 9.46781296e-01 5.24161868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584839173 meters 0.08652720569165766 Centerline is valid? [True, True] Translation: X:24.98, Y:-4.68, Z:5.25 [[ 7.83427578e-01 5.60732464e-01 -2.67993159e-01 2.49846074e+01] [-5.31199993e-01 8.27995365e-01 1.79583529e-01 -4.67935503e+00] [ 3.22595408e-01 1.66727503e-03 9.46535484e-01 5.24949582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.614839173 meters 0.086632965852254 Centerline is valid? [True, True] Translation: X:25.00, Y:-4.70, Z:5.26 [[ 7.83960590e-01 5.59362956e-01 -2.69293291e-01 2.50030761e+01] [-5.29483037e-01 8.28922009e-01 1.80377428e-01 -4.70042150e+00] [ 3.24119587e-01 1.17743477e-03 9.46015384e-01 5.25871229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644839172999998 meters 0.08763695694824808 Centerline is valid? [True, True] Translation: X:25.02, Y:-4.72, Z:5.26 [[ 7.82187540e-01 5.59012907e-01 -2.75113109e-01 2.50217109e+01] [-5.27805067e-01 8.29158155e-01 1.84169934e-01 -4.72383050e+00] [ 3.31065648e-01 1.15066536e-03 9.43607022e-01 5.26024308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.674839173 meters 0.08844928545589789 Centerline is valid? [True, True] Translation: X:25.04, Y:-4.74, Z:5.27 [[ 7.81246812e-01 5.58002079e-01 -2.79798316e-01 2.50414800e+01] [-5.25646379e-01 8.29839178e-01 1.87250694e-01 -4.74368179e+00] [ 3.36673881e-01 7.85964282e-04 9.41620985e-01 5.26682723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.704839173 meters 0.0889743407304097 Centerline is valid? [True, True] Translation: X:25.06, Y:-4.76, Z:5.27 [[ 7.80478466e-01 5.58013890e-01 -2.81911092e-01 2.50607336e+01] [-5.25195540e-01 8.29831119e-01 1.88546965e-01 -4.76419647e+00] [ 3.39150422e-01 9.01602086e-04 9.40731725e-01 5.27497651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.734839172999997 meters 0.0887974532081393 Centerline is valid? [True, True] Translation: X:25.08, Y:-4.78, Z:5.28 [[ 7.81398463e-01 5.57932206e-01 -2.79514035e-01 2.50820420e+01] [-5.25718550e-01 8.29885988e-01 1.86840180e-01 -4.77817340e+00] [ 3.36208935e-01 9.49083641e-04 9.41786946e-01 5.28449077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.764839173 meters 0.08875520248909508 Centerline is valid? [True, True] Translation: X:25.10, Y:-4.80, Z:5.29 [[ 7.84876176e-01 5.55040937e-01 -2.75497635e-01 2.50988570e+01] [-5.23619208e-01 8.31822998e-01 1.84101671e-01 -4.79943826e+00] [ 3.31349232e-01 -2.41161732e-04 9.43508149e-01 5.29408476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.794839173 meters 0.08846411985290419 Centerline is valid? [True, True] Translation: X:25.11, Y:-4.83, Z:5.30 [[ 7.87777821e-01 5.50607865e-01 -2.76110636e-01 2.51136194e+01] [-5.18816774e-01 8.34761599e-01 1.84396933e-01 -4.82556919e+00] [ 3.32016958e-01 -2.01298504e-03 9.43271269e-01 5.30375058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.824839172999997 meters 0.08850783412452078 Centerline is valid? [True, True] Translation: X:25.14, Y:-4.84, Z:5.32 [[ 7.88022634e-01 5.49295293e-01 -2.78019799e-01 2.51354866e+01] [-5.17007297e-01 8.35624598e-01 1.85566662e-01 -4.83864077e+00] [ 3.34251077e-01 -2.49246535e-03 9.42480772e-01 5.31688661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.854839173 meters 0.08861417153220133 Centerline is valid? [True, True] Translation: X:25.16, Y:-4.84, Z:5.33 [[ 7.86475422e-01 5.52784293e-01 -2.75474022e-01 2.51633617e+01] [-5.21327586e-01 8.33323834e-01 1.83817672e-01 -4.84107512e+00] [ 3.31170589e-01 -9.55874119e-04 9.43570414e-01 5.32986580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.884839173 meters 0.08829859515113789 Centerline is valid? [True, True] Translation: X:25.19, Y:-4.85, Z:5.34 [[ 7.85062233e-01 5.56080259e-01 -2.72859004e-01 2.51877948e+01] [-5.25447356e-01 8.31128460e-01 1.82018016e-01 -4.85055891e+00] [ 3.27997509e-01 4.77572397e-04 9.44678467e-01 5.34171170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.914839173 meters 0.08842661735763058 Centerline is valid? [True, True] Translation: X:25.21, Y:-4.86, Z:5.35 [[ 7.82796202e-01 5.59620400e-01 -2.72130692e-01 2.52105805e+01] [-5.29402261e-01 8.28746518e-01 1.81417903e-01 -4.86323736e+00] [ 3.27052522e-01 2.05335830e-03 9.45003932e-01 5.35282197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.944839173 meters 0.08891351563310852 Centerline is valid? [True, True] Translation: X:25.23, Y:-4.88, Z:5.35 [[ 7.80039330e-01 5.63139832e-01 -2.72785949e-01 2.52333028e+01] [-5.33021962e-01 8.26353600e-01 1.81734189e-01 -4.88039585e+00] [ 3.27759411e-01 3.64108659e-03 9.44754207e-01 5.35349568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.974839173 meters 0.089120878298272 Centerline is valid? [True, True] Translation: X:25.25, Y:-4.90, Z:5.36 [[ 7.80311286e-01 5.62250200e-01 -2.73841212e-01 2.52545281e+01] [-5.31861761e-01 8.26960437e-01 1.82371881e-01 -4.89844329e+00] [ 3.28994475e-01 3.33883241e-03 9.44325944e-01 5.36172642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.004839173 meters 0.08775046874816772 Centerline is valid? [True, True] Translation: X:25.28, Y:-4.91, Z:5.38 [[ 7.82258276e-01 5.62163483e-01 -2.68410522e-01 2.52757637e+01] [-5.33032801e-01 8.27019452e-01 1.78647305e-01 -4.91001646e+00] [ 3.22409714e-01 3.32328007e-03 9.46594386e-01 5.37999054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.034839172999995 meters 0.08720497999381946 Centerline is valid? [True, True] Translation: X:25.30, Y:-4.92, Z:5.40 [[ 7.83565126e-01 5.62600240e-01 -2.63641164e-01 2.52968598e+01] [-5.34582701e-01 8.26721550e-01 1.75364803e-01 -4.92178282e+00] [ 3.16618112e-01 3.52826151e-03 9.48546532e-01 5.39524977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.064839172999996 meters 0.08740858915782691 Centerline is valid? [True, True] Translation: X:25.31, Y:-4.94, Z:5.41 [[ 7.83323413e-01 5.65091230e-01 -2.58990988e-01 2.53149212e+01] [-5.38222792e-01 8.25016260e-01 1.72233553e-01 -4.93645137e+00] [ 3.10999447e-01 4.48027821e-03 9.50399532e-01 5.41284292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.094839173 meters 0.08774531261008574 Centerline is valid? [True, True] Translation: X:25.33, Y:-4.96, Z:5.42 [[ 7.82877394e-01 5.65121819e-01 -2.60269698e-01 2.53345158e+01] [-5.37995942e-01 8.24994910e-01 1.73042667e-01 -4.95623952e+00] [ 3.12511363e-01 4.55284921e-03 9.49903111e-01 5.42269728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.124839173 meters 0.08782008850040893 Centerline is valid? [True, True] Translation: X:25.35, Y:-4.98, Z:5.43 [[ 7.83807235e-01 5.63174234e-01 -2.61688746e-01 2.53526629e+01] [-5.35674466e-01 8.26329002e-01 1.73877101e-01 -4.97630146e+00] [ 3.14164104e-01 3.89384924e-03 9.49360708e-01 5.43057002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15483917299999 meters 0.08821985071178684 Centerline is valid? [True, True] Translation: X:25.37, Y:-5.00, Z:5.44 [[ 7.84642421e-01 5.60849647e-01 -2.64166509e-01 2.53703119e+01] [-5.32724920e-01 8.27911870e-01 1.75402665e-01 -4.99781707e+00] [ 3.17081112e-01 3.09971038e-03 9.48393357e-01 5.43884409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18483917299999 meters 0.0888427362290545 Centerline is valid? [True, True] Translation: X:25.39, Y:-5.01, Z:5.45 [[ 7.84264248e-01 5.59543334e-01 -2.68031428e-01 2.53916219e+01] [-5.30506341e-01 8.28796863e-01 1.77929149e-01 -5.01396754e+00] [ 3.21702676e-01 2.64890157e-03 9.46837035e-01 5.44826930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.214839172999994 meters 0.08884041037883872 Centerline is valid? [True, True] Translation: X:25.41, Y:-5.03, Z:5.46 [[ 7.85737156e-01 5.57817590e-01 -2.67313782e-01 2.54128483e+01] [-5.28858804e-01 8.29961220e-01 1.77405574e-01 -5.03089135e+00] [ 3.20820023e-01 1.97709574e-03 9.47138112e-01 5.45741102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.244839172999995 meters 0.08847028387037977 Centerline is valid? [True, True] Translation: X:25.43, Y:-5.05, Z:5.47 [[ 7.89116333e-01 5.54506494e-01 -2.64230886e-01 2.54314337e+01] [-5.26084325e-01 8.32179091e-01 1.75251943e-01 -5.05140866e+00] [ 3.17065759e-01 7.13557036e-04 9.48403287e-01 5.46813498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.274839173 meters 0.08729809539647057 Centerline is valid? [True, True] Translation: X:25.45, Y:-5.08, Z:5.48 [[ 7.96180613e-01 5.46608208e-01 -2.59453075e-01 2.54466892e+01] [-5.18854041e-01 8.37385302e-01 1.71977731e-01 -5.07671491e+00] [ 3.11266631e-01 -2.30705847e-03 9.50319821e-01 5.47898672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.304839173 meters 0.08755514824548176 Centerline is valid? [True, True] Translation: X:25.46, Y:-5.10, Z:5.49 [[ 8.00317090e-01 5.41702315e-01 -2.57004196e-01 2.54640208e+01] [-5.14268748e-01 8.40560470e-01 1.70252023e-01 -5.09820934e+00] [ 3.08253483e-01 -4.08637804e-03 9.51295481e-01 5.48947118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.334839173 meters 0.08792466731026921 Centerline is valid? [True, True] Translation: X:25.48, Y:-5.12, Z:5.50 [[ 8.08251272e-01 5.29281190e-01 -2.58052908e-01 2.54797341e+01] [-5.01006909e-01 8.48400329e-01 1.70906287e-01 -5.12383366e+00] [ 3.09389655e-01 -8.84893389e-03 9.50894178e-01 5.49785393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36483917299999 meters 0.08954714104898098 Centerline is valid? [True, True] Translation: X:25.50, Y:-5.14, Z:5.51 [[ 8.11647250e-01 5.25519689e-01 -2.55064301e-01 2.54982869e+01] [-4.97766894e-01 8.50721961e-01 1.68820214e-01 -5.13981243e+00] [ 3.05707149e-01 -1.00598972e-02 9.52072444e-01 5.51148103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.394839172999994 meters 0.09038054871635223 Centerline is valid? [True, True] Translation: X:25.52, Y:-5.15, Z:5.53 [[ 8.14355595e-01 5.23074900e-01 -2.51431131e-01 2.55209865e+01] [-4.96027972e-01 8.52218681e-01 1.66371788e-01 -5.15164983e+00] [ 3.01299213e-01 -1.07689229e-02 9.53468833e-01 5.52755253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.424839172999995 meters 0.090373493160287 Centerline is valid? [True, True] Translation: X:25.54, Y:-5.16, Z:5.54 [[ 8.14173053e-01 5.23713956e-01 -2.50690907e-01 2.55437207e+01] [-4.96891256e-01 8.51830581e-01 1.65782210e-01 -5.16433183e+00] [ 3.00368638e-01 -1.04092882e-02 9.53766391e-01 5.53707398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.454839172999996 meters 0.08899524968149473 Centerline is valid? [True, True] Translation: X:25.57, Y:-5.17, Z:5.55 [[ 8.12844807e-01 5.27330281e-01 -2.47398655e-01 2.55732030e+01] [-5.01399140e-01 8.49613642e-01 1.63571275e-01 -5.16646860e+00] [ 2.96449358e-01 -8.91258908e-03 9.55006986e-01 5.54990856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.484839173 meters 0.08819569515778222 Centerline is valid? [True, True] Translation: X:25.60, Y:-5.17, Z:5.56 [[ 8.11686556e-01 5.30378786e-01 -2.44669734e-01 2.56007766e+01] [-5.05193616e-01 8.47726492e-01 1.61676236e-01 -5.17285913e+00] [ 2.93162661e-01 -7.62483957e-03 9.56032173e-01 5.56220197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.514839173 meters 0.08788016397696884 Centerline is valid? [True, True] Translation: X:25.63, Y:-5.18, Z:5.57 [[ 8.12074770e-01 5.31292524e-01 -2.41376928e-01 2.56266745e+01] [-5.06865504e-01 8.47158671e-01 1.59403724e-01 -5.18023522e+00] [ 2.89174564e-01 -7.10210360e-03 9.57250036e-01 5.57188095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54483917299999 meters 0.08801035419747379 Centerline is valid? [True, True] Translation: X:25.65, Y:-5.19, Z:5.58 [[ 8.13900966e-01 5.29684066e-01 -2.38746745e-01 2.56501260e+01] [-5.05764409e-01 8.48161996e-01 1.57555043e-01 -5.19264974e+00] [ 2.85950311e-01 -7.48459509e-03 9.58215216e-01 5.58175700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.574839172999994 meters 0.0887171055589781 Centerline is valid? [True, True] Translation: X:25.67, Y:-5.21, Z:5.60 [[ 8.17586880e-01 5.26135553e-01 -2.33951005e-01 2.56702894e+01] [-5.03059831e-01 8.50358265e-01 1.54342566e-01 -5.20808018e+00] [ 2.80147282e-01 -8.49710370e-03 9.59919424e-01 5.59507356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.604839172999995 meters 0.08897524291448265 Centerline is valid? [True, True] Translation: X:25.69, Y:-5.22, Z:5.60 [[ 8.18825517e-01 5.24016360e-01 -2.34374969e-01 2.56936114e+01] [-5.00798702e-01 8.51659011e-01 1.54523749e-01 -5.22254676e+00] [ 2.80580527e-01 -9.15330807e-03 9.59786843e-01 5.60336060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.634839172999996 meters 0.08912998170725794 Centerline is valid? [True, True] Translation: X:25.72, Y:-5.23, Z:5.61 [[ 8.19327205e-01 5.22519006e-01 -2.35959359e-01 2.57174802e+01] [-4.98947842e-01 8.52573054e-01 1.55467804e-01 -5.23479482e+00] [ 2.82407474e-01 -9.64758805e-03 9.59246028e-01 5.61112484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.664839173 meters 0.0892105171924859 Centerline is valid? [True, True] Translation: X:25.75, Y:-5.24, Z:5.62 [[ 8.20573332e-01 5.20948978e-01 -2.35099063e-01 2.57481565e+01] [-4.97498917e-01 8.53527805e-01 1.54871281e-01 -5.23983068e+00] [ 2.81343623e-01 -1.01217141e-02 9.59553707e-01 5.61571297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.694839173 meters 0.08975494368250896 Centerline is valid? [True, True] Translation: X:25.77, Y:-5.25, Z:5.62 [[ 8.22146997e-01 5.20192095e-01 -2.31245538e-01 2.57730519e+01] [-4.97519701e-01 8.53989418e-01 1.52237386e-01 -5.24928984e+00] [ 2.76673927e-01 -1.01122986e-02 9.60910651e-01 5.62388366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72483917299999 meters 0.08940562824544557 Centerline is valid? [True, True] Translation: X:25.80, Y:-5.26, Z:5.63 [[ 8.22246073e-01 5.19067876e-01 -2.33409373e-01 2.57977715e+01] [-4.95931206e-01 8.54667944e-01 1.53606460e-01 -5.26439208e+00] [ 2.79219688e-01 -1.05473171e-02 9.60169318e-01 5.62823610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.75483917299999 meters 0.08955870956014475 Centerline is valid? [True, True] Translation: X:25.82, Y:-5.27, Z:5.63 [[ 8.22337709e-01 5.17703611e-01 -2.36100958e-01 2.58241504e+01] [-4.93991868e-01 8.55488552e-01 1.55278370e-01 -5.27377253e+00] [ 2.82369840e-01 -1.10593059e-02 9.59241870e-01 5.63253863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.784839172999995 meters 0.08982161773615614 Centerline is valid? [True, True] Translation: X:25.85, Y:-5.28, Z:5.64 [[ 8.23230789e-01 5.15748176e-01 -2.37265436e-01 2.58500890e+01] [-4.91733018e-01 8.56659730e-01 1.55989570e-01 -5.28450691e+00] [ 2.83707081e-01 -1.17441677e-02 9.58839073e-01 5.63939654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.814839172999996 meters 0.09007009906300084 Centerline is valid? [True, True] Translation: X:25.87, Y:-5.30, Z:5.65 [[ 8.23436067e-01 5.15264935e-01 -2.37602799e-01 2.58746586e+01] [-4.91188958e-01 8.56949130e-01 1.56114046e-01 -5.29705075e+00] [ 2.84053605e-01 -1.18420647e-02 9.58735268e-01 5.64648198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.844839173 meters 0.09080032847535492 Centerline is valid? [True, True] Translation: X:25.90, Y:-5.31, Z:5.65 [[ 8.23645665e-01 5.13014743e-01 -2.41709932e-01 2.58990605e+01] [-4.87998942e-01 8.58284219e-01 1.58761557e-01 -5.31316042e+00] [ 2.88902839e-01 -1.28090770e-02 9.57272729e-01 5.64686959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.874839173 meters 0.09124877511777123 Centerline is valid? [True, True] Translation: X:25.93, Y:-5.32, Z:5.65 [[ 8.22530927e-01 5.13093610e-01 -2.45311684e-01 2.59271606e+01] [-4.87321550e-01 8.58234845e-01 1.61092077e-01 -5.32267506e+00] [ 2.93190351e-01 -1.29575457e-02 9.55966276e-01 5.64949520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90483917299999 meters 0.0920159185539783 Centerline is valid? [True, True] Translation: X:25.95, Y:-5.34, Z:5.66 [[ 8.21443456e-01 5.14736494e-01 -2.45513728e-01 2.59502293e+01] [-4.89002971e-01 8.57259456e-01 1.61190318e-01 -5.33582940e+00] [ 2.93439505e-01 -1.23517893e-02 9.55897845e-01 5.65668935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.93483917299999 meters 0.08943069068625864 Centerline is valid? [True, True] Translation: X:25.98, Y:-5.34, Z:5.67 [[ 8.20710366e-01 5.18209661e-01 -2.40610146e-01 2.59809846e+01] [-4.93673276e-01 8.55184900e-01 1.57941393e-01 -5.33884706e+00] [ 2.87612919e-01 -1.08413395e-02 9.57685373e-01 5.66739524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.964839172999994 meters 0.08861622620030155 Centerline is valid? [True, True] Translation: X:26.01, Y:-5.35, Z:5.68 [[ 8.20230449e-01 5.19766399e-01 -2.38882607e-01 2.60073465e+01] [-4.95680178e-01 8.54248287e-01 1.56719575e-01 -5.34889091e+00] [ 2.85522627e-01 -1.01367944e-02 9.58318358e-01 5.67723276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.994839172999995 meters 0.08894961388238312 Centerline is valid? [True, True] Translation: X:26.03, Y:-5.36, Z:5.68 [[ 8.20526737e-01 5.17735137e-01 -2.42252351e-01 2.60330729e+01] [-4.92888642e-01 8.55471156e-01 1.58839187e-01 -5.36054871e+00] [ 2.89476527e-01 -1.09283678e-02 9.57122725e-01 5.68376664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.024839173 meters 0.09096916970835339 Centerline is valid? [True, True] Translation: X:26.05, Y:-5.38, Z:5.69 [[ 8.20606513e-01 5.16367155e-01 -2.44887551e-01 2.60536854e+01] [-4.90934536e-01 8.56290672e-01 1.60466715e-01 -5.37915441e+00] [ 2.92554667e-01 -1.14562748e-02 9.56180172e-01 5.68912874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.054839173 meters 0.09115114280169126 Centerline is valid? [True, True] Translation: X:26.08, Y:-5.40, Z:5.69 [[ 8.21439195e-01 5.13161839e-01 -2.48802284e-01 2.60777744e+01] [-4.86760816e-01 8.58196864e-01 1.62978682e-01 -5.39683722e+00] [ 2.97155780e-01 -1.27698747e-02 9.54743616e-01 5.68854412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.084839173 meters 0.09142047543431332 Centerline is valid? [True, True] Translation: X:26.10, Y:-5.41, Z:5.70 [[ 8.22436648e-01 5.12295142e-01 -2.47288591e-01 2.60985872e+01] [-4.86211003e-01 8.58712280e-01 1.61901455e-01 -5.41418067e+00] [ 2.95291078e-01 -1.29192559e-02 9.55319984e-01 5.69728320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.11483917299999 meters 0.09103490846297387 Centerline is valid? [True, True] Translation: X:26.12, Y:-5.42, Z:5.71 [[ 8.22794541e-01 5.12302663e-01 -2.46079508e-01 2.61233097e+01] [-4.86509530e-01 8.58710160e-01 1.61013474e-01 -5.42327350e+00] [ 2.93798605e-01 -1.27609817e-02 9.55782160e-01 5.70707941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.144839172999994 meters 0.0924031275534372 Centerline is valid? [True, True] Translation: X:26.15, Y:-5.44, Z:5.72 [[ 8.21850617e-01 5.12862401e-01 -2.48059913e-01 2.61461435e+01] [-4.86702002e-01 8.58378820e-01 1.62194210e-01 -5.43620092e+00] [ 2.96112688e-01 -1.25681554e-02 9.55070321e-01 5.71539481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.174839172999995 meters 0.09166122943072286 Centerline is valid? [True, True] Translation: X:26.18, Y:-5.45, Z:5.71 [[ 8.17246483e-01 5.16311000e-01 -2.55990503e-01 2.61760253e+01] [-4.88580145e-01 8.56321413e-01 1.67341207e-01 -5.44525139e+00] [ 3.05610255e-01 -1.16871361e-02 9.52084966e-01 5.71467169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.204839172999996 meters 0.09093355872443327 Centerline is valid? [True, True] Translation: X:26.20, Y:-5.46, Z:5.72 [[ 8.15718252e-01 5.17755537e-01 -2.57939793e-01 2.62015370e+01] [-4.89689067e-01 8.55455862e-01 1.68522657e-01 -5.45841282e+00] [ 3.07909647e-01 -1.11567106e-02 9.51350186e-01 5.71927071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.234839173 meters 0.09089869615328382 Centerline is valid? [True, True] Translation: X:26.23, Y:-5.47, Z:5.73 [[ 8.15468352e-01 5.18365208e-01 -2.57505103e-01 2.62250863e+01] [-4.90458588e-01 8.55090968e-01 1.68136284e-01 -5.47288561e+00] [ 3.07346288e-01 -1.08142294e-02 9.51536290e-01 5.72558700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.264839173 meters 0.09110565597336781 Centerline is valid? [True, True] Translation: X:26.25, Y:-5.48, Z:5.74 [[ 8.16214034e-01 5.17208347e-01 -2.57468787e-01 2.62492369e+01] [-4.89286718e-01 8.55786810e-01 1.68010251e-01 -5.48493363e+00] [ 3.07234696e-01 -1.11562669e-02 9.51568379e-01 5.73577597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29483917299999 meters 0.09124975693029948 Centerline is valid? [True, True] Translation: X:26.27, Y:-5.50, Z:5.74 [[ 8.15878412e-01 5.17102738e-01 -2.58741521e-01 2.62745833e+01] [-4.88924297e-01 8.55850504e-01 1.68739288e-01 -5.49502398e+00] [ 3.08699609e-01 -1.11657261e-02 9.51094043e-01 5.74400248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.324839172999994 meters 0.09124975693029948 Centerline is valid? [True, True] Translation: X:26.30, Y:-5.51, Z:5.75 [[ 8.16029099e-01 5.16852577e-01 -2.58766157e-01 2.62965637e+01] [-4.88673841e-01 8.56000982e-01 1.68701499e-01 -5.50908211e+00] [ 3.08697889e-01 -1.12130805e-02 9.51094044e-01 5.75222957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.354839172999995 meters 0.09072142483848965 Centerline is valid? [True, True] Translation: X:26.32, Y:-5.52, Z:5.76 [[ 8.14577341e-01 5.19885346e-01 -2.57260535e-01 2.63222873e+01] [-4.92225763e-01 8.54178683e-01 1.67608401e-01 -5.52042971e+00] [ 3.06883616e-01 -9.89974270e-03 9.51695561e-01 5.76010589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.384839172999996 meters 0.08952283517479306 Centerline is valid? [True, True] Translation: X:26.35, Y:-5.53, Z:5.77 [[ 8.12358320e-01 5.24672875e-01 -2.54543381e-01 2.63508371e+01] [-4.97869824e-01 8.51267167e-01 1.65740306e-01 -5.52696917e+00] [ 3.03643866e-01 -7.91104801e-03 9.52752758e-01 5.76850221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.414839173 meters 0.08925455207835906 Centerline is valid? [True, True] Translation: X:26.38, Y:-5.54, Z:5.78 [[ 8.12015493e-01 5.25539296e-01 -2.53848945e-01 2.63756235e+01] [-4.98959297e-01 8.50736490e-01 1.65187909e-01 -5.53941070e+00] [ 3.02771297e-01 -7.47485006e-03 9.53033928e-01 5.77680648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.444839173 meters 0.08869420730093737 Centerline is valid? [True, True] Translation: X:26.40, Y:-5.54, Z:5.78 [[ 8.10496442e-01 5.27661791e-01 -2.54300122e-01 2.64040831e+01] [-5.01117793e-01 8.49428847e-01 1.65383165e-01 -5.54437588e+00] [ 3.03276236e-01 -6.60815113e-03 9.52879770e-01 5.78444989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47483917299999 meters 0.08899606556575766 Centerline is valid? [True, True] Translation: X:26.43, Y:-5.56, Z:5.79 [[ 8.10312271e-01 5.27601173e-01 -2.55011815e-01 2.64286235e+01] [-5.00913071e-01 8.49466416e-01 1.65809843e-01 -5.55538823e+00] [ 3.04105440e-01 -6.61899947e-03 9.52615384e-01 5.79254105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.50483917299999 meters 0.08850328718807712 Centerline is valid? [True, True] Translation: X:26.45, Y:-5.56, Z:5.81 [[ 8.09002558e-01 5.30868652e-01 -2.52375388e-01 2.64526666e+01] [-5.04932914e-01 8.47437956e-01 1.63986776e-01 -5.56306954e+00] [ 3.00927921e-01 -5.23308139e-03 9.53632529e-01 5.80720281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.534839172999995 meters 0.08822880073459996 Centerline is valid? [True, True] Translation: X:26.48, Y:-5.57, Z:5.82 [[ 8.07271542e-01 5.33594647e-01 -2.52169410e-01 2.64774379e+01] [-5.07864404e-01 8.45730310e-01 1.63749780e-01 -5.57435394e+00] [ 3.00643319e-01 -4.12266977e-03 9.53727738e-01 5.81625217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.564839172999996 meters 0.08790751478002258 Centerline is valid? [True, True] Translation: X:26.51, Y:-5.58, Z:5.82 [[ 8.01918387e-01 5.40691018e-01 -2.54126194e-01 2.65054020e+01] [-5.14926351e-01 8.41220106e-01 1.64922971e-01 -5.58279781e+00] [ 3.02948433e-01 -1.39848890e-03 9.53005924e-01 5.82193599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.594839173 meters 0.08789166757755941 Centerline is valid? [True, True] Translation: X:26.53, Y:-5.59, Z:5.83 [[ 7.97685643e-01 5.46771455e-01 -2.54437795e-01 2.65339183e+01] [-5.21273701e-01 8.37281309e-01 1.65026474e-01 -5.58561712e+00] [ 3.03267775e-01 9.92482146e-04 9.52904860e-01 5.83031830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.624839173 meters 0.08807515423778849 Centerline is valid? [True, True] Translation: X:26.56, Y:-5.60, Z:5.84 [[ 7.96458870e-01 5.48214670e-01 -2.55174341e-01 2.65579669e+01] [-5.22657594e-01 8.36336123e-01 1.65441616e-01 -5.59859540e+00] [ 3.04109040e-01 1.60136443e-03 9.52635884e-01 5.83802015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65483917299999 meters 0.08774766862352787 Centerline is valid? [True, True] Translation: X:26.58, Y:-5.62, Z:5.84 [[ 7.97051453e-01 5.47640475e-01 -2.54556264e-01 2.65773888e+01] [-5.22212164e-01 8.36712477e-01 1.64944497e-01 -5.61796756e+00] [ 3.03320685e-01 1.46312680e-03 9.52887413e-01 5.84300948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68483917299999 meters 0.08701964920234985 Centerline is valid? [True, True] Translation: X:26.60, Y:-5.63, Z:5.85 [[ 7.98883332e-01 5.46505416e-01 -2.51231471e-01 2.65967234e+01] [-5.21727801e-01 8.37454846e-01 1.62694445e-01 -5.63444884e+00] [ 2.99308408e-01 1.10056267e-03 9.54155787e-01 5.85442837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.714839172999994 meters 0.08640074726319055 Centerline is valid? [True, True] Translation: X:26.62, Y:-5.65, Z:5.87 [[ 8.00710178e-01 5.45938597e-01 -2.46605473e-01 2.66185328e+01] [-5.22091410e-01 8.37824638e-01 1.59594598e-01 -5.64857977e+00] [ 2.93740992e-01 9.61580281e-04 9.55884567e-01 5.86892014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.744839172999995 meters 0.08574064665080057 Centerline is valid? [True, True] Translation: X:26.64, Y:-5.66, Z:5.88 [[ 8.00758372e-01 5.45924793e-01 -2.46479512e-01 2.66404567e+01] [-5.22131119e-01 8.37833539e-01 1.59417862e-01 -5.66106502e+00] [ 2.93538965e-01 1.03943554e-03 9.55946544e-01 5.88239227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.774839173 meters 0.08558214628365969 Centerline is valid? [True, True] Translation: X:26.66, Y:-5.67, Z:5.89 [[ 8.00083633e-01 5.45969017e-01 -2.48563899e-01 2.66639297e+01] [-5.21798272e-01 8.37804560e-01 1.60655167e-01 -5.67433667e+00] [ 2.95960712e-01 1.16264315e-03 9.55199406e-01 5.89088658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.804839173 meters 0.08598092428648584 Centerline is valid? [True, True] Translation: X:26.68, Y:-5.69, Z:5.90 [[ 7.99706238e-01 5.47106832e-01 -2.47273224e-01 2.66837719e+01] [-5.23255431e-01 8.37061254e-01 1.59788018e-01 -5.69306180e+00] [ 2.94403952e-01 1.60358228e-03 9.55679728e-01 5.90027490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.834839173 meters 0.08590111421426894 Centerline is valid? [True, True] Translation: X:26.70, Y:-5.71, Z:5.91 [[ 8.00677841e-01 5.46653682e-01 -2.45121902e-01 2.67024710e+01] [-5.23234164e-01 8.37357434e-01 1.58298883e-01 -5.71461257e+00] [ 2.91789314e-01 1.50974591e-03 9.56481425e-01 5.90950852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86483917299999 meters 0.08572919106228938 Centerline is valid? [True, True] Translation: X:26.71, Y:-5.75, Z:5.92 [[ 8.05215152e-01 5.40319253e-01 -2.44302401e-01 2.67137330e+01] [-5.16801341e-01 8.41459805e-01 1.57676154e-01 -5.74573310e+00] [ 2.90766113e-01 -7.07420328e-04 9.56793900e-01 5.91929685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.894839172999994 meters 0.08585956384189251 Centerline is valid? [True, True] Translation: X:26.73, Y:-5.77, Z:5.93 [[ 8.09490864e-01 5.35004207e-01 -2.41857478e-01 2.67287258e+01] [-5.11764554e-01 8.44845700e-01 1.55989691e-01 -5.76958446e+00] [ 2.87787392e-01 -2.49814491e-03 9.57691065e-01 5.93194296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.924839172999995 meters 0.08582968567120149 Centerline is valid? [True, True] Translation: X:26.75, Y:-5.79, Z:5.94 [[ 8.10919435e-01 5.33130984e-01 -2.41207427e-01 2.67500257e+01] [-5.09946669e-01 8.46026932e-01 1.55540427e-01 -5.78594202e+00] [ 2.86991401e-01 -3.12783091e-03 9.57928052e-01 5.94105913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.954839172999996 meters 0.08543867634088892 Centerline is valid? [True, True] Translation: X:26.77, Y:-5.80, Z:5.95 [[ 8.10501553e-01 5.32266484e-01 -2.44498718e-01 2.67719063e+01] [-5.08421145e-01 8.46570041e-01 1.57566192e-01 -5.80315643e+00] [ 2.90852493e-01 -3.39932540e-03 9.56761868e-01 5.94733377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.984839173 meters 0.08558552548008252 Centerline is valid? [True, True] Translation: X:26.79, Y:-5.82, Z:5.95 [[ 8.10859542e-01 5.31949948e-01 -2.44000113e-01 2.67915090e+01] [-5.08219824e-01 8.46768899e-01 1.57146559e-01 -5.82184472e+00] [ 2.90205811e-01 -3.41809257e-03 9.56958152e-01 5.95388425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.014839173 meters 0.0854658934376121 Centerline is valid? [True, True] Translation: X:26.81, Y:-5.84, Z:5.97 [[ 8.12407440e-01 5.31094616e-01 -2.40692046e-01 2.68124793e+01] [-5.07996988e-01 8.47304777e-01 1.54963463e-01 -5.83674292e+00] [ 2.86239781e-01 -3.62263545e-03 9.58151170e-01 5.96634764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04483917299999 meters 0.08582705089203736 Centerline is valid? [True, True] Translation: X:26.83, Y:-5.86, Z:5.98 [[ 8.14800870e-01 5.28471553e-01 -2.38363924e-01 2.68319626e+01] [-5.05727034e-01 8.48939231e-01 1.53435161e-01 -5.85517083e+00] [ 2.83442604e-01 -4.47202238e-03 9.58978775e-01 5.97779829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.074839172999994 meters 0.08697745618248609 Centerline is valid? [True, True] Translation: X:26.85, Y:-5.88, Z:5.98 [[ 8.17315112e-01 5.23678952e-01 -2.40325536e-01 2.68478867e+01] [-5.00375698e-01 8.51893832e-01 1.54599675e-01 -5.88072804e+00] [ 2.85692438e-01 -6.10359273e-03 9.58301924e-01 5.98375197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104839172999995 meters 0.08728599073350513 Centerline is valid? [True, True] Translation: X:26.87, Y:-5.90, Z:5.99 [[ 8.18354402e-01 5.21584368e-01 -2.41341708e-01 2.68700285e+01] [-4.97999025e-01 8.53172301e-01 1.55222409e-01 -5.89830232e+00] [ 2.86867642e-01 -6.83900643e-03 9.57945815e-01 5.99031499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.134839172999996 meters 0.08836022744956248 Centerline is valid? [True, True] Translation: X:26.89, Y:-5.92, Z:6.00 [[ 8.20394134e-01 5.17331826e-01 -2.43559533e-01 2.68895417e+01] [-4.93146076e-01 8.55744411e-01 1.56551749e-01 -5.91813861e+00] [ 2.89413911e-01 -8.32370847e-03 9.57167856e-01 5.99539890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.164839173 meters 0.08867648399945963 Centerline is valid? [True, True] Translation: X:26.91, Y:-5.93, Z:6.00 [[ 8.21969331e-01 5.15264964e-01 -2.42628185e-01 2.69125721e+01] [-4.91191070e-01 8.56983864e-01 1.55916614e-01 -5.93225075e+00] [ 2.88266808e-01 -8.98187692e-03 9.57508002e-01 6.00492340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.194839173 meters 0.09016363356241935 Centerline is valid? [True, True] Translation: X:26.93, Y:-5.95, Z:6.01 [[ 8.24550425e-01 5.11862262e-01 -2.41067671e-01 2.69308926e+01] [-4.87989135e-01 8.59009089e-01 1.54822446e-01 -5.95231916e+00] [ 2.86327088e-01 -1.00205098e-02 9.58079531e-01 6.01489967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22483917299999 meters 0.09094884650545536 Centerline is valid? [True, True] Translation: X:26.95, Y:-5.97, Z:6.02 [[ 8.25703529e-01 5.10110905e-01 -2.40833027e-01 2.69508112e+01] [-4.86239348e-01 8.60044102e-01 1.54581497e-01 -5.97220409e+00] [ 2.85980732e-01 -1.05359931e-02 9.58177444e-01 6.02413310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.25483917299999 meters 0.09017191459282807 Centerline is valid? [True, True] Translation: X:26.97, Y:-5.99, Z:6.03 [[ 8.26564788e-01 5.08810196e-01 -2.40630083e-01 2.69745733e+01] [-4.84952313e-01 8.60809764e-01 1.54362572e-01 -5.98648350e+00] [ 2.85677975e-01 -1.08965515e-02 9.58263721e-01 6.03185031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.284839172999995 meters 0.09003357122660775 Centerline is valid? [True, True] Translation: X:27.00, Y:-6.00, Z:6.04 [[ 8.29174193e-01 5.05827127e-01 -2.37926616e-01 2.70004716e+01] [-4.82421452e-01 8.62555539e-01 1.52536830e-01 -5.99598164e+00] [ 2.82382187e-01 -1.16986993e-02 9.59230650e-01 6.04322590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.314839172999996 meters 0.09117823045210456 Centerline is valid? [True, True] Translation: X:27.02, Y:-6.01, Z:6.05 [[ 8.31658723e-01 5.01969115e-01 -2.37425306e-01 2.70207106e+01] [-4.78536428e-01 8.64789335e-01 1.52125914e-01 -6.01314614e+00] [ 2.81685382e-01 -1.29001858e-02 9.59420101e-01 6.05232595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.344839173 meters 0.09143970532469847 Centerline is valid? [True, True] Translation: X:27.04, Y:-6.03, Z:6.06 [[ 8.32504692e-01 5.00627097e-01 -2.37294011e-01 2.70421089e+01] [-4.77195720e-01 8.65561484e-01 1.51945921e-01 -6.03055329e+00] [ 2.81460801e-01 -1.32600054e-02 9.59481104e-01 6.06020755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.374839173 meters 0.0914599503684308 Centerline is valid? [True, True] Translation: X:27.06, Y:-6.05, Z:6.07 [[ 8.32710475e-01 4.99033150e-01 -2.39914943e-01 2.70614981e+01] [-4.75032049e-01 8.66471761e-01 1.53529283e-01 -6.05380237e+00] [ 2.84495725e-01 -1.38781551e-02 9.58576851e-01 6.06547916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40483917299999 meters 0.09266606304165266 Centerline is valid? [True, True] Translation: X:27.08, Y:-6.07, Z:6.07 [[ 8.32223217e-01 4.98885136e-01 -2.41905227e-01 2.70805798e+01] [-4.74497957e-01 8.66555611e-01 1.54703139e-01 -6.07304024e+00] [ 2.86803428e-01 -1.39640082e-02 9.57887676e-01 6.07411138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43483917299999 meters 0.09078647337866358 Centerline is valid? [True, True] Translation: X:27.11, Y:-6.08, Z:6.08 [[ 8.29252321e-01 5.01908495e-01 -2.45821989e-01 2.71067226e+01] [-4.76844191e-01 8.64821233e-01 1.57174593e-01 -6.08371577e+00] [ 2.91479339e-01 -1.31186085e-02 9.56487165e-01 6.08162707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464839172999994 meters 0.08988579097555278 Centerline is valid? [True, True] Translation: X:27.14, Y:-6.09, Z:6.09 [[ 8.27419103e-01 5.03660004e-01 -2.48403360e-01 2.71355302e+01] [-4.78160402e-01 8.63810719e-01 1.58725145e-01 -6.08998912e+00] [ 2.94516992e-01 -1.25555666e-02 9.55563760e-01 6.08980751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.494839172999995 meters 0.09012267254993714 Centerline is valid? [True, True] Translation: X:27.16, Y:-6.10, Z:6.10 [[ 8.27575875e-01 5.03088757e-01 -2.49037896e-01 2.71596113e+01] [-4.77460612e-01 8.64141358e-01 1.59031688e-01 -6.10301652e+00] [ 2.95211000e-01 -1.27050022e-02 9.55347606e-01 6.09919920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.524839173 meters 0.09154452940318944 Centerline is valid? [True, True] Translation: X:27.18, Y:-6.12, Z:6.11 [[ 8.28094899e-01 5.02357100e-01 -2.48789433e-01 2.71786891e+01] [-4.76779545e-01 8.64564569e-01 1.58774590e-01 -6.12261973e+00] [ 2.94856072e-01 -1.28627157e-02 9.55455100e-01 6.10650261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.554839173 meters 0.09134778743483256 Centerline is valid? [True, True] Translation: X:27.20, Y:-6.14, Z:6.11 [[ 8.28048860e-01 5.01786973e-01 -2.50089821e-01 2.72007117e+01] [-4.75924906e-01 8.64892128e-01 1.59552785e-01 -6.14034982e+00] [ 2.96362227e-01 -1.30935272e-02 9.54985859e-01 6.11195783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.584839173 meters 0.09361847022671205 Centerline is valid? [True, True] Translation: X:27.22, Y:-6.16, Z:6.12 [[ 8.27813881e-01 4.99716439e-01 -2.54965994e-01 2.72195992e+01] [-4.72743858e-01 8.66075284e-01 1.62563362e-01 -6.16285896e+00] [ 3.02055330e-01 -1.40385998e-02 9.53187020e-01 6.11620261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61483917299999 meters 0.0914193420407782 Centerline is valid? [True, True] Translation: X:27.25, Y:-6.17, Z:6.13 [[ 8.27460279e-01 4.99844039e-01 -2.55862119e-01 2.72491035e+01] [-4.72702232e-01 8.66002456e-01 1.63071596e-01 -6.16682287e+00] [ 3.03087589e-01 -1.39886740e-02 9.52860027e-01 6.12515436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.644839172999994 meters 0.09097537976952327 Centerline is valid? [True, True] Translation: X:27.28, Y:-6.17, Z:6.13 [[ 8.25445097e-01 5.02645762e-01 -2.56880575e-01 2.72786264e+01] [-4.75445443e-01 8.64395824e-01 1.63619955e-01 -6.17278208e+00] [ 3.04289373e-01 -1.29265904e-02 9.52491932e-01 6.13238953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.674839172999995 meters 0.09028556723152394 Centerline is valid? [True, True] Translation: X:27.30, Y:-6.18, Z:6.14 [[ 8.23829083e-01 5.05251811e-01 -2.56955735e-01 2.73047238e+01] [-4.78189939e-01 8.62890194e-01 1.63569239e-01 -6.18468032e+00] [ 3.04368239e-01 -1.18794488e-02 9.52480369e-01 6.13907056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.704839172999996 meters 0.08951224977719008 Centerline is valid? [True, True] Translation: X:27.33, Y:-6.19, Z:6.15 [[ 8.23139159e-01 5.07217690e-01 -2.55288346e-01 2.73324172e+01] [-4.80636640e-01 8.61747894e-01 1.62416096e-01 -6.19250656e+00] [ 3.02374511e-01 -1.09901155e-02 9.53125843e-01 6.14899720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.734839173 meters 0.08946869604027526 Centerline is valid? [True, True] Translation: X:27.36, Y:-6.20, Z:6.16 [[ 8.22678104e-01 5.08220273e-01 -2.54780083e-01 2.73577557e+01] [-4.81823749e-01 8.61162922e-01 1.62000918e-01 -6.20075838e+00] [ 3.01739311e-01 -1.05155139e-02 9.53332477e-01 6.15956387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.764839173 meters 0.08814673624460968 Centerline is valid? [True, True] Translation: X:27.39, Y:-6.20, Z:6.17 [[ 8.18751943e-01 5.14339870e-01 -2.55146533e-01 2.73884782e+01] [-4.88165094e-01 8.57546786e-01 1.62198495e-01 -6.20154530e+00] [ 3.02225243e-01 -8.24670171e-03 9.53200868e-01 6.16934219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79483917299999 meters 0.08765797614179308 Centerline is valid? [True, True] Translation: X:27.42, Y:-6.21, Z:6.18 [[ 8.17023839e-01 5.16740387e-01 -2.55834748e-01 2.74159173e+01] [-4.90558187e-01 8.56110884e-01 1.62563281e-01 -6.20915627e+00] [ 3.03025925e-01 -7.31624535e-03 9.52954228e-01 6.17744272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.824839172999994 meters 0.0871343434029492 Centerline is valid? [True, True] Translation: X:27.45, Y:-6.21, Z:6.19 [[ 8.14301794e-01 5.19871362e-01 -2.58159555e-01 2.74461382e+01] [-4.93383141e-01 8.54222591e-01 1.63941577e-01 -6.21364832e+00] [ 3.05754255e-01 -6.12634803e-03 9.52090754e-01 6.18588028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.854839172999995 meters 0.08726860861108064 Centerline is valid? [True, True] Translation: X:27.47, Y:-6.22, Z:6.19 [[ 8.12964377e-01 5.21852770e-01 -2.58376871e-01 2.74717462e+01] [-4.95445533e-01 8.53019075e-01 1.63988355e-01 -6.22336040e+00] [ 3.05978177e-01 -5.30502437e-03 9.52023746e-01 6.19281520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.884839172999996 meters 0.08761015362212658 Centerline is valid? [True, True] Translation: X:27.50, Y:-6.23, Z:6.20 [[ 8.11413285e-01 5.21917191e-01 -2.63079696e-01 2.74983718e+01] [-4.94528771e-01 8.52979360e-01 1.66935637e-01 -6.23409170e+00] [ 3.11528129e-01 -5.35331513e-03 9.50221851e-01 6.19722069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.914839173 meters 0.08832535798332844 Centerline is valid? [True, True] Translation: X:27.52, Y:-6.25, Z:6.20 [[ 8.12211996e-01 5.20008794e-01 -2.64390862e-01 2.75214802e+01] [-4.92262505e-01 8.54139418e-01 1.67700567e-01 -6.24975493e+00] [ 3.13032427e-01 -6.05870422e-03 9.49723113e-01 6.20086070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.944839173 meters 0.08933758020627897 Centerline is valid? [True, True] Translation: X:27.55, Y:-6.27, Z:6.20 [[ 8.13361349e-01 5.16879555e-01 -2.66980977e-01 2.75465646e+01] [-4.88427027e-01 8.56027115e-01 1.69282655e-01 -6.26550045e+00] [ 3.16041699e-01 -7.28724420e-03 9.48717313e-01 6.20223609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97483917299999 meters 0.08994243396521247 Centerline is valid? [True, True] Translation: X:27.57, Y:-6.28, Z:6.21 [[ 8.13372126e-01 5.15287765e-01 -2.70007970e-01 2.75704022e+01] [-4.86115238e-01 8.56980671e-01 1.71102617e-01 -6.28180253e+00] [ 3.19558697e-01 -7.91511068e-03 9.47533424e-01 6.20644234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.00483917299999 meters 0.09047261178774404 Centerline is valid? [True, True] Translation: X:27.60, Y:-6.29, Z:6.21 [[ 8.12911521e-01 5.13875766e-01 -2.74055754e-01 2.75962219e+01] [-4.83751635e-01 8.57822314e-01 1.73566222e-01 -6.29370204e+00] [ 3.24282616e-01 -8.51906238e-03 9.45921884e-01 6.20968275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.034839172999995 meters 0.09059094336062211 Centerline is valid? [True, True] Translation: X:27.62, Y:-6.30, Z:6.22 [[ 8.13407962e-01 5.12927871e-01 -2.74358318e-01 2.76218450e+01] [-4.82718910e-01 8.58386478e-01 1.73652265e-01 -6.30430243e+00] [ 3.24576556e-01 -8.81218666e-03 9.45818378e-01 6.21975692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.064839172999996 meters 0.0896800524859843 Centerline is valid? [True, True] Translation: X:27.65, Y:-6.30, Z:6.24 [[ 8.14122941e-01 5.14265782e-01 -2.69693422e-01 2.76511791e+01] [-4.85209324e-01 8.57593228e-01 1.70604125e-01 -6.30297108e+00] [ 3.19023116e-01 -8.03496903e-03 9.47712874e-01 6.23692669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.094839173 meters 0.09080199322226819 Centerline is valid? [True, True] Translation: X:27.68, Y:-6.32, Z:6.24 [[ 8.13603069e-01 5.14322562e-01 -2.71150047e-01 2.76757648e+01] [-4.84977756e-01 8.57559752e-01 1.71428841e-01 -6.31618336e+00] [ 3.20697088e-01 -7.97328976e-03 9.47148248e-01 6.23978177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.124839173 meters 0.09090058828106082 Centerline is valid? [True, True] Translation: X:27.70, Y:-6.33, Z:6.25 [[ 8.13795298e-01 5.13209909e-01 -2.72677101e-01 2.77010959e+01] [-4.83483162e-01 8.58221916e-01 1.72334484e-01 -6.32919273e+00] [ 3.22461229e-01 -8.41020600e-03 9.46545310e-01 6.24647940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15483917299999 meters 0.09212117502353838 Centerline is valid? [True, True] Translation: X:27.73, Y:-6.34, Z:6.25 [[ 8.13316775e-01 5.13026493e-01 -2.74444240e-01 2.77270992e+01] [-4.82924493e-01 8.58331122e-01 1.73354027e-01 -6.33915858e+00] [ 3.24499241e-01 -8.45589277e-03 9.45848159e-01 6.25045434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18483917299999 meters 0.09139267816110777 Centerline is valid? [True, True] Translation: X:27.75, Y:-6.35, Z:6.26 [[ 8.13933932e-01 5.13021031e-01 -2.72618739e-01 2.77539632e+01] [-4.83345823e-01 8.58335392e-01 1.72154497e-01 -6.34554723e+00] [ 3.22317189e-01 -8.35325746e-03 9.46594872e-01 6.26312157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.214839172999994 meters 0.09198237371374501 Centerline is valid? [True, True] Translation: X:27.78, Y:-6.36, Z:6.28 [[ 8.17174819e-01 5.11095312e-01 -2.66471193e-01 2.77762199e+01] [-4.82713735e-01 8.59478992e-01 1.68176432e-01 -6.35664599e+00] [ 3.14980578e-01 -8.80024073e-03 9.49057317e-01 6.27607916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.244839172999995 meters 0.09198237371374501 Centerline is valid? [True, True] Translation: X:27.80, Y:-6.37, Z:6.28 [[ 8.17308778e-01 5.10856214e-01 -2.66518838e-01 2.77984156e+01] [-4.82486864e-01 8.59621146e-01 1.68100895e-01 -6.37032806e+00] [ 3.14980616e-01 -8.79849858e-03 9.49057321e-01 6.28432936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.274839173 meters 0.09179020146442755 Centerline is valid? [True, True] Translation: X:27.82, Y:-6.38, Z:6.30 [[ 8.19743791e-01 5.07556026e-01 -2.65343170e-01 2.78212516e+01] [-4.79308529e-01 8.61561569e-01 1.67257277e-01 -6.38214916e+00] [ 3.13501917e-01 -9.92687003e-03 9.49535679e-01 6.29663127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.304839173 meters 0.09177363600911281 Centerline is valid? [True, True] Translation: X:27.84, Y:-6.40, Z:6.31 [[ 8.20426188e-01 5.07213146e-01 -2.63885761e-01 2.78437701e+01] [-4.79297102e-01 8.61763633e-01 1.66245990e-01 -6.39584041e+00] [ 3.11729304e-01 -9.91288372e-03 9.50119243e-01 6.30723213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33483917299999 meters 0.09183316324549755 Centerline is valid? [True, True] Translation: X:27.87, Y:-6.41, Z:6.31 [[ 8.19683257e-01 5.07340535e-01 -2.65941611e-01 2.78686163e+01] [-4.79013864e-01 8.61689237e-01 1.67443651e-01 -6.40890127e+00] [ 3.14109975e-01 -9.86103908e-03 9.49335390e-01 6.31309393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36483917299999 meters 0.09266534621873022 Centerline is valid? [True, True] Translation: X:27.89, Y:-6.43, Z:6.31 [[ 8.18553188e-01 5.07244826e-01 -2.69579978e-01 2.78909659e+01] [-4.78142773e-01 8.61744474e-01 1.69634756e-01 -6.42739333e+00] [ 3.18355409e-01 -9.95735207e-03 9.47919134e-01 6.31366513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.394839172999994 meters 0.09274699352570785 Centerline is valid? [True, True] Translation: X:27.91, Y:-6.45, Z:6.32 [[ 8.19250187e-01 5.06814885e-01 -2.68268154e-01 2.79119112e+01] [-4.78011571e-01 8.61997053e-01 1.68718752e-01 -6.44528903e+00] [ 3.16755534e-01 -9.98758742e-03 9.48454627e-01 6.31997699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.424839172999995 meters 0.09227601305294982 Centerline is valid? [True, True] Translation: X:27.93, Y:-6.46, Z:6.33 [[ 8.20762123e-01 5.05832266e-01 -2.65486828e-01 2.79320886e+01] [-4.77624550e-01 8.62572092e-01 1.66865741e-01 -6.46128987e+00] [ 3.13407604e-01 -1.01540530e-02 9.49564410e-01 6.33241337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.454839172999996 meters 0.0917507482022539 Centerline is valid? [True, True] Translation: X:27.96, Y:-6.47, Z:6.34 [[ 8.20953811e-01 5.05738770e-01 -2.65071945e-01 2.79563582e+01] [-4.77651032e-01 8.62627803e-01 1.66501548e-01 -6.47275704e+00] [ 3.12864718e-01 -1.00781925e-02 9.49744228e-01 6.34402485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.484839173 meters 0.09208013615538256 Centerline is valid? [True, True] Translation: X:27.98, Y:-6.49, Z:6.35 [[ 8.20587129e-01 5.06011143e-01 -2.65686822e-01 2.79770760e+01] [-4.77834211e-01 8.62469959e-01 1.66793391e-01 -6.48675626e+00] [ 3.13546218e-01 -9.91425681e-03 9.49521183e-01 6.35298339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.514839173 meters 0.0920208914539687 Centerline is valid? [True, True] Translation: X:28.00, Y:-6.50, Z:6.36 [[ 8.17553297e-01 5.08003574e-01 -2.71180705e-01 2.80014164e+01] [-4.78741313e-01 8.61304698e-01 1.70179237e-01 -6.50194263e+00] [ 3.20020876e-01 -9.30518977e-03 9.47364794e-01 6.35601510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54483917299999 meters 0.09187303037504761 Centerline is valid? [True, True] Translation: X:28.03, Y:-6.51, Z:6.35 [[ 8.11579062e-01 5.13440208e-01 -2.78780522e-01 2.80294573e+01] [-4.82807089e-01 8.58094277e-01 1.74847151e-01 -6.51250345e+00] [ 3.28993528e-01 -7.30507487e-03 9.44303920e-01 6.35457631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.574839172999994 meters 0.0916941439161156 Centerline is valid? [True, True] Translation: X:28.05, Y:-6.52, Z:6.36 [[ 8.10146141e-01 5.15112250e-01 -2.79861751e-01 2.80547184e+01] [-4.84362562e-01 8.57097533e-01 1.75432970e-01 -6.52302380e+00] [ 3.30236489e-01 -6.57178913e-03 9.43875348e-01 6.36180863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.604839172999995 meters 0.0919668854255708 Centerline is valid? [True, True] Translation: X:28.08, Y:-6.54, Z:6.37 [[ 8.11665182e-01 5.12614890e-01 -2.80045722e-01 2.80763757e+01] [-4.81719094e-01 8.58585976e-01 1.75433278e-01 -6.54034931e+00] [ 3.30373041e-01 -7.48971228e-03 9.43820724e-01 6.36922368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.634839172999996 meters 0.09222993710738019 Centerline is valid? [True, True] Translation: X:28.10, Y:-6.56, Z:6.38 [[ 8.13220574e-01 5.10416725e-01 -2.79547964e-01 2.80979257e+01] [-4.79543450e-01 8.59887382e-01 1.75019344e-01 -6.55678271e+00] [ 3.29712568e-01 -8.27393652e-03 9.44045107e-01 6.37937211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.664839173 meters 0.09411018274370249 Centerline is valid? [True, True] Translation: X:28.12, Y:-6.58, Z:6.39 [[ 8.17034311e-01 5.05579760e-01 -2.77207577e-01 2.81154849e+01] [-4.75000933e-01 8.62721417e-01 1.73452788e-01 -6.57908235e+00] [ 3.26847133e-01 -1.00430219e-02 9.45023857e-01 6.38662279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.694839173 meters 0.09377930935068995 Centerline is valid? [True, True] Translation: X:28.14, Y:-6.59, Z:6.40 [[ 8.18467625e-01 5.02777626e-01 -2.78074462e-01 2.81383175e+01] [-4.71874155e-01 8.64344244e-01 1.73907475e-01 -6.59301043e+00] [ 3.27788848e-01 -1.11214864e-02 9.44685548e-01 6.39783239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72483917299999 meters 0.0952237909760998 Centerline is valid? [True, True] Translation: X:28.16, Y:-6.62, Z:6.40 [[ 8.19917675e-01 5.00467290e-01 -2.77970318e-01 2.81563518e+01] [-4.69493758e-01 8.65672999e-01 1.73740814e-01 -6.61705967e+00] [ 3.27582993e-01 -1.19478348e-02 9.44746861e-01 6.40124316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.75483917299999 meters 0.09375467498277312 Centerline is valid? [True, True] Translation: X:28.18, Y:-6.63, Z:6.41 [[ 8.19717003e-01 5.01337734e-01 -2.76991897e-01 2.81789816e+01] [-4.70670387e-01 8.65175707e-01 1.73032896e-01 -6.63145811e+00] [ 3.26394580e-01 -1.14661238e-02 9.45164063e-01 6.41116595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.784839172999995 meters 0.09229719080175623 Centerline is valid? [True, True] Translation: X:28.21, Y:-6.64, Z:6.42 [[ 8.16745297e-01 5.04966106e-01 -2.79170828e-01 2.82059111e+01] [-4.74041323e-01 8.63081137e-01 1.74286474e-01 -6.63747408e+00] [ 3.28955837e-01 -1.00091494e-02 9.44292261e-01 6.42306840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.814839172999996 meters 0.09249500473145558 Centerline is valid? [True, True] Translation: X:28.23, Y:-6.65, Z:6.43 [[ 8.16016625e-01 5.06464541e-01 -2.78586677e-01 2.82288824e+01] [-4.75791273e-01 8.62210682e-01 1.73825789e-01 -6.65087505e+00] [ 3.28237007e-01 -9.29562387e-03 9.44549659e-01 6.43053240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.844839173 meters 0.09267995531040633 Centerline is valid? [True, True] Translation: X:28.25, Y:-6.67, Z:6.44 [[ 8.17208189e-01 5.04677147e-01 -2.78337483e-01 2.82478031e+01] [-4.73974454e-01 8.63250645e-01 1.73627594e-01 -6.66929684e+00] [ 3.27900890e-01 -9.96503504e-03 9.44659571e-01 6.44247799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.874839173 meters 0.09347021427716609 Centerline is valid? [True, True] Translation: X:28.27, Y:-6.69, Z:6.45 [[ 8.18791097e-01 5.01633151e-01 -2.79186893e-01 2.82665607e+01] [-4.70589476e-01 8.65008493e-01 1.74085761e-01 -6.69050926e+00] [ 3.28826222e-01 -1.11574580e-02 9.44324535e-01 6.45053223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90483917299999 meters 0.09778914063127139 Centerline is valid? [True, True] Translation: X:28.28, Y:-6.73, Z:6.46 [[ 8.23563253e-01 4.92327007e-01 -2.81704963e-01 2.82754381e+01] [-4.60207840e-01 8.70282204e-01 1.75549506e-01 -6.72826462e+00] [ 3.31590579e-01 -1.49332895e-02 9.43305192e-01 6.45501970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93483917299999 meters 0.09870433274648391 Centerline is valid? [True, True] Translation: X:28.29, Y:-6.76, Z:6.46 [[ 8.26508737e-01 4.85755368e-01 -2.84473252e-01 2.82903847e+01] [-4.52626429e-01 8.73915583e-01 1.77202906e-01 -6.75753131e+00] [ 3.34682870e-01 -1.76996373e-02 9.42164582e-01 6.46190378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.964839172999994 meters 0.0998819347577851 Centerline is valid? [True, True] Translation: X:28.31, Y:-6.78, Z:6.46 [[ 8.25809655e-01 4.85616823e-01 -2.86731084e-01 2.83095183e+01] [-4.51968260e-01 8.73990082e-01 1.78510585e-01 -6.77964917e+00] [ 3.37287867e-01 -1.78224159e-02 9.41232839e-01 6.46471869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.994839172999995 meters 0.10017646888645101 Centerline is valid? [True, False] Translation: X:28.16, Y:-6.67, Z:6.42 [[ 0.85008487 0.46322885 -0.2505489 28.15534412] [-0.45577674 0.88546185 0.09069113 -6.67288627] [ 0.26386224 0.03709921 0.96384665 6.42133456] [ 0. 0. 0. 1. ]] SLAMing on 36.024839173 meters 0.09985082581847024 Centerline is valid? [False, True] Translation: X:28.02, Y:-6.58, Z:6.39 [[ 0.86367165 0.4529122 -0.22122796 28.02129297] [-0.45640221 0.88895584 0.03813846 -6.58428552] [ 0.21393526 0.06802983 0.97447609 6.39113499] [ 0. 0. 0. 1. ]] SLAMing on 36.054839173 meters 0.09758721617072602 Centerline is valid? [True, True] Translation: X:28.02, Y:-6.64, Z:6.37 [[ 8.65090761e-01 4.68870066e-01 -1.78266195e-01 2.80242145e+01] [-4.56950200e-01 8.83212612e-01 1.05508279e-01 -6.64478369e+00] [ 2.06916625e-01 -9.81546376e-03 9.78309341e-01 6.36648431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08483917299999 meters 0.09658672242801175 Centerline is valid? [True, True] Translation: X:28.04, Y:-6.67, Z:6.37 [[ 8.61100651e-01 4.76042367e-01 -1.78575847e-01 2.80446063e+01] [-4.64245175e-01 8.79385458e-01 1.05629698e-01 -6.66540335e+00] [ 2.07321214e-01 -8.05482705e-03 9.78239763e-01 6.36962165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.11483917299999 meters 0.09425260574550193 Centerline is valid? [True, True] Translation: X:28.07, Y:-6.68, Z:6.38 [[ 8.59610272e-01 4.78977422e-01 -1.77906743e-01 2.80691966e+01] [-4.67343302e-01 8.77797126e-01 1.05178148e-01 -6.67752481e+00] [ 2.06543986e-01 -7.26869115e-03 9.78410317e-01 6.38172709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.144839172999994 meters 0.0927020287479267 Centerline is valid? [True, True] Translation: X:28.09, Y:-6.69, Z:6.39 [[ 8.58236943e-01 4.82796734e-01 -1.74174236e-01 2.80899484e+01] [-4.71734556e-01 8.75710593e-01 1.02943989e-01 -6.69477881e+00] [ 2.02227245e-01 -6.18632799e-03 9.79319085e-01 6.39256525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.174839172999995 meters 0.09248652144655252 Centerline is valid? [True, True] Translation: X:28.11, Y:-6.72, Z:6.40 [[ 8.58737018e-01 4.82273140e-01 -1.73157020e-01 2.81087141e+01] [-4.71336473e-01 8.75998631e-01 1.02314840e-01 -6.71624053e+00] [ 2.01029012e-01 -6.24632161e-03 9.79565373e-01 6.40166830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.204839172999996 meters 0.09248923100798896 Centerline is valid? [True, True] Translation: X:28.13, Y:-6.73, Z:6.41 [[ 8.59196531e-01 4.81635802e-01 -1.72650732e-01 2.81294545e+01] [-4.70763551e-01 8.76348674e-01 1.01954307e-01 -6.73459935e+00] [ 2.00407084e-01 -6.32111484e-03 9.79692321e-01 6.40998422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.234839173 meters 0.0916691843810448 Centerline is valid? [True, True] Translation: X:28.15, Y:-6.75, Z:6.42 [[ 8.59081932e-01 4.82092118e-01 -1.71945991e-01 2.81516688e+01] [-4.71331959e-01 8.76099095e-01 1.01471967e-01 -6.75198794e+00] [ 1.99560563e-01 -6.12909247e-03 9.79866326e-01 6.41920332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.264839173 meters 0.09135876388189902 Centerline is valid? [True, True] Translation: X:28.17, Y:-6.77, Z:6.42 [[ 8.55981345e-01 4.87464351e-01 -1.72262716e-01 2.81717899e+01] [-4.76781964e-01 8.73129467e-01 1.01606563e-01 -6.77131585e+00] [ 1.99937230e-01 -4.84156624e-03 9.79796746e-01 6.42482735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29483917299999 meters 0.09120396201919105 Centerline is valid? [True, True] Translation: X:28.19, Y:-6.79, Z:6.43 [[ 8.53823893e-01 4.90489228e-01 -1.74370518e-01 2.81948945e+01] [-4.79609443e-01 8.71437327e-01 1.02819102e-01 -6.78574278e+00] [ 2.02384640e-01 -4.15965924e-03 9.79297276e-01 6.42872844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.324839172999994 meters 0.0907076914967024 Centerline is valid? [True, True] Translation: X:28.22, Y:-6.80, Z:6.44 [[ 8.50300542e-01 4.97341953e-01 -1.72162628e-01 2.82173500e+01] [-4.86890042e-01 8.67551160e-01 1.01454782e-01 -6.80313477e+00] [ 1.99817607e-01 -2.44278663e-03 9.79830065e-01 6.43541162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.354839172999995 meters 0.09080035847607333 Centerline is valid? [True, True] Translation: X:28.24, Y:-6.82, Z:6.44 [[ 8.49260001e-01 4.99176374e-01 -1.71989527e-01 2.82396846e+01] [-4.88790393e-01 8.66498148e-01 1.01315902e-01 -6.81939048e+00] [ 1.99603111e-01 -1.97671478e-03 9.79874834e-01 6.44416856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.384839172999996 meters 0.0908400810484005 Centerline is valid? [True, True] Translation: X:28.26, Y:-6.84, Z:6.45 [[ 8.47693185e-01 5.01002609e-01 -1.74392227e-01 2.82605986e+01] [-4.90371502e-01 8.65444441e-01 1.02672827e-01 -6.83592997e+00] [ 2.02366137e-01 -1.51807710e-03 9.79308757e-01 6.45218032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.414839173 meters 0.09124046734251859 Centerline is valid? [True, True] Translation: X:28.29, Y:-6.85, Z:6.46 [[ 8.46543539e-01 5.03127007e-01 -1.73859863e-01 2.82857051e+01] [-4.92612505e-01 8.64211929e-01 1.02326253e-01 -6.84850515e+00] [ 2.01734869e-01 -9.78085248e-04 9.79439680e-01 6.46033354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.444839173 meters 0.09133963816083317 Centerline is valid? [True, True] Translation: X:28.31, Y:-6.86, Z:6.47 [[ 8.44882471e-01 5.05181840e-01 -1.75968516e-01 2.83091262e+01] [-4.94463890e-01 8.63012811e-01 1.03510142e-01 -6.86138845e+00] [ 2.04154528e-01 -4.43827726e-04 9.78938574e-01 6.47178058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47483917299999 meters 0.09172352886784994 Centerline is valid? [True, True] Translation: X:28.33, Y:-6.88, Z:6.47 [[ 8.45081356e-01 5.04365470e-01 -1.77349864e-01 2.83327813e+01] [-4.93465498e-01 8.63490064e-01 1.04291478e-01 -6.87561686e+00] [ 2.05740866e-01 -6.18744880e-04 9.78606312e-01 6.47272799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50483917299999 meters 0.09145484439010183 Centerline is valid? [True, True] Translation: X:28.36, Y:-6.89, Z:6.48 [[ 8.46241599e-01 5.02165433e-01 -1.78059077e-01 2.83555180e+01] [-4.91142728e-01 8.64770875e-01 1.04642984e-01 -6.89230311e+00] [ 2.06528393e-01 -1.10082501e-03 9.78439988e-01 6.48095303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.534839172999995 meters 0.09252669916557718 Centerline is valid? [True, True] Translation: X:28.37, Y:-6.92, Z:6.48 [[ 8.50060723e-01 4.94346022e-01 -1.81710699e-01 2.83719505e+01] [-4.82696510e-01 8.69259983e-01 1.06729380e-01 -6.92145559e+00] [ 2.10715084e-01 -3.01533315e-03 9.77542869e-01 6.47587209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.564839172999996 meters 0.09303152434121996 Centerline is valid? [True, True] Translation: X:28.39, Y:-6.95, Z:6.48 [[ 8.53050094e-01 4.87799414e-01 -1.85357137e-01 2.83907711e+01] [-4.75523903e-01 8.72943041e-01 1.08846059e-01 -6.94510154e+00] [ 2.14901267e-01 -4.70939179e-03 9.76624425e-01 6.48176805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.594839173 meters 0.09476243954106156 Centerline is valid? [True, True] Translation: X:28.41, Y:-6.97, Z:6.48 [[ 8.54381319e-01 4.84583584e-01 -1.87646774e-01 2.84127532e+01] [-4.71930800e-01 8.74727322e-01 1.10151860e-01 -6.96544207e+00] [ 2.17517543e-01 -5.55539974e-03 9.76040602e-01 6.47891034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.624839173 meters 0.0944707388769624 Centerline is valid? [True, True] Translation: X:28.44, Y:-6.98, Z:6.49 [[ 8.56269443e-01 4.80844879e-01 -1.88655356e-01 2.84365756e+01] [-4.67979027e-01 8.76781715e-01 1.10677254e-01 -6.98062667e+00] [ 2.18628157e-01 -6.48280047e-03 9.75786709e-01 6.48764171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65483917299999 meters 0.09426685799848944 Centerline is valid? [True, True] Translation: X:28.46, Y:-7.00, Z:6.49 [[ 8.57328802e-01 4.79689992e-01 -1.86774832e-01 2.84604652e+01] [-4.67069480e-01 8.77412833e-01 1.09511742e-01 -6.99576055e+00] [ 2.16410321e-01 -6.65074721e-03 9.76279847e-01 6.49345415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68483917299999 meters 0.09286467279923767 Centerline is valid? [True, True] Translation: X:28.49, Y:-7.01, Z:6.50 [[ 8.57110072e-01 4.81135380e-01 -1.84040946e-01 2.84863263e+01] [-4.68933161e-01 8.76624859e-01 1.07845018e-01 -7.00751285e+00] [ 2.13222922e-01 -6.13214825e-03 9.76984331e-01 6.50070749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.714839172999994 meters 0.09190116028984016 Centerline is valid? [True, True] Translation: X:28.51, Y:-7.01, Z:6.51 [[ 8.56367016e-01 4.82413556e-01 -1.84153996e-01 2.85138299e+01] [-4.70239310e-01 8.75924643e-01 1.07847167e-01 -7.01439904e+00] [ 2.13331958e-01 -5.76030849e-03 9.76962791e-01 6.51004862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.744839172999995 meters 0.09185330564208136 Centerline is valid? [True, True] Translation: X:28.54, Y:-7.02, Z:6.51 [[ 8.56792310e-01 4.82193771e-01 -1.82746013e-01 2.85415574e+01] [-4.70216870e-01 8.76045992e-01 1.06955670e-01 -7.02160173e+00] [ 2.11667270e-01 -5.70853732e-03 9.77325114e-01 6.51349369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.774839173 meters 0.09135653855722077 Centerline is valid? [True, True] Translation: X:28.57, Y:-7.03, Z:6.52 [[ 8.56694738e-01 4.83132238e-01 -1.80713491e-01 2.85701890e+01] [-4.71456524e-01 8.75530981e-01 1.05708317e-01 -7.02754965e+00] [ 2.09291356e-01 -5.36120499e-03 9.77838630e-01 6.51779834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.804839173 meters 0.09090921284929697 Centerline is valid? [True, True] Translation: X:28.60, Y:-7.04, Z:6.53 [[ 8.57108278e-01 4.82977748e-01 -1.79158853e-01 2.85955165e+01] [-4.71507738e-01 8.75616449e-01 1.04767783e-01 -7.03859178e+00] [ 2.07474947e-01 -5.32254897e-03 9.78225852e-01 6.52599176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83483917299999 meters 0.08995511803023644 Centerline is valid? [True, True] Translation: X:28.62, Y:-7.04, Z:6.54 [[ 8.57500991e-01 4.84319373e-01 -1.73570723e-01 2.86217623e+01] [-4.73600148e-01 8.74878186e-01 1.01444862e-01 -7.04494074e+00] [ 2.00984951e-01 -4.78594952e-03 9.79582638e-01 6.53836076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86483917299999 meters 0.08936594157248157 Centerline is valid? [True, True] Translation: X:28.65, Y:-7.05, Z:6.55 [[ 8.57250518e-01 4.85358642e-01 -1.71896881e-01 2.86482219e+01] [-4.74873319e-01 8.74303708e-01 1.00440813e-01 -7.05409786e+00] [ 1.99039897e-01 -4.47369634e-03 9.79981176e-01 6.54692239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.894839172999994 meters 0.08840401255636891 Centerline is valid? [True, True] Translation: X:28.68, Y:-7.05, Z:6.56 [[ 8.55298549e-01 4.90326064e-01 -1.67465649e-01 2.86789523e+01] [-4.80482977e-01 8.71533238e-01 9.78055429e-02 -7.05352330e+00] [ 1.93908486e-01 -3.18854539e-03 9.81014440e-01 6.55686400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.924839172999995 meters 0.0880141083731419 Centerline is valid? [True, True] Translation: X:28.71, Y:-7.06, Z:6.56 [[ 8.55691307e-01 4.90817321e-01 -1.63983975e-01 2.87066482e+01] [-4.81396405e-01 8.71257373e-01 9.57501530e-02 -7.06056440e+00] [ 1.89868081e-01 -2.99127739e-03 9.81805054e-01 6.56480375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.954839172999996 meters 0.08738333226692475 Centerline is valid? [True, True] Translation: X:28.73, Y:-7.07, Z:6.57 [[ 8.58117038e-01 4.88373327e-01 -1.58513854e-01 2.87338521e+01] [-4.79542699e-01 8.72628281e-01 9.25131543e-02 -7.07087862e+00] [ 1.83504629e-01 -3.37295275e-03 9.83013059e-01 6.57053938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.984839173 meters 0.08715813810162493 Centerline is valid? [True, True] Translation: X:28.76, Y:-7.08, Z:6.58 [[ 8.60195051e-01 4.85769165e-01 -1.55218531e-01 2.87572623e+01] [-4.77272364e-01 8.74078878e-01 9.05384247e-02 -7.08426219e+00] [ 1.79654015e-01 -3.79918951e-03 9.83722522e-01 6.57549632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.014839173 meters 0.08717477886500923 Centerline is valid? [True, True] Translation: X:28.78, Y:-7.09, Z:6.58 [[ 8.63088605e-01 4.82397521e-01 -1.49568352e-01 2.87830641e+01] [-4.74473162e-01 8.75941955e-01 8.71832022e-02 -7.09405182e+00] [ 1.73070155e-01 -4.28065930e-03 9.84900197e-01 6.58030801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04483917299999 meters 0.08765520027104252 Centerline is valid? [True, True] Translation: X:28.81, Y:-7.11, Z:6.58 [[ 8.64116194e-01 4.80770366e-01 -1.48872624e-01 2.88072386e+01] [-4.72899638e-01 8.76834646e-01 8.67579179e-02 -7.10665174e+00] [ 1.72247310e-01 -4.56711207e-03 9.85043149e-01 6.58308539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.074839172999994 meters 0.08708398573883715 Centerline is valid? [True, True] Translation: X:28.84, Y:-7.11, Z:6.58 [[ 8.63734338e-01 4.81047172e-01 -1.50188583e-01 2.88361823e+01] [-4.73045835e-01 8.76683050e-01 8.74898158e-02 -7.11332563e+00] [ 1.73754513e-01 -4.52187458e-03 9.84778616e-01 6.58406220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.104839172999995 meters 0.08723681448102463 Centerline is valid? [True, True] Translation: X:28.86, Y:-7.12, Z:6.59 [[ 8.63720489e-01 4.81115510e-01 -1.50049270e-01 2.88623125e+01] [-4.73141327e-01 8.76645930e-01 8.73452752e-02 -7.12430916e+00] [ 1.73563248e-01 -4.44739309e-03 9.84812682e-01 6.58701552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.134839172999996 meters 0.08723681448102463 Centerline is valid? [True, True] Translation: X:28.89, Y:-7.14, Z:6.59 [[ 8.63870042e-01 4.80838313e-01 -1.50076872e-01 2.88857177e+01] [-4.72868218e-01 8.76798003e-01 8.72978251e-02 -7.13767084e+00] [ 1.73563240e-01 -4.44739289e-03 9.84812684e-01 6.59163887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.164839173 meters 0.08811056287532601 Centerline is valid? [True, True] Translation: X:28.91, Y:-7.15, Z:6.60 [[ 8.65527687e-01 4.78780994e-01 -1.47073393e-01 2.89120876e+01] [-4.71110186e-01 8.77921756e-01 8.54902513e-02 -7.14660012e+00] [ 1.70050039e-01 -4.70640592e-03 9.85424190e-01 6.59930112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.194839173 meters 0.08750969204084645 Centerline is valid? [True, True] Translation: X:28.94, Y:-7.15, Z:6.61 [[ 8.66289438e-01 4.77881836e-01 -1.45504503e-01 2.89403760e+01] [-4.70365721e-01 8.78410946e-01 8.45594409e-02 -7.15327322e+00] [ 1.68222169e-01 -4.81262013e-03 9.85737359e-01 6.60637243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22483917299999 meters 0.08846715718138937 Centerline is valid? [True, True] Translation: X:28.97, Y:-7.16, Z:6.61 [[ 8.69411056e-01 4.73121378e-01 -1.42409890e-01 2.89678732e+01] [-4.65868780e-01 8.80979675e-01 8.27108978e-02 -7.16264518e+00] [ 1.64592513e-01 -5.56544729e-03 9.86345949e-01 6.61377923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.25483917299999 meters 0.09038183082765958 Centerline is valid? [True, True] Translation: X:28.99, Y:-7.18, Z:6.62 [[ 8.71614335e-01 4.69078072e-01 -1.42317298e-01 2.89906103e+01] [-4.61789246e-01 8.83134350e-01 8.26099961e-02 -7.17772726e+00] [ 1.64435832e-01 -6.28345917e-03 9.86367769e-01 6.61913193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.284839172999995 meters 0.0911119037629507 Centerline is valid? [True, True] Translation: X:29.02, Y:-7.19, Z:6.62 [[ 8.74400961e-01 4.63238675e-01 -1.44336027e-01 2.90190963e+01] [-4.55663695e-01 8.86202036e-01 8.37648374e-02 -7.18617147e+00] [ 1.66713993e-01 -7.47536688e-03 9.85976959e-01 6.62155332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.314839172999996 meters 0.09231971553018777 Centerline is valid? [True, True] Translation: X:29.04, Y:-7.20, Z:6.62 [[ 8.74517328e-01 4.63088195e-01 -1.44113725e-01 2.90421555e+01] [-4.55543332e-01 8.86280925e-01 8.35846545e-02 -7.19928884e+00] [ 1.66432312e-01 -7.44618215e-03 9.86024766e-01 6.62413596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.344839173 meters 0.09195074517752708 Centerline is valid? [True, True] Translation: X:29.08, Y:-7.20, Z:6.62 [[ 8.73411238e-01 4.64489913e-01 -1.46293981e-01 2.90750032e+01] [-4.56739667e-01 8.85548701e-01 8.48078691e-02 -7.20192522e+00] [ 1.68942845e-01 -7.25388170e-03 9.85599156e-01 6.62361337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.374839173 meters 0.09198334688968261 Centerline is valid? [True, True] Translation: X:29.10, Y:-7.21, Z:6.63 [[ 8.73000815e-01 4.64885661e-01 -1.47481858e-01 2.91028210e+01] [-4.57021711e-01 8.85341490e-01 8.54494084e-02 -7.20904880e+00] [ 1.70296013e-01 -7.19499206e-03 9.85366683e-01 6.62559249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40483917299999 meters 0.09124172998127567 Centerline is valid? [True, True] Translation: X:29.13, Y:-7.21, Z:6.63 [[ 8.71174385e-01 4.68414532e-01 -1.47115660e-01 2.91343975e+01] [-4.60644208e-01 8.83485157e-01 8.52108608e-02 -7.20946788e+00] [ 1.69888508e-01 -6.46554237e-03 9.85442079e-01 6.62796435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.43483917299999 meters 0.09119940466572209 Centerline is valid? [True, True] Translation: X:29.16, Y:-7.22, Z:6.63 [[ 8.70389558e-01 4.69781196e-01 -1.47402999e-01 2.91598680e+01] [-4.62002742e-01 8.82761149e-01 8.53593633e-02 -7.21985019e+00] [ 1.70221864e-01 -6.19530906e-03 9.85386287e-01 6.63265461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.464839172999994 meters 0.08991318473882402 Centerline is valid? [True, True] Translation: X:29.19, Y:-7.22, Z:6.64 [[ 8.71466761e-01 4.69448732e-01 -1.41998496e-01 2.91915902e+01] [-4.62232636e-01 8.82939272e-01 8.22145519e-02 -7.21902609e+00] [ 1.63971566e-01 -6.01091018e-03 9.86446752e-01 6.64485411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.494839172999995 meters 0.09139574005149594 Centerline is valid? [True, True] Translation: X:29.22, Y:-7.23, Z:6.65 [[ 8.73287888e-01 4.65862764e-01 -1.42618895e-01 2.92157016e+01] [-4.58543735e-01 8.84831843e-01 8.25242516e-02 -7.23155000e+00] [ 1.64638716e-01 -6.67042863e-03 9.86331384e-01 6.65130856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.524839173 meters 0.0912158781464954 Centerline is valid? [True, True] Translation: X:29.24, Y:-7.24, Z:6.65 [[ 8.72292486e-01 4.67254324e-01 -1.44149980e-01 2.92409741e+01] [-4.59797533e-01 8.84099320e-01 8.33943700e-02 -7.24455141e+00] [ 1.66409280e-01 -6.46447696e-03 9.86035579e-01 6.65350526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.554839173 meters 0.08989996417975027 Centerline is valid? [True, True] Translation: X:29.27, Y:-7.25, Z:6.65 [[ 8.68543700e-01 4.72713888e-01 -1.48907428e-01 2.92710237e+01] [-4.64840510e-01 8.81198423e-01 8.60966851e-02 -7.25028925e+00] [ 1.71916089e-01 -5.56052883e-03 9.85095903e-01 6.65350883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58483917299999 meters 0.09023545687018816 Centerline is valid? [True, True] Translation: X:29.30, Y:-7.26, Z:6.65 [[ 8.67792971e-01 4.72982287e-01 -1.52391326e-01 2.92959687e+01] [-4.64740001e-01 8.81053978e-01 8.80943818e-02 -7.26201012e+00] [ 1.75932066e-01 -5.62534043e-03 9.84386237e-01 6.65489036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61483917299999 meters 0.08978294607061013 Centerline is valid? [True, True] Translation: X:29.33, Y:-7.27, Z:6.65 [[ 8.63789675e-01 4.78382444e-01 -1.58169637e-01 2.93262210e+01] [-4.69590839e-01 8.78139101e-01 9.14120521e-02 -7.26859647e+00] [ 1.82624864e-01 -4.68577402e-03 9.83171502e-01 6.65139113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.644839172999994 meters 0.08979321783536151 Centerline is valid? [True, True] Translation: X:29.35, Y:-7.28, Z:6.65 [[ 8.59233447e-01 4.85014588e-01 -1.62722870e-01 2.93546981e+01] [-4.75832630e-01 8.74499728e-01 9.39868771e-02 -7.27811128e+00] [ 1.87886112e-01 -3.32781710e-03 9.82185183e-01 6.64674324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.674839172999995 meters 0.08983173012279029 Centerline is valid? [True, True] Translation: X:29.38, Y:-7.29, Z:6.65 [[ 8.58337963e-01 4.86100495e-01 -1.64201858e-01 2.93799081e+01] [-4.76779737e-01 8.73897527e-01 9.47849924e-02 -7.29118856e+00] [ 1.89570630e-01 -3.06943845e-03 9.81862289e-01 6.65016118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.704839172999996 meters 0.08932432076059621 Centerline is valid? [True, True] Translation: X:29.41, Y:-7.30, Z:6.66 [[ 8.57868338e-01 4.87403540e-01 -1.62787299e-01 2.94055114e+01] [-4.78277390e-01 8.73172631e-01 9.39164271e-02 -7.30363981e+00] [ 1.87916613e-01 -2.71044453e-03 9.82181246e-01 6.65688557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.734839173 meters 0.08945041560459396 Centerline is valid? [True, True] Translation: X:29.43, Y:-7.32, Z:6.66 [[ 8.57337531e-01 4.87748999e-01 -1.64539572e-01 2.94297639e+01] [-4.78435104e-01 8.72979924e-01 9.48994412e-02 -7.31781610e+00] [ 1.89926851e-01 -2.63934534e-03 9.81794696e-01 6.66003732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.764839173 meters 0.08931808358876782 Centerline is valid? [True, True] Translation: X:29.45, Y:-7.33, Z:6.66 [[ 8.57189014e-01 4.87995547e-01 -1.64582323e-01 2.94538921e+01] [-4.78686064e-01 8.72842354e-01 9.48992998e-02 -7.33184359e+00] [ 1.89964858e-01 -2.56337265e-03 9.81787544e-01 6.66370695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79483917299999 meters 0.08905087905973076 Centerline is valid? [True, True] Translation: X:29.47, Y:-7.35, Z:6.67 [[ 8.58510097e-01 4.85999984e-01 -1.63598379e-01 2.94741109e+01] [-4.76778695e-01 8.73953904e-01 9.42690271e-02 -7.35262492e+00] [ 1.88792188e-01 -2.93069000e-03 9.82012689e-01 6.66813994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.824839172999994 meters 0.08908395570451806 Centerline is valid? [True, True] Translation: X:29.49, Y:-7.37, Z:6.67 [[ 8.59843796e-01 4.84006510e-01 -1.62500291e-01 2.94933873e+01] [-4.74885831e-01 8.75058204e-01 9.35766411e-02 -7.37321258e+00] [ 1.87488917e-01 -3.29220842e-03 9.82261201e-01 6.67234672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.854839172999995 meters 0.0894991745535636 Centerline is valid? [True, True] Translation: X:29.51, Y:-7.40, Z:6.68 [[ 8.61838428e-01 4.81191331e-01 -1.60279214e-01 2.95083664e+01] [-4.72278662e-01 8.76607274e-01 9.22635012e-02 -7.40315158e+00] [ 1.84898321e-01 -3.81977833e-03 9.82750233e-01 6.67740256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.884839172999996 meters 0.09024446992555026 Centerline is valid? [True, True] Translation: X:29.53, Y:-7.42, Z:6.68 [[ 8.62012875e-01 4.79659938e-01 -1.63890656e-01 2.95297305e+01] [-4.70320499e-01 8.77444442e-01 9.42861616e-02 -7.42375138e+00] [ 1.89030240e-01 -4.19475000e-03 9.81962307e-01 6.67968144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.914839173 meters 0.0903523301247962 Centerline is valid? [True, True] Translation: X:29.55, Y:-7.44, Z:6.68 [[ 8.60592087e-01 4.81567388e-01 -1.65753163e-01 2.95527240e+01] [-4.72057586e-01 8.76400942e-01 9.53049035e-02 -7.43813564e+00] [ 1.91161961e-01 -3.77360794e-03 9.81551254e-01 6.68220602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.944839173 meters 0.09002607473964801 Centerline is valid? [True, True] Translation: X:29.58, Y:-7.45, Z:6.69 [[ 8.56521708e-01 4.87045711e-01 -1.70754323e-01 2.95803354e+01] [-4.77062656e-01 8.73372614e-01 9.81402085e-02 -7.44726971e+00] [ 1.96930917e-01 -2.59870842e-03 9.80413923e-01 6.68682640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97483917299999 meters 0.09023544107431175 Centerline is valid? [True, True] Translation: X:29.61, Y:-7.46, Z:6.69 [[ 8.53182414e-01 4.92827065e-01 -1.70883741e-01 2.96058589e+01] [-4.82954707e-01 8.70126430e-01 9.81567504e-02 -7.46036843e+00] [ 1.97064763e-01 -1.21650632e-03 9.80389718e-01 6.69129615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00483917299999 meters 0.08980135439727577 Centerline is valid? [True, True] Translation: X:29.63, Y:-7.48, Z:6.70 [[ 8.52773944e-01 4.94287662e-01 -1.68689974e-01 2.96297233e+01] [-4.84709129e-01 8.69298015e-01 9.68401870e-02 -7.47524281e+00] [ 1.94508769e-01 -8.17217923e-04 9.80900439e-01 6.69716754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.034839172999995 meters 0.0898498082211553 Centerline is valid? [True, True] Translation: X:29.65, Y:-7.49, Z:6.70 [[ 8.53190249e-01 4.94080618e-01 -1.67184754e-01 2.96513552e+01] [-4.84680224e-01 8.69415716e-01 9.59238986e-02 -7.49317297e+00] [ 1.92747192e-01 -8.10191038e-04 9.81248115e-01 6.70156681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.064839172999996 meters 0.08995472068976677 Centerline is valid? [True, True] Translation: X:29.67, Y:-7.51, Z:6.71 [[ 8.53986664e-01 4.93375458e-01 -1.65189088e-01 2.96734570e+01] [-4.84191839e-01 8.69815947e-01 9.47548541e-02 -7.51112776e+00] [ 1.90433822e-01 -9.36173768e-04 9.81699589e-01 6.70557807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.094839173 meters 0.09005640402319663 Centerline is valid? [True, True] Translation: X:29.69, Y:-7.53, Z:6.71 [[ 8.54172774e-01 4.93364687e-01 -1.64256376e-01 2.96933106e+01] [-4.84295103e-01 8.69822107e-01 9.41687641e-02 -7.53167034e+00] [ 1.89333370e-01 -8.87835829e-04 9.81912464e-01 6.71065335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.124839173 meters 0.09009477557872422 Centerline is valid? [True, True] Translation: X:29.72, Y:-7.55, Z:6.72 [[ 8.54168845e-01 4.93230211e-01 -1.64680123e-01 2.97163611e+01] [-4.84115478e-01 8.69898356e-01 9.43877807e-02 -7.54672682e+00] [ 1.89809873e-01 -8.98905135e-04 9.81820454e-01 6.71889134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15483917299999 meters 0.09050992567141487 Centerline is valid? [True, True] Translation: X:29.73, Y:-7.57, Z:6.73 [[ 8.56750678e-01 4.89693126e-01 -1.61799002e-01 2.97324252e+01] [-4.80844635e-01 8.71893376e-01 9.26842917e-02 -7.57209245e+00] [ 1.86458339e-01 -1.60714753e-03 9.82461554e-01 6.72674635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18483917299999 meters 0.09044669508859472 Centerline is valid? [True, True] Translation: X:29.75, Y:-7.60, Z:6.74 [[ 8.58607936e-01 4.87517632e-01 -1.58489656e-01 2.97510912e+01] [-4.78999333e-01 8.73110829e-01 9.07585756e-02 -7.59525006e+00] [ 1.82625441e-01 -2.00959377e-03 9.83180507e-01 6.73503952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.214839172999994 meters 0.0905010075491276 Centerline is valid? [True, True] Translation: X:29.77, Y:-7.62, Z:6.74 [[ 8.59228682e-01 4.86157752e-01 -1.59300695e-01 2.97672145e+01] [-4.77537855e-01 8.73868132e-01 9.11706347e-02 -7.62319626e+00] [ 1.83531112e-01 -2.26431227e-03 9.83011294e-01 6.73918560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.244839172999995 meters 0.09034668564051208 Centerline is valid? [True, True] Translation: X:29.79, Y:-7.64, Z:6.75 [[ 8.58350572e-01 4.87118856e-01 -1.61088535e-01 2.97907704e+01] [-4.78323800e-01 8.73333251e-01 9.21703531e-02 -7.63814404e+00] [ 1.85581891e-01 -2.06199486e-03 9.82626638e-01 6.74505090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.274839173 meters 0.0911611098454256 Centerline is valid? [True, True] Translation: X:29.81, Y:-7.66, Z:6.74 [[ 8.55664244e-01 4.90377529e-01 -1.65434521e-01 2.98125993e+01] [-4.81168333e-01 8.71509079e-01 9.45989462e-02 -7.65600168e+00] [ 1.90566884e-01 -1.34308309e-03 9.81673295e-01 6.74473107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.304839173 meters 0.0917703569140961 Centerline is valid? [True, True] Translation: X:29.83, Y:-7.68, Z:6.74 [[ 8.55014171e-01 4.90917169e-01 -1.67185829e-01 2.98336379e+01] [-4.81527481e-01 8.71205420e-01 9.55635915e-02 -7.67754524e+00] [ 1.92567008e-01 -1.20365376e-03 9.81283088e-01 6.74246429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33483917299999 meters 0.09172818136533 Centerline is valid? [True, True] Translation: X:29.85, Y:-7.71, Z:6.75 [[ 8.57272630e-01 4.88295195e-01 -1.63252688e-01 2.98486487e+01] [-4.79305100e-01 8.72676824e-01 9.32833412e-02 -7.70914137e+00] [ 1.88016645e-01 -1.72140921e-03 9.82164334e-01 6.74615093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36483917299999 meters 0.0919497181637284 Centerline is valid? [True, True] Translation: X:29.87, Y:-7.73, Z:6.76 [[ 8.61435552e-01 4.81570413e-01 -1.61303213e-01 2.98668897e+01] [-4.72688304e-01 8.76401898e-01 9.21166672e-02 -7.73103904e+00] [ 1.85727104e-01 -3.10642992e-03 9.82596455e-01 6.75872199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.394839172999994 meters 0.09235395826081164 Centerline is valid? [True, True] Translation: X:29.89, Y:-7.75, Z:6.76 [[ 8.63743906e-01 4.77581050e-01 -1.60819167e-01 2.98881292e+01] [-4.68694693e-01 8.78579031e-01 9.17832847e-02 -7.75116943e+00] [ 1.85126306e-01 -3.90216270e-03 9.82706988e-01 6.76473206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.424839172999995 meters 0.0939518123459199 Centerline is valid? [True, True] Translation: X:29.90, Y:-7.78, Z:6.77 [[ 8.67100263e-01 4.71074648e-01 -1.61943851e-01 2.99019743e+01] [-4.61960102e-01 8.82077535e-01 9.23692935e-02 -7.78125488e+00] [ 1.86359865e-01 -5.28184088e-03 9.82467355e-01 6.77127526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.454839172999996 meters 0.09435819060346684 Centerline is valid? [True, True] Translation: X:29.92, Y:-7.80, Z:6.78 [[ 8.67585021e-01 4.69443381e-01 -1.64070544e-01 2.99231939e+01] [-4.60062902e-01 8.82944313e-01 9.35492736e-02 -7.80114097e+00] [ 1.88781241e-01 -5.67917803e-03 9.82002744e-01 6.77551358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.484839173 meters 0.09484155661960904 Centerline is valid? [True, True] Translation: X:29.94, Y:-7.82, Z:6.78 [[ 8.67619363e-01 4.68871660e-01 -1.65517394e-01 2.99427847e+01] [-4.59323413e-01 8.83247207e-01 9.43205884e-02 -7.82280707e+00] [ 1.90417027e-01 -5.80835448e-03 9.81686110e-01 6.77775150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.514839173 meters 0.09425041207309809 Centerline is valid? [True, True] Translation: X:29.97, Y:-7.84, Z:6.78 [[ 8.66791016e-01 4.70834285e-01 -1.64281499e-01 2.99665862e+01] [-4.61468506e-01 8.82205651e-01 9.35949090e-02 -7.83638797e+00] [ 1.88997759e-01 -5.31648848e-03 9.81963127e-01 6.78268499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54483917299999 meters 0.09263086698565706 Centerline is valid? [True, True] Translation: X:29.99, Y:-7.85, Z:6.79 [[ 8.64654227e-01 4.74926998e-01 -1.63760236e-01 2.99910852e+01] [-4.65699182e-01 8.80014284e-01 9.32691393e-02 -7.85198756e+00] [ 1.88407379e-01 -4.38254748e-03 9.82081184e-01 6.78505056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.574839172999994 meters 0.09244095092801766 Centerline is valid? [True, True] Translation: X:30.01, Y:-7.87, Z:6.78 [[ 8.63499582e-01 4.76329282e-01 -1.65767570e-01 3.00128752e+01] [-4.66902844e-01 8.79257406e-01 9.43829860e-02 -7.86993917e+00] [ 1.90709743e-01 -4.10231905e-03 9.81637899e-01 6.78464388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.604839172999995 meters 0.09161979050786033 Centerline is valid? [True, True] Translation: X:30.03, Y:-7.89, Z:6.79 [[ 8.60837297e-01 4.80421718e-01 -1.67791900e-01 3.00342682e+01] [-4.70843176e-01 8.77031722e-01 9.55094909e-02 -7.89114634e+00] [ 1.93043652e-01 -3.21446101e-03 9.81184904e-01 6.78640314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.634839172999996 meters 0.0913542978808553 Centerline is valid? [True, True] Translation: X:30.06, Y:-7.91, Z:6.78 [[ 8.60705305e-01 4.78434080e-01 -1.74032206e-01 3.00559806e+01] [-4.68093786e-01 8.78115472e-01 9.90021485e-02 -7.91268727e+00] [ 2.00186375e-01 -3.74828017e-03 9.79750665e-01 6.78168222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.664839173 meters 0.0909628922629641 Centerline is valid? [True, True] Translation: X:30.08, Y:-7.93, Z:6.78 [[ 8.59812733e-01 4.76235896e-01 -1.84177727e-01 3.00784818e+01] [-4.64596967e-01 8.79306106e-01 1.04739825e-01 -7.93373071e+00] [ 2.11829464e-01 -4.48822184e-03 9.77296339e-01 6.77835358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.694839173 meters 0.09131194398848942 Centerline is valid? [True, True] Translation: X:30.10, Y:-7.95, Z:6.78 [[ 8.57332521e-01 4.81625910e-01 -1.81706995e-01 3.01038305e+01] [-4.70427563e-01 8.76371485e-01 1.03300184e-01 -7.94699934e+00] [ 2.08994874e-01 -3.08262822e-03 9.77911877e-01 6.78334872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72483917299999 meters 0.09102760735662556 Centerline is valid? [True, True] Translation: X:30.13, Y:-7.97, Z:6.78 [[ 8.54473720e-01 4.84523448e-01 -1.87381137e-01 3.01266478e+01] [-4.72686755e-01 8.74774971e-01 1.06470562e-01 -7.96610849e+00] [ 2.15503813e-01 -2.40371549e-03 9.76500040e-01 6.77931100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.75483917299999 meters 0.0917636529461534 Centerline is valid? [True, True] Translation: X:30.15, Y:-7.98, Z:6.78 [[ 8.53562445e-01 4.84484836e-01 -1.91587044e-01 3.01496173e+01] [-4.72110886e-01 8.74796261e-01 1.08824692e-01 -7.98317177e+00] [ 2.20323543e-01 -2.43834083e-03 9.75423801e-01 6.78310379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.784839172999995 meters 0.09243297749295284 Centerline is valid? [True, True] Translation: X:30.17, Y:-8.00, Z:6.79 [[ 8.53263514e-01 4.85562675e-01 -1.90184817e-01 3.01712142e+01] [-4.73412983e-01 8.74199376e-01 1.07961102e-01 -8.00313953e+00] [ 2.18681329e-01 -2.08330753e-03 9.75794105e-01 6.78733641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.814839172999996 meters 0.09271599874118314 Centerline is valid? [True, True] Translation: X:30.19, Y:-8.02, Z:6.79 [[ 8.53947241e-01 4.83884012e-01 -1.91390628e-01 3.01946712e+01] [-4.71550390e-01 8.75128646e-01 1.08582148e-01 -8.01864503e+00] [ 2.20032587e-01 -2.47310008e-03 9.75489387e-01 6.79479840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.844839173 meters 0.09357929487651914 Centerline is valid? [True, True] Translation: X:30.21, Y:-8.04, Z:6.79 [[ 8.56418712e-01 4.77872147e-01 -1.95410341e-01 3.02147437e+01] [-4.64867198e-01 8.78420057e-01 1.10800236e-01 -8.04078421e+00] [ 2.24600709e-01 -4.05153792e-03 9.74442459e-01 6.79181513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.874839173 meters 0.09647094468783238 Centerline is valid? [True, True] Translation: X:30.24, Y:-8.06, Z:6.79 [[ 8.58748030e-01 4.68272878e-01 -2.08020030e-01 3.02376388e+01] [-4.53239253e-01 8.83556409e-01 1.17907815e-01 -8.06055404e+00] [ 2.39010463e-01 -6.97026077e-03 9.70991974e-01 6.78970099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90483917299999 meters 0.09334636323866964 Centerline is valid? [True, True] Translation: X:30.26, Y:-8.08, Z:6.81 [[ 8.59697123e-01 4.71917520e-01 -1.95485833e-01 3.02570106e+01] [-4.58771101e-01 8.81625364e-01 1.10751046e-01 -8.07959012e+00] [ 2.24610627e-01 -5.52910477e-03 9.74432910e-01 6.80615382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.93483917299999 meters 0.09336131626778514 Centerline is valid? [True, True] Translation: X:30.28, Y:-8.10, Z:6.82 [[ 8.64230874e-01 4.66764860e-01 -1.87711382e-01 3.02765045e+01] [-4.54544289e-01 8.84357178e-01 1.06310263e-01 -8.10131505e+00] [ 2.15625803e-01 -6.55347459e-03 9.76454077e-01 6.81570263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.964839172999994 meters 0.09341112741423459 Centerline is valid? [True, True] Translation: X:30.30, Y:-8.12, Z:6.82 [[ 8.66577611e-01 4.62024214e-01 -1.88618315e-01 3.02998631e+01] [-4.49587443e-01 8.86833774e-01 1.06756680e-01 -8.11866235e+00] [ 2.16597263e-01 -7.71252285e-03 9.76230579e-01 6.81960230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.994839172999995 meters 0.093089443551685 Centerline is valid? [True, True] Translation: X:30.32, Y:-8.13, Z:6.83 [[ 8.69621218e-01 4.57888323e-01 -1.84654327e-01 3.03244150e+01] [-4.45897285e-01 8.88969145e-01 1.04448411e-01 -8.13071157e+00] [ 2.11977707e-01 -8.49369160e-03 9.77237591e-01 6.82895232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.024839173 meters 0.09521558692685417 Centerline is valid? [True, True] Translation: X:30.35, Y:-8.15, Z:6.83 [[ 8.70623103e-01 4.55768407e-01 -1.85177134e-01 3.03469288e+01] [-4.43673457e-01 8.90053048e-01 1.04687319e-01 -8.14863231e+00] [ 2.12530646e-01 -8.98501941e-03 9.77113092e-01 6.83176132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.054839173 meters 0.09521558692685417 Centerline is valid? [True, True] Translation: X:30.37, Y:-8.16, Z:6.84 [[ 8.70756364e-01 4.55508466e-01 -1.85190152e-01 3.03705970e+01] [-4.43412603e-01 8.90185740e-01 1.04664286e-01 -8.16173350e+00] [ 2.12529101e-01 -9.02144561e-03 9.77113092e-01 6.83638034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08483917299999 meters 0.09885567348009659 Centerline is valid? [True, True] Translation: X:30.38, Y:-8.20, Z:6.84 [[ 8.76340592e-01 4.45452543e-01 -1.83300841e-01 3.03840811e+01] [-4.33400608e-01 8.95234385e-01 1.03534098e-01 -8.19551110e+00] [ 2.10216742e-01 -1.12884367e-02 9.77589634e-01 6.83824507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11483917299999 meters 0.10195943992077114 Centerline is valid? [True, False] Translation: X:30.24, Y:-8.11, Z:6.80 [[ 9.01558323e-01 4.18828477e-01 -1.08514040e-01 3.02375865e+01] [-4.18436046e-01 9.07830755e-01 2.74699204e-02 -8.10506423e+00] [ 1.10017568e-01 2.06404506e-02 9.93715305e-01 6.79502060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.144839172999994 meters 0.10270982910081189 Centerline is valid? [False, False] Translation: X:30.16, Y:-8.06, Z:6.77 [[ 9.10854590e-01 4.07284272e-01 -6.68089706e-02 3.01575059e+01] [-4.08145460e-01 9.12916533e-01 8.28933818e-04 -8.05840417e+00] [ 6.13286255e-02 2.65127398e-02 9.97765441e-01 6.77211696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.174839172999995 meters 0.09994594672155847 Centerline is valid? [False, True] Translation: X:30.10, Y:-8.03, Z:6.76 [[ 9.15688231e-01 4.00230098e-01 -3.64819484e-02 3.01020936e+01] [-4.00579980e-01 9.16258310e-01 -2.52781319e-03 -8.02633708e+00] [ 3.24151814e-02 1.69286269e-02 9.99331115e-01 6.75834319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.204839172999996 meters 0.09620680972119475 Centerline is valid? [True, True] Translation: X:30.13, Y:-8.04, Z:6.76 [[ 9.14141477e-01 4.04745099e-01 -2.29513642e-02 3.01291594e+01] [-4.04577917e-01 9.14428437e-01 1.17193124e-02 -8.03876545e+00] [ 2.57307143e-02 -1.42749446e-03 9.99667891e-01 6.76116711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.234839173 meters 0.09559230054358722 Centerline is valid? [True, True] Translation: X:30.16, Y:-8.05, Z:6.76 [[ 9.13140798e-01 4.07213779e-01 -1.87302220e-02 3.01559340e+01] [-4.07102990e-01 9.13332203e-01 9.56257481e-03 -8.04943945e+00] [ 2.10009271e-02 -1.10684785e-03 9.99778844e-01 6.76175669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.264839173 meters 0.09684812777814718 Centerline is valid? [True, True] Translation: X:30.18, Y:-8.07, Z:6.75 [[ 9.14869999e-01 4.03250955e-01 -2.00387974e-02 3.01797308e+01] [-4.03123236e-01 9.15088536e-01 1.02287561e-02 -8.06661411e+00] [ 2.24620295e-02 -1.27987719e-03 9.99746878e-01 6.75319583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29483917299999 meters 0.09874437758066795 Centerline is valid? [True, True] Translation: X:30.20, Y:-8.09, Z:6.75 [[ 9.16378296e-01 3.99792524e-01 -2.04146172e-02 3.02019241e+01] [-3.99659133e-01 9.16604608e-01 1.04197332e-02 -8.08693633e+00] [ 2.28778636e-02 -1.38952913e-03 9.99737302e-01 6.75148906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.324839172999994 meters 0.09717156399889663 Centerline is valid? [True, True] Translation: X:30.23, Y:-8.10, Z:6.75 [[ 9.15416290e-01 4.02065243e-01 -1.88826974e-02 3.02301576e+01] [-4.01951738e-01 9.15610198e-01 9.63147015e-03 -8.09720921e+00] [ 2.11616697e-02 -1.22687162e-03 9.99775314e-01 6.75361649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.354839172999995 meters 0.0955554569590194 Centerline is valid? [True, True] Translation: X:30.26, Y:-8.10, Z:6.76 [[ 9.13678871e-01 4.06098643e-01 -1.65774680e-02 3.02598544e+01] [-4.06011829e-01 9.13828705e-01 8.45531128e-03 -8.10101313e+00] [ 1.85826566e-02 -9.94791152e-04 9.99826833e-01 6.75865799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.384839172999996 meters 0.09514940809757559 Centerline is valid? [True, True] Translation: X:30.29, Y:-8.11, Z:6.76 [[ 9.14082209e-01 4.05200935e-01 -1.63069511e-02 3.02875258e+01] [-4.05116904e-01 9.14227116e-01 8.31107435e-03 -8.10973733e+00] [ 1.82759120e-02 -9.90783677e-04 9.99832491e-01 6.75899655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.414839173 meters 0.09379112720196787 Centerline is valid? [True, True] Translation: X:30.32, Y:-8.12, Z:6.76 [[ 9.13000481e-01 4.07863481e-01 -8.80355829e-03 3.03172086e+01] [-4.07839117e-01 9.13042784e-01 4.48663437e-03 -8.11611774e+00] [ 9.86795968e-03 -5.05863901e-04 9.99951183e-01 6.76299598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.444839173 meters 0.09172306694061992 Centerline is valid? [True, True] Translation: X:30.35, Y:-8.11, Z:6.77 [[ 9.14508621e-01 4.04551162e-01 -3.51270853e-03 3.03516750e+01] [-4.04547263e-01 9.14515342e-01 1.78899998e-03 -8.11351148e+00] [ 3.93616787e-03 -2.14999281e-04 9.99992230e-01 6.77133545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47483917299999 meters 0.09328831734331294 Centerline is valid? [True, True] Translation: X:30.38, Y:-8.13, Z:6.77 [[ 9.15222785e-01 4.02946766e-01 -1.07602557e-03 3.03779970e+01] [-4.02946401e-01 9.15223415e-01 5.46241345e-04 -8.12513286e+00] [ 1.20490998e-03 -6.63518954e-05 9.99999272e-01 6.77460648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50483917299999 meters 0.09169310355102 Centerline is valid? [True, True] Translation: X:30.41, Y:-8.13, Z:6.78 [[ 9.15212644e-01 4.02882880e-01 8.43808842e-03 3.04065792e+01] [-4.02860331e-01 9.15251388e-01 -4.29548706e-03 -8.13198092e+00] [-9.45355033e-03 5.31912979e-04 9.99955173e-01 6.78047706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.534839172999995 meters 0.09386902261293283 Centerline is valid? [True, True] Translation: X:30.43, Y:-8.15, Z:6.79 [[ 9.15921090e-01 4.01153541e-01 1.28215950e-02 3.04314160e+01] [-4.01101355e-01 9.16010450e-01 -6.52372629e-03 -8.14593183e+00] [-1.43617309e-02 8.32459370e-04 9.99896518e-01 6.78547258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.564839172999996 meters 0.09522825155910773 Centerline is valid? [True, True] Translation: X:30.45, Y:-8.16, Z:6.79 [[ 9.16212379e-01 4.00436539e-01 1.43336793e-02 3.04548163e+01] [-4.00371258e-01 9.16324010e-01 -7.29138547e-03 -8.16016075e+00] [-1.60540316e-02 9.41664428e-04 9.99870682e-01 6.78670449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.594839173 meters 0.09404585555538063 Centerline is valid? [True, True] Translation: X:30.48, Y:-8.17, Z:6.79 [[ 9.16995031e-01 3.98580168e-01 1.59362175e-02 3.04827976e+01] [-3.98499225e-01 9.17132858e-01 -8.10480020e-03 -8.17080080e+00] [-1.78460414e-02 1.08149117e-03 9.99840162e-01 6.78665115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.624839173 meters 0.09538593712267618 Centerline is valid? [True, True] Translation: X:30.51, Y:-8.18, Z:6.79 [[ 9.19049151e-01 3.93727631e-01 1.80889898e-02 3.05105945e+01] [-3.93622477e-01 9.19226186e-01 -9.19593677e-03 -8.18186266e+00] [-2.02485675e-02 1.33128488e-03 9.99794090e-01 6.79131853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65483917299999 meters 0.09587723159693401 Centerline is valid? [True, True] Translation: X:30.54, Y:-8.19, Z:6.79 [[ 9.19722495e-01 3.92129570e-01 1.85723717e-02 3.05385865e+01] [-3.92018443e-01 9.19908929e-01 -9.43943664e-03 -8.19088038e+00] [-2.07863728e-02 1.40094996e-03 9.99782958e-01 6.79338313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68483917299999 meters 0.09569991266498416 Centerline is valid? [True, True] Translation: X:30.57, Y:-8.19, Z:6.79 [[ 9.19458531e-01 3.92902652e-01 1.49504756e-02 3.05677371e+01] [-3.92830770e-01 9.19579398e-01 -7.59715048e-03 -8.19496328e+00] [-1.67330899e-02 1.11225797e-03 9.99859373e-01 6.79232054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.714839172999994 meters 0.09473203016903009 Centerline is valid? [True, True] Translation: X:30.60, Y:-8.20, Z:6.79 [[ 9.18312632e-01 3.95705861e-01 1.08987171e-02 3.05965228e+01] [-3.95667869e-01 9.18376979e-01 -5.53739036e-03 -8.20272820e+00] [-1.22003087e-02 7.72783327e-04 9.99925275e-01 6.79031652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.744839172999995 meters 0.0942845356513979 Centerline is valid? [True, True] Translation: X:30.62, Y:-8.21, Z:6.79 [[ 9.18016549e-01 3.96370652e-01 1.16585750e-02 3.06235088e+01] [-3.96327264e-01 9.18090215e-01 -5.92092464e-03 -8.21296312e+00] [-1.30505044e-02 8.14895656e-04 9.99914506e-01 6.79109961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.774839173 meters 0.0950823675528148 Centerline is valid? [True, True] Translation: X:30.65, Y:-8.22, Z:6.79 [[ 9.18065057e-01 3.96297512e-01 1.02387672e-02 3.06500345e+01] [-3.96264068e-01 9.18121872e-01 -5.19780172e-03 -8.22262631e+00] [-1.14603120e-02 7.14664597e-04 9.99934073e-01 6.78983945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.804839173 meters 0.09569201041485302 Centerline is valid? [True, True] Translation: X:30.68, Y:-8.23, Z:6.79 [[ 9.18276271e-01 3.95861648e-01 7.88964819e-03 3.06755949e+01] [-3.95841787e-01 9.18309996e-01 -4.00377512e-03 -8.23445451e+00] [-8.83008382e-03 5.53519247e-04 9.99960861e-01 6.78716314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83483917299999 meters 0.09582602062312336 Centerline is valid? [True, True] Translation: X:30.70, Y:-8.24, Z:6.78 [[ 9.18119420e-01 3.96249632e-01 6.55431861e-03 3.07047521e+01] [-3.96235950e-01 9.18142703e-01 -3.32415859e-03 -8.24142808e+00] [-7.33499642e-03 4.54917899e-04 9.99972995e-01 6.78301110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86483917299999 meters 0.09541593197708689 Centerline is valid? [True, True] Translation: X:30.73, Y:-8.25, Z:6.78 [[ 9.17914498e-01 3.96716342e-01 7.00848349e-03 3.07336801e+01] [-3.96700729e-01 9.17941127e-01 -3.55228437e-03 -8.24772094e+00] [-7.84262450e-03 4.80422808e-04 9.99969131e-01 6.78150139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.894839172999994 meters 0.0960677101414219 Centerline is valid? [True, True] Translation: X:30.76, Y:-8.25, Z:6.78 [[ 9.17605799e-01 3.97481969e-01 2.77168173e-03 3.07629775e+01] [-3.97479532e-01 9.17609966e-01 -1.40446288e-03 -8.25173912e+00] [-3.10157145e-03 1.87056524e-04 9.99995173e-01 6.77841555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.924839172999995 meters 0.09569640623203375 Centerline is valid? [True, True] Translation: X:30.79, Y:-8.26, Z:6.77 [[ 9.17442279e-01 3.97868901e-01 5.21791649e-05 3.07899833e+01] [-3.97868900e-01 9.17442280e-01 -2.80224948e-05 -8.26219883e+00] [-5.90206513e-05 4.94855450e-06 9.99999998e-01 6.77468216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.954839172999996 meters 0.09652920189955307 Centerline is valid? [True, True] Translation: X:30.82, Y:-8.27, Z:6.77 [[ 9.16564502e-01 3.99881647e-01 -2.04507287e-03 3.08178440e+01] [-3.99880330e-01 9.16566774e-01 1.03457343e-03 -8.27008762e+00] [ 2.28815277e-03 -1.30468867e-04 9.99997374e-01 6.76971487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.984839173 meters 0.09671476398175742 Centerline is valid? [True, True] Translation: X:30.84, Y:-8.28, Z:6.77 [[ 9.17148910e-01 3.98533559e-01 -2.97959446e-03 3.08439938e+01] [-3.98530763e-01 9.17153730e-01 1.50549958e-03 -8.28139208e+00] [ 3.33273828e-03 -1.93307249e-04 9.99994428e-01 6.76874827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.014839173 meters 0.09745358174098624 Centerline is valid? [True, True] Translation: X:30.87, Y:-8.29, Z:6.77 [[ 9.17249588e-01 3.98311399e-01 -1.10617696e-03 3.08702281e+01] [-3.98311015e-01 9.17250252e-01 5.57609467e-04 -8.29204464e+00] [ 1.23674330e-03 -7.08645879e-05 9.99999233e-01 6.76956547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04483917299999 meters 0.09473504287187531 Centerline is valid? [True, True] Translation: X:30.90, Y:-8.29, Z:6.77 [[ 9.16565957e-01 3.99879703e-01 -1.75203101e-03 3.09039369e+01] [-3.99878742e-01 9.16567625e-01 8.83638123e-04 -8.29047180e+00] [ 1.95920385e-03 -1.09312667e-04 9.99998075e-01 6.77064489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.074839172999994 meters 0.09483605854800958 Centerline is valid? [True, True] Translation: X:30.93, Y:-8.29, Z:6.77 [[ 9.15729771e-01 4.01769465e-01 -4.50378973e-03 3.09331803e+01] [-4.01763123e-01 9.15740805e-01 2.27381273e-03 -8.29477534e+00] [ 5.03785256e-03 -2.72741377e-04 9.99987273e-01 6.76827549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.104839172999995 meters 0.09325666355230512 Centerline is valid? [True, True] Translation: X:30.96, Y:-8.30, Z:6.77 [[ 9.14867331e-01 4.03735577e-01 -3.91806693e-03 3.09624060e+01] [-4.03730796e-01 9.14875692e-01 1.97805066e-03 -8.30109990e+00] [ 4.38315362e-03 -2.27809649e-04 9.99990368e-01 6.76988257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.134839172999996 meters 0.09059982392354439 Centerline is valid? [True, True] Translation: X:30.99, Y:-8.30, Z:6.77 [[ 9.12629469e-01 4.08785622e-01 -1.32944460e-03 3.09941940e+01] [-4.08785079e-01 9.12630435e-01 6.69744890e-04 -8.30426743e+00] [ 1.48707369e-03 -6.77718059e-05 9.99998892e-01 6.77226519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.164839173 meters 0.08977541900061661 Centerline is valid? [True, True] Translation: X:31.02, Y:-8.31, Z:6.77 [[ 9.11849425e-01 4.10518673e-01 -2.24616539e-03 3.10233562e+01] [-4.10517125e-01 9.11852185e-01 1.13300800e-03 -8.31008703e+00] [ 2.51329176e-03 -1.11043334e-04 9.99996836e-01 6.77004114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.194839173 meters 0.08941251721926505 Centerline is valid? [True, True] Translation: X:31.05, Y:-8.32, Z:6.77 [[ 9.11553550e-01 4.11161130e-01 -4.08063242e-03 3.10530379e+01] [-4.11156035e-01 9.11562662e-01 2.05625541e-03 -8.31592729e+00] [ 4.56520445e-03 -1.96610270e-04 9.99989560e-01 6.76768621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22483917299999 meters 0.09169960042366221 Centerline is valid? [True, True] Translation: X:31.08, Y:-8.33, Z:6.76 [[ 9.13148239e-01 4.07604919e-01 -4.30387615e-03 3.10801704e+01] [-4.07599209e-01 9.13158354e-01 2.16945097e-03 -8.32507076e+00] [ 4.81439934e-03 -2.26773826e-04 9.99988385e-01 6.76445321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.25483917299999 meters 0.09272307765977894 Centerline is valid? [True, True] Translation: X:31.11, Y:-8.34, Z:6.76 [[ 9.15411860e-01 4.02517655e-01 8.15111448e-04 3.11055614e+01] [-4.02517447e-01 9.15412221e-01 -4.12008693e-04 -8.34101792e+00] [-9.12003754e-04 4.90610651e-05 9.99999583e-01 6.76391487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.284839172999995 meters 0.09497180284831475 Centerline is valid? [True, True] Translation: X:31.13, Y:-8.35, Z:6.76 [[ 9.15593019e-01 4.02106232e-01 -4.10615392e-05 3.11309598e+01] [-4.02106231e-01 9.15593020e-01 1.98183404e-05 -8.35212361e+00] [ 4.55647369e-05 -1.63443335e-06 9.99999999e-01 6.76248098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.314839172999996 meters 0.09387657363840243 Centerline is valid? [True, True] Translation: X:31.16, Y:-8.36, Z:6.76 [[ 9.15252942e-01 4.02872049e-01 -2.48287899e-03 3.11615253e+01] [-4.02870139e-01 9.15256299e-01 1.24867173e-03 -8.35622883e+00] [ 2.77552557e-03 -1.42572673e-04 9.99996138e-01 6.76082664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.344839173 meters 0.09240480949317852 Centerline is valid? [True, True] Translation: X:31.19, Y:-8.36, Z:6.76 [[ 9.15086325e-01 4.03242050e-01 -3.58708094e-03 3.11922533e+01] [-4.03238069e-01 9.15093333e-01 1.80332840e-03 -8.35871533e+00] [ 4.00969169e-03 -2.03753561e-04 9.99991940e-01 6.75982607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.374839173 meters 0.0911566803398588 Centerline is valid? [True, True] Translation: X:31.23, Y:-8.35, Z:6.76 [[ 9.13165869e-01 4.07586961e-01 -9.82068857e-04 3.12266953e+01] [-4.07586665e-01 9.13166396e-01 4.93672174e-04 -8.35355444e+00] [ 1.09800662e-03 -5.05264094e-05 9.99999396e-01 6.76352339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40483917299999 meters 0.08976609044370057 Centerline is valid? [True, True] Translation: X:31.26, Y:-8.36, Z:6.77 [[ 9.12578392e-01 4.08901097e-01 7.56344475e-04 3.12564600e+01] [-4.08900921e-01 9.12578704e-01 -3.80908370e-04 -8.35862263e+00] [-8.45977711e-04 3.83387952e-05 9.99999641e-01 6.76562893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.43483917299999 meters 0.08978392275589062 Centerline is valid? [True, True] Translation: X:31.28, Y:-8.37, Z:6.77 [[ 9.12399042e-01 4.09270968e-01 5.02624183e-03 3.12821373e+01] [-4.09263234e-01 9.12412852e-01 -2.52827800e-03 -8.37115688e+00] [-5.62075843e-03 2.49742435e-04 9.99984172e-01 6.76733686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.464839172999994 meters 0.08999152109517757 Centerline is valid? [True, True] Translation: X:31.31, Y:-8.38, Z:6.76 [[ 9.12798047e-01 4.08404392e-01 2.36190844e-03 3.13109018e+01] [-4.08402681e-01 9.12801095e-01 -1.18817903e-03 -8.37806814e+00] [-2.64121014e-03 1.19957755e-04 9.99996505e-01 6.76456736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.494839172999995 meters 0.08977013681879706 Centerline is valid? [True, True] Translation: X:31.34, Y:-8.38, Z:6.76 [[ 9.12736613e-01 4.08548482e-01 -1.18072352e-04 3.13396160e+01] [-4.08548478e-01 9.12736620e-01 5.74476466e-05 -8.38305361e+00] [ 1.31239109e-04 -4.19629062e-06 9.99999991e-01 6.76273203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.524839173 meters 0.08966822312811411 Centerline is valid? [True, True] Translation: X:31.37, Y:-8.39, Z:6.76 [[ 9.11750644e-01 4.10741842e-01 -1.37902414e-03 3.13693465e+01] [-4.10741265e-01 9.11751685e-01 6.91292319e-04 -8.38567478e+00] [ 1.54127026e-03 -6.38640967e-05 9.99998810e-01 6.75976788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.554839173 meters 0.08972843959074277 Centerline is valid? [True, True] Translation: X:31.40, Y:-8.40, Z:6.76 [[ 9.10821672e-01 4.12798545e-01 -1.11508571e-03 3.13951211e+01] [-4.12798169e-01 9.10822353e-01 5.59083507e-04 -8.39717264e+00] [ 1.24643385e-03 -4.89200343e-05 9.99999222e-01 6.75917979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58483917299999 meters 0.08923633031092647 Centerline is valid? [True, True] Translation: X:31.42, Y:-8.41, Z:6.76 [[ 9.09893156e-01 4.14842662e-01 9.77194304e-05 3.14223532e+01] [-4.14842659e-01 9.09893162e-01 -4.94653272e-05 -8.40550434e+00] [-1.09434570e-04 4.46997433e-06 9.99999994e-01 6.75733970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.61483917299999 meters 0.08880930005410505 Centerline is valid? [True, True] Translation: X:31.45, Y:-8.41, Z:6.76 [[ 9.09892456e-01 4.14844144e-01 -2.33393493e-04 3.14496231e+01] [-4.14844128e-01 9.09892486e-01 1.15239451e-04 -8.41283830e+00] [ 2.60169397e-04 -8.03358716e-06 9.99999966e-01 6.75867679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.644839172999994 meters 0.08836601576680159 Centerline is valid? [True, True] Translation: X:31.48, Y:-8.42, Z:6.76 [[ 9.09745068e-01 4.15167313e-01 -1.17732670e-04 3.14782274e+01] [-4.15167309e-01 9.09745075e-01 5.74419179e-05 -8.41978792e+00] [ 1.30954723e-04 -3.37874588e-06 9.99999991e-01 6.76075609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.674839172999995 meters 0.08644052507471622 Centerline is valid? [True, True] Translation: X:31.51, Y:-8.42, Z:6.76 [[ 9.07015591e-01 4.21095719e-01 -1.05520333e-03 3.15118179e+01] [-4.21095391e-01 9.07016204e-01 5.26975538e-04 -8.41695465e+00] [ 1.17899366e-03 -3.36337702e-05 9.99999304e-01 6.76010778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.704839172999996 meters 0.08560089968878615 Centerline is valid? [True, True] Translation: X:31.54, Y:-8.42, Z:6.76 [[ 9.05290570e-01 4.24786126e-01 -2.39398149e-03 3.15421580e+01] [-4.24784446e-01 9.05293733e-01 1.19670217e-03 -8.42179512e+00] [ 2.67559892e-03 -6.64370894e-05 9.99996418e-01 6.75886776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.734839173 meters 0.08469523475898053 Centerline is valid? [True, True] Translation: X:31.57, Y:-8.42, Z:6.76 [[ 9.02070855e-01 4.31583928e-01 -1.86712059e-03 3.15729995e+01] [-4.31582920e-01 9.02072786e-01 9.33726581e-04 -8.42251055e+00] [ 2.08726006e-03 -3.64701799e-05 9.99997821e-01 6.75669216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.764839173 meters 0.08433038764469511 Centerline is valid? [True, True] Translation: X:31.60, Y:-8.43, Z:6.76 [[ 9.02724088e-01 4.30219325e-01 7.43391693e-04 3.15987753e+01] [-4.30219164e-01 9.02724394e-01 -3.73460805e-04 -8.43298890e+00] [-8.31747871e-04 1.73107129e-05 9.99999654e-01 6.76028919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79483917299999 meters 0.0840949937307257 Centerline is valid? [True, True] Translation: X:31.62, Y:-8.45, Z:6.77 [[ 9.04692572e-01 4.26017700e-01 6.34586123e-03 3.16244944e+01] [-4.26005916e-01 9.04714812e-01 -3.17305051e-03 -8.44583019e+00] [-7.09297033e-03 1.67260801e-04 9.99974831e-01 6.77087118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.824839172999994 meters 0.08429779792275269 Centerline is valid? [True, True] Translation: X:31.65, Y:-8.46, Z:6.77 [[ 9.04899767e-01 4.25575418e-01 6.47882815e-03 3.16486413e+01] [-4.25563128e-01 9.04922943e-01 -3.23894389e-03 -8.45863121e+00] [-7.24125514e-03 1.73769202e-04 9.99973767e-01 6.77232000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.854839172999995 meters 0.08372601466107366 Centerline is valid? [True, True] Translation: X:31.68, Y:-8.47, Z:6.77 [[ 9.03111930e-01 4.29394363e-01 3.05335908e-03 3.16763480e+01] [-4.29391655e-01 9.03117089e-01 -1.52637750e-03 -8.46792787e+00] [-3.41295866e-03 6.74028208e-05 9.99994174e-01 6.76754562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.884839172999996 meters 0.08318241728393504 Centerline is valid? [True, True] Translation: X:31.70, Y:-8.48, Z:6.76 [[ 9.01729811e-01 4.32299886e-01 3.94872164e-04 3.17040993e+01] [-4.32299840e-01 9.01729898e-01 -1.98746037e-04 -8.47657382e+00] [-4.41985925e-04 8.51205284e-06 9.99999902e-01 6.76331916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.914839173 meters 0.0831629440809409 Centerline is valid? [True, True] Translation: X:31.73, Y:-8.48, Z:6.76 [[ 8.99967787e-01 4.35950956e-01 -2.17859976e-03 3.17314774e+01] [-4.35949602e-01 8.99970424e-01 1.08699014e-03 -8.48390130e+00] [ 2.43454974e-03 -2.84964171e-05 9.99997036e-01 6.75847993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.944839173 meters 0.0831629440809409 Centerline is valid? [True, True] Translation: X:31.76, Y:-8.50, Z:6.76 [[ 9.00084635e-01 4.35709652e-01 -2.17925562e-03 3.17560167e+01] [-4.35708300e-01 9.00087273e-01 1.08567594e-03 -8.49591056e+00] [ 2.43455973e-03 -2.76804756e-05 9.99997036e-01 6.75832361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97483917299999 meters 0.0831961682792029 Centerline is valid? [True, True] Translation: X:31.78, Y:-8.51, Z:6.76 [[ 9.00352918e-01 4.35156858e-01 -1.76966873e-03 3.17788255e+01] [-4.35155964e-01 9.00354657e-01 8.82015577e-04 -8.51066041e+00] [ 1.97714461e-03 -2.40433977e-05 9.99998045e-01 6.75746298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.00483917299999 meters 0.08351400713887688 Centerline is valid? [True, True] Translation: X:31.80, Y:-8.53, Z:6.76 [[ 9.02238788e-01 4.31236566e-01 4.40547973e-04 3.17991292e+01] [-4.31236510e-01 9.02238895e-01 -2.20255515e-04 -8.53322065e+00] [-4.92461748e-04 8.74269876e-06 9.99999879e-01 6.76019537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.034839172999995 meters 0.0840803665602903 Centerline is valid? [True, True] Translation: X:31.82, Y:-8.55, Z:6.76 [[ 9.02637962e-01 4.30395651e-01 -2.07178272e-03 3.18191266e+01] [-4.30394416e-01 9.02640339e-01 1.03190722e-03 -8.55420551e+00] [ 2.31420303e-03 -3.97549149e-05 9.99997321e-01 6.75680237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.064839172999996 meters 0.08355588468247326 Centerline is valid? [True, True] Translation: X:31.85, Y:-8.56, Z:6.76 [[ 9.01838542e-01 4.32047152e-01 -4.74380694e-03 3.18453211e+01] [-4.32040705e-01 9.01851015e-01 2.36158536e-03 -8.56475565e+00] [ 5.29852333e-03 -8.02510067e-05 9.99985960e-01 6.75515097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.094839173 meters 0.08360780385190344 Centerline is valid? [True, True] Translation: X:31.87, Y:-8.58, Z:6.75 [[ 9.01049366e-01 4.33668299e-01 -6.46888010e-03 3.18710773e+01] [-4.33656365e-01 9.01072582e-01 3.21869248e-03 -8.57644920e+00] [ 7.22477538e-03 -9.49297867e-05 9.99973896e-01 6.75303864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.124839173 meters 0.08301982358916186 Centerline is valid? [True, True] Translation: X:31.90, Y:-8.59, Z:6.75 [[ 8.99157412e-01 4.37569908e-01 -6.96593905e-03 3.18984450e+01] [-4.37556200e-01 8.99184392e-01 3.46424016e-03 -8.58659654e+00] [ 7.77951092e-03 -6.69073909e-05 9.99969737e-01 6.75192879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15483917299999 meters 0.08293543179184053 Centerline is valid? [True, True] Translation: X:31.92, Y:-8.60, Z:6.75 [[ 8.98849210e-01 4.38182439e-01 -8.13931767e-03 3.19234904e+01] [-4.38163745e-01 8.98886058e-01 4.04816341e-03 -8.59927414e+00] [ 9.09015329e-03 -7.23345644e-05 9.99958681e-01 6.75075292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18483917299999 meters 0.0825738964678047 Centerline is valid? [True, True] Translation: X:31.95, Y:-8.61, Z:6.75 [[ 8.97730628e-01 4.40465673e-01 -8.34924453e-03 3.19509124e+01] [-4.40446135e-01 8.97769452e-01 4.14897679e-03 -8.60771457e+00] [ 9.32317854e-03 -4.72710566e-05 9.99956537e-01 6.75283154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.214839172999994 meters 0.08243561255690914 Centerline is valid? [True, True] Translation: X:31.98, Y:-8.62, Z:6.75 [[ 8.97335757e-01 4.41277056e-01 -7.94352847e-03 3.19767646e+01] [-4.41259424e-01 8.97370915e-01 3.94483512e-03 -8.61983745e+00] [ 8.86905664e-03 -3.46848046e-05 9.99960669e-01 6.75292483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.244839172999995 meters 0.08254428989712366 Centerline is valid? [True, True] Translation: X:32.00, Y:-8.63, Z:6.75 [[ 8.97200404e-01 4.41522354e-01 -9.45760811e-03 3.20030456e+01] [-4.41497402e-01 8.97250249e-01 4.69410679e-03 -8.63211647e+00] [ 1.05583943e-02 -3.60451005e-05 9.99944258e-01 6.75126186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.274839173 meters 0.08254354790087935 Centerline is valid? [True, True] Translation: X:32.03, Y:-8.65, Z:6.75 [[ 8.97869298e-01 4.40161515e-01 -9.41093315e-03 3.20269580e+01] [-4.40136771e-01 8.97918615e-01 4.66735094e-03 -8.64548675e+00] [ 1.05046403e-02 -4.85733881e-05 9.99944824e-01 6.75168658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.304839173 meters 0.08203155210423488 Centerline is valid? [True, True] Translation: X:32.05, Y:-8.66, Z:6.76 [[ 8.99880410e-01 4.36107978e-01 -5.00799682e-03 3.20496508e+01] [-4.36100909e-01 8.99894343e-01 2.48356902e-03 -8.66318412e+00] [ 5.58977227e-03 -5.09231442e-05 9.99984376e-01 6.75734935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33483917299999 meters 0.08227289953897987 Centerline is valid? [True, True] Translation: X:32.07, Y:-8.68, Z:6.76 [[ 9.01436322e-01 4.32891198e-01 -4.21514964e-03 3.20727002e+01] [-4.32886166e-01 9.01446176e-01 2.08798495e-03 -8.68141805e+00] [ 4.70360082e-03 -5.75055061e-05 9.99988936e-01 6.75855068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36483917299999 meters 0.08227688151318001 Centerline is valid? [True, True] Translation: X:32.10, Y:-8.70, Z:6.76 [[ 9.02051874e-01 4.31603557e-01 -4.55914865e-03 3.20966380e+01] [-4.31597661e-01 9.02063393e-01 2.25709293e-03 -8.69787113e+00] [ 5.08681044e-03 -6.82970166e-05 9.99987060e-01 6.75861660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.394839172999994 meters 0.08288456830215328 Centerline is valid? [True, True] Translation: X:32.12, Y:-8.72, Z:6.76 [[ 9.03377522e-01 4.28809069e-01 -5.64220761e-03 3.21195965e+01] [-4.28799979e-01 9.03395136e-01 2.79405081e-03 -8.71527621e+00] [ 6.29525724e-03 -1.04704195e-04 9.99980179e-01 6.75632958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.424839172999995 meters 0.0836060884223071 Centerline is valid? [True, True] Translation: X:32.14, Y:-8.73, Z:6.75 [[ 9.05196363e-01 4.24953859e-01 -5.81055341e-03 3.21412880e+01] [-4.24944146e-01 9.05215002e-01 2.87619403e-03 -8.73387943e+00] [ 6.48204987e-03 -1.34359715e-04 9.99978982e-01 6.75456351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.454839172999996 meters 0.08425115450232452 Centerline is valid? [True, True] Translation: X:32.16, Y:-8.75, Z:6.75 [[ 9.06434901e-01 4.22308623e-01 -5.58545782e-03 3.21649048e+01] [-4.22299614e-01 9.06452098e-01 2.76229024e-03 -8.75028238e+00] [ 6.22948895e-03 -1.45099600e-04 9.99980586e-01 6.75369812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.484839173 meters 0.08468991657916461 Centerline is valid? [True, True] Translation: X:32.19, Y:-8.77, Z:6.75 [[ 9.06880869e-01 4.21317511e-01 -7.65796349e-03 3.21881509e+01] [-4.21300534e-01 9.06913177e-01 3.78801451e-03 -8.76615406e+00] [ 8.54106484e-03 -2.08973784e-04 9.99963503e-01 6.75188030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.514839173 meters 0.08465422336932231 Centerline is valid? [True, True] Translation: X:32.21, Y:-8.78, Z:6.75 [[ 9.05720889e-01 4.23805345e-01 -7.66166894e-03 3.22142181e+01] [-4.23788453e-01 9.05753275e-01 3.78838092e-03 -8.77649530e+00] [ 8.54511781e-03 -1.84288904e-04 9.99963473e-01 6.74948648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54483917299999 meters 0.0840057036632198 Centerline is valid? [True, True] Translation: X:32.24, Y:-8.79, Z:6.76 [[ 9.05699505e-01 4.23913181e-01 -2.45401377e-03 3.22406781e+01] [-4.23911453e-01 9.05702828e-01 1.21140912e-03 -8.78807053e+00] [ 2.73613951e-03 -5.68880939e-05 9.99996255e-01 6.75540771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.574839172999994 meters 0.08427446724469048 Centerline is valid? [True, True] Translation: X:32.26, Y:-8.80, Z:6.76 [[ 9.06613319e-01 4.21958731e-01 -1.76610159e-03 3.22647703e+01] [-4.21957832e-01 9.06615038e-01 8.72164079e-04 -8.80318736e+00] [ 1.96919151e-03 -4.54951710e-05 9.99998060e-01 6.75684886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.604839172999995 meters 0.08482539806246203 Centerline is valid? [True, True] Translation: X:32.29, Y:-8.82, Z:6.76 [[ 9.07780522e-01 4.19414421e-01 -5.10558627e-03 3.22904561e+01] [-4.19406875e-01 9.07794868e-01 2.52014008e-03 -8.81722470e+00] [ 5.69180811e-03 -1.46416101e-04 9.99983791e-01 6.75519346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.634839172999996 meters 0.08486008385042433 Centerline is valid? [True, True] Translation: X:32.32, Y:-8.83, Z:6.75 [[ 9.07867784e-01 4.19213385e-01 -6.01870640e-03 3.23160773e+01] [-4.19202891e-01 9.07887718e-01 2.97129971e-03 -8.82915933e+00] [ 6.70991822e-03 -1.74488160e-04 9.99977473e-01 6.75359999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.664839173 meters 0.08551975603923659 Centerline is valid? [True, True] Translation: X:32.34, Y:-8.85, Z:6.75 [[ 9.08202452e-01 4.18468542e-01 -7.23786760e-03 3.23391091e+01] [-4.18453348e-01 9.08231266e-01 3.57250247e-03 -8.84513178e+00] [ 8.06863756e-03 -2.15845576e-04 9.99967425e-01 6.75190545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.694839173 meters 0.0857896699260031 Centerline is valid? [True, True] Translation: X:32.36, Y:-8.86, Z:6.76 [[ 9.09498753e-01 4.15688667e-01 -3.86661486e-03 3.23623166e+01] [-4.15684316e-01 9.09506963e-01 1.90605160e-03 -8.86318778e+00] [ 4.30903719e-03 -1.26260397e-04 9.99990708e-01 6.75524064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72483917299999 meters 0.0856329365050633 Centerline is valid? [True, True] Translation: X:32.39, Y:-8.88, Z:6.76 [[ 9.09528111e-01 4.15636749e-01 -2.16961617e-03 3.23871555e+01] [-4.15635379e-01 9.09530696e-01 1.06960825e-03 -8.87628266e+00] [ 2.41790101e-03 -7.10695328e-05 9.99997074e-01 6.75784799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.75483917299999 meters 0.08475467606643124 Centerline is valid? [True, True] Translation: X:32.42, Y:-8.88, Z:6.76 [[ 9.08601694e-01 4.17658436e-01 -2.09579172e-03 3.24155207e+01] [-4.17657167e-01 9.08604109e-01 1.03155770e-03 -8.88432885e+00] [ 2.33508375e-03 -6.19526412e-05 9.99997272e-01 6.75992405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.784839172999995 meters 0.08554838470041527 Centerline is valid? [True, True] Translation: X:32.44, Y:-8.90, Z:6.75 [[ 9.08141737e-01 4.18603604e-01 -7.04333177e-03 3.24388789e+01] [-4.18589265e-01 9.08169027e-01 3.47067079e-03 -8.89898069e+00] [ 7.84937106e-03 -2.03597929e-04 9.99969172e-01 6.75330461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.814839172999996 meters 0.08600418487702581 Centerline is valid? [True, True] Translation: X:32.46, Y:-8.91, Z:6.75 [[ 9.08768879e-01 4.17238425e-01 -7.15694156e-03 3.24634734e+01] [-4.17223603e-01 9.08797035e-01 3.52352213e-03 -8.91311647e+00] [ 7.97435608e-03 -2.16022312e-04 9.99968181e-01 6.75227706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.844839173 meters 0.08733402604883225 Centerline is valid? [True, True] Translation: X:32.48, Y:-8.93, Z:6.75 [[ 9.10396087e-01 4.13714430e-01 -4.39722540e-03 3.24843259e+01] [-4.13708794e-01 9.10406694e-01 2.16478429e-03 -8.93453113e+00] [ 4.89886594e-03 -1.51640333e-04 9.99987989e-01 6.75448171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.874839173 meters 0.08733511749658367 Centerline is valid? [True, True] Translation: X:32.51, Y:-8.95, Z:6.76 [[ 9.10983935e-01 4.12415465e-01 -4.66419986e-03 3.25093554e+01] [-4.12409119e-01 9.10995860e-01 2.29390328e-03 -8.94801250e+00] [ 5.19510795e-03 -1.66150482e-04 9.99986492e-01 6.75574938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90483917299999 meters 0.0880200422690232 Centerline is valid? [True, True] Translation: X:32.53, Y:-8.96, Z:6.75 [[ 9.11120263e-01 4.12081948e-01 -6.95236310e-03 3.25326692e+01] [-4.12067830e-01 9.11146753e-01 3.42023911e-03 -8.96280602e+00] [ 7.74404186e-03 -2.51403984e-04 9.99969983e-01 6.75297699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.93483917299999 meters 0.08730001396478723 Centerline is valid? [True, True] Translation: X:32.56, Y:-8.97, Z:6.75 [[ 9.09523337e-01 4.15433834e-01 -1.34918068e-02 3.25613354e+01] [-4.15381110e-01 9.09623299e-01 6.63223862e-03 -8.96656846e+00] [ 1.50277182e-02 -4.27934101e-04 9.99886986e-01 6.74735342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.964839172999994 meters 0.08748724119654644 Centerline is valid? [True, True] Translation: X:32.59, Y:-8.98, Z:6.74 [[ 9.09356851e-01 4.15800836e-01 -1.34082868e-02 3.25871405e+01] [-4.15748858e-01 9.09455602e-01 6.58752065e-03 -8.97819559e+00] [ 1.49333381e-02 -4.15927106e-04 9.99888405e-01 6.74488950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.994839172999995 meters 0.08712901286040509 Centerline is valid? [True, True] Translation: X:32.61, Y:-8.99, Z:6.75 [[ 9.10581488e-01 4.13190829e-01 -1.07094860e-02 3.26121476e+01] [-4.13157533e-01 9.10644391e-01 5.25792639e-03 -8.99253537e+00] [ 1.19250603e-02 -3.63065616e-04 9.99928828e-01 6.75013031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.024839173 meters 0.08786134170275159 Centerline is valid? [True, True] Translation: X:32.64, Y:-9.01, Z:6.75 [[ 9.12689214e-01 4.08577733e-01 -7.91416415e-03 3.26350129e+01] [-4.08559397e-01 9.12723474e-01 3.88325736e-03 -9.01249224e+00] [ 8.81005589e-03 -3.10800977e-04 9.99961142e-01 6.75377368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.054839173 meters 0.08747823613439777 Centerline is valid? [True, True] Translation: X:32.66, Y:-9.03, Z:6.76 [[ 9.12567724e-01 4.08877932e-01 -6.24391986e-03 3.26594776e+01] [-4.08866527e-01 9.12589052e-01 3.06354250e-03 -9.02576915e+00] [ 6.95074783e-03 -2.42760171e-04 9.99975814e-01 6.75972974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08483917299999 meters 0.0862694548765365 Centerline is valid? [True, True] Translation: X:32.69, Y:-9.03, Z:6.76 [[ 9.09840975e-01 4.14800003e-01 -1.14174013e-02 3.26896019e+01] [-4.14762337e-01 9.09912538e-01 5.60148202e-03 -9.02994812e+00] [ 1.27123314e-02 -3.60949813e-04 9.99919130e-01 6.75523904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11483917299999 meters 0.08583089080680245 Centerline is valid? [True, True] Translation: X:32.72, Y:-9.02, Z:6.74 [[ 9.02386011e-01 4.30337130e-01 -2.25708103e-02 3.27242636e+01] [-4.30194782e-01 9.02668198e-01 1.10713152e-02 -9.02283881e+00] [ 2.51383507e-02 -2.80755172e-04 9.99683942e-01 6.73701789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.144839172999994 meters 0.08591023862214385 Centerline is valid? [True, True] Translation: X:32.75, Y:-9.03, Z:6.73 [[ 8.99273191e-01 4.36797765e-01 -2.27033096e-02 3.27537907e+01] [-4.36655983e-01 8.99559728e-01 1.11287143e-02 -9.02685056e+00] [ 2.52839805e-02 -9.42184299e-05 9.99680305e-01 6.73399274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.174839172999995 meters 0.08504251725319427 Centerline is valid? [True, True] Translation: X:32.78, Y:-9.03, Z:6.74 [[ 8.95559316e-01 4.44702671e-01 -1.45961109e-02 3.27837582e+01] [-4.44645132e-01 8.95678250e-01 7.15392136e-03 -9.02959427e+00] [ 1.62547870e-02 8.33287199e-05 9.99867879e-01 6.74092803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.204839172999996 meters 0.08426920199570781 Centerline is valid? [True, True] Translation: X:32.81, Y:-9.04, Z:6.75 [[ 8.95390648e-01 4.45122693e-01 -1.18901429e-02 3.28116295e+01] [-4.45084611e-01 8.95469587e-01 5.82297251e-03 -9.03853567e+00] [ 1.32391986e-02 7.82844997e-05 9.99912355e-01 6.74725715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.234839173 meters 0.08381728305468669 Centerline is valid? [True, True] Translation: X:32.84, Y:-9.05, Z:6.75 [[ 8.95993832e-01 4.43879161e-01 -1.28974225e-02 3.28389599e+01] [-4.43834227e-01 8.96086651e-01 6.31602461e-03 -9.04517043e+00] [ 1.43607598e-02 6.51984553e-05 9.99896877e-01 6.74942591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26483917299999 meters 0.08445185564930775 Centerline is valid? [True, True] Translation: X:32.86, Y:-9.06, Z:6.74 [[ 8.96472057e-01 4.42854286e-01 -1.47625105e-02 3.28642463e+01] [-4.42795302e-01 8.96593597e-01 7.22792329e-03 -9.05576890e+00] [ 1.64368892e-02 5.71390390e-05 9.99864904e-01 6.74384821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29483917299999 meters 0.08477691236713734 Centerline is valid? [True, True] Translation: X:32.89, Y:-9.07, Z:6.74 [[ 8.97110973e-01 4.41467543e-01 -1.72716447e-02 3.28898781e+01] [-4.41386659e-01 8.97277218e-01 8.45048228e-03 -9.06918318e+00] [ 1.92280669e-02 4.24531637e-05 9.99815123e-01 6.74215364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.324839172999994 meters 0.08583012023393473 Centerline is valid? [True, True] Translation: X:32.92, Y:-9.08, Z:6.74 [[ 8.96446830e-01 4.42801821e-01 -1.75962704e-02 3.29170985e+01] [-4.42718224e-01 8.96619508e-01 8.60419441e-03 -9.07887163e+00] [ 1.95871123e-02 7.69867961e-05 9.99808151e-01 6.73656827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.354839172999995 meters 0.08509249446144153 Centerline is valid? [True, True] Translation: X:32.95, Y:-9.09, Z:6.74 [[ 8.96381976e-01 4.43115362e-01 -1.21708348e-02 3.29458507e+01] [-4.43075451e-01 8.96464596e-01 5.94747082e-03 -9.08651751e+00] [ 1.35461382e-02 6.13924701e-05 9.99908245e-01 6.74433540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.384839172999996 meters 0.08507412497285068 Centerline is valid? [True, True] Translation: X:32.97, Y:-9.10, Z:6.74 [[ 8.97493612e-01 4.40917103e-01 -9.86534008e-03 3.29698653e+01] [-4.40890753e-01 8.97547830e-01 4.82040424e-03 -9.09991630e+00] [ 1.09800133e-02 2.32552001e-05 9.99939718e-01 6.74396578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.414839173 meters 0.08437239587837193 Centerline is valid? [True, True] Translation: X:32.99, Y:-9.12, Z:6.75 [[ 9.00050561e-01 4.35735721e-01 -6.58555564e-03 3.29930656e+01] [-4.35723846e-01 9.00074653e-01 3.21699700e-03 -9.11504793e+00] [ 7.32925221e-03 -2.59763218e-05 9.99973140e-01 6.74901546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.444839173 meters 0.0843426301693499 Centerline is valid? [True, True] Translation: X:33.02, Y:-9.13, Z:6.75 [[ 9.01351750e-01 4.33031147e-01 -7.00347612e-03 3.30173639e+01] [-4.33017660e-01 9.01378957e-01 3.41804905e-03 -9.12980352e+00] [ 7.79290770e-03 -4.82356540e-05 9.99969634e-01 6.75031250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47483917299999 meters 0.08502411066483645 Centerline is valid? [True, True] Translation: X:33.04, Y:-9.14, Z:6.75 [[ 9.01689659e-01 4.32238488e-01 -1.12093503e-02 3.30408218e+01] [-4.32203882e-01 9.01759326e-01 5.47012594e-03 -9.14406303e+00] [ 1.24725351e-02 -8.76312893e-05 9.99922211e-01 6.74592014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50483917299999 meters 0.08522549341114606 Centerline is valid? [True, True] Translation: X:33.07, Y:-9.16, Z:6.75 [[ 9.01408113e-01 4.32799846e-01 -1.21535008e-02 3.30667485e+01] [-4.32759270e-01 9.01490037e-01 5.92683955e-03 -9.15610782e+00] [ 1.35213951e-02 -8.29611137e-05 9.99908578e-01 6.74558617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.534839172999995 meters 0.08625593854565845 Centerline is valid? [True, True] Translation: X:33.09, Y:-9.17, Z:6.74 [[ 8.99819381e-01 4.36057289e-01 -1.33836481e-02 3.30917338e+01] [-4.36008447e-01 8.99918907e-01 6.52647298e-03 -9.16838268e+00] [ 1.48901141e-02 -3.72632386e-05 9.99889135e-01 6.73795481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.564839172999996 meters 0.08655357245877708 Centerline is valid? [True, True] Translation: X:33.12, Y:-9.18, Z:6.74 [[ 8.99043606e-01 4.37586428e-01 -1.54502964e-02 3.31173045e+01] [-4.37521589e-01 8.99176355e-01 7.53268261e-03 -9.18058712e+00] [ 1.71887408e-02 -1.23719263e-05 9.99852263e-01 6.73514746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.594839173 meters 0.08672357652254863 Centerline is valid? [True, True] Translation: X:33.14, Y:-9.19, Z:6.73 [[ 8.98070366e-01 4.39537476e-01 -1.66260624e-02 3.31441264e+01] [-4.39462835e-01 8.98224252e-01 8.10001720e-03 -9.19023510e+00] [ 1.84941935e-02 3.21510872e-05 9.99828967e-01 6.73355393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.624839173 meters 0.08653595868886464 Centerline is valid? [True, True] Translation: X:33.17, Y:-9.20, Z:6.73 [[ 8.98957214e-01 4.37748496e-01 -1.58802426e-02 3.31700674e+01] [-4.37680136e-01 8.99097467e-01 7.73590614e-03 -9.20035795e+00] [ 1.76642672e-02 -3.78187172e-06 9.99843975e-01 6.73350837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65483917299999 meters 0.08566921794953371 Centerline is valid? [True, True] Translation: X:33.19, Y:-9.22, Z:6.74 [[ 9.03416136e-01 4.28617713e-01 -1.12312554e-02 3.31919954e+01] [-4.28582870e-01 9.03485938e-01 5.46657484e-03 -9.22056511e+00] [ 1.24903521e-02 -1.25068266e-04 9.99921985e-01 6.74327658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68483917299999 meters 0.08592119950361646 Centerline is valid? [True, True] Translation: X:33.21, Y:-9.24, Z:6.75 [[ 9.05876137e-01 4.23471203e-01 -7.78236902e-03 3.32130498e+01] [-4.23454313e-01 9.05909556e-01 3.78444866e-03 -9.24036970e+00] [ 8.65272748e-03 -1.32764003e-04 9.99962556e-01 6.74633081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.714839172999994 meters 0.08693676623581112 Centerline is valid? [True, True] Translation: X:33.23, Y:-9.26, Z:6.75 [[ 9.08128195e-01 4.18655412e-01 -5.55220156e-03 3.32333216e+01] [-4.18646728e-01 9.08145159e-01 2.69949585e-03 -9.26227911e+00] [ 6.17236351e-03 -1.27077275e-04 9.99980943e-01 6.74693455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.744839172999995 meters 0.08787895068585161 Centerline is valid? [True, True] Translation: X:33.26, Y:-9.28, Z:6.74 [[ 9.10046051e-01 4.14415477e-01 -8.71768824e-03 3.32561613e+01] [-4.14393869e-01 9.10087772e-01 4.23895897e-03 -9.28229747e+00] [ 9.69055167e-03 -2.45091309e-04 9.99953015e-01 6.74427467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.774839173 meters 0.08896136291436461 Centerline is valid? [True, True] Translation: X:33.28, Y:-9.30, Z:6.74 [[ 9.10671890e-01 4.12961095e-01 -1.18255381e-02 3.32800587e+01] [-4.12921269e-01 9.10748600e-01 5.74581146e-03 -9.29967325e+00] [ 1.31428888e-02 -3.49532796e-04 9.99913567e-01 6.73910074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.804839173 meters 0.08991572495147675 Centerline is valid? [True, True] Translation: X:33.30, Y:-9.32, Z:6.73 [[ 9.11085421e-01 4.12005573e-01 -1.32198257e-02 3.33016232e+01] [-4.11955760e-01 9.11181236e-01 6.41919743e-03 -9.32117165e+00] [ 1.46904022e-02 -4.02453848e-04 9.99892009e-01 6.73394765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83483917299999 meters 0.08944512840025658 Centerline is valid? [True, True] Translation: X:33.33, Y:-9.33, Z:6.74 [[ 9.10776217e-01 4.12746878e-01 -1.12559605e-02 3.33274601e+01] [-4.12710869e-01 9.10845709e-01 5.46186432e-03 -9.33320163e+00] [ 1.25068108e-02 -3.29078889e-04 9.99921733e-01 6.73576356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86483917299999 meters 0.08944512840025658 Centerline is valid? [True, True] Translation: X:33.35, Y:-9.34, Z:6.74 [[ 9.10895108e-01 4.12484385e-01 -1.12576261e-02 3.33521436e+01] [-4.12448399e-01 9.10964612e-01 5.45843106e-03 -9.34495363e+00] [ 1.25068166e-02 -3.28868292e-04 9.99921733e-01 6.73560678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.894839172999994 meters 0.08872451727867336 Centerline is valid? [True, True] Translation: X:33.38, Y:-9.35, Z:6.74 [[ 9.09539601e-01 4.15523577e-01 -8.82451767e-03 3.33811765e+01] [-4.15501632e-01 9.09582381e-01 4.27621578e-03 -9.35209179e+00] [ 9.80349426e-03 -2.22786096e-04 9.99951920e-01 6.73698427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.924839172999995 meters 0.0887163895030415 Centerline is valid? [True, True] Translation: X:33.41, Y:-9.36, Z:6.73 [[ 9.08441078e-01 4.17889398e-01 -1.01616795e-02 3.34069628e+01] [-4.17860481e-01 9.08497882e-01 4.92116997e-03 -9.36339199e+00] [ 1.12883691e-02 -2.24428661e-04 9.99936259e-01 6.73326903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.954839172999996 meters 0.08710075846302648 Centerline is valid? [True, True] Translation: X:33.44, Y:-9.36, Z:6.73 [[ 9.04552613e-01 4.26210111e-01 -1.13802936e-02 3.34385445e+01] [-4.26174493e-01 9.04624189e-01 5.51166519e-03 -9.36450341e+00] [ 1.26440163e-02 -1.35600311e-04 9.99920052e-01 6.73466244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.984839173 meters 0.08569775244528999 Centerline is valid? [True, True] Translation: X:33.47, Y:-9.36, Z:6.74 [[ 9.01291425e-01 4.33088023e-01 -1.04178066e-02 3.34719328e+01] [-4.33058684e-01 9.01351631e-01 5.04113349e-03 -9.36130757e+00] [ 1.15733615e-02 -3.20087724e-05 9.99933026e-01 6.74120951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01483917299999 meters 0.08529945346203976 Centerline is valid? [True, True] Translation: X:33.50, Y:-9.37, Z:6.75 [[ 9.01010038e-01 4.33706850e-01 -8.90391085e-03 3.34998873e+01] [-4.33685478e-01 9.01054031e-01 4.30562895e-03 -9.36991018e+00] [ 9.89028553e-03 -1.79180714e-05 9.99951090e-01 6.74566635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04483917299999 meters 0.08491427181727758 Centerline is valid? [True, True] Translation: X:33.52, Y:-9.39, Z:6.75 [[ 9.01943437e-01 4.31853254e-01 -8.95907563e-04 3.35236747e+01] [-4.31853038e-01 9.01943882e-01 4.32497078e-04 -9.38793662e+00] [ 9.94833617e-04 -3.18749835e-06 9.99999505e-01 6.75370976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.074839172999994 meters 0.08517722383091865 Centerline is valid? [True, True] Translation: X:33.55, Y:-9.41, Z:6.75 [[ 9.03543537e-01 4.28495435e-01 8.59260744e-04 3.35455783e+01] [-4.28495232e-01 9.03543946e-01 -4.16857328e-04 -9.40866466e+00] [-9.55001305e-04 8.45961248e-06 9.99999544e-01 6.75435830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.104839172999995 meters 0.08555079921047362 Centerline is valid? [True, True] Translation: X:33.57, Y:-9.43, Z:6.76 [[ 9.05216846e-01 4.24942261e-01 2.55665854e-03 3.35675791e+01] [-4.24940463e-01 9.05220456e-01 -1.23640855e-03 -9.42813003e+00] [-2.83974185e-03 3.27901855e-05 9.99995967e-01 6.75518012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.134839172999996 meters 0.08706521857323643 Centerline is valid? [True, True] Translation: X:33.59, Y:-9.46, Z:6.75 [[ 9.08892520e-01 4.17026837e-01 -1.73307111e-03 3.35867968e+01] [-4.17026003e-01 9.08894172e-01 8.35178923e-04 -9.45589238e+00] [ 1.92347026e-03 -3.63521591e-05 9.99998149e-01 6.74988520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.164839173 meters 0.08780552994656489 Centerline is valid? [True, True] Translation: X:33.61, Y:-9.48, Z:6.75 [[ 9.10719262e-01 4.13000219e-01 -4.60923753e-03 3.36093712e+01] [-4.12994248e-01 9.10730918e-01 2.22422213e-03 -9.47609866e+00] [ 5.11637935e-03 -1.22053350e-04 9.99986904e-01 6.74815386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.194839173 meters 0.08874563245093203 Centerline is valid? [True, True] Translation: X:33.63, Y:-9.50, Z:6.74 [[ 9.12730860e-01 4.08459831e-01 -9.10731653e-03 3.36309071e+01] [-4.08436319e-01 9.12776250e-01 4.39209604e-03 -9.49977871e+00] [ 1.01069370e-02 -2.89042757e-04 9.99948882e-01 6.74238181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22483917299999 meters 0.0896068267161541 Centerline is valid? [True, True] Translation: X:33.65, Y:-9.51, Z:6.74 [[ 9.12868871e-01 4.08085465e-01 -1.16909354e-02 3.36541186e+01] [-4.08046698e-01 9.12943652e-01 5.63738677e-03 -9.51445882e+00] [ 1.29737008e-02 -3.75747323e-04 9.99915767e-01 6.73936699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.25483917299999 meters 0.08944517201733954 Centerline is valid? [True, True] Translation: X:33.68, Y:-9.53, Z:6.74 [[ 9.11363664e-01 4.11392189e-01 -1.31429810e-02 3.36785378e+01] [-4.11343608e-01 9.11458355e-01 6.33270357e-03 -9.53052278e+00] [ 1.45845047e-02 -3.65114696e-04 9.99893574e-01 6.73643952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.284839172999995 meters 0.0889278353390304 Centerline is valid? [True, True] Translation: X:33.70, Y:-9.54, Z:6.74 [[ 9.10101319e-01 4.14238294e-01 -1.10555490e-02 3.37034684e+01] [-4.14204134e-01 9.10168426e-01 5.32653078e-03 -9.54325136e+00] [ 1.22688647e-02 -2.68428578e-04 9.99924699e-01 6.73810950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.314839172999996 meters 0.08772660118110653 Centerline is valid? [True, True] Translation: X:33.73, Y:-9.55, Z:6.74 [[ 9.08161927e-01 4.18546964e-01 -7.76873955e-03 3.37303726e+01] [-4.18530260e-01 9.08195143e-01 3.74226188e-03 -9.55405686e+00] [ 8.62184387e-03 -1.47127184e-04 9.99962820e-01 6.74286469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.344839173 meters 0.0873357805982133 Centerline is valid? [True, True] Translation: X:33.76, Y:-9.56, Z:6.74 [[ 9.07426524e-01 4.20129814e-01 -8.24882185e-03 3.37571817e+01] [-4.20111079e-01 9.07464005e-01 3.96987724e-03 -9.56424561e+00] [ 9.15337270e-03 -1.36950451e-04 9.99958098e-01 6.74253029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.374839173 meters 0.08768636539499794 Centerline is valid? [True, True] Translation: X:33.78, Y:-9.58, Z:6.74 [[ 9.06138985e-01 4.22773302e-01 -1.32240622e-02 3.37827497e+01] [-4.22725425e-01 9.06235457e-01 6.36481238e-03 -9.57621777e+00] [ 1.46749868e-02 -1.77257291e-04 9.99892301e-01 6.73598237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40483917299999 meters 0.0880525445020852 Centerline is valid? [True, True] Translation: X:33.81, Y:-9.59, Z:6.73 [[ 9.06083570e-01 4.22838790e-01 -1.48297731e-02 3.38068229e+01] [-4.22778679e-01 9.06204900e-01 7.13216176e-03 -9.59138403e+00] [ 1.64545677e-02 -1.92622722e-04 9.99864596e-01 6.73236245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.43483917299999 meters 0.0883384960806762 Centerline is valid? [True, True] Translation: X:33.83, Y:-9.62, Z:6.73 [[ 9.07950138e-01 4.18916291e-01 -1.16485263e-02 3.38251880e+01] [-4.18878889e-01 9.08024834e-01 5.60160496e-03 -9.61623486e+00] [ 1.29237547e-02 -2.06656241e-04 9.99916463e-01 6.73269903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.464839172999994 meters 0.08843258498846127 Centerline is valid? [True, True] Translation: X:33.85, Y:-9.64, Z:6.74 [[ 9.10060770e-01 4.14398751e-01 -7.94163486e-03 3.38471716e+01] [-4.14381227e-01 9.10095403e-01 3.81531295e-03 -9.63688532e+00] [ 8.80870630e-03 -1.81302246e-04 9.99961186e-01 6.73716027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.494839172999995 meters 0.0891987344502634 Centerline is valid? [True, True] Translation: X:33.87, Y:-9.66, Z:6.74 [[ 9.13531610e-01 4.06683575e-01 -8.27452786e-03 3.38666850e+01] [-4.06664229e-01 9.13569044e-01 3.97573399e-03 -9.66355577e+00] [ 9.17621822e-03 -2.67004178e-04 9.99957862e-01 6.74191927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.524839173 meters 0.08915852586277728 Centerline is valid? [True, True] Translation: X:33.89, Y:-9.68, Z:6.74 [[ 9.13275014e-01 4.07206783e-01 -1.05538747e-02 3.38914934e+01] [-4.07175359e-01 9.13335932e-01 5.06968908e-03 -9.67659397e+00] [ 1.17036448e-02 -3.32742631e-04 9.99931455e-01 6.74166240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.554839173 meters 0.08837507939114064 Centerline is valid? [True, True] Translation: X:33.92, Y:-9.68, Z:6.74 [[ 9.11955286e-01 4.10082879e-01 -1.30226171e-02 3.39197276e+01] [-4.10035401e-01 9.12048191e-01 6.25037745e-03 -9.68491093e+00] [ 1.44404271e-02 -3.60330752e-04 9.99895667e-01 6.74169737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58483917299999 meters 0.08824903026030353 Centerline is valid? [True, True] Translation: X:33.95, Y:-9.69, Z:6.74 [[ 9.09393149e-01 4.15644989e-01 -1.55994978e-02 3.39463046e+01] [-4.15577757e-01 9.09526877e-01 7.48249919e-03 -9.69458652e+00] [ 1.72982258e-02 -3.21729202e-04 9.99850323e-01 6.73706360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61483917299999 meters 0.08868207216709785 Centerline is valid? [True, True] Translation: X:33.97, Y:-9.72, Z:6.74 [[ 9.10392679e-01 4.13418123e-01 -1.64507007e-02 3.39678406e+01] [-4.13343002e-01 9.10541218e-01 7.89007468e-03 -9.71518157e+00] [ 1.82409409e-02 -3.83284213e-04 9.99833547e-01 6.73581883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.644839172999994 meters 0.0900653577566324 Centerline is valid? [True, True] Translation: X:33.99, Y:-9.74, Z:6.73 [[ 9.11786726e-01 4.10347180e-01 -1.61294221e-02 3.39878935e+01] [-4.10274517e-01 9.11929275e-01 7.73414952e-03 -9.73815375e+00] [ 1.78825786e-02 -4.34404003e-04 9.99840000e-01 6.73185973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.674839172999995 meters 0.09170711840364616 Centerline is valid? [True, True] Translation: X:34.01, Y:-9.77, Z:6.73 [[ 9.15856759e-01 4.01128155e-01 -1.73953919e-02 3.40057875e+01] [-4.01042078e-01 9.16021708e-01 8.33556237e-03 -9.76981177e+00] [ 1.92781854e-02 -6.57897014e-04 9.99813942e-01 6.73170753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.704839172999996 meters 0.0935957381614418 Centerline is valid? [True, True] Translation: X:34.03, Y:-9.79, Z:6.73 [[ 9.17769858e-01 3.96619956e-01 -1.97762080e-02 3.40263136e+01] [-3.96507677e-01 9.17982505e-01 9.47534204e-03 -9.79297402e+00] [ 2.19123227e-02 -8.54765028e-04 9.99759531e-01 6.72845773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.734839173 meters 0.09394825387596548 Centerline is valid? [True, True] Translation: X:34.05, Y:-9.80, Z:6.73 [[ 9.20484813e-01 3.90119035e-01 -2.26902504e-02 3.40532880e+01] [-3.89969279e-01 9.20763704e-01 1.08702459e-02 -9.80431484e+00] [ 2.51330488e-02 -1.15739569e-03 9.99683445e-01 6.73192400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76483917299999 meters 0.09379590043143826 Centerline is valid? [True, True] Translation: X:34.08, Y:-9.81, Z:6.73 [[ 9.20628122e-01 3.89773551e-01 -2.28131625e-02 3.40790124e+01] [-3.89622319e-01 9.20909998e-01 1.09189859e-02 -9.81440610e+00] [ 2.52648013e-02 -1.16380825e-03 9.99680117e-01 6.73358768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79483917299999 meters 0.09356753140471387 Centerline is valid? [True, True] Translation: X:34.11, Y:-9.83, Z:6.73 [[ 9.20064000e-01 3.91104371e-01 -2.27949042e-02 3.41051723e+01] [-3.90953969e-01 9.20345651e-01 1.09030788e-02 -9.82620144e+00] [ 2.52434328e-02 -1.11977202e-03 9.99680707e-01 6.73245673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.824839172999994 meters 0.09369560146854546 Centerline is valid? [True, True] Translation: X:34.13, Y:-9.85, Z:6.73 [[ 9.18993769e-01 3.93676695e-01 -2.16589994e-02 3.41271870e+01] [-3.93541637e-01 9.19248425e-01 1.03592085e-02 -9.84632192e+00] [ 2.39881801e-02 -9.96329968e-04 9.99711746e-01 6.73003956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.854839172999995 meters 0.09325978174974059 Centerline is valid? [True, True] Translation: X:34.15, Y:-9.87, Z:6.73 [[ 9.19515595e-01 3.92648589e-01 -1.78369524e-02 3.41503622e+01] [-3.92556933e-01 9.19688200e-01 8.52458843e-03 -9.86549129e+00] [ 1.97516023e-02 -8.36472673e-04 9.99804568e-01 6.73232729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.884839172999996 meters 0.09242628238766017 Centerline is valid? [True, True] Translation: X:34.18, Y:-9.87, Z:6.73 [[ 9.19221303e-01 3.93283377e-01 -1.89837112e-02 3.41777858e+01] [-3.93179847e-01 9.19416897e-01 9.06518986e-03 -9.87347497e+00] [ 2.10191333e-02 -8.68902990e-04 9.99778696e-01 6.73368089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.914839173 meters 0.09321946084723971 Centerline is valid? [True, True] Translation: X:34.20, Y:-9.88, Z:6.73 [[ 9.18969699e-01 3.93706517e-01 -2.21330186e-02 3.42031078e+01] [-3.93565925e-01 9.19235648e-01 1.05681437e-02 -9.88451027e+00] [ 2.45062068e-02 -1.00100189e-03 9.99699177e-01 6.72911211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.944839173 meters 0.09056144704534135 Centerline is valid? [True, True] Translation: X:34.24, Y:-9.88, Z:6.73 [[ 9.15327985e-01 4.02155534e-01 -2.11093960e-02 3.42358691e+01] [-4.02029910e-01 9.15571068e-01 1.00782116e-02 -9.88407239e+00] [ 2.33801608e-02 -7.38260553e-04 9.99726374e-01 6.73268680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97483917299999 meters 0.0895791420859949 Centerline is valid? [True, True] Translation: X:34.26, Y:-9.89, Z:6.73 [[ 9.12798128e-01 4.08035915e-01 -1.75005555e-02 3.42639783e+01] [-4.07950774e-01 9.12965750e-01 8.34899868e-03 -9.89196308e+00] [ 1.93840991e-02 -4.81585189e-04 9.99811995e-01 6.72864226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00483917299999 meters 0.08979409092909515 Centerline is valid? [True, True] Translation: X:34.29, Y:-9.90, Z:6.73 [[ 9.12935367e-01 4.07712243e-01 -1.78813620e-02 3.42896402e+01] [-4.07623314e-01 9.13110332e-01 8.52966494e-03 -9.90218309e+00] [ 1.98053052e-02 -4.98172770e-04 9.99803732e-01 6.72758726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.034839172999995 meters 0.08951681161345193 Centerline is valid? [True, True] Translation: X:34.32, Y:-9.91, Z:6.73 [[ 9.14495678e-01 4.04132485e-01 -1.93543200e-02 3.43161487e+01] [-4.04027521e-01 9.14700250e-01 9.23119086e-03 -9.91422167e+00] [ 2.14340255e-02 -6.22206191e-04 9.99770071e-01 6.72727474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.064839172999996 meters 0.09109773075218622 Centerline is valid? [True, True] Translation: X:34.34, Y:-9.93, Z:6.73 [[ 9.16263174e-01 4.00133093e-01 -1.88494930e-02 3.43404404e+01] [-4.00032715e-01 9.16456777e-01 8.98910111e-03 -9.93015253e+00] [ 2.08715824e-02 -6.95968458e-04 9.99781923e-01 6.72800313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.094839173 meters 0.09352283040008749 Centerline is valid? [True, True] Translation: X:34.36, Y:-9.95, Z:6.72 [[ 9.17502615e-01 3.97249429e-01 -1.95407676e-02 3.43633033e+01] [-3.97140942e-01 9.17710341e-01 9.31672709e-03 -9.94823551e+00] [ 2.16338290e-02 -7.87682633e-04 9.99765651e-01 6.72406254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.124839173 meters 0.09496525446604137 Centerline is valid? [True, True] Translation: X:34.39, Y:-9.97, Z:6.72 [[ 9.19600151e-01 3.92362640e-01 -1.96753834e-02 3.43875765e+01] [-3.92251647e-01 9.19810166e-01 9.37571695e-03 -9.96659496e+00] [ 2.17762987e-02 -9.04209174e-04 9.99762459e-01 6.72305952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15483917299999 meters 0.09387309530324373 Centerline is valid? [True, True] Translation: X:34.41, Y:-9.98, Z:6.73 [[ 9.20043819e-01 3.91425290e-01 -1.74817889e-02 3.44134362e+01] [-3.91337623e-01 9.20209528e-01 8.32407754e-03 -9.97909684e+00] [ 1.93451631e-02 -8.17234400e-04 9.99812531e-01 6.72698901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18483917299999 meters 0.09418187819461019 Centerline is valid? [True, True] Translation: X:34.44, Y:-9.99, Z:6.73 [[ 9.18965323e-01 3.94070205e-01 -1.45398946e-02 3.44387931e+01] [-3.94009897e-01 9.19080123e-01 6.92301896e-03 -9.99138578e+00] [ 1.60914836e-02 -6.33152001e-04 9.99870323e-01 6.72594028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.214839172999994 meters 0.09358458475767109 Centerline is valid? [True, True] Translation: X:34.47, Y:-10.00, Z:6.72 [[ 9.20360715e-01 3.90420765e-01 -2.25339924e-02 3.44666677e+01] [-3.90274970e-01 9.20635907e-01 1.07226581e-02 -1.00014281e+01] [ 2.49319509e-02 -1.07426008e-03 9.99688573e-01 6.71928915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.244839172999995 meters 0.0914765237970777 Centerline is valid? [True, True] Translation: X:34.50, Y:-10.00, Z:6.73 [[ 9.16023534e-01 4.00790916e-01 -1.63562523e-02 3.45002239e+01] [-4.00715848e-01 9.16169371e-01 7.77769566e-03 -9.99898106e+00] [ 1.81023271e-02 -5.70342745e-04 9.99835977e-01 6.72882795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.274839173 meters 0.09126138474495885 Centerline is valid? [True, True] Translation: X:34.52, Y:-10.02, Z:6.73 [[ 9.16238921e-01 4.00334704e-01 -1.54390513e-02 3.45221769e+01] [-4.00267844e-01 9.16368829e-01 7.33636267e-03 -1.00187967e+01] [ 1.70848659e-02 -5.42105248e-04 9.99853896e-01 6.72747040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.304839173 meters 0.09137385007845286 Centerline is valid? [True, True] Translation: X:34.55, Y:-10.03, Z:6.72 [[ 9.16230292e-01 4.00338308e-01 -1.58521773e-02 3.45452188e+01] [-4.00267884e-01 9.16367248e-01 7.52913171e-03 -1.00320137e+01] [ 1.75406159e-02 -5.53301099e-04 9.99845998e-01 6.72336925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33483917299999 meters 0.09066276103341624 Centerline is valid? [True, True] Translation: X:34.57, Y:-10.04, Z:6.73 [[ 9.14148222e-01 4.05187652e-01 -1.24898220e-02 3.45743402e+01] [-4.05144392e-01 9.14233469e-01 5.93179100e-03 -1.00368475e+01] [ 1.38221018e-02 -3.62354837e-04 9.99904405e-01 6.72725219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36483917299999 meters 0.08907553898287064 Centerline is valid? [True, True] Translation: X:34.61, Y:-10.04, Z:6.73 [[ 9.11488833e-01 4.11229552e-01 -8.85224932e-03 3.46071217e+01] [-4.11208114e-01 9.11531798e-01 4.20338718e-03 -1.00353520e+01] [ 9.79766377e-03 -1.91223728e-04 9.99951983e-01 6.73198180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.394839172999994 meters 0.08855454700014899 Centerline is valid? [True, True] Translation: X:34.63, Y:-10.05, Z:6.73 [[ 9.10861577e-01 4.12643371e-01 -7.52565268e-03 3.46335272e+01] [-4.12627955e-01 9.10892654e-01 3.56984040e-03 -1.00458293e+01] [ 8.32813272e-03 -1.46335785e-04 9.99965310e-01 6.73393131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.424839172999995 meters 0.08821348263947584 Centerline is valid? [True, True] Translation: X:34.66, Y:-10.06, Z:6.74 [[ 9.10423286e-01 4.13623486e-01 -6.71209686e-03 3.46577343e+01] [-4.13611267e-01 9.10448020e-01 3.18154279e-03 -1.00620272e+01] [ 7.42697612e-03 -1.20351752e-04 9.99972412e-01 6.73500335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.454839172999996 meters 0.0883054681043929 Centerline is valid? [True, True] Translation: X:34.68, Y:-10.08, Z:6.74 [[ 9.11146154e-01 4.12039180e-01 -6.03331409e-03 3.46802269e+01] [-4.12029272e-01 9.11166121e-01 2.86001713e-03 -1.00789714e+01] [ 6.67579051e-03 -1.19991591e-04 9.99977709e-01 6.73562107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.484839173 meters 0.08837769412490082 Centerline is valid? [True, True] Translation: X:34.70, Y:-10.09, Z:6.74 [[ 9.11887749e-01 4.10409313e-01 -4.99282047e-03 3.47045205e+01] [-4.10402518e-01 9.11901411e-01 2.36408411e-03 -1.00938364e+01] [ 5.52320217e-03 -1.06713244e-04 9.99984741e-01 6.73597996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51483917299999 meters 0.08790285110196425 Centerline is valid? [True, True] Translation: X:34.73, Y:-10.10, Z:6.74 [[ 9.12447281e-01 4.09165600e-01 -4.84475646e-03 3.47294443e+01] [-4.09159183e-01 9.12460136e-01 2.29421403e-03 -1.01049893e+01] [ 5.35936060e-03 -1.11072755e-04 9.99985632e-01 6.73526278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54483917299999 meters 0.08769514324862852 Centerline is valid? [True, True] Translation: X:34.76, Y:-10.11, Z:6.73 [[ 9.11942080e-01 4.10253745e-01 -7.31492724e-03 3.47557229e+01] [-4.10239180e-01 9.11971403e-01 3.46044713e-03 -1.01135312e+01] [ 8.09066586e-03 -1.54857595e-04 9.99967258e-01 6.73346208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.574839172999994 meters 0.08746331959237716 Centerline is valid? [True, True] Translation: X:34.78, Y:-10.13, Z:6.73 [[ 9.11007807e-01 4.12339660e-01 -6.38601047e-03 3.47801139e+01] [-4.12328625e-01 9.11030181e-01 3.01900414e-03 -1.01279597e+01] [ 7.06270342e-03 -1.17201424e-04 9.99975052e-01 6.73118373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.604839172999995 meters 0.08694550549721262 Centerline is valid? [True, True] Translation: X:34.81, Y:-10.14, Z:6.73 [[ 9.08482929e-01 4.17862341e-01 -7.05909499e-03 3.48073435e+01] [-4.17849039e-01 9.08510351e-01 3.33511896e-03 -1.01382399e+01] [ 7.80688148e-03 -8.02625763e-05 9.99969523e-01 6.72853713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.634839172999996 meters 0.08713683902833509 Centerline is valid? [True, True] Translation: X:34.83, Y:-10.15, Z:6.72 [[ 9.07447093e-01 4.20068140e-01 -9.08465835e-03 3.48334366e+01] [-4.20046214e-01 9.07492563e-01 4.29262091e-03 -1.01478790e+01] [ 1.00474532e-02 -7.93500177e-05 9.99949520e-01 6.72471539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.664839173 meters 0.08710941704450376 Centerline is valid? [True, True] Translation: X:34.86, Y:-10.15, Z:6.72 [[ 9.06517578e-01 4.22006566e-01 -1.16764265e-02 3.48619221e+01] [-4.21970533e-01 9.06592771e-01 5.51510908e-03 -1.01536750e+01] [ 1.29131761e-02 -7.24354129e-05 9.99916619e-01 6.72282697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.694839173 meters 0.08697818416848078 Centerline is valid? [True, True] Translation: X:34.89, Y:-10.17, Z:6.72 [[ 9.06441331e-01 4.22205297e-01 -1.03344589e-02 3.48867436e+01] [-4.22177095e-01 9.06500239e-01 4.88027905e-03 -1.01653527e+01] [ 1.14286692e-02 -6.07147912e-05 9.99934689e-01 6.72110760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72483917299999 meters 0.08675439227406591 Centerline is valid? [True, True] Translation: X:34.91, Y:-10.18, Z:6.73 [[ 9.08400739e-01 4.18060725e-01 -5.77299011e-03 3.49104538e+01] [-4.18051860e-01 9.08419081e-01 2.72311545e-03 -1.01822358e+01] [ 6.38272199e-03 -6.02708311e-05 9.99979628e-01 6.72571300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75483917299999 meters 0.08675439227406591 Centerline is valid? [True, True] Translation: X:34.94, Y:-10.19, Z:6.73 [[ 9.08522818e-01 4.17795346e-01 -5.77387507e-03 3.49352734e+01] [-4.17786488e-01 9.08541163e-01 2.72123925e-03 -1.01937287e+01] [ 6.38272426e-03 -6.00609605e-05 9.99979628e-01 6.72555627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.784839172999995 meters 0.08662824605337241 Centerline is valid? [True, True] Translation: X:34.96, Y:-10.21, Z:6.73 [[ 9.09553528e-01 4.15575696e-01 -3.03655451e-03 3.49600239e+01] [-4.15573241e-01 9.09558596e-01 1.42909019e-03 -1.02068034e+01] [ 3.35581940e-03 -3.79232239e-05 9.99994369e-01 6.72774364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.814839172999996 meters 0.08682476677409308 Centerline is valid? [True, True] Translation: X:34.99, Y:-10.22, Z:6.73 [[ 9.10432502e-01 4.13654341e-01 -1.65681213e-03 3.49862536e+01] [-4.13653609e-01 9.10434009e-01 7.78602521e-04 -1.02189672e+01] [ 1.83049042e-03 -2.35187249e-05 9.99998324e-01 6.72770149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.844839173 meters 0.08668889216640946 Centerline is valid? [True, True] Translation: X:35.01, Y:-10.23, Z:6.73 [[ 9.10933108e-01 4.12541789e-01 -3.18515677e-03 3.50116509e+01] [-4.12539068e-01 9.10938675e-01 1.49903683e-03 -1.02314147e+01] [ 3.51989782e-03 -5.15206735e-05 9.99993804e-01 6.72631137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.874839173 meters 0.08726579576392449 Centerline is valid? [True, True] Translation: X:35.03, Y:-10.25, Z:6.72 [[ 9.11522497e-01 4.11241706e-01 -2.64535413e-03 3.50346652e+01] [-4.11239825e-01 9.11526334e-01 1.24459005e-03 -1.02467921e+01] [ 2.92313729e-03 -4.65968596e-05 9.99995727e-01 6.72406281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90483917299999 meters 0.08756969352358583 Centerline is valid? [True, True] Translation: X:35.06, Y:-10.26, Z:6.72 [[ 9.12600744e-01 4.08838666e-01 -3.29035356e-03 3.50580392e+01] [-4.08835742e-01 9.12606674e-01 1.54784407e-03 -1.02630594e+01] [ 3.63561712e-03 -6.73495116e-05 9.99993389e-01 6.72276017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93483917299999 meters 0.08761543964752126 Centerline is valid? [True, True] Translation: X:35.09, Y:-10.27, Z:6.72 [[ 9.12864221e-01 4.08212844e-01 -6.41776801e-03 3.50852011e+01] [-4.08201704e-01 9.12886770e-01 3.01887168e-03 -1.02718813e+01] [ 7.09103771e-03 -1.36076106e-04 9.99974849e-01 6.72074535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.964839172999994 meters 0.08784919012410614 Centerline is valid? [True, True] Translation: X:35.11, Y:-10.28, Z:6.72 [[ 9.13376983e-01 4.07022114e-01 -8.68820888e-03 3.51118965e+01] [-4.07001678e-01 9.13418284e-01 4.08323147e-03 -1.02832993e+01] [ 9.59793435e-03 -1.93414045e-04 9.99953920e-01 6.71979208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.994839172999995 meters 0.08783380547567261 Centerline is valid? [True, True] Translation: X:35.14, Y:-10.29, Z:6.72 [[ 9.13354164e-01 4.07090063e-01 -7.86462945e-03 3.51380893e+01] [-4.07073344e-01 9.13388007e-01 3.69344173e-03 -1.02946306e+01] [ 8.68702164e-03 -1.71939370e-04 9.99962252e-01 6.71830652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.024839173 meters 0.08786550079767903 Centerline is valid? [True, True] Translation: X:35.16, Y:-10.31, Z:6.72 [[ 9.13199981e-01 4.07478079e-01 -5.23545377e-03 3.51631999e+01] [-4.07470677e-01 9.13214982e-01 2.45863226e-03 -1.03066398e+01] [ 5.78293357e-03 -1.11929043e-04 9.99983272e-01 6.71972658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.054839173 meters 0.08797403246725112 Centerline is valid? [True, True] Translation: X:35.19, Y:-10.32, Z:6.72 [[ 9.13624381e-01 4.06540892e-01 -3.87228898e-03 3.51891126e+01] [-4.06536846e-01 9.13632583e-01 1.81561672e-03 -1.03163600e+01] [ 4.27597182e-03 -8.45635476e-05 9.99990854e-01 6.72099394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08483917299999 meters 0.08723309362142093 Centerline is valid? [True, True] Translation: X:35.22, Y:-10.32, Z:6.72 [[ 9.13533534e-01 4.06719414e-01 -5.98338451e-03 3.52166274e+01] [-4.06709764e-01 9.13553119e-01 2.80475875e-03 -1.03249900e+01] [ 6.60688942e-03 -1.28740271e-04 9.99978166e-01 6.71825554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11483917299999 meters 0.0882067870871133 Centerline is valid? [True, True] Translation: X:35.24, Y:-10.33, Z:6.71 [[ 9.10612949e-01 4.13160664e-01 -9.07315754e-03 3.52440646e+01] [-4.13138782e-01 9.10658141e-01 4.25401851e-03 -1.03311174e+01] [ 1.00201379e-02 -1.25291078e-04 9.99949789e-01 6.71160178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.144839172999994 meters 0.08780397526473921 Centerline is valid? [True, True] Translation: X:35.27, Y:-10.34, Z:6.70 [[ 9.09296788e-01 4.16001648e-01 -1.10444647e-02 3.52703434e+01] [-4.15969493e-01 9.09363853e-01 5.17340260e-03 -1.03404680e+01] [ 1.21955810e-02 -1.09997971e-04 9.99925625e-01 6.70441393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.174839172999995 meters 0.08914702237402845 Centerline is valid? [True, True] Translation: X:35.30, Y:-10.35, Z:6.70 [[ 9.08370751e-01 4.18008772e-01 -1.14562765e-02 3.52991064e+01] [-4.17974375e-01 9.08442987e-01 5.36304882e-03 -1.03460097e+01] [ 1.26491755e-02 -8.32066662e-05 9.99919993e-01 6.70465374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.204839172999996 meters 0.08915643931810628 Centerline is valid? [True, True] Translation: X:35.32, Y:-10.36, Z:6.70 [[ 9.08926406e-01 4.16847329e-01 -9.54423254e-03 3.53236970e+01] [-4.16823395e-01 9.08976511e-01 4.46768412e-03 -1.03582051e+01] [ 1.05378254e-02 -8.25366631e-05 9.99944472e-01 6.70435409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.234839173 meters 0.0885959450370193 Centerline is valid? [True, True] Translation: X:35.35, Y:-10.37, Z:6.71 [[ 9.10534821e-01 4.13401559e-01 -5.04883778e-03 3.53505106e+01] [-4.13394824e-01 9.10548817e-01 2.36054054e-03 -1.03688391e+01] [ 5.57306440e-03 -6.21909519e-05 9.99984468e-01 6.71163855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26483917299999 meters 0.0880539515241523 Centerline is valid? [True, True] Translation: X:35.38, Y:-10.38, Z:6.72 [[ 9.10727326e-01 4.13005936e-01 -1.35474457e-03 3.53771213e+01] [-4.13005453e-01 9.10728333e-01 6.31757150e-04 -1.03790431e+01] [ 1.49472371e-03 -1.58416071e-05 9.99998883e-01 6.71577529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29483917299999 meters 0.08723160115360681 Centerline is valid? [True, True] Translation: X:35.41, Y:-10.38, Z:6.72 [[ 9.10922325e-01 4.12575354e-01 1.44727088e-03 3.54060114e+01] [-4.12574798e-01 9.10923475e-01 -6.77826593e-04 -1.03840697e+01] [-1.59800756e-03 2.03398862e-05 9.99998723e-01 6.72090986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.324839172999994 meters 0.08716374888744745 Centerline is valid? [True, True] Translation: X:35.43, Y:-10.40, Z:6.72 [[ 9.11124158e-01 4.12122190e-01 2.84081524e-03 3.54306935e+01] [-4.12120053e-01 9.11128585e-01 -1.32765812e-03 -1.03960462e+01] [-3.13550534e-03 3.89044640e-05 9.99995084e-01 6.72190378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.354839172999995 meters 0.08668344699645465 Centerline is valid? [True, True] Translation: X:35.45, Y:-10.41, Z:6.72 [[ 9.11639132e-01 4.10980758e-01 2.98490345e-03 3.54546706e+01] [-4.10978394e-01 9.11644017e-01 -1.39484254e-03 -1.04123137e+01] [-3.29442282e-03 4.48622167e-05 9.99994572e-01 6.71872736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.384839172999996 meters 0.08715774643042497 Centerline is valid? [True, True] Translation: X:35.48, Y:-10.42, Z:6.72 [[ 9.11081050e-01 4.12223892e-01 1.66809373e-03 3.54802603e+01] [-4.12223157e-01 9.11082577e-01 -7.78976008e-04 -1.04237672e+01] [-1.84088365e-03 2.20834181e-05 9.99998305e-01 6.72013415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.414839173 meters 0.08722124283772138 Centerline is valid? [True, True] Translation: X:35.51, Y:-10.43, Z:6.72 [[ 9.09777781e-01 4.15095337e-01 -4.99628287e-04 3.55084647e+01] [-4.15095273e-01 9.09777919e-01 2.31386053e-04 -1.04314411e+01] [ 5.50598055e-04 -3.11655044e-06 9.99999848e-01 6.71712475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.444839173 meters 0.08738679151753617 Centerline is valid? [True, True] Translation: X:35.53, Y:-10.44, Z:6.72 [[ 9.10227643e-01 4.14105190e-01 -1.59039541e-03 3.55336831e+01] [-4.14104527e-01 9.10229033e-01 7.40904422e-04 -1.04427459e+01] [ 1.75443644e-03 -1.58017486e-05 9.99998461e-01 6.71572547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47483917299999 meters 0.08870146943241934 Centerline is valid? [True, True] Translation: X:35.56, Y:-10.47, Z:6.71 [[ 9.13913240e-01 4.05909553e-01 -1.59089337e-04 3.55552689e+01] [-4.05909546e-01 9.13913253e-01 7.29398598e-05 -1.04668700e+01] [ 1.75000840e-04 -2.08482291e-06 9.99999985e-01 6.71488754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50483917299999 meters 0.08994334557855191 Centerline is valid? [True, True] Translation: X:35.58, Y:-10.49, Z:6.71 [[ 9.16618444e-01 3.99756636e-01 -2.29327541e-03 3.55777545e+01] [-3.99755214e-01 9.16621311e-01 1.06814971e-03 -1.04881363e+01] [ 2.52906504e-03 -6.23369237e-05 9.99996800e-01 6.71313560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.534839172999995 meters 0.09225086617780388 Centerline is valid? [True, True] Translation: X:35.60, Y:-10.51, Z:6.71 [[ 9.20421380e-01 3.90855673e-01 -7.50514386e-03 3.55976610e+01] [-3.90840141e-01 9.20451934e-01 3.49597832e-03 -1.05138858e+01] [ 8.27454714e-03 -2.84461699e-04 9.99965725e-01 6.70949033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.564839172999996 meters 0.09254513047567764 Centerline is valid? [True, True] Translation: X:35.62, Y:-10.53, Z:6.71 [[ 9.20620242e-01 3.90353562e-01 -9.08108574e-03 3.56223050e+01] [-3.90330838e-01 9.20664965e-01 4.22613314e-03 -1.05290465e+01] [ 1.00103236e-02 -3.46035913e-04 9.99949836e-01 6.70760732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.594839173 meters 0.09088857811736771 Centerline is valid? [True, True] Translation: X:35.65, Y:-10.53, Z:6.71 [[ 9.18955763e-01 3.94310696e-01 -6.27540034e-03 3.56511941e+01] [-3.94299935e-01 9.18977166e-01 2.92062120e-03 -1.05349584e+01] [ 6.91858179e-03 -2.09531739e-04 9.99976044e-01 6.71008024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.624839173 meters 0.0904969288744559 Centerline is valid? [True, True] Translation: X:35.68, Y:-10.54, Z:6.71 [[ 9.18659231e-01 3.95003776e-01 -6.10204172e-03 3.56794570e+01] [-3.94993637e-01 9.18679476e-01 2.83694371e-03 -1.05429556e+01] [ 6.72642396e-03 -1.95916872e-04 9.99977358e-01 6.71089536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65483917299999 meters 0.09261397439793922 Centerline is valid? [True, True] Translation: X:35.70, Y:-10.57, Z:6.70 [[ 9.22468122e-01 3.85604142e-01 -1.90265351e-02 3.57002749e+01] [-3.85503502e-01 9.22663948e-01 8.84811741e-03 -1.05650847e+01] [ 2.09669687e-02 -8.27310341e-04 9.99779827e-01 6.69500994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68483917299999 meters 0.09259413137304942 Centerline is valid? [True, True] Translation: X:35.73, Y:-10.58, Z:6.70 [[ 9.22304566e-01 3.86221975e-01 -1.36701602e-02 3.57262789e+01] [-3.86170168e-01 9.22405686e-01 6.35230026e-03 -1.05792115e+01] [ 1.50628315e-02 -5.79747471e-04 9.99886381e-01 6.70075465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.714839172999994 meters 0.09490500289639292 Centerline is valid? [True, True] Translation: X:35.75, Y:-10.60, Z:6.71 [[ 9.25017954e-01 3.79859485e-01 -6.96821604e-03 3.57469533e+01] [-3.79845847e-01 9.25044134e-01 3.23759085e-03 -1.06044767e+01] [ 7.67573697e-03 -3.47981739e-04 9.99970481e-01 6.70755286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.744839172999995 meters 0.0945393157570627 Centerline is valid? [True, True] Translation: X:35.77, Y:-10.62, Z:6.71 [[ 9.25769550e-01 3.78065167e-01 -4.17977405e-03 3.57716167e+01] [-3.78060254e-01 9.25778960e-01 1.93936935e-03 -1.06186255e+01] [ 4.60275487e-03 -2.15202646e-04 9.99989384e-01 6.71247880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.774839173 meters 0.09367830623063397 Centerline is valid? [True, True] Translation: X:35.80, Y:-10.63, Z:6.71 [[ 9.25281097e-01 3.79222025e-01 -6.74884440e-03 3.57962884e+01] [-3.79209254e-01 9.25305648e-01 3.13050138e-03 -1.06348792e+01] [ 7.43189891e-03 -3.37369503e-04 9.99972326e-01 6.71170102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.804839173 meters 0.09255973345286139 Centerline is valid? [True, True] Translation: X:35.82, Y:-10.65, Z:6.71 [[ 9.24430934e-01 3.81266752e-01 -7.94430767e-03 3.58227191e+01] [-3.81249125e-01 9.24464992e-01 3.68562645e-03 -1.06464954e+01] [ 8.74944115e-03 -3.78346758e-04 9.99961651e-01 6.71048603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83483917299999 meters 0.09095736170978311 Centerline is valid? [True, True] Translation: X:35.85, Y:-10.66, Z:6.71 [[ 9.22088987e-01 3.86900874e-01 -7.72103191e-03 3.58485743e+01] [-3.86884427e-01 9.22121258e-01 3.58129386e-03 -1.06574560e+01] [ 8.50533338e-03 -3.15124627e-04 9.99963779e-01 6.71174782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86483917299999 meters 0.08943041538058649 Centerline is valid? [True, True] Translation: X:35.87, Y:-10.67, Z:6.71 [[ 9.21117306e-01 3.89164386e-01 -9.69479217e-03 3.58746365e+01] [-3.89138624e-01 9.21168251e-01 4.49265779e-03 -1.06700125e+01] [ 1.06789172e-02 -3.65646749e-04 9.99942912e-01 6.70972513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.894839172999994 meters 0.08998085871315678 Centerline is valid? [True, True] Translation: X:35.90, Y:-10.69, Z:6.71 [[ 9.21556969e-01 3.88071401e-01 -1.15473720e-02 3.58976433e+01] [-3.88034809e-01 9.21629203e-01 5.34782397e-03 -1.06888333e+01] [ 1.27177327e-02 -4.47542170e-04 9.99919026e-01 6.70673387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.924839172999995 meters 0.0904581199543044 Centerline is valid? [True, True] Translation: X:35.92, Y:-10.71, Z:6.70 [[ 9.21899470e-01 3.87174180e-01 -1.40542201e-02 3.59197602e+01] [-3.87119873e-01 9.22006421e-01 6.50864776e-03 -1.07083941e+01] [ 1.54780615e-02 -5.59651024e-04 9.99880051e-01 6.70263283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.954839172999996 meters 0.09133535840268962 Centerline is valid? [True, True] Translation: X:35.94, Y:-10.73, Z:6.70 [[ 9.23999905e-01 3.81993338e-01 -1.74718158e-02 3.59423337e+01] [-3.81908501e-01 9.24164728e-01 8.09021377e-03 -1.07306544e+01] [ 1.92372437e-02 -8.02721751e-04 9.99814625e-01 6.70069191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.984839173 meters 0.09157616051881937 Centerline is valid? [True, True] Translation: X:35.97, Y:-10.74, Z:6.70 [[ 9.24606478e-01 3.80544307e-01 -1.69968078e-02 3.59686085e+01] [-3.80463902e-01 9.24762339e-01 7.86354826e-03 -1.07426761e+01] [ 1.87104363e-02 -8.04015840e-04 9.99824621e-01 6.70241711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01483917299999 meters 0.09271437988033003 Centerline is valid? [True, True] Translation: X:35.99, Y:-10.76, Z:6.71 [[ 9.25268805e-01 3.79072654e-01 -1.34744681e-02 3.59930365e+01] [-3.79021979e-01 9.25366677e-01 6.23313993e-03 -1.07566058e+01] [ 1.48316366e-02 -6.60210383e-04 9.99889787e-01 6.70528968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04483917299999 meters 0.09322814674003531 Centerline is valid? [True, True] Translation: X:36.02, Y:-10.77, Z:6.70 [[ 9.26916062e-01 3.74788672e-01 -1.89753954e-02 3.60186566e+01] [-3.74687383e-01 9.27109706e-01 8.77250937e-03 -1.07717075e+01] [ 2.08801104e-02 -1.02153860e-03 9.99781465e-01 6.70288857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.074839172999994 meters 0.09586284230069267 Centerline is valid? [True, True] Translation: X:36.04, Y:-10.79, Z:6.69 [[ 9.29041449e-01 3.68930890e-01 -2.77846157e-02 3.60417269e+01] [-3.68711109e-01 9.29455297e-01 1.28440586e-02 -1.07887731e+01] [ 3.05631282e-02 -1.68816639e-03 9.99531413e-01 6.69223662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.104839172999995 meters 0.09561817161749292 Centerline is valid? [True, True] Translation: X:36.07, Y:-10.80, Z:6.69 [[ 9.29236892e-01 3.68487965e-01 -2.71185838e-02 3.60683410e+01] [-3.68278699e-01 9.29631049e-01 1.25264574e-02 -1.08007489e+01] [ 2.98261264e-02 -1.65284958e-03 9.99553736e-01 6.69239723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.134839172999996 meters 0.09441897697222801 Centerline is valid? [True, True] Translation: X:36.10, Y:-10.81, Z:6.70 [[ 9.29380906e-01 3.68642242e-01 -1.88156704e-02 3.60974932e+01] [-3.68541666e-01 9.29570655e-01 8.68548534e-03 -1.08091670e+01] [ 2.06923318e-02 -1.13776573e-03 9.99785243e-01 6.70094524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.164839173 meters 0.09525944285108252 Centerline is valid? [True, True] Translation: X:36.12, Y:-10.82, Z:6.70 [[ 9.30333934e-01 3.66281001e-01 -1.78044989e-02 3.61237756e+01] [-3.66190529e-01 9.30503606e-01 8.21798817e-03 -1.08198025e+01] [ 1.95772434e-02 -1.12563438e-03 9.99807714e-01 6.70242662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.194839173 meters 0.09568326873320183 Centerline is valid? [True, True] Translation: X:36.15, Y:-10.83, Z:6.70 [[ 9.30317621e-01 3.66483292e-01 -1.41110208e-02 3.61517924e+01] [-3.66426530e-01 9.30424211e-01 6.51046757e-03 -1.08255107e+01] [ 1.55152129e-02 -8.86150327e-04 9.99879239e-01 6.70486581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22483917299999 meters 0.09614751766226982 Centerline is valid? [True, True] Translation: X:36.18, Y:-10.83, Z:6.71 [[ 9.30565875e-01 3.65852762e-01 -1.41034783e-02 3.61803671e+01] [-3.65796072e-01 9.30672317e-01 6.50165947e-03 -1.08320709e+01] [ 1.55043669e-02 -8.91225466e-04 9.99879403e-01 6.70730188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.25483917299999 meters 0.09585533580150334 Centerline is valid? [True, True] Translation: X:36.21, Y:-10.84, Z:6.71 [[ 9.30744011e-01 3.65493694e-01 -1.13993957e-02 3.62078164e+01] [-3.65456683e-01 9.30813536e-01 5.25111857e-03 -1.08407728e+01] [ 1.25299625e-02 -7.21461825e-04 9.99921237e-01 6.70972691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.284839172999995 meters 0.09596584807374849 Centerline is valid? [True, True] Translation: X:36.24, Y:-10.85, Z:6.72 [[ 9.31224485e-01 3.64421553e-01 -4.22963545e-03 3.62357595e+01] [-3.64416451e-01 9.31234051e-01 1.94742356e-03 -1.08474746e+01] [ 4.64846368e-03 -2.72139765e-04 9.99989159e-01 6.71766211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.314839172999996 meters 0.09631755913981305 Centerline is valid? [True, True] Translation: X:36.26, Y:-10.86, Z:6.72 [[ 9.31564652e-01 3.63566094e-01 -2.64493560e-03 3.62628732e+01] [-3.63564101e-01 9.31568391e-01 1.21585305e-03 -1.08574586e+01] [ 2.90598134e-03 -1.71042089e-04 9.99995763e-01 6.72060999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.344839173 meters 0.09613378956953343 Centerline is valid? [True, True] Translation: X:36.29, Y:-10.86, Z:6.72 [[ 9.31758441e-01 3.63074087e-01 -1.84796265e-03 3.62905170e+01] [-3.63073116e-01 9.31760266e-01 8.48096020e-04 -1.08633378e+01] [ 2.02977986e-03 -1.19275066e-04 9.99997933e-01 6.72193510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.374839173 meters 0.09528288939037198 Centerline is valid? [True, True] Translation: X:36.32, Y:-10.86, Z:6.73 [[ 9.30573211e-01 3.66094796e-01 -2.84582686e-03 3.63249496e+01] [-3.66092501e-01 9.30577546e-01 1.30820123e-03 -1.08560564e+01] [ 3.12718824e-03 -1.75541146e-04 9.99995095e-01 6.72535359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40483917299999 meters 0.09482437502026894 Centerline is valid? [True, True] Translation: X:36.36, Y:-10.86, Z:6.73 [[ 9.30497451e-01 3.66285866e-01 3.02627096e-03 3.63571860e+01] [-3.66283268e-01 9.30502353e-01 -1.39227665e-03 -1.08556768e+01] [-3.32592351e-03 1.87037458e-04 9.99994452e-01 6.73035918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43483917299999 meters 0.09567554778243824 Centerline is valid? [True, True] Translation: X:36.38, Y:-10.87, Z:6.73 [[ 9.30657950e-01 3.65856394e-01 4.98783636e-03 3.63827978e+01] [-3.65849343e-01 9.30671265e-01 -2.29228012e-03 -1.08669004e+01] [-5.48068131e-03 3.08532059e-04 9.99984933e-01 6.73118000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.464839172999994 meters 0.09532130888246641 Centerline is valid? [True, True] Translation: X:36.41, Y:-10.87, Z:6.73 [[ 9.30794426e-01 3.65536758e-01 2.14819906e-03 3.64121726e+01] [-3.65535448e-01 9.30796895e-01 -9.87952065e-04 -1.08705450e+01] [-2.36066981e-03 1.34337370e-04 9.99997205e-01 6.72596363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.494839172999995 meters 0.09573549361465812 Centerline is valid? [True, True] Translation: X:36.44, Y:-10.88, Z:6.72 [[ 9.30316363e-01 3.66757141e-01 -8.14548381e-04 3.64398788e+01] [-3.66756954e-01 9.30316719e-01 3.73341486e-04 -1.08764932e+01] [ 8.94713633e-04 -4.85844102e-05 9.99999599e-01 6.72341661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.524839173 meters 0.09500872195324035 Centerline is valid? [True, True] Translation: X:36.47, Y:-10.88, Z:6.72 [[ 9.29595228e-01 3.68568941e-01 -3.10600850e-03 3.64704524e+01] [-3.68566230e-01 9.29600400e-01 1.42506324e-03 -1.08782516e+01] [ 3.41258079e-03 -1.79962148e-04 9.99994161e-01 6.72142713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.554839173 meters 0.09358149990019027 Centerline is valid? [True, True] Translation: X:36.50, Y:-10.88, Z:6.71 [[ 9.26988016e-01 3.74998471e-01 -8.32855864e-03 3.65029306e+01] [-3.74979234e-01 9.27025334e-01 3.82144153e-03 -1.08764297e+01] [ 9.15381958e-03 -4.19393958e-04 9.99958015e-01 6.71475179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58483917299999 meters 0.09125857104572523 Centerline is valid? [True, True] Translation: X:36.54, Y:-10.87, Z:6.71 [[ 9.23960076e-01 3.82387773e-01 -8.79594072e-03 3.65359038e+01] [-3.82366676e-01 9.24001872e-01 4.03310594e-03 -1.08735375e+01] [ 9.66967609e-03 -3.63154257e-04 9.99953182e-01 6.71414677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61483917299999 meters 0.08813437762725926 Centerline is valid? [True, True] Translation: X:36.58, Y:-10.85, Z:6.72 [[ 9.18656508e-01 3.95000682e-01 -6.68443652e-03 3.65778499e+01] [-3.94988830e-01 9.18680810e-01 3.06497478e-03 -1.08509357e+01] [ 7.35153069e-03 -1.75381264e-04 9.99972962e-01 6.71536089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.644839172999994 meters 0.08817866927850325 Centerline is valid? [True, True] Translation: X:36.61, Y:-10.85, Z:6.72 [[ 9.19280245e-01 3.93563594e-01 -5.61503472e-03 3.66078249e+01] [-3.93555221e-01 9.19297381e-01 2.57173339e-03 -1.08533898e+01] [ 6.17402734e-03 -1.54317469e-04 9.99980929e-01 6.71967519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.674839172999995 meters 0.08817866927850325 Centerline is valid? [True, True] Translation: X:36.63, Y:-10.86, Z:6.72 [[ 9.19390917e-01 3.93304977e-01 -5.61584262e-03 3.66327612e+01] [-3.93296611e-01 9.19408055e-01 2.56996937e-03 -1.08645887e+01] [ 6.17403268e-03 -1.54114631e-04 9.99980929e-01 6.71951843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.704839172999996 meters 0.08909004132347531 Centerline is valid? [True, True] Translation: X:36.66, Y:-10.88, Z:6.72 [[ 9.21141040e-01 3.89197736e-01 -4.93019245e-03 3.66586890e+01] [-3.89191235e-01 9.21154220e-01 2.25515797e-03 -1.08783774e+01] [ 5.41916995e-03 -1.58530867e-04 9.99985304e-01 6.71861829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.734839173 meters 0.09275908879481295 Centerline is valid? [True, True] Translation: X:36.68, Y:-10.90, Z:6.72 [[ 9.25084530e-01 3.79699920e-01 -6.82514085e-03 3.66815177e+01] [-3.79687193e-01 9.25109660e-01 3.12300441e-03 -1.08973294e+01] [ 7.49980825e-03 -2.97624496e-04 9.99971832e-01 6.71621889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76483917299999 meters 0.09283378929439447 Centerline is valid? [True, True] Translation: X:36.71, Y:-10.91, Z:6.72 [[ 9.25940746e-01 3.77582578e-01 -8.07041160e-03 3.67098552e+01] [-3.77564707e-01 9.25975841e-01 3.69237624e-03 -1.09059656e+01] [ 8.86718311e-03 -3.71819020e-04 9.99960617e-01 6.71642816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.79483917299999 meters 0.09311791977185856 Centerline is valid? [True, True] Translation: X:36.74, Y:-10.91, Z:6.72 [[ 9.26317572e-01 3.76631394e-01 -9.19508528e-03 3.67377692e+01] [-3.76608186e-01 9.26363108e-01 4.20312778e-03 -1.09129650e+01] [ 1.01010176e-02 -4.30486730e-04 9.99948891e-01 6.71572411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.824839172999994 meters 0.09402406484835481 Centerline is valid? [True, True] Translation: X:36.76, Y:-10.93, Z:6.72 [[ 9.27236872e-01 3.74362435e-01 -9.19515649e-03 3.67628684e+01] [-3.74339113e-01 9.27282352e-01 4.20339832e-03 -1.09280550e+01] [ 1.01001008e-02 -4.55439181e-04 9.99948889e-01 6.71500397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.854839172999995 meters 0.09502280702445078 Centerline is valid? [True, True] Translation: X:36.79, Y:-10.95, Z:6.72 [[ 9.29515768e-01 3.68777340e-01 -1.92604187e-03 3.67860324e+01] [-3.68776306e-01 9.29517758e-01 8.80132164e-04 -1.09472249e+01] [ 2.11486292e-03 -1.07818119e-04 9.99997758e-01 6.72123013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.884839172999996 meters 0.09524328526010103 Centerline is valid? [True, True] Translation: X:36.81, Y:-10.96, Z:6.72 [[ 9.30282947e-01 3.66842719e-01 -2.39154539e-04 3.68108554e+01] [-3.66842704e-01 9.30282978e-01 1.07708349e-04 -1.09616859e+01] [ 2.61993421e-04 -1.24671422e-05 9.99999966e-01 6.72310167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.914839173 meters 0.09600109644190509 Centerline is valid? [True, True] Translation: X:36.84, Y:-10.98, Z:6.72 [[ 9.30842275e-01 3.65413468e-01 -2.37813275e-03 3.68352370e+01] [-3.65411887e-01 9.30845303e-01 1.08415707e-03 -1.09774493e+01] [ 2.60983929e-03 -1.40181255e-04 9.99996585e-01 6.72128222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.944839173 meters 0.09668824633937623 Centerline is valid? [True, True] Translation: X:36.86, Y:-10.99, Z:6.72 [[ 9.29598075e-01 3.68551835e-01 -4.11867764e-03 3.68607669e+01] [-3.68547114e-01 9.29607171e-01 1.87958333e-03 -1.09897662e+01] [ 4.52147615e-03 -2.29330292e-04 9.99989752e-01 6.71827101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97483917299999 meters 0.09720265909477528 Centerline is valid? [True, True] Translation: X:36.89, Y:-11.00, Z:6.71 [[ 9.28520846e-01 3.71223518e-01 -6.49136963e-03 3.68862579e+01] [-3.71211858e-01 9.28543474e-01 2.96195780e-03 -1.10010778e+01] [ 7.12706731e-03 -3.40566188e-04 9.99974544e-01 6.71385233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00483917299999 meters 0.09523890317566852 Centerline is valid? [True, True] Translation: X:36.92, Y:-11.01, Z:6.71 [[ 9.28622969e-01 3.70875154e-01 -1.05357387e-02 3.69156266e+01] [-3.70844459e-01 9.28682569e-01 4.80349475e-03 -1.10054179e+01] [ 1.15658538e-02 -5.53515217e-04 9.99932960e-01 6.71161205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.034839172999995 meters 0.0967336735507785 Centerline is valid? [True, True] Translation: X:36.94, Y:-11.02, Z:6.71 [[ 9.28716281e-01 3.70647642e-01 -1.03147976e-02 3.69389642e+01] [-3.70618208e-01 9.28773400e-01 4.70263578e-03 -1.10206513e+01] [ 1.13231305e-02 -5.44562603e-04 9.99935743e-01 6.70826895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.064839172999996 meters 0.09822751766603963 Centerline is valid? [True, True] Translation: X:36.96, Y:-11.04, Z:6.71 [[ 9.30331999e-01 3.66574982e-01 -1.02544905e-02 3.69629867e+01] [-3.66545675e-01 9.30388326e-01 4.67245855e-03 -1.10393459e+01] [ 1.12534647e-02 -5.88198543e-04 9.99936505e-01 6.70841277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.094839173 meters 0.0991580683519034 Centerline is valid? [True, True] Translation: X:36.99, Y:-11.06, Z:6.71 [[ 9.31587464e-01 3.63442403e-01 -7.37683141e-03 3.69862028e+01] [-3.63427138e-01 9.31616561e-01 3.36124326e-03 -1.10585719e+01] [ 8.09399664e-03 -4.50351358e-04 9.99967142e-01 6.71054554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.124839173 meters 0.09961417646570274 Centerline is valid? [True, True] Translation: X:37.01, Y:-11.07, Z:6.71 [[ 9.32121429e-01 3.62059324e-01 -7.91750288e-03 3.70115013e+01] [-3.62041721e-01 9.32154924e-01 3.60408960e-03 -1.10726064e+01] [ 8.68523354e-03 -4.92982782e-04 9.99962161e-01 6.71097691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15483917299999 meters 0.09922233586468528 Centerline is valid? [True, True] Translation: X:37.04, Y:-11.08, Z:6.71 [[ 9.32043687e-01 3.62243912e-01 -8.59731105e-03 3.70381019e+01] [-3.62223188e-01 9.32083186e-01 3.91109981e-03 -1.10845208e+01] [ 9.43018117e-03 -5.31170477e-04 9.99955394e-01 6.71049537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18483917299999 meters 0.09706834798480002 Centerline is valid? [True, True] Translation: X:37.07, Y:-11.09, Z:6.71 [[ 9.29650286e-01 3.68287637e-01 -1.07033681e-02 3.70672512e+01] [-3.68255936e-01 9.29711717e-01 4.86708581e-03 -1.10906023e+01] [ 1.17435343e-02 -5.83108872e-04 9.99930872e-01 6.70764990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.214839172999994 meters 0.09366987602783972 Centerline is valid? [True, True] Translation: X:37.10, Y:-11.09, Z:6.71 [[ 9.24607248e-01 3.80814209e-01 -9.05398686e-03 3.70973430e+01] [-3.80792123e-01 9.24651507e-01 4.11691782e-03 -1.10919181e+01] [ 9.93956339e-03 -3.58845175e-04 9.99950537e-01 6.70577781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.244839172999995 meters 0.09223419816414659 Centerline is valid? [True, True] Translation: X:37.12, Y:-11.10, Z:6.71 [[ 9.22201384e-01 3.86636493e-01 -7.53853033e-03 3.71247833e+01] [-3.86621381e-01 9.22232163e-01 3.42727331e-03 -1.11006346e+01] [ 8.27738406e-03 -2.46079186e-04 9.99965712e-01 6.70535755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.274839173 meters 0.0895386918936802 Centerline is valid? [True, True] Translation: X:37.16, Y:-11.10, Z:6.71 [[ 9.18222734e-01 3.96019424e-01 -5.96873692e-03 3.71562285e+01] [-3.96010165e-01 9.18242125e-01 2.71093725e-03 -1.11024206e+01] [ 6.55432948e-03 -1.25563718e-04 9.99978512e-01 6.70774740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.304839173 meters 0.08902658042356557 Centerline is valid? [True, True] Translation: X:37.18, Y:-11.11, Z:6.71 [[ 9.16883685e-01 3.99048158e-01 -9.21280285e-03 3.71840316e+01] [-3.99026272e-01 9.16929955e-01 4.18226742e-03 -1.11116063e+01] [ 1.01164210e-02 -1.58502385e-04 9.99948815e-01 6.70505877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33483917299999 meters 0.08848375516837012 Centerline is valid? [True, True] Translation: X:37.21, Y:-11.12, Z:6.70 [[ 9.16144619e-01 4.00642837e-01 -1.28200448e-02 3.72112125e+01] [-4.00600622e-01 9.16234293e-01 5.81913746e-03 -1.11200986e+01] [ 1.40775604e-02 -1.95453545e-04 9.99900887e-01 6.70307751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36483917299999 meters 0.08777249992397501 Centerline is valid? [True, True] Translation: X:37.24, Y:-11.13, Z:6.71 [[ 9.16111912e-01 4.00756385e-01 -1.15448741e-02 3.72386724e+01] [-4.00722215e-01 9.16184638e-01 5.23603052e-03 -1.11295479e+01] [ 1.26756089e-02 -1.70502427e-04 9.99919647e-01 6.70587227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.394839172999994 meters 0.08754477788980317 Centerline is valid? [True, True] Translation: X:37.26, Y:-11.15, Z:6.71 [[ 9.16327103e-01 4.00345768e-01 -8.24053644e-03 3.72631913e+01] [-4.00328365e-01 9.16364148e-01 3.73478071e-03 -1.11460638e+01] [ 9.04653580e-03 -1.23360302e-04 9.99959072e-01 6.70836408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.424839172999995 meters 0.08780746114409425 Centerline is valid? [True, True] Translation: X:37.29, Y:-11.16, Z:6.71 [[ 9.16773840e-01 3.99346441e-01 -6.93881362e-03 3.72861374e+01] [-3.99334075e-01 9.16800091e-01 3.14474326e-03 -1.11621490e+01] [ 7.61734699e-03 -1.12113642e-04 9.99970981e-01 6.70697525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.454839172999996 meters 0.08837856700392147 Centerline is valid? [True, True] Translation: X:37.31, Y:-11.18, Z:6.71 [[ 9.17549364e-01 3.97555158e-01 -7.28431310e-03 3.73086119e+01] [-3.97541479e-01 9.17578268e-01 3.30064862e-03 -1.11792913e+01] [ 7.99611728e-03 -1.32691442e-04 9.99968022e-01 6.70676006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.484839173 meters 0.0884595455851258 Centerline is valid? [True, True] Translation: X:37.33, Y:-11.19, Z:6.71 [[ 9.17275994e-01 3.98178609e-01 -7.65154088e-03 3.73343507e+01] [-3.98163569e-01 9.17307897e-01 3.46323449e-03 -1.11894865e+01] [ 8.39780477e-03 -1.30177039e-04 9.99964729e-01 6.70738724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51483917299999 meters 0.08872476407293838 Centerline is valid? [True, True] Translation: X:37.36, Y:-11.20, Z:6.71 [[ 9.17300964e-01 3.98155394e-01 -5.58786888e-03 3.73592231e+01] [-3.98147384e-01 9.17317978e-01 2.52725261e-03 -1.12032032e+01] [ 6.13209184e-03 -9.34558811e-05 9.99981194e-01 6.71077019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54483917299999 meters 0.0888520591346936 Centerline is valid? [True, True] Translation: X:37.38, Y:-11.22, Z:6.71 [[ 9.18578991e-01 3.95221351e-01 -3.56663565e-03 3.73831126e+01] [-3.95218066e-01 9.18585912e-01 1.61316336e-03 -1.12188252e+01] [ 3.91381786e-03 -7.22191314e-05 9.99992338e-01 6.71428893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.574839172999994 meters 0.09052369762208606 Centerline is valid? [True, True] Translation: X:37.40, Y:-11.25, Z:6.73 [[ 9.23467297e-01 3.83671790e-01 2.02712642e-03 3.74032196e+01] [-3.83670698e-01 9.23469519e-01 -9.18058642e-04 -1.12458059e+01] [-2.22422266e-03 7.00481238e-05 9.99997524e-01 6.72624462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.604839172999995 meters 0.09337345960655395 Centerline is valid? [True, True] Translation: X:37.42, Y:-11.27, Z:6.73 [[ 9.25533323e-01 3.78650099e-01 3.48861575e-03 3.74220884e+01] [-3.78646838e-01 9.25539887e-01 -1.57757533e-03 -1.12720349e+01] [-3.82620208e-03 1.39145213e-04 9.99992670e-01 6.72848770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.634839172999996 meters 0.09300906491590727 Centerline is valid? [True, True] Translation: X:37.45, Y:-11.28, Z:6.73 [[ 9.25098482e-01 3.79727064e-01 -3.94140684e-04 3.74485068e+01] [-3.79727023e-01 9.25098566e-01 1.76616801e-04 -1.12826869e+01] [ 4.31685161e-04 -1.37220664e-05 9.99999907e-01 6.72787153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.664839173 meters 0.09103390189459348 Centerline is valid? [True, True] Translation: X:37.48, Y:-11.28, Z:6.73 [[ 9.23714560e-01 3.83063712e-01 -3.68838597e-03 3.74797036e+01] [-3.83060111e-01 9.23721915e-01 1.66564329e-03 -1.12829540e+01] [ 4.04509046e-03 -1.25705416e-04 9.99991811e-01 6.72688828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.694839173 meters 0.091353727682322 Centerline is valid? [True, True] Translation: X:37.51, Y:-11.29, Z:6.72 [[ 9.22403014e-01 3.86194144e-01 -5.17320077e-03 3.75061220e+01] [-3.86187113e-01 9.22417508e-01 2.33569140e-03 -1.12924168e+01] [ 5.67388130e-03 -1.56625322e-04 9.99983891e-01 6.72296902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72483917299999 meters 0.09108748911994638 Centerline is valid? [True, True] Translation: X:37.53, Y:-11.30, Z:6.73 [[ 9.22892695e-01 3.85041165e-01 -3.51773174e-03 3.75324562e+01] [-3.85037914e-01 9.22899393e-01 1.58598213e-03 -1.13048001e+01] [ 3.85718089e-03 -1.09231234e-04 9.99992555e-01 6.72531872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.75483917299999 meters 0.09226899312538482 Centerline is valid? [True, True] Translation: X:37.56, Y:-11.32, Z:6.73 [[ 9.23903614e-01 3.82624696e-01 -6.73956763e-04 3.75552535e+01] [-3.82624576e-01 9.23903859e-01 3.03529672e-04 -1.13220483e+01] [ 7.38809203e-04 -2.25597399e-05 9.99999727e-01 6.72619906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.784839172999995 meters 0.09226994103794002 Centerline is valid? [True, True] Translation: X:37.58, Y:-11.33, Z:6.73 [[ 9.23924016e-01 3.82575472e-01 -6.49642289e-04 3.75812389e+01] [-3.82575361e-01 9.23924244e-01 2.91123486e-04 -1.13319579e+01] [ 7.11596966e-04 -2.04388465e-05 9.99999747e-01 6.72528212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.814839172999996 meters 0.0922362463386286 Centerline is valid? [True, True] Translation: X:37.61, Y:-11.34, Z:6.73 [[ 9.24556308e-01 3.81035526e-01 -2.74958937e-03 3.76084617e+01] [-3.81033530e-01 9.24560392e-01 1.23722625e-03 -1.13420274e+01] [ 3.01358858e-03 -9.61995864e-05 9.99995455e-01 6.72525455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.844839173 meters 0.09334917117475992 Centerline is valid? [True, True] Translation: X:37.63, Y:-11.35, Z:6.73 [[ 9.25869957e-01 3.77821456e-01 -3.97121572e-03 3.76349778e+01] [-3.77817255e-01 9.25878460e-01 1.78842998e-03 -1.13514544e+01] [ 4.35257032e-03 -1.55459768e-04 9.99990515e-01 6.72550358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.874839173 meters 0.09353868065676625 Centerline is valid? [True, True] Translation: X:37.66, Y:-11.36, Z:6.73 [[ 9.25918074e-01 3.77707186e-01 -3.60572225e-03 3.76603113e+01] [-3.77703726e-01 9.25925084e-01 1.62291918e-03 -1.13614637e+01] [ 3.95161692e-03 -1.40795475e-04 9.99992182e-01 6.72638180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90483917299999 meters 0.0931937029377331 Centerline is valid? [True, True] Translation: X:37.69, Y:-11.37, Z:6.73 [[ 9.25133534e-01 3.79641826e-01 -1.66218558e-04 3.76874450e+01] [-3.79641819e-01 9.25133549e-01 7.42842214e-05 -1.13684064e+01] [ 1.81975762e-04 -5.61930876e-06 9.99999983e-01 6.73100354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93483917299999 meters 0.09288688074368977 Centerline is valid? [True, True] Translation: X:37.72, Y:-11.37, Z:6.73 [[ 9.24844996e-01 3.80343741e-01 -6.10094656e-04 3.77166858e+01] [-3.80343643e-01 9.24845197e-01 2.73058155e-04 -1.13745153e+01] [ 6.68099072e-04 -2.04908441e-05 9.99999777e-01 6.73155008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.964839172999994 meters 0.09299072024321894 Centerline is valid? [True, True] Translation: X:37.74, Y:-11.38, Z:6.73 [[ 9.24608163e-01 3.80919553e-01 -1.95775637e-04 3.77446705e+01] [-3.80919543e-01 9.24608184e-01 8.75126158e-05 -1.13789053e+01] [ 2.14351022e-04 -6.34011285e-06 9.99999977e-01 6.73140176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.994839172999995 meters 0.0930176079629044 Centerline is valid? [True, True] Translation: X:37.77, Y:-11.39, Z:6.73 [[ 9.23797815e-01 3.82877939e-01 1.44239404e-03 3.77717600e+01] [-3.82877391e-01 9.23798940e-01 -6.49137595e-04 -1.13880512e+01] [-1.58102255e-03 4.74118240e-05 9.99998749e-01 6.72966266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.024839173 meters 0.09238880585926418 Centerline is valid? [True, True] Translation: X:37.80, Y:-11.39, Z:6.73 [[ 9.22455658e-01 3.86102013e-01 8.91599253e-04 3.78001824e+01] [-3.86101805e-01 9.22456088e-01 -4.01347646e-04 -1.13940163e+01] [-9.77422294e-04 2.59773263e-05 9.99999522e-01 6.72854648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.054839173 meters 0.09154140674283669 Centerline is valid? [True, True] Translation: X:37.83, Y:-11.40, Z:6.73 [[ 9.21645793e-01 3.88025446e-01 2.29882862e-03 3.78294654e+01] [-3.88024073e-01 9.21648658e-01 -1.03412312e-03 -1.13999863e+01] [-2.51997840e-03 6.10943809e-05 9.99996823e-01 6.72940907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08483917299999 meters 0.09115920618634532 Centerline is valid? [True, True] Translation: X:37.86, Y:-11.40, Z:6.73 [[ 9.20518271e-01 3.90691422e-01 2.51518376e-03 3.78578888e+01] [-3.90689789e-01 9.20521705e-01 -1.13086789e-03 -1.14048261e+01] [-2.75710163e-03 5.83279436e-05 9.99996197e-01 6.72946725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11483917299999 meters 0.09080681734362653 Centerline is valid? [True, True] Translation: X:37.89, Y:-11.41, Z:6.73 [[ 9.20480648e-01 3.90787824e-01 5.02422049e-04 3.78850843e+01] [-3.90787758e-01 9.20480785e-01 -2.27402531e-04 -1.14114669e+01] [-5.51335982e-04 1.29792428e-05 9.99999848e-01 6.72779439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.144839172999994 meters 0.09171693627027236 Centerline is valid? [True, True] Translation: X:37.91, Y:-11.43, Z:6.72 [[ 9.18917179e-01 3.94444389e-01 2.20049926e-03 3.79081085e+01] [-3.94443152e-01 9.18919813e-01 -9.88465467e-04 -1.14274789e+01] [-2.41197702e-03 4.03460352e-05 9.99997090e-01 6.72499393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.174839172999995 meters 0.09047763854007906 Centerline is valid? [True, True] Translation: X:37.94, Y:-11.43, Z:6.73 [[ 9.19673777e-01 3.92680595e-01 -1.44720805e-03 3.79402658e+01] [-3.92680062e-01 9.19674915e-01 6.47709029e-04 -1.14259121e+01] [ 1.58530371e-03 -2.73912605e-05 9.99998743e-01 6.72609907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.204839172999996 meters 0.09057642000139 Centerline is valid? [True, True] Translation: X:37.97, Y:-11.43, Z:6.73 [[ 9.18701693e-01 3.94952131e-01 -1.19667530e-04 3.79673431e+01] [-3.94952127e-01 9.18701700e-01 5.31161326e-05 -1.14326766e+01] [ 1.30917093e-04 -1.53493549e-06 9.99999991e-01 6.72742094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.234839173 meters 0.09055116526223163 Centerline is valid? [True, True] Translation: X:38.00, Y:-11.44, Z:6.73 [[ 9.16862681e-01 3.99197988e-01 -1.94682687e-03 3.79970152e+01] [-3.99197038e-01 9.16864748e-01 8.71092454e-04 -1.14361691e+01] [ 2.13271528e-03 -2.15046425e-05 9.99997726e-01 6.72566813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26483917299999 meters 0.09105366640521347 Centerline is valid? [True, True] Translation: X:38.02, Y:-11.45, Z:6.72 [[ 9.16393133e-01 4.00227711e-01 -6.43471994e-03 3.80226659e+01] [-4.00217336e-01 9.16415722e-01 2.88245769e-03 -1.14464600e+01] [ 7.05051796e-03 -6.61779623e-05 9.99975143e-01 6.72091766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29483917299999 meters 0.09167119900869343 Centerline is valid? [True, True] Translation: X:38.05, Y:-11.46, Z:6.71 [[ 9.16626263e-01 3.99625386e-01 -9.79005576e-03 3.80473072e+01] [-3.99601340e-01 9.16678537e-01 4.38518706e-03 -1.14601220e+01] [ 1.07267661e-02 -1.07458228e-04 9.99942461e-01 6.71473715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.324839172999994 meters 0.0919726800679496 Centerline is valid? [True, True] Translation: X:38.07, Y:-11.47, Z:6.72 [[ 9.18490528e-01 3.95318205e-01 -9.93310039e-03 3.80716562e+01] [-3.95293210e-01 9.18544224e-01 4.44820351e-03 -1.14749518e+01] [ 1.08824478e-02 -1.59145655e-04 9.99940772e-01 6.71590051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.354839172999995 meters 0.09183683188040943 Centerline is valid? [True, True] Translation: X:38.10, Y:-11.49, Z:6.72 [[ 9.18976200e-01 3.94233314e-01 -7.92703040e-03 3.80972107e+01] [-3.94217370e-01 9.19010378e-01 3.54822766e-03 -1.14851716e+01] [ 8.68385276e-03 -1.35763695e-04 9.99962285e-01 6.71863223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.384839172999996 meters 0.09132053708140139 Centerline is valid? [True, True] Translation: X:38.13, Y:-11.49, Z:6.72 [[ 9.18407667e-01 3.95619792e-01 -3.51248485e-03 3.81256652e+01] [-3.95616673e-01 9.18414382e-01 1.57169932e-03 -1.14912367e+01] [ 3.84771196e-03 -5.38631313e-05 9.99992596e-01 6.72378561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.414839173 meters 0.091975599718195 Centerline is valid? [True, True] Translation: X:38.15, Y:-11.50, Z:6.72 [[ 9.18111061e-01 3.96201397e-01 -9.82509219e-03 3.81522912e+01] [-3.96177032e-01 9.18163620e-01 4.39624240e-03 -1.15009945e+01] [ 1.07628396e-02 -1.43762916e-04 9.99942069e-01 6.71592449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.444839173 meters 0.09198810139216543 Centerline is valid? [True, True] Translation: X:38.18, Y:-11.51, Z:6.71 [[ 9.18232443e-01 3.95891855e-01 -1.09004397e-02 3.81774933e+01] [-3.95861865e-01 9.18297127e-01 4.87548765e-03 -1.15120859e+01] [ 1.19400083e-02 -1.61762560e-04 9.99928702e-01 6.71468866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47483917299999 meters 0.09160517295288496 Centerline is valid? [True, True] Translation: X:38.20, Y:-11.52, Z:6.72 [[ 9.18181741e-01 3.96094697e-01 -7.16112284e-03 3.82033954e+01] [-3.96081766e-01 9.18209660e-01 3.20223949e-03 -1.15218404e+01] [ 7.84380225e-03 -1.03847653e-04 9.99969232e-01 6.71821320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50483917299999 meters 0.09150472213388439 Centerline is valid? [True, True] Translation: X:38.23, Y:-11.53, Z:6.72 [[ 9.18690493e-01 3.94952459e-01 -4.50928655e-03 3.82295209e+01] [-3.94947330e-01 9.18701557e-01 2.01395456e-03 -1.15338447e+01] [ 4.93810488e-03 -6.92702181e-05 9.99987805e-01 6.72081211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.534839172999995 meters 0.09168901053097149 Centerline is valid? [True, True] Translation: X:38.25, Y:-11.55, Z:6.72 [[ 9.19623745e-01 3.92765275e-01 -5.25419266e-03 3.82538886e+01] [-3.92758273e-01 9.19638749e-01 2.34729174e-03 -1.15485935e+01] [ 5.75389385e-03 -9.49975860e-05 9.99983442e-01 6.72104565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.564839172999996 meters 0.09168901053097149 Centerline is valid? [True, True] Translation: X:38.28, Y:-11.56, Z:6.72 [[ 9.19734364e-01 3.92506155e-01 -5.25530433e-03 3.82789153e+01] [-3.92499163e-01 9.19749373e-01 2.34480284e-03 -1.15595493e+01] [ 5.75391241e-03 -9.38932043e-05 9.99983442e-01 6.72088948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.594839173 meters 0.09282082096788506 Centerline is valid? [True, True] Translation: X:38.30, Y:-11.58, Z:6.72 [[ 9.21735038e-01 3.87690286e-01 -1.00379947e-02 3.83019374e+01] [-3.87664468e-01 9.21789664e-01 4.48053415e-03 -1.15802194e+01] [ 1.09899794e-02 -2.38491431e-04 9.99939580e-01 6.71671977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.624839173 meters 0.09416398282403708 Centerline is valid? [True, True] Translation: X:38.32, Y:-11.60, Z:6.71 [[ 9.23296594e-01 3.83864375e-01 -1.30973639e-02 3.83248411e+01] [-3.83820052e-01 9.23389411e-01 5.84493750e-03 -1.16007472e+01] [ 1.43376304e-02 -3.69579987e-04 9.99897143e-01 6.71476514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65483917299999 meters 0.09472840103905242 Centerline is valid? [True, True] Translation: X:38.35, Y:-11.62, Z:6.71 [[ 9.24178742e-01 3.81806289e-01 -1.08448345e-02 3.83475305e+01] [-3.81775820e-01 9.24242311e-01 4.83460953e-03 -1.16177113e+01] [ 1.18691392e-02 -3.27747780e-04 9.99929506e-01 6.71385164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68483917299999 meters 0.09492914884514646 Centerline is valid? [True, True] Translation: X:38.37, Y:-11.63, Z:6.71 [[ 9.24442351e-01 3.81205813e-01 -9.40572593e-03 3.83709192e+01] [-3.81182863e-01 9.24490153e-01 4.19306054e-03 -1.16337282e+01] [ 1.02939201e-02 -2.90941207e-04 9.99946974e-01 6.71313709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.714839172999994 meters 0.09390722825780598 Centerline is valid? [True, True] Translation: X:38.40, Y:-11.64, Z:6.71 [[ 9.21616311e-01 3.87940738e-01 -1.11963917e-02 3.83994368e+01] [-3.87908720e-01 9.21684283e-01 4.99073257e-03 -1.16404741e+01] [ 1.22556468e-02 -2.56362563e-04 9.99924864e-01 6.70936460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.744839172999995 meters 0.09363323984529404 Centerline is valid? [True, True] Translation: X:38.43, Y:-11.65, Z:6.70 [[ 9.20257385e-01 3.91002912e-01 -1.55906295e-02 3.84268308e+01] [-3.90941361e-01 9.20389393e-01 6.94382360e-03 -1.16486717e+01] [ 1.70645053e-02 -2.95083032e-04 9.99854347e-01 6.70408493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.774839173 meters 0.0934414086024321 Centerline is valid? [True, True] Translation: X:38.46, Y:-11.65, Z:6.70 [[ 9.17036313e-01 3.98250312e-01 -2.10021192e-02 3.84553303e+01] [-3.98140519e-01 9.17276753e-01 9.35334751e-03 -1.16525879e+01] [ 2.29897293e-02 -2.15564677e-04 9.99735678e-01 6.69738303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.804839173 meters 0.09291050775574802 Centerline is valid? [True, True] Translation: X:38.48, Y:-11.66, Z:6.70 [[ 9.15261472e-01 4.02296989e-01 -2.12971930e-02 3.84843657e+01] [-4.02185350e-01 9.15509214e-01 9.47754740e-03 -1.16588197e+01] [ 2.33105652e-02 -1.09014975e-04 9.99728266e-01 6.69799432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83483917299999 meters 0.09311830079708837 Centerline is valid? [True, True] Translation: X:38.52, Y:-11.66, Z:6.70 [[ 9.10392596e-01 4.13320921e-01 -1.87386482e-02 3.85152691e+01] [-4.13236937e-01 9.10585411e-01 8.33318524e-03 -1.16600211e+01] [ 2.05074195e-02 1.57031450e-04 9.99789688e-01 6.70037565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86483917299999 meters 0.09366679084049791 Centerline is valid? [True, True] Translation: X:38.54, Y:-11.67, Z:6.70 [[ 9.08169994e-01 4.18235310e-01 -1.75067630e-02 3.85418218e+01] [-4.18162958e-01 9.08338682e-01 7.78324362e-03 -1.16677252e+01] [ 1.91572973e-02 2.52171478e-04 9.99816450e-01 6.70106961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.894839172999994 meters 0.09403470019798844 Centerline is valid? [True, True] Translation: X:38.57, Y:-11.68, Z:6.70 [[ 9.05662011e-01 4.23637674e-01 -1.75340646e-02 3.85700603e+01] [-4.23566203e-01 9.05831653e-01 7.79029651e-03 -1.16760399e+01] [ 1.91831738e-02 3.71461552e-04 9.99815917e-01 6.70150091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.924839172999995 meters 0.0936246952503431 Centerline is valid? [True, True] Translation: X:38.60, Y:-11.69, Z:6.70 [[ 9.05165974e-01 4.24778263e-01 -1.54268435e-02 3.85966239e+01] [-4.24723187e-01 9.05297356e-01 6.84916702e-03 -1.16868254e+01] [ 1.68752579e-02 3.52505193e-04 9.99857541e-01 6.70355094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.954839172999996 meters 0.0935659740785664 Centerline is valid? [True, True] Translation: X:38.62, Y:-11.70, Z:6.70 [[ 9.05115670e-01 4.24949695e-01 -1.35418329e-02 3.86211062e+01] [-4.24907286e-01 9.05216912e-01 6.01165913e-03 -1.16995685e+01] [ 1.48129489e-02 3.12776582e-04 9.99890233e-01 6.70444542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.984839173 meters 0.09358388732565787 Centerline is valid? [True, True] Translation: X:38.64, Y:-11.72, Z:6.70 [[ 9.06165552e-01 4.22651672e-01 -1.51510889e-02 3.86430735e+01] [-4.22598366e-01 9.06292152e-01 6.71981586e-03 -1.17192615e+01] [ 1.65714544e-02 3.13559773e-04 9.99862635e-01 6.70315227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01483917299999 meters 0.09304547740575721 Centerline is valid? [True, True] Translation: X:38.66, Y:-11.75, Z:6.70 [[ 9.10829428e-01 4.12313697e-01 -1.96766076e-02 3.86590089e+01] [-4.12221472e-01 9.11041924e-01 8.72181790e-03 -1.17547057e+01] [ 2.15223395e-02 1.67031764e-04 9.99768354e-01 6.69865486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04483917299999 meters 0.09314896796869497 Centerline is valid? [True, True] Translation: X:38.68, Y:-11.78, Z:6.69 [[ 9.13040281e-01 4.07254002e-01 -2.23969274e-02 3.86788420e+01] [-4.07133028e-01 9.13314937e-01 9.92588709e-03 -1.17770616e+01] [ 2.44978056e-02 5.57941229e-05 9.99699882e-01 6.69452805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.074839172999994 meters 0.09363282035561002 Centerline is valid? [True, True] Translation: X:38.70, Y:-11.80, Z:6.69 [[ 9.14271983e-01 4.04084167e-01 -2.86832259e-02 3.87024813e+01] [-4.03884438e-01 9.14721808e-01 1.27033627e-02 -1.17962122e+01] [ 3.13704000e-02 -2.96200527e-05 9.99507827e-01 6.69109152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.104839172999995 meters 0.09373079103030078 Centerline is valid? [True, True] Translation: X:38.73, Y:-11.81, Z:6.69 [[ 9.13567736e-01 4.05506853e-01 -3.09545597e-02 3.87295342e+01] [-4.05275087e-01 9.14092004e-01 1.37080965e-02 -1.18064477e+01] [ 3.38540426e-02 2.18372033e-05 9.99426787e-01 6.68907147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.134839172999996 meters 0.09382102078122682 Centerline is valid? [True, True] Translation: X:38.76, Y:-11.82, Z:6.69 [[ 9.13503666e-01 4.05430008e-01 -3.37277339e-02 3.87557245e+01] [-4.05155134e-01 9.14126090e-01 1.49268067e-02 -1.18197390e+01] [ 3.68831769e-02 2.92719091e-05 9.99319584e-01 6.68853808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.164839173 meters 0.0931740827708445 Centerline is valid? [True, True] Translation: X:38.78, Y:-11.84, Z:6.69 [[ 9.14540659e-01 4.03096276e-01 -3.35972463e-02 3.87762987e+01] [-4.02822395e-01 9.15157576e-01 1.48569319e-02 -1.18418526e+01] [ 3.67355484e-02 -5.35450537e-05 9.99325021e-01 6.68914449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.194839173 meters 0.09257250354507106 Centerline is valid? [True, True] Translation: X:38.80, Y:-11.86, Z:6.69 [[ 9.15407798e-01 4.01200129e-01 -3.26652834e-02 3.88007979e+01] [-4.00940381e-01 9.15990416e-01 1.44349716e-02 -1.18572486e+01] [ 3.57123990e-02 -1.17054350e-04 9.99362102e-01 6.69039905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22483917299999 meters 0.09253624568200104 Centerline is valid? [True, True] Translation: X:38.83, Y:-11.87, Z:6.69 [[ 9.16542949e-01 3.98597185e-01 -3.27002616e-02 3.88251541e+01] [-3.98335577e-01 9.17126077e-01 1.44404908e-02 -1.18721489e+01] [ 3.57462016e-02 -2.09652453e-04 9.99360878e-01 6.68899113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.25483917299999 meters 0.09266920911562922 Centerline is valid? [True, True] Translation: X:38.85, Y:-11.89, Z:6.69 [[ 9.20175216e-01 3.90225469e-01 -3.16489518e-02 3.88458094e+01] [-3.89975635e-01 9.20719186e-01 1.39708124e-02 -1.18927620e+01] [ 3.45915639e-02 -5.13275223e-04 9.99401401e-01 6.68759688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.284839172999995 meters 0.0926916606603441 Centerline is valid? [True, True] Translation: X:38.87, Y:-11.91, Z:6.69 [[ 9.21779525e-01 3.86455624e-01 -3.12178977e-02 3.88704014e+01] [-3.86210725e-01 9.22307782e-01 1.37706600e-02 -1.19076713e+01] [ 3.41142590e-02 -6.36825589e-04 9.99417736e-01 6.68697386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.314839172999996 meters 0.09296784568277489 Centerline is valid? [True, True] Translation: X:38.90, Y:-11.92, Z:6.69 [[ 9.23342410e-01 3.82689088e-01 -3.14301850e-02 3.88964069e+01] [-3.82438946e-01 9.23876866e-01 1.38560265e-02 -1.19210862e+01] [ 3.43401709e-02 -7.73730136e-04 9.99409903e-01 6.68723183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.344839173 meters 0.09299160509634583 Centerline is valid? [True, True] Translation: X:38.92, Y:-11.93, Z:6.69 [[ 9.23443807e-01 3.82522403e-01 -3.04655030e-02 3.89216039e+01] [-3.82287435e-01 9.23945910e-01 1.34265307e-02 -1.19322372e+01] [ 3.32844257e-02 -7.52067578e-04 9.99445637e-01 6.68730853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.374839173 meters 0.09209038342945049 Centerline is valid? [True, True] Translation: X:38.95, Y:-11.95, Z:6.69 [[ 9.23668565e-01 3.82263779e-01 -2.66605562e-02 3.89474146e+01] [-3.82083970e-01 9.24053012e-01 1.17418603e-02 -1.19461611e+01] [ 2.91242551e-02 -6.59016167e-04 9.99575582e-01 6.68902623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40483917299999 meters 0.09139088523061573 Centerline is valid? [True, True] Translation: X:38.97, Y:-11.96, Z:6.68 [[ 9.24280453e-01 3.80702382e-01 -2.77730212e-02 3.89723888e+01] [-3.80506605e-01 9.24697331e-01 1.22298433e-02 -1.19588551e+01] [ 3.03375691e-02 -7.35987090e-04 9.99539439e-01 6.68481589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43483917299999 meters 0.08998049027080945 Centerline is valid? [True, True] Translation: X:39.00, Y:-11.96, Z:6.70 [[ 9.23029190e-01 3.84171224e-01 -2.07264150e-02 3.90022507e+01] [-3.84063119e-01 9.23261749e-01 9.12488055e-03 -1.19631170e+01] [ 2.26414227e-02 -4.62279514e-04 9.99743543e-01 6.69500961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.464839172999994 meters 0.08924843036564425 Centerline is valid? [True, True] Translation: X:39.03, Y:-11.97, Z:6.70 [[ 9.22475331e-01 3.85615058e-01 -1.84469853e-02 3.90298099e+01] [-3.85529747e-01 9.22659679e-01 8.11977583e-03 -1.19716369e+01] [ 2.01513974e-02 -3.78431321e-04 9.99796868e-01 6.69726236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.494839172999995 meters 0.0884717226385234 Centerline is valid? [True, True] Translation: X:39.05, Y:-11.99, Z:6.70 [[ 9.22543981e-01 3.85416103e-01 -1.91580400e-02 3.90549421e+01] [-3.85324185e-01 9.22742800e-01 8.42600378e-03 -1.19853942e+01] [ 2.09254610e-02 -3.91302918e-04 9.99780962e-01 6.69747541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.524839173 meters 0.08807686663626947 Centerline is valid? [True, True] Translation: X:39.08, Y:-12.00, Z:6.70 [[ 9.21421179e-01 3.88261056e-01 -1.53741155e-02 3.90805180e+01] [-3.88202266e-01 9.21549393e-01 6.76143379e-03 -1.19980471e+01] [ 1.67932082e-02 -2.61861829e-04 9.99858950e-01 6.70003281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.554839173 meters 0.08671884211508706 Centerline is valid? [True, True] Translation: X:39.11, Y:-12.01, Z:6.71 [[ 9.20961078e-01 3.89526963e-01 -9.97183282e-03 3.91071103e+01] [-3.89502321e-01 9.21015050e-01 4.38408837e-03 -1.20105858e+01] [ 1.08919287e-02 -1.53522721e-04 9.99940669e-01 6.70530852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58483917299999 meters 0.0862700887546692 Centerline is valid? [True, True] Translation: X:39.13, Y:-12.02, Z:6.71 [[ 9.20395503e-01 3.90857131e-01 -1.01400868e-02 3.91340695e+01] [-3.90831776e-01 9.20451348e-01 4.45402382e-03 -1.20195344e+01] [ 1.10743435e-02 -1.36395358e-04 9.99938668e-01 6.70627904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61483917299999 meters 0.0865142817447903 Centerline is valid? [True, True] Translation: X:39.16, Y:-12.02, Z:6.69 [[ 9.19131681e-01 3.93455208e-01 -1.97471798e-02 3.91630254e+01] [-3.93359616e-01 9.19343764e-01 8.67499831e-03 -1.20240710e+01] [ 2.15676699e-02 -2.05722723e-04 9.99767370e-01 6.69477745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.644839172999994 meters 0.08678973268619927 Centerline is valid? [True, True] Translation: X:39.19, Y:-12.04, Z:6.69 [[ 9.20121440e-01 3.90849057e-01 -2.47699488e-02 3.91897873e+01] [-3.90697880e-01 9.20454728e-01 1.08747100e-02 -1.20369532e+01] [ 2.70499867e-02 -3.28487326e-04 9.99634028e-01 6.68741046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.674839172999995 meters 0.08671669800436249 Centerline is valid? [True, True] Translation: X:39.22, Y:-12.05, Z:6.69 [[ 9.20490148e-01 3.90280403e-01 -1.94703339e-02 3.92150449e+01] [-3.90186894e-01 9.20696005e-01 8.54717072e-03 -1.20514231e+01] [ 2.12620519e-02 -2.70517321e-04 9.99773900e-01 6.69088426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.704839172999996 meters 0.08620287810854033 Centerline is valid? [True, True] Translation: X:39.24, Y:-12.06, Z:6.70 [[ 9.21453301e-01 3.88120024e-01 -1.69310514e-02 3.92408681e+01] [-3.88049069e-01 9.21608796e-01 7.42614253e-03 -1.20640044e+01] [ 1.84860405e-02 -2.72764820e-04 9.99829081e-01 6.69567172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.734839173 meters 0.08669979893945824 Centerline is valid? [True, True] Translation: X:39.26, Y:-12.08, Z:6.70 [[ 9.23389649e-01 3.83606844e-01 -1.40479676e-02 3.92631410e+01] [-3.83557486e-01 9.23496453e-01 6.16084298e-03 -1.20828210e+01] [ 1.53365898e-02 -3.00655482e-04 9.99882342e-01 6.69775752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76483917299999 meters 0.08661851042868432 Centerline is valid? [True, True] Translation: X:39.29, Y:-12.09, Z:6.70 [[ 9.24349206e-01 3.81297024e-01 -1.38247625e-02 3.92896098e+01] [-3.81249040e-01 9.24452525e-01 6.05791229e-03 -1.20949517e+01] [ 1.50902005e-02 -3.28948991e-04 9.99886082e-01 6.70144426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79483917299999 meters 0.08720263364062003 Centerline is valid? [True, True] Translation: X:39.32, Y:-12.11, Z:6.70 [[ 9.24932943e-01 3.79675467e-01 -1.85900729e-02 3.93152652e+01] [-3.79588372e-01 9.25119620e-01 8.14593056e-03 -1.21092454e+01] [ 2.02908512e-02 -4.77863999e-04 9.99794005e-01 6.69772648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.824839172999994 meters 0.08702404914879441 Centerline is valid? [True, True] Translation: X:39.34, Y:-12.12, Z:6.69 [[ 9.23064326e-01 3.83964652e-01 -2.28778721e-02 3.93413834e+01] [-3.83834245e-01 9.23347675e-01 1.00171232e-02 -1.21204354e+01] [ 2.49704513e-02 -4.65138254e-04 9.99688081e-01 6.69181095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.854839172999995 meters 0.08644561496035914 Centerline is valid? [True, True] Translation: X:39.37, Y:-12.13, Z:6.69 [[ 9.22056025e-01 3.86363040e-01 -2.31578998e-02 3.93684792e+01] [-3.86230346e-01 9.22346704e-01 1.01330048e-02 -1.21304942e+01] [ 2.52746311e-02 -3.98914431e-04 9.99680466e-01 6.69080541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.884839172999996 meters 0.08552489614880196 Centerline is valid? [True, True] Translation: X:39.40, Y:-12.14, Z:6.69 [[ 9.21220197e-01 3.88464862e-01 -2.11754724e-02 3.93961452e+01] [-3.88354490e-01 9.21463485e-01 9.26476985e-03 -1.21389253e+01] [ 2.31114621e-02 -3.11303334e-04 9.99732846e-01 6.69409912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.914839173 meters 0.08390823481421907 Centerline is valid? [True, True] Translation: X:39.43, Y:-12.14, Z:6.70 [[ 9.20549049e-01 3.90324709e-01 -1.53645699e-02 3.94257405e+01] [-3.90266949e-01 9.20677244e-01 6.71726611e-03 -1.21438914e+01] [ 1.67677248e-02 -1.87289099e-04 9.99859394e-01 6.70190370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.944839173 meters 0.08323843172879974 Centerline is valid? [True, True] Translation: X:39.45, Y:-12.15, Z:6.71 [[ 9.20104700e-01 3.91466982e-01 -1.26863158e-02 3.94526029e+01] [-3.91427742e-01 9.20192145e-01 5.54433036e-03 -1.21535780e+01] [ 1.38442704e-02 -1.35588466e-04 9.99904154e-01 6.70713761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97483917299999 meters 0.08284123494297477 Centerline is valid? [True, True] Translation: X:39.48, Y:-12.17, Z:6.71 [[ 9.19759927e-01 3.92317373e-01 -1.13470745e-02 3.94782421e+01] [-3.92286094e-01 9.19829912e-01 4.95509964e-03 -1.21657900e+01] [ 1.23813502e-02 -1.06202554e-04 9.99923343e-01 6.70910188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00483917299999 meters 0.08229366065837287 Centerline is valid? [True, True] Translation: X:39.50, Y:-12.18, Z:6.71 [[ 9.18291646e-01 3.95772091e-01 -1.02422953e-02 3.95038033e+01] [-3.95746857e-01 9.18348762e-01 4.46945681e-03 -1.21789314e+01] [ 1.11748855e-02 -5.09086629e-05 9.99937558e-01 6.71099748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.034839172999995 meters 0.08231549083130218 Centerline is valid? [True, True] Translation: X:39.53, Y:-12.19, Z:6.71 [[ 9.17674259e-01 3.97159033e-01 -1.17752888e-02 3.95292739e+01] [-3.97125834e-01 9.17749803e-01 5.13518753e-03 -1.21925125e+01] [ 1.28462551e-02 -3.61580168e-05 9.99917483e-01 6.71057378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.064839172999996 meters 0.08189519463775057 Centerline is valid? [True, True] Translation: X:39.55, Y:-12.21, Z:6.71 [[ 9.16500196e-01 3.99850530e-01 -1.21220717e-02 3.95539128e+01] [-3.99815639e-01 9.16580359e-01 5.28216383e-03 -1.22054326e+01] [ 1.32229288e-02 5.48963818e-06 9.99912573e-01 6.71144159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.094839173 meters 0.08169284313975413 Centerline is valid? [True, True] Translation: X:39.58, Y:-12.22, Z:6.71 [[ 9.15793401e-01 4.01443565e-01 -1.28651124e-02 3.95802068e+01] [-4.01404471e-01 9.15883761e-01 5.60245336e-03 -1.22166859e+01] [ 1.40320163e-02 3.34238071e-05 9.99901546e-01 6.71151743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.124839173 meters 0.08157195067286849 Centerline is valid? [True, True] Translation: X:39.60, Y:-12.23, Z:6.71 [[ 9.15136444e-01 4.02940025e-01 -1.28306701e-02 3.96046898e+01] [-4.02901353e-01 9.15226383e-01 5.58276882e-03 -1.22301160e+01] [ 1.39924888e-02 6.04991564e-05 9.99902099e-01 6.71188599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15483917299999 meters 0.08108286271791455 Centerline is valid? [True, True] Translation: X:39.63, Y:-12.25, Z:6.71 [[ 9.13689023e-01 4.06287907e-01 -1.01245492e-02 3.96275066e+01] [-4.06264069e-01 9.13745111e-01 4.40209796e-03 -1.22497450e+01] [ 1.10397765e-02 9.10919571e-05 9.99939056e-01 6.71316135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18483917299999 meters 0.08003836972127076 Centerline is valid? [True, True] Translation: X:39.65, Y:-12.26, Z:6.72 [[ 9.13082871e-01 4.07721665e-01 -6.53563182e-03 3.96535850e+01] [-4.07711770e-01 9.13106258e-01 2.84142096e-03 -1.22590165e+01] [ 7.12623520e-03 7.02012074e-05 9.99974606e-01 6.71735011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.214839172999994 meters 0.07911013243254846 Centerline is valid? [True, True] Translation: X:39.68, Y:-12.27, Z:6.72 [[ 9.13769980e-01 4.06185764e-01 -6.12769592e-03 3.96813396e+01] [-4.06177051e-01 9.13790524e-01 2.66119519e-03 -1.22682204e+01] [ 6.68037007e-03 5.72091820e-05 9.99977684e-01 6.72159528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.244839172999995 meters 0.07920502080953434 Centerline is valid? [True, True] Translation: X:39.70, Y:-12.29, Z:6.72 [[ 9.15668946e-01 4.01842656e-01 -8.53590395e-03 3.97034390e+01] [-4.01825558e-01 9.15708730e-01 3.70703816e-03 -1.22871315e+01] [ 9.30604783e-03 3.55246492e-05 9.99956697e-01 6.72095771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.274839173 meters 0.0795104066622221 Centerline is valid? [True, True] Translation: X:39.73, Y:-12.31, Z:6.72 [[ 9.17191142e-01 3.98297441e-01 -1.09341930e-02 3.97252200e+01] [-3.98269178e-01 9.17256315e-01 4.74483753e-03 -1.23100464e+01] [ 1.19193142e-02 2.82911108e-06 9.99928962e-01 6.71806933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.304839173 meters 0.07931506997394985 Centerline is valid? [True, True] Translation: X:39.75, Y:-12.33, Z:6.71 [[ 9.19108398e-01 3.93717073e-01 -1.50538747e-02 3.97469696e+01] [-3.93662879e-01 9.19231668e-01 6.53278436e-03 -1.23327240e+01] [ 1.64100671e-02 -7.81853023e-05 9.99865343e-01 6.71347513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33483917299999 meters 0.07968146130488885 Centerline is valid? [True, True] Translation: X:39.77, Y:-12.35, Z:6.72 [[ 9.19916279e-01 3.91881681e-01 -1.35198864e-02 3.97694482e+01] [-3.91837795e-01 9.20015619e-01 5.86551610e-03 -1.23496103e+01] [ 1.47370950e-02 -9.81812568e-05 9.99891398e-01 6.71532821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36483917299999 meters 0.07957603371831104 Centerline is valid? [True, True] Translation: X:39.79, Y:-12.36, Z:6.72 [[ 9.21125445e-01 3.89070441e-01 -1.23331762e-02 3.97938745e+01] [-3.89033743e-01 9.21207998e-01 5.34510291e-03 -1.23638462e+01] [ 1.34410421e-02 -1.25488576e-04 9.99909657e-01 6.71614002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.394839172999994 meters 0.07940964830988859 Centerline is valid? [True, True] Translation: X:39.82, Y:-12.38, Z:6.72 [[ 9.21559789e-01 3.88085470e-01 -1.08269599e-02 3.98177230e+01] [-3.88057133e-01 9.21623379e-01 4.69134038e-03 -1.23789878e+01] [ 1.17990204e-02 -1.21871639e-04 9.99930382e-01 6.71655991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.424839172999995 meters 0.07916798115010457 Centerline is valid? [True, True] Translation: X:39.84, Y:-12.40, Z:6.72 [[ 9.24197957e-01 3.81845663e-01 -7.21292504e-03 3.98411066e+01] [-3.81832921e-01 9.24226094e-01 3.12220211e-03 -1.23975103e+01] [ 7.85857286e-03 -1.31400575e-04 9.99969112e-01 6.72125471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.454839172999996 meters 0.07933534291106563 Centerline is valid? [True, True] Translation: X:39.86, Y:-12.41, Z:6.72 [[ 9.25147519e-01 3.79560489e-01 -5.99185275e-03 3.98644445e+01] [-3.79551649e-01 9.25166914e-01 2.59351965e-03 -1.24123070e+01] [ 6.52786151e-03 -1.25170675e-04 9.99978685e-01 6.72308072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.484839173 meters 0.07933534291106563 Centerline is valid? [True, True] Translation: X:39.89, Y:-12.42, Z:6.72 [[ 9.25254877e-01 3.79298691e-01 -5.99298475e-03 3.98896383e+01] [-3.79289862e-01 9.25274277e-01 2.59090381e-03 -1.24229850e+01] [ 6.52788106e-03 -1.24168024e-04 9.99978685e-01 6.72292432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51483917299999 meters 0.07970768870155913 Centerline is valid? [True, True] Translation: X:39.91, Y:-12.44, Z:6.72 [[ 9.27015835e-01 3.74961607e-01 -6.74057490e-03 3.99127842e+01] [-3.74950315e-01 9.27040324e-01 2.91529282e-03 -1.24428868e+01] [ 7.34190762e-03 -1.75141932e-04 9.99973032e-01 6.72483748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54483917299999 meters 0.07995212170074499 Centerline is valid? [True, True] Translation: X:39.94, Y:-12.46, Z:6.72 [[ 9.27594231e-01 3.73493891e-01 -8.44130110e-03 3.99381680e+01] [-3.73476156e-01 9.27632610e-01 3.64698887e-03 -1.24568355e+01] [ 9.19255424e-03 -2.30301143e-04 9.99957721e-01 6.72357917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.574839172999994 meters 0.07993246834290249 Centerline is valid? [True, True] Translation: X:39.96, Y:-12.47, Z:6.72 [[ 9.28384290e-01 3.71544031e-01 -7.59228952e-03 3.99641414e+01] [-3.71529641e-01 9.28415308e-01 3.27758869e-03 -1.24681657e+01] [ 8.26656633e-03 -2.22101249e-04 9.99965807e-01 6.72483898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.604839172999995 meters 0.07971423772893081 Centerline is valid? [True, True] Translation: X:39.99, Y:-12.48, Z:6.73 [[ 9.28431376e-01 3.71488849e-01 -3.34897305e-03 3.99909019e+01] [-3.71486050e-01 9.28437411e-01 1.44551978e-03 -1.24758552e+01] [ 3.64630635e-03 -9.79691466e-05 9.99993347e-01 6.73086692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.634839172999996 meters 0.07933880175136916 Centerline is valid? [True, True] Translation: X:40.02, Y:-12.49, Z:6.73 [[ 9.28507141e-01 3.71309360e-01 -1.96162723e-03 4.00173549e+01] [-3.71308403e-01 9.28509212e-01 8.44805176e-04 -1.24863558e+01] [ 2.13507303e-03 -5.60389628e-05 9.99997719e-01 6.73169314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.664839173 meters 0.07920297241245412 Centerline is valid? [True, True] Translation: X:40.04, Y:-12.50, Z:6.73 [[ 9.28113855e-01 3.72295720e-01 7.53960777e-04 4.00445035e+01] [-3.72295577e-01 9.28114161e-01 -3.26724022e-04 -1.24953933e+01] [-8.21399629e-04 2.25408288e-05 9.99999662e-01 6.73482226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69483917299999 meters 0.08064409653588225 Centerline is valid? [True, True] Translation: X:40.07, Y:-12.51, Z:6.74 [[ 9.30517775e-01 3.66246733e-01 -1.04737280e-05 4.00703451e+01] [-3.66246733e-01 9.30517775e-01 3.83206500e-06 -1.25108903e+01] [ 1.11494713e-05 2.70164048e-07 1.00000000e+00 6.73585240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72483917299999 meters 0.0817603766690007 Centerline is valid? [True, True] Translation: X:40.10, Y:-12.53, Z:6.73 [[ 9.31591935e-01 3.63504069e-01 -1.12137340e-03 4.00958832e+01] [-3.63503751e-01 9.31592609e-01 4.82946104e-04 -1.25257165e+01] [ 1.22021605e-03 -4.22852590e-05 9.99999255e-01 6.73406511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.75483917299999 meters 0.08236784199538054 Centerline is valid? [True, True] Translation: X:40.12, Y:-12.54, Z:6.73 [[ 9.33092960e-01 3.59559837e-01 -7.36563108e-03 4.01215321e+01] [-3.59545974e-01 9.33121978e-01 3.17268947e-03 -1.25415114e+01] [ 8.01380395e-03 -3.12131207e-04 9.99967840e-01 6.72838414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.784839172999995 meters 0.08175906767265638 Centerline is valid? [True, True] Translation: X:40.15, Y:-12.55, Z:6.73 [[ 9.31397615e-01 3.63929782e-01 -7.32102159e-03 4.01509756e+01] [-3.63916223e-01 9.31426347e-01 3.15328376e-03 -1.25466693e+01] [ 7.96656627e-03 -2.72722442e-04 9.99968229e-01 6.72727110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.814839172999996 meters 0.08227006718343598 Centerline is valid? [True, True] Translation: X:40.18, Y:-12.56, Z:6.73 [[ 9.31223366e-01 3.64409136e-01 -5.38748877e-03 4.01768146e+01] [-3.64401807e-01 9.31238929e-01 2.31956667e-03 -1.25562041e+01] [ 5.86231056e-03 -1.96824040e-04 9.99982797e-01 6.72684870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.844839173 meters 0.08303581419428777 Centerline is valid? [True, True] Translation: X:40.20, Y:-12.57, Z:6.73 [[ 9.32330349e-01 3.61596977e-01 -2.78309089e-03 4.02022403e+01] [-3.61595012e-01 9.32334497e-01 1.19724678e-03 -1.25666506e+01] [ 3.02769246e-03 -1.09877722e-04 9.99995410e-01 6.73222509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.874839173 meters 0.0824340978476143 Centerline is valid? [True, True] Translation: X:40.23, Y:-12.57, Z:6.74 [[ 9.32410426e-01 3.61401147e-01 9.24817747e-05 4.02305381e+01] [-3.61401144e-01 9.32410431e-01 -4.13117124e-05 -1.25747706e+01] [-1.01161072e-04 5.09645213e-06 9.99999995e-01 6.73630792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90483917299999 meters 0.08251866391460881 Centerline is valid? [True, True] Translation: X:40.26, Y:-12.58, Z:6.74 [[ 9.32435531e-01 3.61335895e-01 5.92519712e-04 4.02555585e+01] [-3.61335806e-01 9.32435719e-01 -2.55625742e-04 -1.25845496e+01] [-6.44853301e-04 2.42559367e-05 9.99999792e-01 6.73762507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93483917299999 meters 0.08261128870136532 Centerline is valid? [True, True] Translation: X:40.28, Y:-12.60, Z:6.73 [[ 9.33424161e-01 3.58755469e-01 -3.72145718e-03 4.02824418e+01] [-3.58751938e-01 9.33431566e-01 1.59962785e-03 -1.25971746e+01] [ 4.04760084e-03 -1.58051315e-04 9.99991796e-01 6.73372356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.964839172999994 meters 0.08299361302100187 Centerline is valid? [True, True] Translation: X:40.31, Y:-12.61, Z:6.73 [[ 9.32230697e-01 3.61847034e-01 -3.55684188e-03 4.03086453e+01] [-3.61843832e-01 9.32237472e-01 1.52849259e-03 -1.26070949e+01] [ 3.86890179e-03 -1.37886420e-04 9.99992506e-01 6.73389080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.994839172999995 meters 0.08192049750386975 Centerline is valid? [True, True] Translation: X:40.34, Y:-12.61, Z:6.73 [[ 9.31487975e-01 3.63647956e-01 -9.50347983e-03 4.03364143e+01] [-3.63625193e-01 9.31536388e-01 4.08365111e-03 -1.26129455e+01] [ 1.03378487e-02 -3.48167215e-04 9.99946502e-01 6.72629618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.024839173 meters 0.0804014245608139 Centerline is valid? [True, True] Translation: X:40.37, Y:-12.62, Z:6.73 [[ 9.28519996e-01 3.71251078e-01 -4.82215851e-03 4.03673966e+01] [-3.71245331e-01 9.28532509e-01 2.07001736e-03 -1.26161422e+01] [ 5.24602712e-03 -1.31848684e-04 9.99986231e-01 6.73071030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.054839173 meters 0.07980294096431462 Centerline is valid? [True, True] Translation: X:40.39, Y:-12.62, Z:6.73 [[ 9.28001866e-01 3.72560124e-01 -3.38979382e-03 4.03945804e+01] [-3.72557300e-01 9.28008053e-01 1.45329726e-03 -1.26249315e+01] [ 3.68719657e-03 -8.57701347e-05 9.99993199e-01 6.73212480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08483917299999 meters 0.0797143449574086 Centerline is valid? [True, True] Translation: X:40.42, Y:-12.63, Z:6.73 [[ 9.27903865e-01 3.72788704e-01 -4.79573796e-03 4.04224500e+01] [-3.72783047e-01 9.27916250e-01 2.05727795e-03 -1.26311852e+01] [ 5.21697317e-03 -1.21186350e-04 9.99986384e-01 6.73032418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11483917299999 meters 0.0799790048556828 Centerline is valid? [True, True] Translation: X:40.45, Y:-12.64, Z:6.73 [[ 9.28084076e-01 3.72341163e-01 -4.69106563e-03 4.04490915e+01] [-3.72335760e-01 9.28095924e-01 2.00945761e-03 -1.26397747e+01] [ 5.10196267e-03 -1.18294124e-04 9.99986978e-01 6.72837205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.144839172999994 meters 0.08054164816516954 Centerline is valid? [True, True] Translation: X:40.47, Y:-12.65, Z:6.73 [[ 9.28040937e-01 3.72426896e-01 -6.18279814e-03 4.04746725e+01] [-3.72417508e-01 9.28061519e-01 2.64902102e-03 -1.26500301e+01] [ 6.72458371e-03 -1.55817677e-04 9.99977378e-01 6.72506953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.174839172999995 meters 0.07967601129647532 Centerline is valid? [True, True] Translation: X:40.51, Y:-12.65, Z:6.73 [[ 9.27344569e-01 3.74139140e-01 -7.20790209e-03 4.05058147e+01] [-3.74126452e-01 9.27372566e-01 3.08557952e-03 -1.26514906e+01] [ 7.83884672e-03 -1.64728575e-04 9.99969262e-01 6.72633278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.204839172999996 meters 0.07975133711396841 Centerline is valid? [True, True] Translation: X:40.53, Y:-12.66, Z:6.73 [[ 9.27527670e-01 3.73742043e-01 -3.05064850e-03 4.05336342e+01] [-3.73739769e-01 9.27532684e-01 1.30565507e-03 -1.26562692e+01] [ 3.31755439e-03 -7.08825408e-05 9.99994494e-01 6.72957486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.234839173 meters 0.0800821547651893 Centerline is valid? [True, True] Translation: X:40.56, Y:-12.66, Z:6.73 [[ 9.27840741e-01 3.72969510e-01 -2.30286802e-03 4.05612522e+01] [-3.72968218e-01 9.27843598e-01 9.83347055e-04 -1.26628351e+01] [ 2.50345982e-03 -5.34928801e-05 9.99996865e-01 6.72873343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26483917299999 meters 0.08048497215871808 Centerline is valid? [True, True] Translation: X:40.59, Y:-12.67, Z:6.73 [[ 9.27388121e-01 3.74083256e-01 -3.60414592e-03 4.05893577e+01] [-3.74080093e-01 9.27395121e-01 1.54047721e-03 -1.26680625e+01] [ 3.91873407e-03 -8.03810269e-05 9.99992319e-01 6.72598506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29483917299999 meters 0.08053165966311841 Centerline is valid? [True, True] Translation: X:40.62, Y:-12.68, Z:6.73 [[ 9.27282394e-01 3.74347979e-01 -3.30939137e-03 4.06178719e+01] [-3.74345320e-01 9.27288297e-01 1.41271724e-03 -1.26753214e+01] [ 3.59760773e-03 -7.11326528e-05 9.99993526e-01 6.72575902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.324839172999994 meters 0.08074030503390445 Centerline is valid? [True, True] Translation: X:40.65, Y:-12.68, Z:6.73 [[ 9.27785981e-01 3.73109454e-01 -1.58382449e-03 4.06457110e+01] [-3.73108846e-01 9.27787332e-01 6.74437580e-04 -1.26810205e+01] [ 1.72109134e-03 -3.47948038e-05 9.99998518e-01 6.72656380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.354839172999995 meters 0.08186251951257648 Centerline is valid? [True, True] Translation: X:40.67, Y:-12.69, Z:6.72 [[ 9.28461316e-01 3.71426081e-01 -1.50023233e-03 4.06712958e+01] [-3.71425532e-01 9.28462527e-01 6.39864472e-04 -1.26914648e+01] [ 1.63057185e-03 -3.68648186e-05 9.99998670e-01 6.72495086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.384839172999996 meters 0.0826651634546481 Centerline is valid? [True, True] Translation: X:40.70, Y:-12.70, Z:6.72 [[ 9.29520462e-01 3.68754746e-01 -3.41281142e-03 4.06990142e+01] [-3.68751890e-01 9.29526723e-01 1.45431744e-03 -1.26992108e+01] [ 3.70858587e-03 -9.33371623e-05 9.99993119e-01 6.72204059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.414839173 meters 0.08359780560997582 Centerline is valid? [True, True] Translation: X:40.73, Y:-12.71, Z:6.72 [[ 9.30564506e-01 3.66115809e-01 -2.98569072e-03 4.07272488e+01] [-3.66113613e-01 9.30569292e-01 1.27122363e-03 -1.27067710e+01] [ 3.24380716e-03 -8.98535721e-05 9.99994735e-01 6.72181572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44483917299999 meters 0.08363751447989282 Centerline is valid? [True, True] Translation: X:40.76, Y:-12.71, Z:6.72 [[ 9.31082130e-01 3.64808534e-01 -8.95432114e-04 4.07554827e+01] [-3.64808337e-01 9.31082560e-01 3.79891034e-04 -1.27145066e+01] [ 9.72308716e-04 -2.70486524e-05 9.99999527e-01 6.72449622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47483917299999 meters 0.08333882989236777 Centerline is valid? [True, True] Translation: X:40.78, Y:-12.72, Z:6.73 [[ 9.31527122e-01 3.63642840e-01 4.59414736e-03 4.07831153e+01] [-3.63637604e-01 9.31538438e-01 -1.95733661e-03 -1.27201637e+01] [-4.99139630e-03 1.52707395e-04 9.99987531e-01 6.72918624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50483917299999 meters 0.0838855529389512 Centerline is valid? [True, True] Translation: X:40.81, Y:-12.73, Z:6.73 [[ 9.31675459e-01 3.63236225e-01 6.34698992e-03 4.08085261e+01] [-3.63226241e-01 9.31697054e-01 -2.70140986e-03 -1.27322401e+01] [-6.89472173e-03 2.11443979e-04 9.99976209e-01 6.73077418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.534839172999995 meters 0.08377228475804342 Centerline is valid? [True, True] Translation: X:40.83, Y:-12.74, Z:6.73 [[ 9.31181994e-01 3.64467043e-01 7.99180569e-03 4.08345543e+01] [-3.64451268e-01 9.31216253e-01 -3.40045276e-03 -1.27420372e+01] [-8.68145231e-03 2.53816657e-04 9.99962283e-01 6.73094720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.564839172999996 meters 0.08328982650139666 Centerline is valid? [True, True] Translation: X:40.87, Y:-12.74, Z:6.73 [[ 9.29566504e-01 3.68605303e-01 6.02042412e-03 4.08652647e+01] [-3.68596441e-01 9.29585986e-01 -2.56100955e-03 -1.27445989e+01] [-6.54050359e-03 1.61521792e-04 9.99978598e-01 6.72777888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.594839173 meters 0.08297750372721614 Centerline is valid? [True, True] Translation: X:40.90, Y:-12.75, Z:6.72 [[ 9.26934269e-01 3.75216214e-01 2.37765879e-03 4.08951521e+01] [-3.75214855e-01 9.26937317e-01 -1.01106099e-03 -1.27485348e+01] [-2.58330713e-03 4.50541830e-05 9.99996662e-01 6.72129113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.624839173 meters 0.08298831878927852 Centerline is valid? [True, True] Translation: X:40.92, Y:-12.76, Z:6.72 [[ 9.25863367e-01 3.77849207e-01 2.64634895e-03 4.09235951e+01] [-3.77847533e-01 9.25867148e-01 -1.12565355e-03 -1.27561801e+01] [-2.87549486e-03 4.22849673e-05 9.99995865e-01 6.72071082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65483917299999 meters 0.08329746961203348 Centerline is valid? [True, True] Translation: X:40.95, Y:-12.76, Z:6.72 [[ 9.24770165e-01 3.80516386e-01 2.72445180e-03 4.09514400e+01] [-3.80514625e-01 9.24774177e-01 -1.15809756e-03 -1.27625738e+01] [-2.96017777e-03 3.42803209e-05 9.99995618e-01 6.71967684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68483917299999 meters 0.08369877190887415 Centerline is valid? [True, True] Translation: X:40.98, Y:-12.77, Z:6.72 [[ 9.24163730e-01 3.81995323e-01 9.86753028e-04 4.09781549e+01] [-3.81995092e-01 9.24164257e-01 -4.20191430e-04 -1.27725201e+01] [-1.07243304e-03 1.13908658e-05 9.99999425e-01 6.71665557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.714839172999994 meters 0.08396343175301667 Centerline is valid? [True, True] Translation: X:41.00, Y:-12.78, Z:6.72 [[ 9.24378405e-01 3.81468426e-01 2.53053172e-03 4.10027228e+01] [-3.81466916e-01 9.24381869e-01 -1.07379406e-03 -1.27844648e+01] [-2.74879617e-03 2.72779125e-05 9.99996222e-01 6.71657320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.744839172999995 meters 0.08393390263246212 Centerline is valid? [True, True] Translation: X:41.03, Y:-12.79, Z:6.72 [[ 9.24849890e-01 3.80324554e-01 2.43203171e-03 4.10299924e+01] [-3.80323154e-01 9.24853087e-01 -1.03207594e-03 -1.27933982e+01] [-2.64179586e-03 2.95573446e-05 9.99996510e-01 6.71769852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.774839173 meters 0.08421905076407285 Centerline is valid? [True, True] Translation: X:41.06, Y:-12.80, Z:6.72 [[ 9.25472685e-01 3.78784094e-01 4.78747551e-03 4.10571179e+01] [-3.78778668e-01 9.25485065e-01 -2.02857326e-03 -1.28002827e+01] [-5.19912837e-03 6.39955439e-05 9.99986482e-01 6.72209833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.804839173 meters 0.0843987159367205 Centerline is valid? [True, True] Translation: X:41.08, Y:-12.81, Z:6.72 [[ 9.25352050e-01 3.79075415e-01 5.04120680e-03 4.10814660e+01] [-3.79069407e-01 9.25365779e-01 -2.13522262e-03 -1.28108742e+01] [-5.47437066e-03 6.48653552e-05 9.99985013e-01 6.72267903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83483917299999 meters 0.08503852005597867 Centerline is valid? [True, True] Translation: X:41.11, Y:-12.82, Z:6.72 [[ 9.23898250e-01 3.82631199e-01 2.32142393e-03 4.11072022e+01] [-3.82629935e-01 9.23901166e-01 -9.83744497e-04 -1.28225382e+01] [-2.52117761e-03 2.06335317e-05 9.99996822e-01 6.71673592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86483917299999 meters 0.08568947518560553 Centerline is valid? [True, True] Translation: X:41.13, Y:-12.83, Z:6.71 [[ 9.22874145e-01 3.85101691e-01 -9.38825334e-08 4.11322318e+01] [-3.85101691e-01 9.22874145e-01 -1.72021293e-06 -1.28338477e+01] [-5.75815181e-07 1.62369437e-06 1.00000000e+00 6.71066036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.894839172999994 meters 0.08655456651048483 Centerline is valid? [True, True] Translation: X:41.16, Y:-12.85, Z:6.70 [[ 9.21282963e-01 3.88880146e-01 -3.15181365e-03 4.11580674e+01] [-3.88877872e-01 9.21288354e-01 1.33004191e-03 -1.28466476e+01] [ 3.42095610e-03 3.25636300e-07 9.99994149e-01 6.70252113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.924839172999995 meters 0.0864535315029025 Centerline is valid? [True, True] Translation: X:41.18, Y:-12.86, Z:6.70 [[ 9.21238848e-01 3.88990850e-01 -2.25913201e-03 4.11835681e+01] [-3.88989685e-01 9.21241618e-01 9.51914649e-04 -1.28586031e+01] [ 2.45149252e-03 1.83829426e-06 9.99996995e-01 6.70328328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.954839172999996 meters 0.08659162346091868 Centerline is valid? [True, True] Translation: X:41.21, Y:-12.87, Z:6.70 [[ 9.21146797e-01 3.89214538e-01 -7.87835613e-04 4.12077985e+01] [-3.89214398e-01 9.21147134e-01 3.30821469e-04 -1.28749361e+01] [ 8.54473042e-04 1.90182683e-06 9.99999635e-01 6.70208950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.984839173 meters 0.08639379106543985 Centerline is valid? [True, True] Translation: X:41.23, Y:-12.89, Z:6.70 [[ 9.21191388e-01 3.89091042e-01 -3.81945164e-03 4.12336221e+01] [-3.89087717e-01 9.21199306e-01 1.60860589e-03 -1.28876248e+01] [ 4.14437034e-03 4.26782841e-06 9.99991412e-01 6.69802769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01483917299999 meters 0.08627143284924468 Centerline is valid? [True, True] Translation: X:41.26, Y:-12.91, Z:6.69 [[ 9.23873847e-01 3.82555123e-01 -1.04256255e-02 4.12551964e+01] [-3.82529893e-01 9.23932667e-01 4.39407769e-03 -1.29096755e+01] [ 1.13135529e-02 -7.14600697e-05 9.99935997e-01 6.68737902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04483917299999 meters 0.08733658863006552 Centerline is valid? [True, True] Translation: X:41.28, Y:-12.93, Z:6.69 [[ 9.24326164e-01 3.81521437e-01 -7.90793765e-03 4.12761980e+01] [-3.81506914e-01 9.24359989e-01 3.32943339e-03 -1.29335012e+01] [ 8.58003137e-03 -6.05495068e-05 9.99963189e-01 6.68827893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.074839172999994 meters 0.08719692241277659 Centerline is valid? [True, True] Translation: X:41.30, Y:-12.95, Z:6.69 [[ 9.24789143e-01 3.80408236e-01 -7.39026331e-03 4.12992661e+01] [-3.80395519e-01 9.24818669e-01 3.11109298e-03 -1.29480119e+01] [ 8.01813887e-03 -6.58819603e-05 9.99967852e-01 6.68729904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.104839172999995 meters 0.08738228694184312 Centerline is valid? [True, True] Translation: X:41.32, Y:-12.96, Z:6.68 [[ 9.25465219e-01 3.78717479e-01 -9.33806290e-03 4.13243565e+01] [-3.78697122e-01 9.25512324e-01 3.92790678e-03 -1.29626913e+01] [ 1.01300592e-02 -9.88435651e-05 9.99948685e-01 6.68364836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.134839172999996 meters 0.08743611381847174 Centerline is valid? [True, True] Translation: X:41.35, Y:-12.97, Z:6.68 [[ 9.25822410e-01 3.77820239e-01 -1.02338290e-02 4.13492470e+01] [-3.77795733e-01 9.25878962e-01 4.30477435e-03 -1.29748351e+01] [ 1.11017178e-02 -1.19159637e-04 9.99938367e-01 6.68062324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.164839173 meters 0.08802874577102938 Centerline is valid? [True, True] Translation: X:41.37, Y:-12.99, Z:6.68 [[ 9.26719522e-01 3.75553267e-01 -1.22748378e-02 4.13734007e+01] [-3.75517827e-01 9.26800795e-01 5.16221022e-03 -1.29894704e+01] [ 1.33150143e-02 -1.74500562e-04 9.99911336e-01 6.67740803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19483917299999 meters 0.08952406176885702 Centerline is valid? [True, True] Translation: X:41.39, Y:-13.02, Z:6.66 [[ 9.29776659e-01 3.67644145e-01 -1.87921965e-02 4.13943285e+01] [-3.67559556e-01 9.29966447e-01 7.89811455e-03 -1.30160331e+01] [ 2.03798077e-02 -4.36231172e-04 9.99792215e-01 6.66395686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22483917299999 meters 0.09458089663986108 Centerline is valid? [True, True] Translation: X:41.41, Y:-13.05, Z:6.64 [[ 9.36504258e-01 3.49215522e-01 -3.17536382e-02 4.14097205e+01] [-3.48963335e-01 9.37041361e-01 1.33445837e-02 -1.30522689e+01] [ 3.44146081e-02 -1.41640395e-03 9.99406638e-01 6.64010665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.25483917299999 meters 0.09575063632037459 Centerline is valid? [True, True] Translation: X:41.44, Y:-13.07, Z:6.65 [[ 9.36378885e-01 3.50010033e-01 -2.62213742e-02 4.14353549e+01] [-3.49838600e-01 9.36745259e-01 1.10124090e-02 -1.30662578e+01] [ 2.84172016e-02 -1.13853838e-03 9.99595501e-01 6.64554880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.284839172999995 meters 0.0977624174494514 Centerline is valid? [True, True] Translation: X:41.46, Y:-13.09, Z:6.65 [[ 9.37870919e-01 3.46282822e-01 -2.20532522e-02 4.14575125e+01] [-3.46160690e-01 9.38129582e-01 9.25550923e-03 -1.30875305e+01] [ 2.38938321e-02 -1.04650394e-03 9.99713954e-01 6.64974183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.314839172999996 meters 0.09784252884032682 Centerline is valid? [True, True] Translation: X:41.48, Y:-13.10, Z:6.65 [[ 9.38375840e-01 3.44914931e-01 -2.20107428e-02 4.14827610e+01] [-3.44792923e-01 9.38633330e-01 9.23646775e-03 -1.30984579e+01] [ 2.38458125e-02 -1.07812982e-03 9.99715067e-01 6.64653610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.344839173 meters 0.09393878851354251 Centerline is valid? [True, True] Translation: X:41.52, Y:-13.09, Z:6.65 [[ 9.35561336e-01 3.52658233e-01 -1.88985915e-02 4.15180042e+01] [-3.52569971e-01 9.35751893e-01 7.92527565e-03 -1.30900035e+01] [ 2.04793065e-02 -7.51505625e-04 9.99789995e-01 6.65306867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.374839173 meters 0.09393878851354251 Centerline is valid? [True, True] Translation: X:41.54, Y:-13.10, Z:6.65 [[ 9.35652970e-01 3.52414927e-01 -1.89007855e-02 4.15433514e+01] [-3.52326720e-01 9.35843553e-01 7.92004242e-03 -1.31003827e+01] [ 2.04793194e-02 -7.51159446e-04 9.99789995e-01 6.65291186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40483917299999 meters 0.09211560326059946 Centerline is valid? [True, True] Translation: X:41.57, Y:-13.10, Z:6.65 [[ 9.33725766e-01 3.57591815e-01 -1.68608399e-02 4.15741641e+01] [-3.57522534e-01 9.33877815e-01 7.06141380e-03 -1.31030874e+01] [ 1.82710682e-02 -5.65293784e-04 9.99832910e-01 6.65476840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43483917299999 meters 0.09073458060716193 Centerline is valid? [True, True] Translation: X:41.60, Y:-13.11, Z:6.65 [[ 9.30423052e-01 3.66064055e-01 -1.76083086e-02 4.16033013e+01] [-3.65990009e-01 9.30589563e-01 7.37424049e-03 -1.31065677e+01] [ 1.90855526e-02 -4.16698320e-04 9.99817767e-01 6.65027209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.464839172999994 meters 0.09062069070727498 Centerline is valid? [True, True] Translation: X:41.63, Y:-13.13, Z:6.64 [[ 9.31918957e-01 3.61935666e-01 -2.30137240e-02 4.16263357e+01] [-3.61808063e-01 9.32202849e-01 9.63189485e-03 -1.31283097e+01] [ 2.49395854e-02 -6.49594483e-04 9.99688749e-01 6.63756174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.494839172999995 meters 0.09211143883488655 Centerline is valid? [True, True] Translation: X:41.65, Y:-13.15, Z:6.64 [[ 9.32573667e-01 3.60392690e-01 -2.05782438e-02 4.16498308e+01] [-3.60290421e-01 9.32800479e-01 8.60692379e-03 -1.31460111e+01] [ 2.22972680e-02 -6.12446380e-04 9.99751197e-01 6.64463159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.524839173 meters 0.09024875826931021 Centerline is valid? [True, True] Translation: X:41.68, Y:-13.15, Z:6.66 [[ 9.32127192e-01 3.61694804e-01 -1.77698139e-02 4.16806854e+01] [-3.61618796e-01 9.32296421e-01 7.43159662e-03 -1.31468182e+01] [ 1.92547038e-02 -5.01294586e-04 9.99814485e-01 6.65647236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.554839173 meters 0.09049113341427939 Centerline is valid? [True, True] Translation: X:41.71, Y:-13.15, Z:6.65 [[ 9.30736755e-01 3.65304124e-01 -1.67925414e-02 4.17108830e+01] [-3.65236865e-01 9.30888143e-01 7.02118402e-03 -1.31469413e+01] [ 1.81968452e-02 -4.01618847e-04 9.99834343e-01 6.65492839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58483917299999 meters 0.08854241690710589 Centerline is valid? [True, True] Translation: X:41.74, Y:-13.14, Z:6.66 [[ 9.30052007e-01 3.66926757e-01 -1.91838378e-02 4.17429605e+01] [-3.66839460e-01 9.30249741e-01 8.01431988e-03 -1.31440824e+01] [ 2.07864285e-02 -4.16345617e-04 9.99783852e-01 6.66134355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61483917299999 meters 0.08900456171935142 Centerline is valid? [True, True] Translation: X:41.77, Y:-13.17, Z:6.65 [[ 9.31398593e-01 3.62937258e-01 -2.78066002e-02 4.17659915e+01] [-3.62752235e-01 9.31813296e-01 1.16102403e-02 -1.31652466e+01] [ 3.01243486e-02 -7.26855093e-04 9.99545895e-01 6.64835177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.644839172999994 meters 0.0904775291912575 Centerline is valid? [True, True] Translation: X:41.79, Y:-13.19, Z:6.64 [[ 9.31832108e-01 3.61522486e-01 -3.14708555e-02 4.17856125e+01] [-3.61284715e-01 9.32362982e-01 1.31386992e-02 -1.31922126e+01] [ 3.40921958e-02 -8.73122736e-04 9.99418311e-01 6.63937377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.674839172999995 meters 0.0915178323863131 Centerline is valid? [True, True] Translation: X:41.81, Y:-13.21, Z:6.64 [[ 9.31815829e-01 3.61463779e-01 -3.26067156e-02 4.18100845e+01] [-3.61208617e-01 9.32385714e-01 1.36093787e-02 -1.32055949e+01] [ 3.53213333e-02 -9.03607847e-04 9.99375599e-01 6.63617210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.704839172999996 meters 0.09186314684208095 Centerline is valid? [True, True] Translation: X:41.84, Y:-13.21, Z:6.64 [[ 9.31555627e-01 3.61836999e-01 -3.57505178e-02 4.18379524e+01] [-3.61530592e-01 9.32240869e-01 1.49195360e-02 -1.32140371e+01] [ 3.87265340e-02 -9.73471849e-04 9.99249372e-01 6.63575628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.734839173 meters 0.09326123144928974 Centerline is valid? [True, True] Translation: X:41.87, Y:-13.22, Z:6.63 [[ 9.30732250e-01 3.64147346e-01 -3.36777204e-02 4.18669881e+01] [-3.63877084e-01 9.31340986e-01 1.40511701e-02 -1.32170137e+01] [ 3.64821376e-02 -8.23326487e-04 9.99333966e-01 6.62792624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76483917299999 meters 0.09017271085972813 Centerline is valid? [True, True] Translation: X:41.90, Y:-13.21, Z:6.64 [[ 9.29327946e-01 3.68430419e-01 -2.46697066e-02 4.19008740e+01] [-3.68287107e-01 9.29655206e-01 1.02861397e-02 -1.32116383e+01] [ 2.67240479e-02 -4.73662162e-04 9.99642737e-01 6.64329293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79483917299999 meters 0.08852267013958241 Centerline is valid? [True, True] Translation: X:41.93, Y:-13.22, Z:6.65 [[ 9.29652876e-01 3.67635369e-01 -2.42850999e-02 4.19288726e+01] [-3.67496449e-01 9.29969894e-01 1.01170826e-02 -1.32162703e+01] [ 2.63038092e-02 -4.80686922e-04 9.99653879e-01 6.65226518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.824839172999994 meters 0.08927570374285199 Centerline is valid? [True, True] Translation: X:41.95, Y:-13.23, Z:6.65 [[ 9.30893846e-01 3.64394894e-01 -2.55540452e-02 4.19538231e+01] [-3.64239877e-01 9.31244328e-01 1.06448433e-02 -1.32321405e+01] [ 2.76759862e-02 -6.01416823e-04 9.99616766e-01 6.64924894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.854839172999995 meters 0.09099408971963498 Centerline is valid? [True, True] Translation: X:41.98, Y:-13.26, Z:6.65 [[ 9.33901985e-01 3.56745604e-01 -2.36570605e-02 4.19752835e+01] [-3.56610327e-01 9.34201257e-01 9.85325576e-03 -1.32560873e+01] [ 2.56155613e-02 -7.65623019e-04 9.99671574e-01 6.64991986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.884839172999996 meters 0.09123275554798786 Centerline is valid? [True, True] Translation: X:42.00, Y:-13.27, Z:6.66 [[ 9.35564991e-01 3.52662455e-01 -1.86370541e-02 4.20017474e+01] [-3.52577830e-01 9.35750353e-01 7.75565538e-03 -1.32684407e+01] [ 2.01747584e-02 -6.84907559e-04 9.99796234e-01 6.65757814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.914839173 meters 0.09133189345021017 Centerline is valid? [True, True] Translation: X:42.03, Y:-13.28, Z:6.66 [[ 9.35293232e-01 3.53470391e-01 -1.68894167e-02 4.20288892e+01] [-3.53401057e-01 9.35445519e-01 7.02664280e-03 -1.32761843e+01] [ 1.82828393e-02 -6.03233736e-04 9.99832673e-01 6.65850820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94483917299999 meters 0.08877187991024975 Centerline is valid? [True, True] Translation: X:42.06, Y:-13.27, Z:6.66 [[ 9.32596678e-01 3.60531130e-01 -1.67553308e-02 4.20634806e+01] [-3.60464118e-01 9.32747070e-01 6.96590537e-03 -1.32694085e+01] [ 1.81399114e-02 -4.56684676e-04 9.99835354e-01 6.66144869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97483917299999 meters 0.08779614390435216 Centerline is valid? [True, True] Translation: X:42.09, Y:-13.27, Z:6.66 [[ 9.30701687e-01 3.65373131e-01 -1.72291983e-02 4.20930235e+01] [-3.65303110e-01 9.30861073e-01 7.16244514e-03 -1.32732089e+01] [ 1.86549550e-02 -3.72220065e-04 9.99825912e-01 6.66095911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00483917299999 meters 0.08673454112569473 Centerline is valid? [True, True] Translation: X:42.12, Y:-13.28, Z:6.66 [[ 9.29302290e-01 3.69007953e-01 -1.51784437e-02 4.21212472e+01] [-3.68954114e-01 9.29426200e-01 6.30870306e-03 -1.32806302e+01] [ 1.64352049e-02 -2.62542958e-04 9.99864898e-01 6.66255947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.034839172999995 meters 0.08669030280220896 Centerline is valid? [True, True] Translation: X:42.15, Y:-13.29, Z:6.66 [[ 9.29827296e-01 3.67683933e-01 -1.51566883e-02 4.21474217e+01] [-3.67630118e-01 9.29950776e-01 6.29690538e-03 -1.32911090e+01] [ 1.64102450e-02 -2.82979399e-04 9.99865303e-01 6.66353777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.064839172999996 meters 0.08755299060336723 Centerline is valid? [True, True] Translation: X:42.17, Y:-13.31, Z:6.67 [[ 9.33162768e-01 3.59113546e-01 -1.56431981e-02 4.21724229e+01] [-3.59055030e-01 9.33293770e-01 6.49798910e-03 -1.33071035e+01] [ 1.69332153e-02 -4.46912516e-04 9.99856523e-01 6.66552988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.094839173 meters 0.09164643806276984 Centerline is valid? [True, True] Translation: X:42.19, Y:-13.34, Z:6.67 [[ 9.37602613e-01 3.47469865e-01 -1.28853866e-02 4.21919725e+01] [-3.47429078e-01 9.37690994e-01 5.35116493e-03 -1.33355207e+01] [ 1.39418795e-02 -5.40508242e-04 9.99902661e-01 6.66585640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.124839173 meters 0.09151096029539109 Centerline is valid? [True, True] Translation: X:42.22, Y:-13.35, Z:6.67 [[ 9.39352486e-01 3.42724207e-01 -1.25309715e-02 4.22178313e+01] [-3.42685217e-01 9.39435876e-01 5.20353371e-03 -1.33497382e+01] [ 1.35554211e-02 -5.93773651e-04 9.99907945e-01 6.66603506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15483917299999 meters 0.09250738515919055 Centerline is valid? [True, True] Translation: X:42.24, Y:-13.36, Z:6.67 [[ 9.39716957e-01 3.41697284e-01 -1.32290309e-02 4.22429525e+01] [-3.41653750e-01 9.39809851e-01 5.49178855e-03 -1.33631559e+01] [ 1.43093028e-02 -6.40978803e-04 9.99897411e-01 6.66650097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18483917299999 meters 0.09313810098497143 Centerline is valid? [True, True] Translation: X:42.27, Y:-13.38, Z:6.66 [[ 9.40087035e-01 3.40425686e-01 -1.86203895e-02 4.22691553e+01] [-3.40339193e-01 9.40270966e-01 7.72942886e-03 -1.33759659e+01] [ 2.01395077e-02 -9.29087520e-04 9.99796748e-01 6.65908093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.214839172999994 meters 0.09319954361452254 Centerline is valid? [True, True] Translation: X:42.30, Y:-13.39, Z:6.66 [[ 9.39745648e-01 3.41428667e-01 -1.74522791e-02 4.22966974e+01] [-3.41352890e-01 9.39907306e-01 7.24292789e-03 -1.33852729e+01] [ 1.88764679e-02 -8.49124054e-04 9.99821463e-01 6.66000515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.244839172999995 meters 0.09248709890410783 Centerline is valid? [True, True] Translation: X:42.33, Y:-13.39, Z:6.67 [[ 9.39809899e-01 3.41475245e-01 -1.23292796e-02 4.23250600e+01] [-3.41437449e-01 9.39890578e-01 5.11556207e-03 -1.33905507e+01] [ 1.33350115e-02 -5.97978110e-04 9.99910906e-01 6.66695779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.274839173 meters 0.09197766393551299 Centerline is valid? [True, True] Translation: X:42.35, Y:-13.40, Z:6.67 [[ 9.40209295e-01 3.40500597e-01 -8.11329565e-03 4.23529957e+01] [-3.40484223e-01 9.40244215e-01 3.36300125e-03 -1.33993602e+01] [ 8.77358324e-03 -3.99475863e-04 9.99961432e-01 6.67214126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.304839173 meters 0.09270105249904839 Centerline is valid? [True, True] Translation: X:42.38, Y:-13.41, Z:6.67 [[ 9.41539659e-01 3.36740960e-01 -1.04209739e-02 4.23786041e+01] [-3.36713710e-01 9.41597161e-01 4.32016933e-03 -1.34143204e+01] [ 1.12671374e-02 -5.58725973e-04 9.99936368e-01 6.67001651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33483917299999 meters 0.09364460157045268 Centerline is valid? [True, True] Translation: X:42.40, Y:-13.43, Z:6.68 [[ 9.42062010e-01 3.35398658e-01 -5.18745032e-03 4.24035200e+01] [-3.35391890e-01 9.42076249e-01 2.14964995e-03 -1.34273495e+01] [ 5.60796345e-03 -2.85274786e-04 9.99984235e-01 6.67701113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36483917299999 meters 0.09302346934889671 Centerline is valid? [True, True] Translation: X:42.43, Y:-13.44, Z:6.68 [[ 9.42365187e-01 3.34556359e-01 -4.46071189e-03 4.24302836e+01] [-3.34551357e-01 9.42375712e-01 1.84608087e-03 -1.34372662e+01] [ 4.82128464e-03 -2.47345133e-04 9.99988347e-01 6.67758773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.394839172999994 meters 0.0930035787864435 Centerline is valid? [True, True] Translation: X:42.45, Y:-13.45, Z:6.67 [[ 9.41921356e-01 3.35713596e-01 -8.97444268e-03 4.24541411e+01] [-3.35693391e-01 9.41963983e-01 3.71515636e-03 -1.34489061e+01] [ 9.70083027e-03 -4.86724020e-04 9.99952827e-01 6.67104829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.424839172999995 meters 0.09347740332601562 Centerline is valid? [True, True] Translation: X:42.48, Y:-13.46, Z:6.67 [[ 9.40965760e-01 3.38327783e-01 -1.08512275e-02 4.24802306e+01] [-3.38298422e-01 9.41028162e-01 4.49168328e-03 -1.34601986e+01] [ 1.17309719e-02 -5.55567040e-04 9.99931035e-01 6.66652301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.454839172999996 meters 0.09130362961588846 Centerline is valid? [True, True] Translation: X:42.51, Y:-13.46, Z:6.67 [[ 9.39116358e-01 3.43367826e-01 -1.26096478e-02 4.25108536e+01] [-3.43328685e-01 9.39200837e-01 5.21548970e-03 -1.34639305e+01] [ 1.36338231e-02 -5.68697893e-04 9.99906893e-01 6.66645803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.484839173 meters 0.08967386623762236 Centerline is valid? [True, True] Translation: X:42.54, Y:-13.47, Z:6.67 [[ 9.36777325e-01 3.49810397e-01 -8.99605766e-03 4.25401534e+01] [-3.49790772e-01 9.36820459e-01 3.72079625e-03 -1.34676976e+01] [ 9.72926407e-03 -3.38819604e-04 9.99952612e-01 6.66778590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51483917299999 meters 0.08962880918197023 Centerline is valid? [True, True] Translation: X:42.57, Y:-13.48, Z:6.67 [[ 9.36093655e-01 3.51706665e-01 -5.57597888e-03 4.25670143e+01] [-3.51699163e-01 9.36110241e-01 2.30548720e-03 -1.34764955e+01] [ 6.03058615e-03 -1.97084832e-04 9.99981796e-01 6.66958268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54483917299999 meters 0.08943817068829224 Centerline is valid? [True, True] Translation: X:42.59, Y:-13.49, Z:6.67 [[ 9.36702431e-01 3.50081955e-01 -5.58395287e-03 4.25940536e+01] [-3.50074407e-01 9.36719052e-01 2.30817039e-03 -1.34853603e+01] [ 6.03864384e-03 -2.07269826e-04 9.99981746e-01 6.67178439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.574839172999994 meters 0.08933796842852178 Centerline is valid? [True, True] Translation: X:42.62, Y:-13.49, Z:6.67 [[ 9.37493348e-01 3.47975593e-01 -4.38278724e-03 4.26219964e+01] [-3.47970932e-01 9.37503577e-01 1.80926133e-03 -1.34938597e+01] [ 4.73845750e-03 -1.71087906e-04 9.99988759e-01 6.67281398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.604839172999995 meters 0.08960105589906002 Centerline is valid? [True, True] Translation: X:42.65, Y:-13.50, Z:6.67 [[ 9.37406220e-01 3.48182233e-01 -6.22180589e-03 4.26479576e+01] [-3.48172854e-01 9.37426837e-01 2.56681446e-03 -1.35033130e+01] [ 6.72620701e-03 -2.39883924e-04 9.99977350e-01 6.67074945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.634839172999996 meters 0.09033336251792883 Centerline is valid? [True, True] Translation: X:42.67, Y:-13.52, Z:6.67 [[ 9.37848388e-01 3.46940576e-01 -8.52284103e-03 4.26730511e+01] [-3.46922940e-01 9.37887052e-01 3.51452113e-03 -1.35179040e+01] [ 9.21279223e-03 -3.39318909e-04 9.99957504e-01 6.66681239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.664839173 meters 0.09045574817781304 Centerline is valid? [True, True] Translation: X:42.70, Y:-13.53, Z:6.67 [[ 9.38125461e-01 3.46137859e-01 -1.04499557e-02 4.26999280e+01] [-3.46111326e-01 9.38183566e-01 4.30655013e-03 -1.35283364e+01] [ 1.12946368e-02 -4.23236294e-04 9.99936124e-01 6.66550065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69483917299999 meters 0.09100462168203707 Centerline is valid? [True, True] Translation: X:42.73, Y:-13.54, Z:6.66 [[ 9.38842182e-01 3.44077527e-01 -1.36386328e-02 4.27272215e+01] [-3.44032113e-01 9.38941060e-01 5.62064860e-03 -1.35394126e+01] [ 1.47398112e-02 -5.84774338e-04 9.99891192e-01 6.66170495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72483917299999 meters 0.09113419694594611 Centerline is valid? [True, True] Translation: X:42.75, Y:-13.55, Z:6.66 [[ 9.38532231e-01 3.44939945e-01 -1.31789782e-02 4.27542973e+01] [-3.44897689e-01 9.38624597e-01 5.42681753e-03 -1.35504690e+01] [ 1.42420392e-02 -5.47844058e-04 9.99898427e-01 6.66166699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.75483917299999 meters 0.0926279222439296 Centerline is valid? [True, True] Translation: X:42.78, Y:-13.57, Z:6.66 [[ 9.40050457e-01 3.40694867e-01 -1.52363563e-02 4.27793116e+01] [-3.40637852e-01 9.40173659e-01 6.27257501e-03 -1.35683134e+01] [ 1.64618549e-02 -7.06457321e-04 9.99864245e-01 6.65541517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.784839172999995 meters 0.09303883331687988 Centerline is valid? [True, True] Translation: X:42.80, Y:-13.58, Z:6.66 [[ 9.41447695e-01 3.36786086e-01 -1.58546445e-02 4.28047497e+01] [-3.36723801e-01 9.41580842e-01 6.52680407e-03 -1.35829043e+01] [ 1.71265664e-02 -8.06008473e-04 9.99853005e-01 6.66063290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.814839172999996 meters 0.09364802821381328 Centerline is valid? [True, True] Translation: X:42.83, Y:-13.59, Z:6.66 [[ 9.41285248e-01 3.37194925e-01 -1.67828442e-02 4.28296785e+01] [-3.37125326e-01 9.41434480e-01 6.90181507e-03 -1.35940940e+01] [ 1.81272052e-02 -8.38654890e-04 9.99835337e-01 6.65940155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.844839173 meters 0.0926614910658094 Centerline is valid? [True, True] Translation: X:42.86, Y:-13.60, Z:6.66 [[ 9.40796134e-01 3.38531541e-01 -1.72925033e-02 4.28579075e+01] [-3.38457964e-01 9.40954676e-01 7.10668843e-03 -1.36007970e+01] [ 1.86773001e-02 -8.33159524e-04 9.99825217e-01 6.66084669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.874839173 meters 0.09036758701486686 Centerline is valid? [True, True] Translation: X:42.89, Y:-13.60, Z:6.66 [[ 9.38408094e-01 3.45248274e-01 -1.39240121e-02 4.28893690e+01] [-3.45201316e-01 9.38511221e-01 5.72178476e-03 -1.36024268e+01] [ 1.50432779e-02 -5.62781843e-04 9.99886685e-01 6.66375121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90483917299999 meters 0.09031864618021898 Centerline is valid? [True, True] Translation: X:42.92, Y:-13.61, Z:6.66 [[ 9.37123792e-01 3.48616439e-01 -1.62965306e-02 4.29154535e+01] [-3.48552650e-01 9.37265291e-01 6.69510201e-03 -1.36123801e+01] [ 1.76081952e-02 -5.93940429e-04 9.99844787e-01 6.66001107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93483917299999 meters 0.08978458233041803 Centerline is valid? [True, True] Translation: X:42.94, Y:-13.62, Z:6.66 [[ 9.37246509e-01 3.48233690e-01 -1.73861335e-02 4.29430106e+01] [-3.48161075e-01 9.37407536e-01 7.13978331e-03 -1.36197741e+01] [ 1.87842056e-02 -6.38562062e-04 9.99823357e-01 6.66087060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.964839172999994 meters 0.09056978855461793 Centerline is valid? [True, True] Translation: X:42.97, Y:-13.64, Z:6.66 [[ 9.37933574e-01 3.46394959e-01 -1.70629449e-02 4.29664604e+01] [-3.46324742e-01 9.38088533e-01 7.00556016e-03 -1.36358267e+01] [ 1.84332437e-02 -6.61430083e-04 9.99829875e-01 6.66029009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.994839172999995 meters 0.08975332843432328 Centerline is valid? [True, True] Translation: X:43.00, Y:-13.64, Z:6.66 [[ 9.37504751e-01 3.47625757e-01 -1.55298206e-02 4.29961313e+01] [-3.47567847e-01 9.37633192e-01 6.37098470e-03 -1.36400434e+01] [ 1.67759937e-02 -5.75162096e-04 9.99859108e-01 6.66356387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.024839173 meters 0.08755602861383088 Centerline is valid? [True, True] Translation: X:43.03, Y:-13.64, Z:6.67 [[ 9.34892939e-01 3.54645845e-01 -1.41956584e-02 4.30291905e+01] [-3.54598266e-01 9.35000618e-01 5.82357762e-03 -1.36350843e+01] [ 1.53382570e-02 -4.10665747e-04 9.99882278e-01 6.66700623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.054839173 meters 0.08638462318444544 Centerline is valid? [True, True] Translation: X:43.06, Y:-13.64, Z:6.67 [[ 9.33635274e-01 3.57957104e-01 -1.38523349e-02 4.30595036e+01] [-3.57912234e-01 9.33737969e-01 5.67793262e-03 -1.36385097e+01] [ 1.49669074e-02 -3.43198057e-04 9.99887931e-01 6.67027105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08483917299999 meters 0.08469933659803844 Centerline is valid? [True, True] Translation: X:43.09, Y:-13.64, Z:6.67 [[ 9.30844224e-01 3.65267443e-01 -1.04271986e-02 4.30919414e+01] [-3.65242510e-01 9.30902609e-01 4.27095645e-03 -1.36366743e+01] [ 1.12667477e-02 -1.67138947e-04 9.99936514e-01 6.67443955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11483917299999 meters 0.08465495169945678 Centerline is valid? [True, True] Translation: X:43.12, Y:-13.64, Z:6.67 [[ 9.30004853e-01 3.67408026e-01 -1.01150993e-02 4.31195349e+01] [-3.67384693e-01 9.30059850e-01 4.14287884e-03 -1.36432602e+01] [ 1.09297747e-02 -1.36764778e-04 9.99940259e-01 6.67396896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.144839172999994 meters 0.08525171974726745 Centerline is valid? [True, True] Translation: X:43.15, Y:-13.65, Z:6.66 [[ 9.30322532e-01 3.66345487e-01 -1.70578459e-02 4.31485788e+01] [-3.66278956e-01 9.30478866e-01 6.98611226e-03 -1.36497836e+01] [ 1.84312958e-02 -2.51407671e-04 9.99830098e-01 6.66361303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.174839172999995 meters 0.08590984008783616 Centerline is valid? [True, True] Translation: X:43.17, Y:-13.66, Z:6.65 [[ 9.31733041e-01 3.62335003e-01 -2.42257487e-02 4.31745015e+01] [-3.62199620e-01 9.32047816e-01 9.91483571e-03 -1.36643878e+01] [ 2.61720482e-02 -4.63423049e-04 9.99657346e-01 6.65374203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.204839172999996 meters 0.08637004442981504 Centerline is valid? [True, True] Translation: X:43.20, Y:-13.67, Z:6.66 [[ 9.29427594e-01 3.68581034e-01 -1.76739733e-02 4.32039112e+01] [-3.68510205e-01 9.29595600e-01 7.22841656e-03 -1.36694344e+01] [ 1.90939051e-02 -2.05250273e-04 9.99817674e-01 6.65854413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.234839173 meters 0.08641765917462553 Centerline is valid? [True, True] Translation: X:43.23, Y:-13.68, Z:6.66 [[ 9.29898064e-01 3.67482263e-01 -1.56963872e-02 4.32310100e+01] [-3.67426323e-01 9.30030509e-01 6.41486485e-03 -1.36791260e+01] [ 1.69554680e-02 -1.97904586e-04 9.99856226e-01 6.66038626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26483917299999 meters 0.08611662706720663 Centerline is valid? [True, True] Translation: X:43.26, Y:-13.69, Z:6.66 [[ 9.29950936e-01 3.67393618e-01 -1.46009042e-02 4.32588367e+01] [-3.67345271e-01 9.30065533e-01 5.96285854e-03 -1.36862272e+01] [ 1.57705140e-02 -1.81592757e-04 9.99875621e-01 6.66257658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29483917299999 meters 0.08611662706720663 Centerline is valid? [True, True] Translation: X:43.28, Y:-13.70, Z:6.66 [[ 9.30053869e-01 3.67132896e-01 -1.46026505e-02 4.32842164e+01] [-3.67084583e-01 9.30168482e-01 5.95858154e-03 -1.36963672e+01] [ 1.57705165e-02 -1.81393956e-04 9.99875621e-01 6.66241984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.324839172999994 meters 0.08525496637555324 Centerline is valid? [True, True] Translation: X:43.32, Y:-13.69, Z:6.67 [[ 9.29787635e-01 3.67815823e-01 -1.43691896e-02 4.33162436e+01] [-3.67769185e-01 9.29898647e-01 5.85940123e-03 -1.36934647e+01] [ 1.55170705e-02 -1.63453643e-04 9.99879590e-01 6.66809459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.354839172999995 meters 0.08375677277675396 Centerline is valid? [True, True] Translation: X:43.35, Y:-13.69, Z:6.68 [[ 9.29117070e-01 3.69676146e-01 -9.00092016e-03 4.33463472e+01] [-3.69657938e-01 9.29160664e-01 3.66994289e-03 -1.36938415e+01] [ 9.71999130e-03 -8.25449992e-05 9.99952756e-01 6.67753957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.384839172999996 meters 0.08347515163098242 Centerline is valid? [True, True] Translation: X:43.37, Y:-13.70, Z:6.68 [[ 9.29143598e-01 3.69619396e-01 -8.58348548e-03 4.33738989e+01] [-3.69602874e-01 9.29183241e-01 3.49567353e-03 -1.37000926e+01] [ 9.26769960e-03 -7.55017851e-05 9.99957051e-01 6.68159875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.414839173 meters 0.08324313753797742 Centerline is valid? [True, True] Translation: X:43.40, Y:-13.71, Z:6.68 [[ 9.29297272e-01 3.69266722e-01 -6.97628704e-03 4.34002913e+01] [-3.69255796e-01 9.29323455e-01 2.84129565e-03 -1.37101179e+01] [ 7.53242311e-03 -6.43738659e-05 9.99971629e-01 6.68294799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44483917299999 meters 0.0830059490301993 Centerline is valid? [True, True] Translation: X:43.43, Y:-13.72, Z:6.69 [[ 9.28637876e-01 3.70954329e-01 -4.95796249e-03 4.34281257e+01] [-3.70948849e-01 9.28651110e-01 2.01671035e-03 -1.37182471e+01] [ 5.35232481e-03 -3.36431395e-05 9.99985676e-01 6.68669551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47483917299999 meters 0.0824423662580652 Centerline is valid? [True, True] Translation: X:43.46, Y:-13.72, Z:6.69 [[ 9.26977166e-01 3.75065010e-01 -6.29068708e-03 4.34565718e+01] [-3.75056280e-01 9.26998510e-01 2.55909305e-03 -1.37196922e+01] [ 6.79128381e-03 -1.28591330e-05 9.99976939e-01 6.68652083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50483917299999 meters 0.0823331277421135 Centerline is valid? [True, True] Translation: X:43.48, Y:-13.73, Z:6.69 [[ 9.26412074e-01 3.76427012e-01 -7.96076057e-03 4.34847869e+01] [-3.76413105e-01 9.26446277e-01 3.23563351e-03 -1.37263208e+01] [ 8.59319685e-03 -9.95339933e-07 9.99963078e-01 6.68816304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.534839172999995 meters 0.08284106963407338 Centerline is valid? [True, True] Translation: X:43.51, Y:-13.74, Z:6.68 [[ 9.25887920e-01 3.77712753e-01 -8.03962919e-03 4.35087667e+01] [-3.77698621e-01 9.25922824e-01 3.26732697e-03 -1.37376123e+01] [ 8.67818723e-03 1.13782915e-05 9.99962344e-01 6.68476344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.564839172999996 meters 0.08277701431717199 Centerline is valid? [True, True] Translation: X:43.53, Y:-13.75, Z:6.68 [[ 9.25867993e-01 3.77775743e-01 -7.34492267e-03 4.35345308e+01] [-3.77763954e-01 9.25897126e-01 2.98441302e-03 -1.37477339e+01] [ 7.92808164e-03 1.14745395e-05 9.99968572e-01 6.68420076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.594839173 meters 0.08238730818456894 Centerline is valid? [True, True] Translation: X:43.56, Y:-13.76, Z:6.69 [[ 9.26087398e-01 3.77229810e-01 -7.73317241e-03 4.35608848e+01] [-3.77216754e-01 9.26119685e-01 3.13851121e-03 -1.37555681e+01] [ 8.34578318e-03 1.05465159e-05 9.99965173e-01 6.68581354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.624839173 meters 0.08201480101414522 Centerline is valid? [True, True] Translation: X:43.59, Y:-13.77, Z:6.69 [[ 9.27126148e-01 3.74701545e-01 -5.98817582e-03 4.35866861e+01] [-3.74693676e-01 9.27145486e-01 2.42844625e-03 -1.37673671e+01] [ 6.46185274e-03 -7.74440975e-06 9.99979122e-01 6.68956861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65483917299999 meters 0.08183815917691596 Centerline is valid? [True, True] Translation: X:43.61, Y:-13.78, Z:6.69 [[ 9.27611319e-01 3.73508743e-01 -5.33476016e-03 4.36111025e+01] [-3.73502490e-01 9.27626659e-01 2.16137625e-03 -1.37804810e+01] [ 5.75595868e-03 -1.23708751e-05 9.99983434e-01 6.69139009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68483917299999 meters 0.08187916867016723 Centerline is valid? [True, True] Translation: X:43.64, Y:-13.80, Z:6.69 [[ 9.29066628e-01 3.69863800e-01 -5.99758136e-03 4.36350597e+01] [-3.69855828e-01 9.29085985e-01 2.42866429e-03 -1.37983723e+01] [ 6.47054379e-03 -3.81505212e-05 9.99979065e-01 6.69110575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.714839172999994 meters 0.08229540846119111 Centerline is valid? [True, True] Translation: X:43.66, Y:-13.81, Z:6.69 [[ 9.30048269e-01 3.67329841e-01 -8.88843015e-03 4.36602008e+01] [-3.67312233e-01 9.30090738e-01 3.59753215e-03 -1.38135211e+01] [ 9.58852747e-03 -8.10494198e-05 9.99954026e-01 6.68756342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.744839172999995 meters 0.08357283124681412 Centerline is valid? [True, True] Translation: X:43.68, Y:-13.83, Z:6.68 [[ 9.30299034e-01 3.66539622e-01 -1.38713046e-02 4.36848853e+01] [-3.66496683e-01 9.30402433e-01 5.61200508e-03 -1.38306544e+01] [ 1.49629178e-02 -1.37055773e-04 9.99888040e-01 6.67780470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.774839173 meters 0.08427432083279157 Centerline is valid? [True, True] Translation: X:43.71, Y:-13.84, Z:6.67 [[ 9.30210358e-01 3.66693655e-01 -1.56349825e-02 4.37089470e+01] [-3.66639141e-01 9.30341733e-01 6.32451395e-03 -1.38438908e+01] [ 1.68650359e-02 -1.50731824e-04 9.99857764e-01 6.67232361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.804839173 meters 0.08483362880260607 Centerline is valid? [True, True] Translation: X:43.73, Y:-13.86, Z:6.67 [[ 9.31707395e-01 3.62885659e-01 -1.53403999e-02 4.37322006e+01] [-3.62832746e-01 9.31833651e-01 6.20036747e-03 -1.38631644e+01] [ 1.65447253e-02 -2.10928814e-04 9.99863104e-01 6.66980270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83483917299999 meters 0.08481628087030393 Centerline is valid? [True, True] Translation: X:43.76, Y:-13.88, Z:6.67 [[ 9.32684175e-01 3.60413442e-01 -1.42260284e-02 4.37569308e+01] [-3.60367728e-01 9.32792633e-01 5.74485987e-03 -1.38769589e+01] [ 1.53404592e-02 -2.31538354e-04 9.99882301e-01 6.67375276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86483917299999 meters 0.08477510333661063 Centerline is valid? [True, True] Translation: X:43.78, Y:-13.89, Z:6.68 [[ 9.33493342e-01 3.58365689e-01 -1.28145742e-02 4.37791541e+01] [-3.58328438e-01 9.33581264e-01 5.17239317e-03 -1.38930817e+01] [ 1.38170546e-02 -2.36568229e-04 9.99904512e-01 6.67577131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.894839172999994 meters 0.08409803181971665 Centerline is valid? [True, True] Translation: X:43.81, Y:-13.90, Z:6.68 [[ 9.33247956e-01 3.59065246e-01 -1.09727411e-02 4.38071683e+01] [-3.59038022e-01 9.33312441e-01 4.42562607e-03 -1.39018829e+01] [ 1.18300843e-02 -1.90575241e-04 9.99930004e-01 6.67977450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.924839172999995 meters 0.08355951725830342 Centerline is valid? [True, True] Translation: X:43.83, Y:-13.91, Z:6.68 [[ 9.32646881e-01 3.60617025e-01 -1.11873500e-02 4.38346587e+01] [-3.60588840e-01 9.32713960e-01 4.51194538e-03 -1.39085825e+01] [ 1.20616818e-02 -1.74018244e-04 9.99927240e-01 6.68272360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.954839172999996 meters 0.08387989280237444 Centerline is valid? [True, True] Translation: X:43.86, Y:-13.92, Z:6.67 [[ 9.30476181e-01 3.65951358e-01 -1.71371146e-02 4.38611020e+01] [-3.65886227e-01 9.30633966e-01 6.90578178e-03 -1.39193503e+01] [ 1.84755611e-02 -1.55431262e-04 9.99829300e-01 6.67428518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.984839173 meters 0.08400041575531016 Centerline is valid? [True, True] Translation: X:43.89, Y:-13.93, Z:6.67 [[ 9.28613632e-01 3.70597444e-01 -1.82826975e-02 4.38869535e+01] [-3.70524285e-01 9.28793589e-01 7.36371193e-03 -1.39274928e+01] [ 1.97098251e-02 -6.38598539e-05 9.99805740e-01 6.66996630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01483917299999 meters 0.08409882430936798 Centerline is valid? [True, True] Translation: X:43.92, Y:-13.93, Z:6.67 [[ 9.25381972e-01 3.78423557e-01 -2.15364065e-02 4.39175395e+01] [-3.78324274e-01 9.25632538e-01 8.66882007e-03 -1.39295268e+01] [ 2.32152843e-02 1.25775522e-04 9.99730481e-01 6.66737349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04483917299999 meters 0.0843648637799884 Centerline is valid? [True, True] Translation: X:43.95, Y:-13.94, Z:6.67 [[ 9.24654548e-01 3.80010414e-01 -2.46181015e-02 4.39459233e+01] [-3.79881400e-01 9.24982187e-01 9.90327582e-03 -1.39374662e+01] [ 2.65346533e-02 1.94849822e-04 9.99647875e-01 6.66614978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.074839172999994 meters 0.08421473743008892 Centerline is valid? [True, True] Translation: X:43.97, Y:-13.95, Z:6.67 [[ 9.25356693e-01 3.78282955e-01 -2.48394290e-02 4.39704931e+01] [-3.78151136e-01 9.25690004e-01 9.98677564e-03 -1.39475932e+01] [ 2.67714381e-02 1.51728622e-04 9.99641569e-01 6.66678940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.104839172999995 meters 0.0838399907848601 Centerline is valid? [True, True] Translation: X:43.99, Y:-13.96, Z:6.67 [[ 9.27196498e-01 3.73791925e-01 -2.42126229e-02 4.39941253e+01] [-3.73665190e-01 9.27512585e-01 9.73292177e-03 -1.39623156e+01] [ 2.60956000e-02 2.30833440e-05 9.99659452e-01 6.66638463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.134839172999996 meters 0.08405599430502943 Centerline is valid? [True, True] Translation: X:44.01, Y:-13.99, Z:6.67 [[ 9.31116648e-01 3.64103151e-01 -2.12293200e-02 4.40142805e+01] [-3.64003359e-01 9.31358605e-01 8.52666954e-03 -1.39890909e+01] [ 2.28766971e-02 -2.11780164e-04 9.99738272e-01 6.66999785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.164839173 meters 0.08423947348357531 Centerline is valid? [True, True] Translation: X:44.04, Y:-14.01, Z:6.67 [[ 9.32577732e-01 3.60387142e-01 -2.04909864e-02 4.40379237e+01] [-3.60293408e-01 9.32802779e-01 8.22406137e-03 -1.40068315e+01] [ 2.20778950e-02 -2.86809204e-04 9.99756212e-01 6.67203706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19483917299999 meters 0.0856871798496557 Centerline is valid? [True, True] Translation: X:44.06, Y:-14.03, Z:6.67 [[ 9.36647263e-01 3.49714337e-01 -1.97936228e-02 4.40584715e+01] [-3.49624482e-01 9.36856238e-01 7.94419562e-03 -1.40338194e+01] [ 2.13219781e-02 -5.20573972e-04 9.99772525e-01 6.67393384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22483917299999 meters 0.08676789931852065 Centerline is valid? [True, True] Translation: X:44.08, Y:-14.06, Z:6.68 [[ 9.39746000e-01 3.41457328e-01 -1.68626443e-02 4.40806975e+01] [-3.41390869e-01 9.39897087e-01 6.76312230e-03 -1.40578687e+01] [ 1.81584680e-02 -5.98864322e-04 9.99834942e-01 6.67928260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.25483917299999 meters 0.08681175605475956 Centerline is valid? [True, True] Translation: X:44.11, Y:-14.07, Z:6.68 [[ 9.40128036e-01 3.40443571e-01 -1.60452914e-02 4.41050673e+01] [-3.40383357e-01 9.40264769e-01 6.42924507e-03 -1.40723657e+01] [ 1.72756174e-02 -5.82763386e-04 9.99850596e-01 6.67980917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.284839172999995 meters 0.0867342899423451 Centerline is valid? [True, True] Translation: X:44.13, Y:-14.09, Z:6.68 [[ 9.40364557e-01 3.39865311e-01 -1.43551698e-02 4.41294830e+01] [-3.39817112e-01 9.40473972e-01 5.74783994e-03 -1.40881193e+01] [ 1.54541550e-02 -5.26932612e-04 9.99880439e-01 6.68226485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.314839172999996 meters 0.08643859659562034 Centerline is valid? [True, True] Translation: X:44.16, Y:-14.10, Z:6.68 [[ 9.40405039e-01 3.39788983e-01 -1.34836884e-02 4.41554800e+01] [-3.39746510e-01 9.40501571e-01 5.39478375e-03 -1.41006266e+01] [ 1.45145182e-02 -4.92245752e-04 9.99894538e-01 6.68311570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.344839173 meters 0.08674316775709272 Centerline is valid? [True, True] Translation: X:44.18, Y:-14.12, Z:6.69 [[ 9.41205477e-01 3.37595396e-01 -1.27121207e-02 4.41786664e+01] [-3.37557498e-01 9.41291191e-01 5.08226607e-03 -1.41191541e+01] [ 1.36815569e-02 -4.92384995e-04 9.99906282e-01 6.68563737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.374839173 meters 0.08700382427786289 Centerline is valid? [True, True] Translation: X:44.20, Y:-14.14, Z:6.68 [[ 9.41903808e-01 3.35560852e-01 -1.47014221e-02 4.42029316e+01] [-3.35509917e-01 9.42018339e-01 5.87752294e-03 -1.41367279e+01] [ 1.58212759e-02 -6.03588324e-04 9.99874654e-01 6.68412274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40483917299999 meters 0.08750977401598728 Centerline is valid? [True, True] Translation: X:44.22, Y:-14.16, Z:6.68 [[ 9.42902547e-01 3.32663939e-01 -1.64161387e-02 4.42245409e+01] [-3.32600006e-01 9.43045160e-01 6.56217873e-03 -1.41612478e+01] [ 1.76641604e-02 -7.27487225e-04 9.99843712e-01 6.68282943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43483917299999 meters 0.08726973536961444 Centerline is valid? [True, True] Translation: X:44.25, Y:-14.17, Z:6.68 [[ 9.42819793e-01 3.32905356e-01 -1.62745552e-02 4.42502556e+01] [-3.32842666e-01 9.42959977e-01 6.49929987e-03 -1.41734728e+01] [ 1.75099060e-02 -7.10802208e-04 9.99846437e-01 6.68193941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.464839172999994 meters 0.08647631878940656 Centerline is valid? [True, True] Translation: X:44.28, Y:-14.18, Z:6.68 [[ 9.40854352e-01 3.38311382e-01 -1.83983011e-02 4.42772385e+01] [-3.38232287e-01 9.41033970e-01 7.34757665e-03 -1.41831608e+01] [ 1.97991951e-02 -6.90100009e-04 9.99803739e-01 6.67866858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.494839172999995 meters 0.08576449980002884 Centerline is valid? [True, True] Translation: X:44.30, Y:-14.19, Z:6.68 [[ 9.39581410e-01 3.41836168e-01 -1.82977758e-02 4.43036717e+01] [-3.41758641e-01 9.39759363e-01 7.30547632e-03 -1.41924710e+01] [ 1.96927822e-02 -6.10666752e-04 9.99805892e-01 6.67825592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.524839173 meters 0.08500046518900667 Centerline is valid? [True, True] Translation: X:44.33, Y:-14.20, Z:6.68 [[ 9.38339109e-01 3.45063369e-01 -2.12364647e-02 4.43310336e+01] [-3.44959932e-01 9.38579183e-01 8.47126316e-03 -1.42017489e+01] [ 2.28552263e-02 -6.23188091e-04 9.99738591e-01 6.67664249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.554839173 meters 0.08571932530519756 Centerline is valid? [True, True] Translation: X:44.36, Y:-14.22, Z:6.67 [[ 9.38318542e-01 3.44811917e-01 -2.57498494e-02 4.43556149e+01] [-3.44659737e-01 9.38671486e-01 1.02716104e-02 -1.42168610e+01] [ 2.77124231e-02 -7.63106192e-04 9.99615646e-01 6.67166019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58483917299999 meters 0.08784271658711403 Centerline is valid? [True, True] Translation: X:44.38, Y:-14.24, Z:6.66 [[ 9.39567588e-01 3.40959081e-01 -3.09782613e-02 4.43763512e+01] [-3.40736805e-01 9.40077549e-01 1.23544433e-02 -1.42431726e+01] [ 3.33343276e-02 -1.05240071e-03 9.99443703e-01 6.66194062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61483917299999 meters 0.08769182378888615 Centerline is valid? [True, True] Translation: X:44.40, Y:-14.25, Z:6.66 [[ 9.39372716e-01 3.41274323e-01 -3.33277113e-02 4.44032353e+01] [-3.41017639e-01 9.39963087e-01 1.32802369e-02 -1.42534641e+01] [ 3.58590222e-02 -1.10975479e-03 9.99356242e-01 6.66047456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.644839172999994 meters 0.08687390813340497 Centerline is valid? [True, True] Translation: X:44.43, Y:-14.26, Z:6.66 [[ 9.36556741e-01 3.48645948e-01 -3.61589977e-02 4.44319419e+01] [-3.48349357e-01 9.37254075e-01 1.44057311e-02 -1.42555010e+01] [ 3.89126677e-02 -8.95820931e-04 9.99242214e-01 6.65734748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.674839172999995 meters 0.08527301605220748 Centerline is valid? [True, True] Translation: X:44.47, Y:-14.25, Z:6.66 [[ 9.31291626e-01 3.62463954e-01 -3.62738260e-02 4.44656890e+01] [-3.62176304e-01 9.31997739e-01 1.44408907e-02 -1.42510052e+01] [ 3.90414262e-02 -3.11160353e-04 9.99237544e-01 6.65777217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.704839172999996 meters 0.0846981355407502 Centerline is valid? [True, True] Translation: X:44.49, Y:-14.25, Z:6.66 [[ 9.28232548e-01 3.70500352e-01 -3.33740266e-02 4.44949121e+01] [-3.70262129e-01 9.28832325e-01 1.32841071e-02 -1.42533650e+01] [ 3.59206410e-02 2.63975496e-05 9.99354645e-01 6.65880710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.734839173 meters 0.0843030350806158 Centerline is valid? [True, True] Translation: X:44.53, Y:-14.25, Z:6.67 [[ 9.23672302e-01 3.82271608e-01 -2.64177279e-02 4.45275488e+01] [-3.82127207e-01 9.24049928e-01 1.05132188e-02 -1.42499862e+01] [ 2.84302047e-02 3.84163566e-04 9.99595706e-01 6.66609751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76483917299999 meters 0.0840649365125897 Centerline is valid? [True, True] Translation: X:44.55, Y:-14.26, Z:6.67 [[ 9.22630319e-01 3.84861706e-01 -2.51944998e-02 4.45542671e+01] [-3.84731443e-01 9.22974143e-01 1.00223800e-02 -1.42553089e+01] [ 2.71111021e-02 4.46164601e-04 9.99632327e-01 6.66899382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79483917299999 meters 0.08442066495671782 Centerline is valid? [True, True] Translation: X:44.58, Y:-14.26, Z:6.67 [[ 9.21650171e-01 3.87187220e-01 -2.54365577e-02 4.45815508e+01] [-3.87055555e-01 9.22000965e-01 1.01103207e-02 -1.42643323e+01] [ 2.73671177e-02 5.27182184e-04 9.99625311e-01 6.67055467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.824839172999994 meters 0.08448943141751439 Centerline is valid? [True, True] Translation: X:44.61, Y:-14.28, Z:6.67 [[ 9.22369449e-01 3.85225759e-01 -2.89087321e-02 4.46077793e+01] [-3.85054943e-01 9.22822206e-01 1.14833427e-02 -1.42792274e+01] [ 3.11012994e-02 5.39565723e-04 9.99516092e-01 6.66924166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.854839172999995 meters 0.08511864612308721 Centerline is valid? [True, True] Translation: X:44.63, Y:-14.30, Z:6.66 [[ 9.24844525e-01 3.78858190e-01 -3.36017255e-02 4.46307983e+01] [-3.78623255e-01 9.25454660e-01 1.33455410e-02 -1.42983927e+01] [ 3.61529410e-02 3.79844118e-04 9.99346197e-01 6.66209186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.884839172999996 meters 0.08521031245867038 Centerline is valid? [True, True] Translation: X:44.65, Y:-14.31, Z:6.66 [[ 9.26745745e-01 3.74107085e-01 -3.44414482e-02 4.46539694e+01] [-3.73857441e-01 9.27385488e-01 1.36663569e-02 -1.43147238e+01] [ 3.70531803e-02 2.10953582e-04 9.99313273e-01 6.65972412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.914839173 meters 0.08555036626798311 Centerline is valid? [True, True] Translation: X:44.67, Y:-14.34, Z:6.66 [[ 9.30584371e-01 3.64391638e-01 -3.50922026e-02 4.46749276e+01] [-3.64125701e-01 9.31245780e-01 1.39201608e-02 -1.43359927e+01] [ 3.77518558e-02 -1.75911226e-04 9.99287129e-01 6.65555426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94483917299999 meters 0.08517101280757783 Centerline is valid? [True, True] Translation: X:44.70, Y:-14.35, Z:6.66 [[ 9.32619650e-01 3.59079102e-01 -3.58160101e-02 4.47003518e+01] [-3.58798595e-01 9.33307049e-01 1.41958020e-02 -1.43498449e+01] [ 3.85247505e-02 -3.88549742e-04 9.99257571e-01 6.66283769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97483917299999 meters 0.08578590866001524 Centerline is valid? [True, True] Translation: X:44.73, Y:-14.36, Z:6.66 [[ 9.33605532e-01 3.56341340e-01 -3.74374177e-02 4.47262940e+01] [-3.56032727e-01 9.34355701e-01 1.48364844e-02 -1.43609625e+01] [ 4.02667173e-02 -5.22477981e-04 9.99188830e-01 6.66058293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00483917299999 meters 0.08648919637783638 Centerline is valid? [True, True] Translation: X:44.75, Y:-14.37, Z:6.66 [[ 9.33673093e-01 3.56156205e-01 -3.75141790e-02 4.47512863e+01] [-3.55846549e-01 9.34426286e-01 1.48576361e-02 -1.43715571e+01] [ 4.03458743e-02 -5.22883892e-04 9.99185637e-01 6.65740415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.034839172999995 meters 0.08628385827114078 Centerline is valid? [True, True] Translation: X:44.78, Y:-14.39, Z:6.66 [[ 9.34341715e-01 3.54618991e-01 -3.53685017e-02 4.47763691e+01] [-3.54342743e-01 9.35010730e-01 1.40055563e-02 -1.43863391e+01] [ 3.80365648e-02 -5.53403646e-04 9.99276195e-01 6.66124236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.064839172999996 meters 0.0859172008321087 Centerline is valid? [True, True] Translation: X:44.80, Y:-14.40, Z:6.67 [[ 9.35220807e-01 3.52513155e-01 -3.31136992e-02 4.48022143e+01] [-3.52270092e-01 9.35806674e-01 1.31016105e-02 -1.43994468e+01] [ 3.56065108e-02 -5.87932854e-04 9.99365714e-01 6.66543068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.094839173 meters 0.08525468804367824 Centerline is valid? [True, True] Translation: X:44.83, Y:-14.41, Z:6.67 [[ 9.35314499e-01 3.52523450e-01 -3.02325106e-02 4.48278986e+01] [-3.52320907e-01 9.35802827e-01 1.19602524e-02 -1.44119825e+01] [ 3.25079383e-02 -5.35051983e-04 9.99471334e-01 6.67016360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.124839173 meters 0.08422582554615009 Centerline is valid? [True, True] Translation: X:44.86, Y:-14.40, Z:6.67 [[ 9.31487049e-01 3.62545071e-01 -2.98822438e-02 4.48616178e+01] [-3.62352417e-01 9.31966222e-01 1.18189384e-02 -1.44030311e+01] [ 3.21341397e-02 -1.81284775e-04 9.99483549e-01 6.67208260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15483917299999 meters 0.0841246119500046 Centerline is valid? [True, True] Translation: X:44.89, Y:-14.40, Z:6.67 [[ 9.29362915e-01 3.67976397e-01 -2.96301118e-02 4.48923869e+01] [-3.67790045e-01 9.29835131e-01 1.17094937e-02 -1.44042082e+01] [ 3.18599362e-02 1.52909213e-05 9.99492343e-01 6.67365545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18483917299999 meters 0.0841246119500046 Centerline is valid? [True, True] Translation: X:44.92, Y:-14.41, Z:6.67 [[ 9.29468924e-01 3.67708268e-01 -2.96335624e-02 4.49179015e+01] [-3.67522058e-01 9.29941197e-01 1.17007589e-02 -1.44140748e+01] [ 3.18599363e-02 1.54960259e-05 9.99492343e-01 6.67349864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.214839172999994 meters 0.08449614587652343 Centerline is valid? [True, True] Translation: X:44.95, Y:-14.42, Z:6.67 [[ 9.27684211e-01 3.72397883e-01 -2.68667372e-02 4.49452708e+01] [-3.72246840e-01 9.28073160e-01 1.06065684e-02 -1.44194331e+01] [ 2.88841613e-02 1.61511952e-04 9.99582753e-01 6.67206440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.244839172999995 meters 0.08390700211283063 Centerline is valid? [True, True] Translation: X:44.97, Y:-14.43, Z:6.68 [[ 9.28437256e-01 3.70673392e-01 -2.46068762e-02 4.49711714e+01] [-3.70546184e-01 9.28763278e-01 9.71078172e-03 -1.44335903e+01] [ 2.64534914e-02 1.02132538e-04 9.99650040e-01 6.67609112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.274839173 meters 0.08340154536389917 Centerline is valid? [True, True] Translation: X:45.00, Y:-14.45, Z:6.68 [[ 9.31799385e-01 3.62384983e-01 -2.06647235e-02 4.49952221e+01] [-3.62293370e-01 9.32028494e-01 8.14868780e-03 -1.44517594e+01] [ 2.22130732e-02 -1.06249944e-04 9.99753254e-01 6.68023427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.304839173 meters 0.08347166829635537 Centerline is valid? [True, True] Translation: X:45.02, Y:-14.47, Z:6.68 [[ 9.33799435e-01 3.57173449e-01 -2.11126098e-02 4.50198432e+01] [-3.57076516e-01 9.34038047e-01 8.32397724e-03 -1.44667021e+01] [ 2.26930845e-02 -2.34108073e-04 9.99742451e-01 6.68137510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33483917299999 meters 0.08423748425284308 Centerline is valid? [True, True] Translation: X:45.04, Y:-14.48, Z:6.68 [[ 9.35610179e-01 3.52197146e-01 -2.43056352e-02 4.50440062e+01] [-3.52067036e-01 9.35925747e-01 9.58109123e-03 -1.44823973e+01] [ 2.61227028e-02 -4.06953510e-04 9.99658661e-01 6.67796994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36483917299999 meters 0.08457191393304578 Centerline is valid? [True, True] Translation: X:45.07, Y:-14.49, Z:6.68 [[ 9.35269336e-01 3.52998564e-01 -2.57542875e-02 4.50697751e+01] [-3.52852903e-01 9.35623776e-01 1.01478177e-02 -1.44926922e+01] [ 2.76784888e-02 -4.03467654e-04 9.99616796e-01 6.67517128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.394839172999994 meters 0.08447083285948687 Centerline is valid? [True, True] Translation: X:45.10, Y:-14.50, Z:6.67 [[ 9.33941726e-01 3.56275508e-01 -2.86463729e-02 4.50973331e+01] [-3.56097100e-01 9.34380892e-01 1.12784564e-02 -1.45001181e+01] [ 3.07848612e-02 -3.32530683e-04 9.99525979e-01 6.67357156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.424839172999995 meters 0.08477089919167562 Centerline is valid? [True, True] Translation: X:45.12, Y:-14.51, Z:6.67 [[ 9.33312547e-01 3.57815640e-01 -2.99275364e-02 4.51241241e+01] [-3.57621826e-01 9.33792206e-01 1.17790769e-02 -1.45072365e+01] [ 3.21608382e-02 -2.90820064e-04 9.99482664e-01 6.67098313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.454839172999996 meters 0.08464364991049315 Centerline is valid? [True, True] Translation: X:45.15, Y:-14.51, Z:6.67 [[ 9.32652928e-01 3.59546726e-01 -2.97433519e-02 4.51543046e+01] [-3.59356469e-01 9.33127056e-01 1.16972526e-02 -1.45098161e+01] [ 3.19600353e-02 -2.21011011e-04 9.99489123e-01 6.67336832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.484839173 meters 0.08464230860956215 Centerline is valid? [True, True] Translation: X:45.18, Y:-14.52, Z:6.67 [[ 9.33422386e-01 3.57599735e-01 -2.90702303e-02 4.51810261e+01] [-3.57417315e-01 9.33874914e-01 1.14239960e-02 -1.45208916e+01] [ 3.12331768e-02 -2.73209950e-04 9.99512088e-01 6.67291743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51483917299999 meters 0.08532800433013192 Centerline is valid? [True, True] Translation: X:45.21, Y:-14.54, Z:6.67 [[ 9.34965486e-01 3.53395973e-01 -3.08354764e-02 4.52050534e+01] [-3.53188450e-01 9.35473727e-01 1.21171062e-02 -1.45375120e+01] [ 3.31279145e-02 -4.38341979e-04 9.99451024e-01 6.66974017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54483917299999 meters 0.08610620753631626 Centerline is valid? [True, True] Translation: X:45.23, Y:-14.55, Z:6.67 [[ 9.36310528e-01 3.49476478e-01 -3.44787843e-02 4.52313278e+01] [-3.49214627e-01 9.36944921e-01 1.35410573e-02 -1.45499467e+01] [ 3.70370028e-02 -6.38138729e-04 9.99313691e-01 6.66779351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.574839172999994 meters 0.08582181190698397 Centerline is valid? [True, True] Translation: X:45.26, Y:-14.56, Z:6.67 [[ 9.35878481e-01 3.50521620e-01 -3.55817798e-02 4.52595631e+01] [-3.50243901e-01 9.36554444e-01 1.39636132e-02 -1.45561006e+01] [ 3.82188223e-02 -6.05943723e-04 9.99269210e-01 6.66855388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.604839172999995 meters 0.08574749853102215 Centerline is valid? [True, True] Translation: X:45.29, Y:-14.56, Z:6.67 [[ 9.34768642e-01 3.53367539e-01 -3.65919180e-02 4.52880256e+01] [-3.53076477e-01 9.35484441e-01 1.43478636e-02 -1.45609933e+01] [ 3.93012392e-02 -4.92187441e-04 9.99227287e-01 6.66777409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.634839172999996 meters 0.08654342635402658 Centerline is valid? [True, True] Translation: X:45.32, Y:-14.56, Z:6.66 [[ 9.32590971e-01 3.58323411e-01 -4.33406619e-02 4.53196292e+01] [-3.57920837e-01 9.33597465e-01 1.69837628e-02 -1.45612047e+01] [ 4.65484119e-02 -3.26377885e-04 9.98915982e-01 6.66035754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.664839173 meters 0.08665644820182317 Centerline is valid? [True, True] Translation: X:45.35, Y:-14.57, Z:6.66 [[ 9.31418145e-01 3.61282321e-01 -4.39923097e-02 4.53481471e+01] [-3.60871442e-01 9.32456463e-01 1.72263506e-02 -1.45678233e+01] [ 4.72444895e-02 -1.69367306e-04 9.98883341e-01 6.65808603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69483917299999 meters 0.08739790089123793 Centerline is valid? [True, True] Translation: X:45.38, Y:-14.57, Z:6.65 [[ 9.29907131e-01 3.65188640e-01 -4.37033816e-02 4.53772612e+01] [-3.64787609e-01 9.30933540e-01 1.71097553e-02 -1.45688027e+01] [ 4.69332320e-02 3.19685979e-05 9.98898028e-01 6.65424408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72483917299999 meters 0.0870230224977637 Centerline is valid? [True, True] Translation: X:45.40, Y:-14.58, Z:6.66 [[ 9.30610321e-01 3.63451861e-01 -4.32108242e-02 4.54042606e+01] [-3.63058576e-01 9.31612979e-01 1.69034726e-02 -1.45796580e+01] [ 4.63993633e-02 -4.24857718e-05 9.98922969e-01 6.65657025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.75483917299999 meters 0.08798587267616297 Centerline is valid? [True, True] Translation: X:45.43, Y:-14.59, Z:6.65 [[ 9.31575567e-01 3.61066442e-01 -4.24026717e-02 4.54288811e+01] [-3.60685526e-01 9.32540080e-01 1.65816420e-02 -1.45924207e+01] [ 4.55292653e-02 -1.53022650e-04 9.98962994e-01 6.64957501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.784839172999995 meters 0.08717405791298331 Centerline is valid? [True, True] Translation: X:45.46, Y:-14.60, Z:6.66 [[ 9.32967654e-01 3.57466737e-01 -4.22952614e-02 4.54551939e+01] [-3.57084628e-01 9.33925817e-01 1.65268453e-02 -1.46033352e+01] [ 4.54084340e-02 -3.16024393e-04 9.98968455e-01 6.65702356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.814839172999996 meters 0.08702700375895324 Centerline is valid? [True, True] Translation: X:45.48, Y:-14.61, Z:6.66 [[ 9.33666277e-01 3.55459098e-01 -4.37734370e-02 4.54825701e+01] [-3.55047658e-01 9.34691739e-01 1.71030038e-02 -1.46133868e+01] [ 4.69940883e-02 -4.26841597e-04 9.98895076e-01 6.65890147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.844839173 meters 0.08633671765859684 Centerline is valid? [True, True] Translation: X:45.51, Y:-14.62, Z:6.66 [[ 9.33552708e-01 3.56058117e-01 -4.12547958e-02 4.55101285e+01] [-3.55693411e-01 9.34463739e-01 1.61157768e-02 -1.46217882e+01] [ 4.42892639e-02 -3.70868053e-04 9.99018680e-01 6.66265734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.874839173 meters 0.08580272561479935 Centerline is valid? [True, True] Translation: X:45.54, Y:-14.63, Z:6.66 [[ 9.32037038e-01 3.60453355e-01 -3.71528973e-02 4.55393486e+01] [-3.60161189e-01 9.32777228e-01 1.45106918e-02 -1.46258154e+01] [ 3.98858042e-02 -1.43470532e-04 9.99204234e-01 6.66446061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90483917299999 meters 0.0859562370008064 Centerline is valid? [True, True] Translation: X:45.57, Y:-14.63, Z:6.67 [[ 9.29568080e-01 3.66611667e-01 -3.87178193e-02 4.55681582e+01] [-3.66300190e-01 9.30374047e-01 1.51097182e-02 -1.46308215e+01] [ 4.15614532e-02 1.36832792e-04 9.99135940e-01 6.66562423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93483917299999 meters 0.0856729770045026 Centerline is valid? [True, True] Translation: X:45.60, Y:-14.64, Z:6.67 [[ 9.28575256e-01 3.69509930e-01 -3.47908767e-02 4.55962846e+01] [-3.69260589e-01 9.29226750e-01 1.35744105e-02 -1.46389813e+01] [ 3.73444928e-02 2.42037929e-04 9.99302422e-01 6.66861447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.964839172999994 meters 0.08462961044177036 Centerline is valid? [True, True] Translation: X:45.62, Y:-14.65, Z:6.68 [[ 9.27724650e-01 3.72206838e-01 -2.80898990e-02 4.56234719e+01] [-3.72045612e-01 9.28149766e-01 1.09578522e-02 -1.46464663e+01] [ 3.01502207e-02 2.84854073e-04 9.99545338e-01 6.67681874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.994839172999995 meters 0.0848154457857796 Centerline is valid? [True, True] Translation: X:45.65, Y:-14.66, Z:6.67 [[ 9.27572541e-01 3.72606099e-01 -2.78186227e-02 4.56492967e+01] [-3.72448239e-01 9.27989551e-01 1.08490878e-02 -1.46564681e+01] [ 2.98578274e-02 2.97681081e-04 9.99554111e-01 6.67466950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.024839173 meters 0.0853203616456426 Centerline is valid? [True, True] Translation: X:45.67, Y:-14.68, Z:6.67 [[ 9.27906756e-01 3.71143736e-01 -3.52332186e-02 4.56730718e+01] [-3.70889795e-01 9.28575371e-01 1.37309664e-02 -1.46756056e+01] [ 3.78128613e-02 3.26584745e-04 9.99284785e-01 6.67258950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.054839173 meters 0.0857682861205117 Centerline is valid? [True, True] Translation: X:45.70, Y:-14.69, Z:6.67 [[ 9.27844129e-01 3.71263660e-01 -3.56169597e-02 4.56980049e+01] [-3.71004641e-01 9.28527423e-01 1.38701256e-02 -1.46898612e+01] [ 3.82207974e-02 3.44742738e-04 9.99269259e-01 6.67047214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08483917299999 meters 0.08502730654853612 Centerline is valid? [True, True] Translation: X:45.72, Y:-14.71, Z:6.68 [[ 9.27669651e-01 3.72382750e-01 -2.75700295e-02 4.57234930e+01] [-3.72228260e-01 9.28079195e-01 1.07298910e-02 -1.47059210e+01] [ 2.95827971e-02 3.08549895e-04 9.99562286e-01 6.67522988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11483917299999 meters 0.08482669738257764 Centerline is valid? [True, True] Translation: X:45.75, Y:-14.72, Z:6.68 [[ 9.27298709e-01 3.73352648e-01 -2.69240296e-02 4.57480356e+01] [-3.73205993e-01 9.27689433e-01 1.04691382e-02 -1.47184434e+01] [ 2.88858182e-02 3.40190896e-04 9.99582660e-01 6.67669365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.144839172999994 meters 0.08461475221441997 Centerline is valid? [True, True] Translation: X:45.77, Y:-14.74, Z:6.68 [[ 9.27517699e-01 3.72883995e-01 -2.58542932e-02 4.57704322e+01] [-3.72748784e-01 9.27877915e-01 1.00458921e-02 -1.47390686e+01] [ 2.77355800e-02 3.19413608e-04 9.99615244e-01 6.67733570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.174839172999995 meters 0.08461256190600316 Centerline is valid? [True, True] Translation: X:45.80, Y:-14.75, Z:6.68 [[ 9.27725705e-01 3.72384881e-01 -2.55835087e-02 4.57954457e+01] [-3.72252500e-01 9.28078340e-01 9.93332285e-03 -1.47542034e+01] [ 2.74425195e-02 3.08126132e-04 9.99623336e-01 6.67679582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.204839172999996 meters 0.08503801931530222 Centerline is valid? [True, True] Translation: X:45.82, Y:-14.77, Z:6.67 [[ 9.28467561e-01 3.70292663e-01 -2.88328424e-02 4.58185304e+01] [-3.70123541e-01 9.28915102e-01 1.11936837e-02 -1.47735098e+01] [ 3.09282016e-02 2.78741544e-04 9.99521570e-01 6.67044338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.234839173 meters 0.08493103735072823 Centerline is valid? [True, True] Translation: X:45.84, Y:-14.79, Z:6.67 [[ 9.29091664e-01 3.68648072e-01 -2.97872368e-02 4.58428100e+01] [-3.68467020e-01 9.29569008e-01 1.15548162e-02 -1.47905730e+01] [ 3.19489529e-02 2.40131000e-04 9.99489473e-01 6.67012210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26483917299999 meters 0.08453975554208217 Centerline is valid? [True, True] Translation: X:45.86, Y:-14.82, Z:6.67 [[ 9.31337386e-01 3.63129087e-01 -2.73484902e-02 4.58628748e+01] [-3.62974125e-01 9.31738839e-01 1.06075476e-02 -1.48181046e+01] [ 2.93335596e-02 4.75886865e-05 9.99569677e-01 6.67069628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29483917299999 meters 0.08444843735649525 Centerline is valid? [True, True] Translation: X:45.89, Y:-14.84, Z:6.67 [[ 9.33262470e-01 3.58389213e-01 -2.40485672e-02 4.58852729e+01] [-3.58267874e-01 9.33572260e-01 9.32553872e-03 -1.48396459e+01] [ 2.57932477e-02 -8.73462553e-05 9.99667295e-01 6.67268004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.324839172999994 meters 0.08437600319067262 Centerline is valid? [True, True] Translation: X:45.91, Y:-14.85, Z:6.67 [[ 9.34621790e-01 3.54895875e-01 -2.30440220e-02 4.59092449e+01] [-3.54783462e-01 9.34905818e-01 8.93348191e-03 -1.48547046e+01] [ 2.47144461e-02 -1.73788955e-04 9.99694536e-01 6.67263540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.354839172999995 meters 0.08363699135359293 Centerline is valid? [True, True] Translation: X:45.94, Y:-14.87, Z:6.68 [[ 9.35960707e-01 3.51655570e-01 -1.77739954e-02 4.59352253e+01] [-3.51588152e-01 9.36129436e-01 6.88845946e-03 -1.48692092e+01] [ 1.90611254e-02 -1.98201194e-04 9.99818301e-01 6.68171198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.384839172999996 meters 0.08355299268282268 Centerline is valid? [True, True] Translation: X:45.96, Y:-14.88, Z:6.68 [[ 9.36046001e-01 3.51461642e-01 -1.71055193e-02 4.59596745e+01] [-3.51399201e-01 9.36202263e-01 6.62756608e-03 -1.48818611e+01] [ 1.83435612e-02 -1.92840893e-04 9.99831724e-01 6.68142752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.414839173 meters 0.0841080099286505 Centerline is valid? [True, True] Translation: X:45.98, Y:-14.90, Z:6.68 [[ 9.35580908e-01 3.52570615e-01 -1.95531618e-02 4.59828729e+01] [-3.52489305e-01 9.35785191e-01 7.57401192e-03 -1.48985436e+01] [ 2.09679333e-02 -1.93820528e-04 9.99780130e-01 6.67595333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44483917299999 meters 0.08427083112352987 Centerline is valid? [True, True] Translation: X:46.01, Y:-14.91, Z:6.67 [[ 9.34934527e-01 3.54056959e-01 -2.32615705e-02 4.60096648e+01] [-3.53942379e-01 9.35223842e-01 9.00881538e-03 -1.49096365e+01] [ 2.49444091e-02 -1.89396961e-04 9.99688822e-01 6.67307755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47483917299999 meters 0.08447816296969167 Centerline is valid? [True, True] Translation: X:46.04, Y:-14.92, Z:6.67 [[ 9.35014939e-01 3.53797791e-01 -2.39621985e-02 4.60361378e+01] [-3.53676320e-01 9.35321915e-01 9.27230210e-03 -1.49210605e+01] [ 2.56928894e-02 -1.94878779e-04 9.99669864e-01 6.67170800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50483917299999 meters 0.08432029065676772 Centerline is valid? [True, True] Translation: X:46.06, Y:-14.94, Z:6.68 [[ 9.36356845e-01 3.50468329e-01 -2.01942725e-02 4.60610641e+01] [-3.50381303e-01 9.36574552e-01 7.81345219e-03 -1.49363503e+01] [ 2.16518092e-02 -2.40483943e-04 9.99765543e-01 6.67699784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.534839172999995 meters 0.08579235845725613 Centerline is valid? [True, True] Translation: X:46.08, Y:-14.96, Z:6.68 [[ 9.40039297e-01 3.40653751e-01 -1.67672928e-02 4.60808691e+01] [-3.40592225e-01 9.40188743e-01 6.48561474e-03 -1.49625216e+01] [ 1.79737689e-02 -3.85923148e-04 9.99838384e-01 6.67797554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.564839172999996 meters 0.08735904399988978 Centerline is valid? [True, True] Translation: X:46.10, Y:-14.98, Z:6.68 [[ 9.42491480e-01 3.33792382e-01 -1.71013718e-02 4.61037634e+01] [-3.33727259e-01 9.42646471e-01 6.61425153e-03 -1.49839371e+01] [ 1.83283345e-02 -5.26681783e-04 9.99831883e-01 6.67705644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.594839173 meters 0.08968493421719947 Centerline is valid? [True, True] Translation: X:46.13, Y:-15.01, Z:6.68 [[ 9.46550760e-01 3.21870673e-01 -2.09982788e-02 4.61252858e+01] [-3.21769575e-01 9.46783188e-01 8.12002435e-03 -1.50106724e+01] [ 2.24944150e-02 -9.29407986e-04 9.99746537e-01 6.67662705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62483917299999 meters 0.09072034410817496 Centerline is valid? [True, True] Translation: X:46.15, Y:-15.03, Z:6.68 [[ 9.48049683e-01 3.17365965e-01 -2.19235865e-02 4.61510428e+01] [-3.17254575e-01 9.48302523e-01 8.47699734e-03 -1.50250935e+01] [ 2.34805028e-02 -1.08125653e-03 9.99723710e-01 6.67704223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65483917299999 meters 0.0914757796943864 Centerline is valid? [True, True] Translation: X:46.18, Y:-15.04, Z:6.68 [[ 9.48620218e-01 3.15576817e-01 -2.30424663e-02 4.61787414e+01] [-3.15453263e-01 9.48899297e-01 8.90863385e-03 -1.50363527e+01] [ 2.46763384e-02 -1.18208898e-03 9.99694794e-01 6.67630170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68483917299999 meters 0.09330300999406312 Centerline is valid? [True, True] Translation: X:46.21, Y:-15.05, Z:6.68 [[ 9.49617701e-01 3.12749132e-01 -2.03519468e-02 4.62052746e+01] [-3.12652158e-01 9.49835121e-01 7.86585306e-03 -1.50455342e+01] [ 2.17910325e-02 -1.10647321e-03 9.99761935e-01 6.67654590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.714839172999994 meters 0.09320979993225319 Centerline is valid? [True, True] Translation: X:46.23, Y:-15.06, Z:6.68 [[ 9.50408844e-01 3.10515803e-01 -1.74058764e-02 4.62322291e+01] [-3.10444621e-01 9.50567708e-01 6.72081902e-03 -1.50563413e+01] [ 1.86323846e-02 -9.83965135e-04 9.99825918e-01 6.67823162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.744839172999995 meters 0.09336495457787097 Centerline is valid? [True, True] Translation: X:46.26, Y:-15.07, Z:6.68 [[ 9.50274367e-01 3.11062710e-01 -1.47857428e-02 4.62591518e+01] [-3.11011419e-01 9.50389029e-01 5.70875385e-03 -1.50663156e+01] [ 1.58279882e-02 -8.26347594e-04 9.99874388e-01 6.68029869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.774839173 meters 0.09783129772169165 Centerline is valid? [True, True] Translation: X:46.28, Y:-15.08, Z:6.67 [[ 9.50432767e-01 3.10357672e-01 -1.88592482e-02 4.62824984e+01] [-3.10274121e-01 9.50619259e-01 7.27967957e-03 -1.50841700e+01] [ 2.01872690e-02 -1.06730933e-03 9.99795647e-01 6.67158271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.804839173 meters 0.0934429571383743 Centerline is valid? [True, True] Translation: X:46.31, Y:-15.08, Z:6.67 [[ 9.49845972e-01 3.12113712e-01 -1.94334795e-02 4.63142561e+01] [-3.12025393e-01 9.50044161e-01 7.49976260e-03 -1.50811928e+01] [ 2.08034424e-02 -1.05988022e-03 9.99783023e-01 6.67459803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83483917299999 meters 0.09292492650529173 Centerline is valid? [True, True] Translation: X:46.34, Y:-15.08, Z:6.67 [[ 9.48420952e-01 3.16083202e-01 -2.42715549e-02 4.63424358e+01] [-3.15946785e-01 9.48730699e-01 9.36429396e-03 -1.50843098e+01] [ 2.59870652e-02 -1.21277286e-03 9.99661544e-01 6.66974131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86483917299999 meters 0.09162181201388264 Centerline is valid? [True, True] Translation: X:46.37, Y:-15.09, Z:6.67 [[ 9.47237482e-01 3.19873549e-01 -2.05442216e-02 4.63720265e+01] [-3.19776734e-01 9.47459780e-01 7.92505174e-03 -1.50900451e+01] [ 2.19998381e-02 -9.37341995e-04 9.99757535e-01 6.67137975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.894839172999994 meters 0.08948001849023578 Centerline is valid? [True, True] Translation: X:46.41, Y:-15.08, Z:6.68 [[ 9.45990838e-01 3.23846472e-01 -1.49932243e-02 4.64060859e+01] [-3.23795418e-01 9.46109446e-01 5.78310170e-03 -1.50844259e+01] [ 1.60580682e-02 -6.16023887e-04 9.99870871e-01 6.67844472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.924839172999995 meters 0.08929373225850436 Centerline is valid? [True, True] Translation: X:46.44, Y:-15.08, Z:6.68 [[ 9.45834888e-01 3.24477518e-01 -1.05216650e-02 4.64367248e+01] [-3.24452427e-01 9.45893314e-01 4.05728563e-03 -1.50836853e+01] [ 1.12688706e-02 -4.23742541e-04 9.99936414e-01 6.68397952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.954839172999996 meters 0.08944123616083455 Centerline is valid? [True, True] Translation: X:46.46, Y:-15.09, Z:6.69 [[ 9.46857820e-01 3.21549674e-01 -8.12867800e-03 4.64638728e+01] [-3.21534623e-01 9.46892647e-01 3.13078345e-03 -1.50922033e+01] [ 8.70368782e-03 -3.50755377e-04 9.99962061e-01 6.68745315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.984839173 meters 0.09023504149198754 Centerline is valid? [True, True] Translation: X:46.49, Y:-15.10, Z:6.69 [[ 9.47755107e-01 3.18914738e-01 -7.32440228e-03 4.64901692e+01] [-3.18902459e-01 9.47783349e-01 2.81866081e-03 -1.51046269e+01] [ 7.84085899e-03 -3.35630281e-04 9.99969204e-01 6.68878239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01483917299999 meters 0.09020719713281752 Centerline is valid? [True, True] Translation: X:46.52, Y:-15.11, Z:6.68 [[ 9.47362929e-01 3.19906586e-01 -1.27772218e-02 4.65182892e+01] [-3.19869341e-01 9.47448918e-01 4.91443254e-03 -1.51104165e+01] [ 1.36779243e-02 -5.68709678e-04 9.99906291e-01 6.68377226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04483917299999 meters 0.09005132822520087 Centerline is valid? [True, True] Translation: X:46.55, Y:-15.11, Z:6.68 [[ 9.46242675e-01 3.23122038e-01 -1.47291503e-02 4.65474911e+01] [-3.23072937e-01 9.46357113e-01 5.66490482e-03 -1.51121922e+01] [ 1.57694917e-02 -6.01784856e-04 9.99875473e-01 6.68102840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.074839172999994 meters 0.08606465903161876 Centerline is valid? [True, True] Translation: X:46.59, Y:-15.09, Z:6.69 [[ 9.42038038e-01 3.35287346e-01 -1.21132389e-02 4.65875204e+01] [-3.35255150e-01 9.42115857e-01 4.65786691e-03 -1.50916454e+01] [ 1.29737982e-02 -3.26862102e-04 9.99915783e-01 6.68648818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.104839172999995 meters 0.08606465903161876 Centerline is valid? [True, True] Translation: X:46.61, Y:-15.10, Z:6.69 [[ 9.42135600e-01 3.35013039e-01 -1.21150463e-02 4.66131282e+01] [-3.34980881e-01 9.42213435e-01 4.65316481e-03 -1.51012738e+01] [ 1.29738302e-02 -3.25603354e-04 9.99915783e-01 6.68633190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.134839172999996 meters 0.08499204333584923 Centerline is valid? [True, True] Translation: X:46.64, Y:-15.10, Z:6.69 [[ 9.40542684e-01 3.39557743e-01 -8.94416017e-03 4.66444244e+01] [-3.39540417e-01 9.40585191e-01 3.43563616e-03 -1.50992542e+01] [ 9.57934146e-03 -1.94458579e-04 9.99954098e-01 6.68954828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.164839173 meters 0.08425824984096478 Centerline is valid? [True, True] Translation: X:46.68, Y:-15.10, Z:6.69 [[ 9.39463309e-01 3.42614984e-01 -4.86443016e-03 4.66764180e+01] [-3.42609904e-01 9.39475899e-01 1.86793613e-03 -1.50964495e+01] [ 5.20999781e-03 -8.82555123e-05 9.99986424e-01 6.69461838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19483917299999 meters 0.0852886811251826 Centerline is valid? [True, True] Translation: X:46.70, Y:-15.11, Z:6.69 [[ 9.40809855e-01 3.38888627e-01 -5.59595774e-03 4.67031803e+01] [-3.38881853e-01 9.40826490e-01 2.14617325e-03 -1.51064495e+01] [ 5.99213898e-03 -1.22772418e-04 9.99982039e-01 6.69438965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22483917299999 meters 0.08562488343074717 Centerline is valid? [True, True] Translation: X:46.73, Y:-15.12, Z:6.70 [[ 9.41297218e-01 3.37561393e-01 -3.44293287e-03 4.67292042e+01] [-3.37558820e-01 9.41303511e-01 1.32049007e-03 -1.51161374e+01] [ 3.68659127e-03 -8.07812686e-05 9.99993201e-01 6.69634878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25483917299999 meters 0.08511524565583539 Centerline is valid? [True, True] Translation: X:46.76, Y:-15.12, Z:6.70 [[ 9.42001700e-01 3.35608078e-01 -1.24844080e-04 4.67601058e+01] [-3.35608075e-01 9.42001708e-01 4.63568837e-05 -1.51150782e+01] [ 1.33161081e-04 -1.76958183e-06 9.99999991e-01 6.70301056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.284839172999995 meters 0.08460455982405843 Centerline is valid? [True, True] Translation: X:46.79, Y:-15.12, Z:6.71 [[ 9.41642228e-01 3.36613560e-01 1.10721917e-03 4.67912266e+01] [-3.36613292e-01 9.41642878e-01 -4.25646736e-04 -1.51153291e+01] [-1.18588351e-03 2.81022499e-05 9.99999296e-01 6.70503328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.314839172999996 meters 0.08419597843671504 Centerline is valid? [True, True] Translation: X:46.82, Y:-15.11, Z:6.71 [[ 9.40388095e-01 3.40087291e-01 3.29614343e-03 4.68226487e+01] [-3.40084952e-01 9.40393870e-01 -1.26310263e-03 -1.51103618e+01] [-3.52923823e-03 6.68378984e-05 9.99993770e-01 6.70799088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.344839173 meters 0.0842713354057617 Centerline is valid? [True, True] Translation: X:46.85, Y:-15.12, Z:6.71 [[ 9.40332150e-01 3.40203968e-01 6.05871996e-03 4.68497677e+01] [-3.40196076e-01 9.40351660e-01 -2.32050490e-03 -1.51169787e+01] [-6.48677235e-03 1.20892603e-04 9.99978953e-01 6.70998860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37483917299999 meters 0.0848525485748291 Centerline is valid? [True, True] Translation: X:46.88, Y:-15.12, Z:6.71 [[ 9.41022959e-01 3.38173366e-01 1.07035256e-02 4.68773280e+01] [-3.38148654e-01 9.41083801e-01 -4.09487091e-03 -1.51249375e+01] [-1.14576908e-02 2.33984779e-04 9.99934331e-01 6.71400748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40483917299999 meters 0.0856150214517239 Centerline is valid? [True, True] Translation: X:46.90, Y:-15.14, Z:6.71 [[ 9.41814802e-01 3.35966950e-01 1.05398273e-02 4.69024566e+01] [-3.35942873e-01 9.41873741e-01 -4.03020509e-03 -1.51359552e+01] [-1.12812023e-02 2.54926946e-04 9.99936333e-01 6.71444084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43483917299999 meters 0.08657527426763174 Centerline is valid? [True, True] Translation: X:46.93, Y:-15.14, Z:6.71 [[ 9.42503733e-01 3.34159488e-01 4.91430652e-03 4.69303244e+01] [-3.34154230e-01 9.42516536e-01 -1.87898996e-03 -1.51441492e+01] [-5.25969748e-03 1.28818740e-04 9.99986159e-01 6.70833450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.464839172999994 meters 0.08674907446384626 Centerline is valid? [True, True] Translation: X:46.96, Y:-15.15, Z:6.70 [[ 9.41932483e-01 3.35798898e-01 1.51564608e-03 4.69581842e+01] [-3.35798399e-01 9.41933702e-01 -5.80122757e-04 -1.51517884e+01] [-1.62244270e-03 3.74849428e-05 9.99998683e-01 6.70242316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.494839172999995 meters 0.08615401667023721 Centerline is valid? [True, True] Translation: X:46.99, Y:-15.15, Z:6.70 [[ 9.40169106e-01 3.40705710e-01 -1.29282476e-03 4.69890006e+01] [-3.40705354e-01 9.40169995e-01 4.93025811e-04 -1.51499802e+01] [ 1.38345175e-03 -2.30553191e-05 9.99999043e-01 6.69884533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.524839173 meters 0.08554471523563026 Centerline is valid? [True, True] Translation: X:47.02, Y:-15.15, Z:6.70 [[ 9.39925594e-01 3.41378676e-01 -6.91454118e-04 4.70184872e+01] [-3.41378575e-01 9.39925848e-01 2.62236049e-04 -1.51532085e+01] [ 7.39437394e-04 -1.04347522e-05 9.99999727e-01 6.70064321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.554839173 meters 0.08493379298620396 Centerline is valid? [True, True] Translation: X:47.05, Y:-15.16, Z:6.71 [[ 9.40417679e-01 3.39976777e-01 5.51177773e-03 4.70468590e+01] [-3.39970293e-01 9.40433826e-01 -2.10216704e-03 -1.51572551e+01] [-5.89815019e-03 1.03074355e-04 9.99982600e-01 6.70866224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58483917299999 meters 0.08504441697934435 Centerline is valid? [True, True] Translation: X:47.07, Y:-15.17, Z:6.71 [[ 9.40828874e-01 3.38835007e-01 5.64507105e-03 4.70731404e+01] [-3.38828197e-01 9.40845803e-01 -2.15111302e-03 -1.51679372e+01] [-6.04001380e-03 1.11119997e-04 9.99981753e-01 6.71005346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61483917299999 meters 0.08606501496476411 Centerline is valid? [True, True] Translation: X:47.10, Y:-15.19, Z:6.71 [[ 9.41617894e-01 3.36593449e-01 7.78412141e-03 4.70952518e+01] [-3.36580444e-01 9.41650052e-01 -2.96365218e-03 -1.51864635e+01] [-8.32746424e-03 1.70644876e-04 9.99965312e-01 6.70949926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.644839172999994 meters 0.08645594803230673 Centerline is valid? [True, True] Translation: X:47.12, Y:-15.20, Z:6.71 [[ 9.42209451e-01 3.34973403e-01 5.84552350e-03 4.71194873e+01] [-3.34966043e-01 9.42227574e-01 -2.22470540e-03 -1.52027719e+01] [-6.25303056e-03 1.38086570e-04 9.99980440e-01 6.70513645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.674839172999995 meters 0.08621295690009348 Centerline is valid? [True, True] Translation: X:47.15, Y:-15.21, Z:6.70 [[ 9.41926640e-01 3.35749506e-01 6.81725390e-03 4.71458351e+01] [-3.35739533e-01 9.41951297e-01 -2.59233136e-03 -1.52140075e+01] [-7.29189513e-03 1.52964325e-04 9.99973402e-01 6.70478697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.704839172999996 meters 0.08532911123225488 Centerline is valid? [True, True] Translation: X:47.17, Y:-15.22, Z:6.70 [[ 9.40720122e-01 3.39132649e-01 5.89051524e-03 4.71732131e+01] [-3.39125278e-01 9.40738558e-01 -2.23846113e-03 -1.52220119e+01] [-6.30057007e-03 1.08142806e-04 9.99980145e-01 6.70263320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.734839173 meters 0.08490701114190698 Centerline is valid? [True, True] Translation: X:47.20, Y:-15.23, Z:6.70 [[ 9.39313425e-01 3.43006466e-01 6.07076931e-03 4.72006164e+01] [-3.42998730e-01 9.39333038e-01 -2.30517013e-03 -1.52299980e+01] [-6.49316245e-03 8.30110856e-05 9.99978916e-01 6.70194675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76483917299999 meters 0.08368845291432735 Centerline is valid? [True, True] Translation: X:47.23, Y:-15.23, Z:6.70 [[ 9.35686498e-01 3.52766436e-01 6.82786150e-03 4.72308678e+01] [-3.52756924e-01 9.35711409e-01 -2.59053142e-03 -1.52323001e+01] [-7.30276045e-03 1.53498455e-05 9.99973334e-01 6.69858783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79483917299999 meters 0.0833011540470671 Centerline is valid? [True, True] Translation: X:47.26, Y:-15.24, Z:6.70 [[ 9.33999754e-01 3.57216356e-01 6.39805539e-03 4.72593610e+01] [-3.57208120e-01 9.34021667e-01 -2.42578085e-03 -1.52356369e+01] [-6.84245096e-03 -1.97586159e-05 9.99976590e-01 6.69876102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.824839172999994 meters 0.08320583868781567 Centerline is valid? [True, True] Translation: X:47.29, Y:-15.24, Z:6.70 [[ 9.30538835e-01 3.66111980e-01 7.71330761e-03 4.72895130e+01] [-3.66100337e-01 9.30570796e-01 -2.92166086e-03 -1.52361743e+01] [-8.24743385e-03 -1.05125627e-04 9.99965984e-01 6.70063392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.854839172999995 meters 0.08347631440932934 Centerline is valid? [True, True] Translation: X:47.32, Y:-15.25, Z:6.70 [[ 9.29691172e-01 3.68234268e-01 8.82316273e-03 4.73150522e+01] [-3.68219155e-01 9.29733028e-01 -3.33928977e-03 -1.52499047e+01] [-9.43282672e-03 -1.44349303e-04 9.99955499e-01 6.69969824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.884839172999996 meters 0.08355180271093428 Centerline is valid? [True, True] Translation: X:47.34, Y:-15.26, Z:6.70 [[ 9.29148845e-01 3.69558863e-01 1.04245501e-02 4.73408064e+01] [-3.69537876e-01 9.29207303e-01 -3.94300438e-03 -1.52608986e+01] [-1.11437403e-02 -1.88628131e-04 9.99937889e-01 6.70023870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.914839173 meters 0.08352989144924648 Centerline is valid? [True, True] Translation: X:47.37, Y:-15.27, Z:6.69 [[ 9.28212401e-01 3.72020459e-01 4.74516568e-03 4.73668951e+01] [-3.72016143e-01 9.28224525e-01 -1.79473786e-03 -1.52735867e+01] [-5.07225836e-03 -9.93802915e-05 9.99987131e-01 6.69418569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94483917299999 meters 0.08358787360978472 Centerline is valid? [True, True] Translation: X:47.39, Y:-15.29, Z:6.69 [[ 9.27805949e-01 3.73060087e-01 1.51389287e-03 4.73925278e+01] [-3.73059648e-01 9.27807184e-01 -5.73193132e-04 -1.52875279e+01] [-1.61843616e-03 -3.29603435e-05 9.99998690e-01 6.69035207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97483917299999 meters 0.08390818250666206 Centerline is valid? [True, True] Translation: X:47.42, Y:-15.30, Z:6.69 [[ 9.27004229e-01 3.75050876e-01 8.64229150e-06 4.74190526e+01] [-3.75050876e-01 9.27004229e-01 -4.78205575e-06 -1.52995017e+01] [-9.80495504e-06 1.19168691e-06 1.00000000e+00 6.68768476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00483917299999 meters 0.08481711444610636 Centerline is valid? [True, True] Translation: X:47.44, Y:-15.32, Z:6.68 [[ 9.26169945e-01 3.77060585e-01 -5.87777098e-03 4.74430595e+01] [-3.77054101e-01 9.26188581e-01 2.21724239e-03 -1.53172541e+01] [ 6.27995909e-03 1.62694392e-04 9.99980268e-01 6.67896490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.034839172999995 meters 0.08439417723840875 Centerline is valid? [True, True] Translation: X:47.47, Y:-15.34, Z:6.67 [[ 9.26420196e-01 3.76389595e-01 -8.74605037e-03 4.74667616e+01] [-3.76375241e-01 9.26461449e-01 3.29571872e-03 -1.53350966e+01] [ 9.34335273e-03 2.38576438e-04 9.99956321e-01 6.67454677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.064839172999996 meters 0.08418503451574925 Centerline is valid? [True, True] Translation: X:47.49, Y:-15.35, Z:6.67 [[ 9.26304478e-01 3.76617957e-01 -1.09054057e-02 4.74931776e+01] [-3.76595688e-01 9.26368622e-01 4.10667603e-03 -1.53465512e+01] [ 1.16490736e-02 3.02896354e-04 9.99932101e-01 6.67221379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.094839173 meters 0.08519158909380271 Centerline is valid? [True, True] Translation: X:47.52, Y:-15.36, Z:6.67 [[ 9.24688340e-01 3.80455474e-01 -1.43215096e-02 4.75189632e+01] [-3.80417526e-01 9.24799124e-01 5.39317464e-03 -1.53572778e+01] [ 1.52963824e-02 4.61147566e-04 9.99882897e-01 6.66610405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12483917299999 meters 0.08555731940188316 Centerline is valid? [True, True] Translation: X:47.55, Y:-15.37, Z:6.66 [[ 9.24360625e-01 3.81158837e-01 -1.65944399e-02 4.75452102e+01] [-3.81108098e-01 9.24509402e-01 6.24360023e-03 -1.53696090e+01] [ 1.77215191e-02 5.52937198e-04 9.99842809e-01 6.66255807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15483917299999 meters 0.08501891095687082 Centerline is valid? [True, True] Translation: X:47.57, Y:-15.38, Z:6.66 [[ 9.24439311e-01 3.80835764e-01 -1.93928043e-02 4.75715709e+01] [-3.80766505e-01 9.24642475e-01 7.29127908e-03 -1.53818795e+01] [ 2.07081904e-02 6.43785322e-04 9.99785355e-01 6.66079813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18483917299999 meters 0.08413899383752417 Centerline is valid? [True, True] Translation: X:47.60, Y:-15.40, Z:6.66 [[ 9.25343882e-01 3.78695159e-01 -1.81294154e-02 4.75973306e+01] [-3.78634254e-01 9.25521293e-01 6.81453076e-03 -1.53968535e+01] [ 1.93597898e-02 5.58633301e-04 9.99812426e-01 6.66380315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.214839172999994 meters 0.08261720500229087 Centerline is valid? [True, True] Translation: X:47.62, Y:-15.42, Z:6.67 [[ 9.27112886e-01 3.74486897e-01 -1.48748364e-02 4.76199369e+01] [-3.74445428e-01 9.27232124e-01 5.58659284e-03 -1.54206752e+01] [ 1.58845320e-02 3.90412277e-04 9.99873757e-01 6.66758904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.244839172999995 meters 0.08238080832386008 Centerline is valid? [True, True] Translation: X:47.64, Y:-15.44, Z:6.66 [[ 9.28867428e-01 3.69879430e-01 -1.98622247e-02 4.76414772e+01] [-3.69804448e-01 9.29079670e-01 7.45902012e-03 -1.54409749e+01] [ 2.12125273e-02 4.16698206e-04 9.99774902e-01 6.66161112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.274839173 meters 0.08265547421378353 Centerline is valid? [True, True] Translation: X:47.67, Y:-15.46, Z:6.66 [[ 9.29293591e-01 3.68773935e-01 -2.04745318e-02 4.76655643e+01] [-3.68694158e-01 9.29519024e-01 7.68127299e-03 -1.54563602e+01] [ 2.18641201e-02 4.10682511e-04 9.99760867e-01 6.65889781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.304839173 meters 0.08213242602872915 Centerline is valid? [True, True] Translation: X:47.69, Y:-15.47, Z:6.66 [[ 9.30372400e-01 3.66124371e-01 -1.89774407e-02 4.76904085e+01] [-3.66055380e-01 9.30565870e-01 7.11483239e-03 -1.54733630e+01] [ 2.02646722e-02 3.27350598e-04 9.99794597e-01 6.65953844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33483917299999 meters 0.08081451750771584 Centerline is valid? [True, True] Translation: X:47.72, Y:-15.49, Z:6.67 [[ 9.30842493e-01 3.65183959e-01 -1.31502847e-02 4.77166491e+01] [-3.65150792e-01 9.30935352e-01 4.92643339e-03 -1.54871379e+01] [ 1.40411194e-02 2.16103345e-04 9.99901395e-01 6.66767582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36483917299999 meters 0.08062922852759671 Centerline is valid? [True, True] Translation: X:47.74, Y:-15.49, Z:6.67 [[ 9.30320574e-01 3.66551916e-01 -1.19717011e-02 4.77436138e+01] [-3.66524597e-01 9.30397573e-01 4.48056517e-03 -1.54943936e+01] [ 1.27808014e-02 2.19560945e-04 9.99918298e-01 6.67058295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.394839172999994 meters 0.08072152609629947 Centerline is valid? [True, True] Translation: X:47.77, Y:-15.51, Z:6.67 [[ 9.31841873e-01 3.62478073e-01 -1.67442513e-02 4.77677346e+01] [-3.62424037e-01 9.31992271e-01 6.26295050e-03 -1.55127740e+01] [ 1.78756950e-02 2.32439650e-04 9.99840190e-01 6.66774782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.424839172999995 meters 0.08147369607196855 Centerline is valid? [True, True] Translation: X:47.79, Y:-15.55, Z:6.66 [[ 9.35179305e-01 3.53367787e-01 -2.38930000e-02 4.77863523e+01] [-3.53254761e-01 9.35484474e-01 8.93720307e-03 -1.55463274e+01] [ 2.55096502e-02 8.24286465e-05 9.99674573e-01 6.66042185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.454839172999996 meters 0.0822143053335088 Centerline is valid? [True, True] Translation: X:47.81, Y:-15.57, Z:6.66 [[ 9.36358105e-01 3.50016338e-01 -2.68712146e-02 4.78089587e+01] [-3.49872036e-01 9.36743595e-01 1.00496248e-02 -1.55680748e+01] [ 2.86889710e-02 -8.56104595e-06 9.99588387e-01 6.65571866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.484839173 meters 0.08329649824934902 Centerline is valid? [True, True] Translation: X:47.83, Y:-15.59, Z:6.65 [[ 9.36049924e-01 3.50043050e-01 -3.57827282e-02 4.78328098e+01] [-3.49787475e-01 9.36733614e-01 1.33738247e-02 -1.55896511e+01] [ 3.82002987e-02 -2.21744249e-06 9.99270102e-01 6.64857021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51483917299999 meters 0.08396778707442358 Centerline is valid? [True, True] Translation: X:47.86, Y:-15.60, Z:6.64 [[ 9.35859151e-01 3.50135580e-01 -3.96575978e-02 4.78580884e+01] [-3.49821794e-01 9.36699032e-01 1.48201478e-02 -1.56035754e+01] [ 4.23362945e-02 3.52104249e-06 9.99103417e-01 6.64439744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54483917299999 meters 0.08541698110152754 Centerline is valid? [True, True] Translation: X:47.88, Y:-15.62, Z:6.63 [[ 9.36065287e-01 3.49437043e-01 -4.09332575e-02 4.78812412e+01] [-3.49102405e-01 9.36959846e-01 1.52891565e-02 -1.56190555e+01] [ 4.36954162e-02 -2.17499961e-05 9.99044899e-01 6.63396020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.574839172999994 meters 0.08434237679008214 Centerline is valid? [True, True] Translation: X:47.90, Y:-15.65, Z:6.65 [[ 9.38809078e-01 3.41860033e-01 -4.20622589e-02 4.79013937e+01] [-3.41499131e-01 9.39750803e-01 1.57089963e-02 -1.56486364e+01] [ 4.48983196e-02 -3.83523407e-04 9.98991488e-01 6.64552340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.604839172999995 meters 0.08491162312653586 Centerline is valid? [True, True] Translation: X:47.92, Y:-15.67, Z:6.64 [[ 9.40509019e-01 3.36952605e-01 -4.36546387e-02 4.79241300e+01] [-3.36558672e-01 9.41521393e-01 1.63011300e-02 -1.56707430e+01] [ 4.65944844e-02 -6.39012629e-04 9.98913683e-01 6.64399456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.634839172999996 meters 0.08607718118859663 Centerline is valid? [True, True] Translation: X:47.95, Y:-15.69, Z:6.64 [[ 9.41362511e-01 3.33608641e-01 -5.04172262e-02 4.79465840e+01] [-3.33078440e-01 9.42711204e-01 1.88238747e-02 -1.56938744e+01] [ 5.38086913e-02 -9.27198901e-04 9.98550832e-01 6.64421895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.664839173 meters 0.08650131789557601 Centerline is valid? [True, True] Translation: X:47.97, Y:-15.71, Z:6.65 [[ 9.41065774e-01 3.33324963e-01 -5.73557150e-02 4.79700997e+01] [-3.32638285e-01 9.42811393e-01 2.14114333e-02 -1.57145979e+01] [ 6.12125868e-02 -1.07086042e-03 9.98124177e-01 6.64543057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69483917299999 meters 0.08667791512991033 Centerline is valid? [True, True] Translation: X:47.99, Y:-15.73, Z:6.64 [[ 9.41302933e-01 3.31713110e-01 -6.25715709e-02 4.79948656e+01] [-3.30892384e-01 9.43379444e-01 2.33549827e-02 -1.57315763e+01] [ 6.67758877e-02 -1.27965740e-03 9.97767179e-01 6.64440960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72483917299999 meters 0.08911352849052531 Centerline is valid? [True, True] Translation: X:48.02, Y:-15.75, Z:6.64 [[ 9.38803312e-01 3.39146167e-01 -6.02346983e-02 4.80196279e+01] [-3.38402012e-01 9.40733425e-01 2.24655469e-02 -1.57459499e+01] [ 6.42838982e-02 -7.07186757e-04 9.97931401e-01 6.63571990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.75483917299999 meters 0.08772871121478756 Centerline is valid? [True, True] Translation: X:48.05, Y:-15.75, Z:6.64 [[ 9.37494238e-01 3.42665369e-01 -6.07041896e-02 4.80466442e+01] [-3.41918322e-01 9.39457419e-01 2.26189857e-02 -1.57542199e+01] [ 6.47797444e-02 -4.49294173e-04 9.97899485e-01 6.64267824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.784839172999995 meters 0.08868768104702306 Centerline is valid? [True, True] Translation: X:48.07, Y:-15.77, Z:6.64 [[ 9.36622157e-01 3.45193613e-01 -5.98356384e-02 4.80716931e+01] [-3.44473295e-01 9.38531459e-01 2.22901439e-02 -1.57671199e+01] [ 6.38520443e-02 -2.65663154e-04 9.97959341e-01 6.63986503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.814839172999996 meters 0.08650983592810028 Centerline is valid? [True, True] Translation: X:48.10, Y:-15.78, Z:6.65 [[ 9.37012755e-01 3.44607951e-01 -5.70303229e-02 4.80984394e+01] [-3.43952808e-01 9.38746653e-01 2.12411851e-02 -1.57785710e+01] [ 6.08569060e-02 -2.87521619e-04 9.98146459e-01 6.65168638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.844839173 meters 0.08596780561079571 Centerline is valid? [True, True] Translation: X:48.12, Y:-15.80, Z:6.66 [[ 9.40454379e-01 3.36025844e-01 -5.13049032e-02 4.81201411e+01] [-3.35483124e-01 9.41852462e-01 1.91053005e-02 -1.58035296e+01] [ 5.47415241e-02 -7.55734309e-04 9.98500273e-01 6.65794259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87483917299999 meters 0.08421146079222723 Centerline is valid? [True, True] Translation: X:48.15, Y:-15.82, Z:6.67 [[ 9.42329871e-01 3.31273827e-01 -4.76661915e-02 4.81456016e+01] [-3.30799483e-01 9.43534174e-01 1.77472162e-02 -1.58192797e+01] [ 5.08538688e-02 -9.55780425e-04 9.98705648e-01 6.67139680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90483917299999 meters 0.08382938398562532 Centerline is valid? [True, True] Translation: X:48.17, Y:-15.83, Z:6.68 [[ 9.43973299e-01 3.27237628e-01 -4.27778593e-02 4.81700840e+01] [-3.26851653e-01 9.44941497e-01 1.59236895e-02 -1.58346451e+01] [ 4.56334048e-02 -1.04952367e-03 9.98957702e-01 6.67990786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93483917299999 meters 0.08442226419115462 Centerline is valid? [True, True] Translation: X:48.19, Y:-15.85, Z:6.68 [[ 9.44547958e-01 3.25776391e-01 -4.12176883e-02 4.81946387e+01] [-3.25416885e-01 9.45446237e-01 1.53383074e-02 -1.58485968e+01] [ 4.39659668e-02 -1.07483521e-03 9.99032451e-01 6.67902690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.964839172999994 meters 0.08384043968338421 Centerline is valid? [True, True] Translation: X:48.22, Y:-15.86, Z:6.68 [[ 9.45385061e-01 3.22776240e-01 -4.54157024e-02 4.82219053e+01] [-3.22336722e-01 9.46474369e-01 1.68909919e-02 -1.58607809e+01] [ 4.84368091e-02 -1.32934278e-03 9.98825364e-01 6.68164392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.994839172999995 meters 0.08384043968338421 Centerline is valid? [True, True] Translation: X:48.25, Y:-15.87, Z:6.68 [[ 9.45484577e-01 3.22483845e-01 -4.54211827e-02 4.82476983e+01] [-3.22044699e-01 9.46574035e-01 1.68762503e-02 -1.58701260e+01] [ 4.84368303e-02 -1.32858329e-03 9.98825364e-01 6.68148707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.024839173 meters 0.0827326662654984 Centerline is valid? [True, True] Translation: X:48.28, Y:-15.88, Z:6.69 [[ 9.44369882e-01 3.26506033e-01 -3.94884410e-02 4.82759168e+01] [-3.26177698e-01 9.45194615e-01 1.46713633e-02 -1.58784269e+01] [ 4.21145504e-02 -9.74944863e-04 9.99112313e-01 6.68808767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.054839173 meters 0.0817405801364732 Centerline is valid? [True, True] Translation: X:48.30, Y:-15.89, Z:6.69 [[ 9.44444969e-01 3.26642388e-01 -3.64479177e-02 4.83040916e+01] [-3.26362891e-01 9.45147584e-01 1.35391185e-02 -1.58886126e+01] [ 3.88711113e-02 -8.91704513e-04 9.99243835e-01 6.69299799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08483917299999 meters 0.08049776592580382 Centerline is valid? [True, True] Translation: X:48.33, Y:-15.89, Z:6.70 [[ 9.44797385e-01 3.26207544e-01 -3.07658697e-02 4.83340156e+01] [-3.26008476e-01 9.45297869e-01 1.14198224e-02 -1.58922744e+01] [ 3.28081433e-02 -7.59484061e-04 9.99461379e-01 6.70188548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11483917299999 meters 0.08084513155062538 Centerline is valid? [True, True] Translation: X:48.36, Y:-15.90, Z:6.70 [[ 9.45904496e-01 3.23263375e-01 -2.76672322e-02 4.83601543e+01] [-3.23101405e-01 9.46308725e-01 1.02605297e-02 -1.59027893e+01] [ 2.94985966e-02 -7.66159534e-04 9.99564528e-01 6.70477195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.144839172999994 meters 0.08073148905570884 Centerline is valid? [True, True] Translation: X:48.39, Y:-15.91, Z:6.72 [[ 9.47848775e-01 3.17954993e-01 -2.20753815e-02 4.83882957e+01] [-3.17850615e-01 9.48105522e-01 8.17963324e-03 -1.59094772e+01] [ 2.35305463e-02 -7.36381767e-04 9.99722847e-01 6.71500582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.174839172999995 meters 0.08096864626302343 Centerline is valid? [True, True] Translation: X:48.42, Y:-15.92, Z:6.72 [[ 9.48331633e-01 3.16450030e-01 -2.29454187e-02 4.84164341e+01] [-3.16336993e-01 9.48608846e-01 8.49499049e-03 -1.59167056e+01] [ 2.44544671e-02 -7.97583462e-04 9.99700627e-01 6.71546562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.204839172999996 meters 0.08167820933747119 Centerline is valid? [True, True] Translation: X:48.45, Y:-15.92, Z:6.71 [[ 9.48394367e-01 3.15957251e-01 -2.68167749e-02 4.84454003e+01] [-3.15802651e-01 9.48772954e-01 9.92808491e-03 -1.59228847e+01] [ 2.85798812e-02 -9.46931184e-04 9.99591063e-01 6.70994797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.234839173 meters 0.0814531983685152 Centerline is valid? [True, True] Translation: X:48.47, Y:-15.93, Z:6.71 [[ 9.48176933e-01 3.16430553e-01 -2.88480387e-02 4.84728014e+01] [-3.16251960e-01 9.48615151e-01 1.06767590e-02 -1.59293797e+01] [ 3.07441394e-02 -1.00020780e-03 9.99526787e-01 6.70749833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26483917299999 meters 0.08187325883603083 Centerline is valid? [True, True] Translation: X:48.50, Y:-15.94, Z:6.71 [[ 9.48628880e-01 3.15128784e-01 -2.82329053e-02 4.85004845e+01] [-3.14957432e-01 9.49048380e-01 1.04398027e-02 -1.59372611e+01] [ 3.00842753e-02 -1.01133497e-03 9.99546854e-01 6.70644523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29483917299999 meters 0.08125875448814703 Centerline is valid? [True, True] Translation: X:48.53, Y:-15.94, Z:6.71 [[ 9.49418329e-01 3.12936667e-01 -2.59899688e-02 4.85318741e+01] [-3.12790870e-01 9.49773483e-01 9.60226226e-03 -1.59356503e+01] [ 2.76894831e-02 -9.87138847e-04 9.99616085e-01 6.70780695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.324839172999994 meters 0.08076485580596 Centerline is valid? [True, True] Translation: X:48.56, Y:-15.93, Z:6.71 [[ 9.49317371e-01 3.13639013e-01 -2.06663720e-02 4.85631877e+01] [-3.13547005e-01 9.49541984e-01 7.63517964e-03 -1.59348024e+01] [ 2.20182780e-02 -7.68329627e-04 9.99757273e-01 6.71175259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.354839172999995 meters 0.07930944351509385 Centerline is valid? [True, True] Translation: X:48.59, Y:-15.94, Z:6.72 [[ 9.48920924e-01 3.15063698e-01 -1.68507332e-02 4.85942662e+01] [-3.15002848e-01 9.49070341e-01 6.22037920e-03 -1.59364454e+01] [ 1.79523468e-02 -5.94619026e-04 9.99838667e-01 6.71825605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.384839172999996 meters 0.07874035471991457 Centerline is valid? [True, True] Translation: X:48.63, Y:-15.93, Z:6.72 [[ 9.48285242e-01 3.17099289e-01 -1.42527252e-02 4.86254594e+01] [-3.17055992e-01 9.48392229e-01 5.26098678e-03 -1.59341020e+01] [ 1.51854290e-02 -4.70004185e-04 9.99884584e-01 6.72088609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.414839173 meters 0.07857421142014591 Centerline is valid? [True, True] Translation: X:48.65, Y:-15.94, Z:6.72 [[ 9.48044219e-01 3.17811541e-01 -1.44216438e-02 4.86544796e+01] [-3.17767381e-01 9.48153793e-01 5.31763537e-03 -1.59371930e+01] [ 1.53639422e-02 -4.58625479e-04 9.99881862e-01 6.71937343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44483917299999 meters 0.07783469371385028 Centerline is valid? [True, True] Translation: X:48.69, Y:-15.93, Z:6.72 [[ 9.47084129e-01 3.20728247e-01 -1.28469729e-02 4.86861194e+01] [-3.20693491e-01 9.47171187e-01 4.73569622e-03 -1.59322565e+01] [ 1.36871541e-02 -3.65162148e-04 9.99906260e-01 6.71984432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47483917299999 meters 0.07963884024282276 Centerline is valid? [True, True] Translation: X:48.71, Y:-15.94, Z:6.71 [[ 9.46776671e-01 3.21443715e-01 -1.69668220e-02 4.87133905e+01] [-3.21383229e-01 9.46928571e-01 6.25306286e-03 -1.59395816e+01] [ 1.80763762e-02 -4.67402013e-04 9.99836500e-01 6.71422752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50483917299999 meters 0.07956592570185438 Centerline is valid? [True, True] Translation: X:48.74, Y:-15.94, Z:6.71 [[ 9.45108570e-01 3.26310051e-01 -1.70745552e-02 4.87426713e+01] [-3.26249610e-01 9.45262720e-01 6.29149196e-03 -1.59407503e+01] [ 1.81929176e-02 -3.75575995e-04 9.99834425e-01 6.70829096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.534839172999995 meters 0.0784115047318037 Centerline is valid? [True, True] Translation: X:48.77, Y:-15.94, Z:6.71 [[ 9.43944852e-01 3.29710974e-01 -1.60869312e-02 4.87728911e+01] [-3.29657839e-01 9.44081876e-01 5.92625218e-03 -1.59426687e+01] [ 1.71413305e-02 -2.90872276e-04 9.99853034e-01 6.70969508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.564839172999996 meters 0.0775297764563598 Centerline is valid? [True, True] Translation: X:48.80, Y:-15.94, Z:6.71 [[ 9.43179380e-01 3.31983049e-01 -1.41390663e-02 4.88043336e+01] [-3.31942277e-01 9.43285327e-01 5.20742583e-03 -1.59410699e+01] [ 1.50659509e-02 -2.18182798e-04 9.99886478e-01 6.71329431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.594839173 meters 0.07702683899112263 Centerline is valid? [True, True] Translation: X:48.83, Y:-15.95, Z:6.71 [[ 9.42862148e-01 3.32929733e-01 -1.29908487e-02 4.88321336e+01] [-3.32895438e-01 9.42951621e-01 4.78212795e-03 -1.59454523e+01] [ 1.38418544e-02 -1.84293166e-04 9.99904180e-01 6.71435079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62483917299999 meters 0.07647982497999843 Centerline is valid? [True, True] Translation: X:48.86, Y:-15.95, Z:6.72 [[ 9.42724291e-01 3.33475239e-01 -8.07312799e-03 4.88614951e+01] [-3.33462020e-01 9.42758852e-01 2.97126819e-03 -1.59473298e+01] [ 8.60185725e-03 -1.09005139e-04 9.99962997e-01 6.71951806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65483917299999 meters 0.07622212960194441 Centerline is valid? [True, True] Translation: X:48.89, Y:-15.95, Z:6.72 [[ 9.43589464e-01 3.31049715e-01 -6.70898376e-03 4.88896412e+01] [-3.31040546e-01 9.43613308e-01 2.46620607e-03 -1.59548098e+01] [ 7.14712317e-03 -1.06140412e-04 9.99974453e-01 6.72355347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68483917299999 meters 0.07687094452332763 Centerline is valid? [True, True] Translation: X:48.92, Y:-15.96, Z:6.72 [[ 9.44327868e-01 3.28819767e-01 -1.10651781e-02 4.89180218e+01] [-3.28794657e-01 9.44392672e-01 4.06874430e-03 -1.59633066e+01] [ 1.17877566e-02 -2.04057210e-04 9.99930501e-01 6.72056040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.714839172999994 meters 0.07693872423500113 Centerline is valid? [True, True] Translation: X:48.95, Y:-15.97, Z:6.72 [[ 9.42889817e-01 3.32914985e-01 -1.12429950e-02 4.89478276e+01] [-3.32889404e-01 9.42956833e-01 4.12982729e-03 -1.59657739e+01] [ 1.19765404e-02 -1.51298192e-04 9.99928267e-01 6.71591048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.744839172999995 meters 0.07644617392650102 Centerline is valid? [True, True] Translation: X:48.98, Y:-15.97, Z:6.72 [[ 9.42077551e-01 3.35265139e-01 -9.33673561e-03 4.89773401e+01] [-3.35247641e-01 9.42123812e-01 3.42669767e-03 -1.59691712e+01] [ 9.94521321e-03 -9.80963546e-05 9.99950540e-01 6.71664155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.774839173 meters 0.07599655749068791 Centerline is valid? [True, True] Translation: X:49.01, Y:-15.97, Z:6.72 [[ 9.41548730e-01 3.36810257e-01 -6.69624017e-03 4.90076039e+01] [-3.36801312e-01 9.41572540e-01 2.45526462e-03 -1.59704559e+01] [ 7.13195417e-03 -5.64488092e-05 9.99974566e-01 6.71911487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.804839173 meters 0.07619239512250325 Centerline is valid? [True, True] Translation: X:49.04, Y:-15.97, Z:6.72 [[ 9.42582338e-01 3.33962704e-01 -2.72921062e-03 4.90373979e+01] [-3.33961208e-01 9.42586288e-01 1.00010529e-03 -1.59710824e+01] [ 2.90651437e-03 -3.12311091e-05 9.99995776e-01 6.72381646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83483917299999 meters 0.07589334291107255 Centerline is valid? [True, True] Translation: X:49.06, Y:-15.98, Z:6.73 [[ 9.43199695e-01 3.32225994e-01 4.74504561e-04 4.90647252e+01] [-3.32225947e-01 9.43199814e-01 -1.75618029e-04 -1.59767553e+01] [-5.05897488e-04 8.00014359e-06 9.99999872e-01 6.72799859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86483917299999 meters 0.07552091214435391 Centerline is valid? [True, True] Translation: X:49.10, Y:-15.97, Z:6.73 [[ 9.42448311e-01 3.34351677e-01 -3.70074563e-04 4.90961722e+01] [-3.34351650e-01 9.42448384e-01 1.33964807e-04 -1.59744518e+01] [ 3.93567531e-04 -2.51986515e-06 9.99999923e-01 6.72933926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.894839172999994 meters 0.07584204315257978 Centerline is valid? [True, True] Translation: X:49.13, Y:-15.97, Z:6.72 [[ 9.40614343e-01 3.39459896e-01 -3.41118860e-03 4.91282158e+01] [-3.39457608e-01 9.40620529e-01 1.24644851e-03 -1.59687161e+01] [ 3.63175330e-03 -1.44734306e-05 9.99993405e-01 6.72133211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.924839172999995 meters 0.07584559585487306 Centerline is valid? [True, True] Translation: X:49.16, Y:-15.97, Z:6.72 [[ 9.40004866e-01 3.41159201e-01 -1.11835412e-03 4.91585856e+01] [-3.41158958e-01 9.40005531e-01 4.07319733e-04 -1.59699240e+01] [ 1.19021993e-03 -1.34600506e-06 9.99999292e-01 6.72217093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.954839172999996 meters 0.07543355883141012 Centerline is valid? [True, True] Translation: X:49.19, Y:-15.96, Z:6.73 [[ 9.39280073e-01 3.43105950e-01 5.59032024e-03 4.91920948e+01] [-3.43099864e-01 9.39296709e-01 -2.04354668e-03 -1.59630493e+01] [-5.95212243e-03 1.42455523e-06 9.99982286e-01 6.72834649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.984839173 meters 0.07535321150440816 Centerline is valid? [True, True] Translation: X:49.22, Y:-15.97, Z:6.73 [[ 9.39005357e-01 3.43825989e-01 7.25460394e-03 4.92203001e+01] [-3.43815779e-01 9.39033380e-01 -2.64965879e-03 -1.59656834e+01] [-7.72333682e-03 -6.20351083e-06 9.99970175e-01 6.73131808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01483917299999 meters 0.07529170222804389 Centerline is valid? [True, True] Translation: X:49.25, Y:-15.97, Z:6.73 [[ 9.38750069e-01 3.44426613e-01 1.08911368e-02 4.92498538e+01] [-3.44403673e-01 9.38813245e-01 -3.97514810e-03 -1.59682535e+01] [-1.15938903e-02 -1.92769630e-05 9.99932788e-01 6.73280193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04483917299999 meters 0.07514062239757989 Centerline is valid? [True, True] Translation: X:49.28, Y:-15.97, Z:6.73 [[ 9.39523186e-01 3.42284163e-01 1.17360143e-02 4.92768432e+01] [-3.42257405e-01 9.39596483e-01 -4.27981214e-03 -1.59742358e+01] [-1.24920297e-02 4.24493981e-06 9.99921972e-01 6.73446595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.074839172999994 meters 0.07532212227474089 Centerline is valid? [True, True] Translation: X:49.30, Y:-15.98, Z:6.74 [[ 9.39969805e-01 3.40898701e-01 1.56474218e-02 4.93041359e+01] [-3.40850998e-01 9.40100034e-01 -5.70284326e-03 -1.59802410e+01] [-1.66542336e-02 2.70611330e-05 9.99861308e-01 6.73862288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.104839172999995 meters 0.075978999789988 Centerline is valid? [True, True] Translation: X:49.33, Y:-15.99, Z:6.74 [[ 9.41075349e-01 3.37634193e-01 1.95022930e-02 4.93292176e+01] [-3.37559451e-01 9.41277399e-01 -7.10464770e-03 -1.59907733e+01] [-2.07558396e-02 1.02825499e-04 9.99784569e-01 6.74305344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.134839172999996 meters 0.07647917987185883 Centerline is valid? [True, True] Translation: X:49.35, Y:-16.00, Z:6.74 [[ 9.42835814e-01 3.32789528e-01 1.76566396e-02 4.93541073e+01] [-3.32727505e-01 9.43001111e-01 -6.42742568e-03 -1.60049617e+01] [-1.87892107e-02 1.85157487e-04 9.99823450e-01 6.73802018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.164839173 meters 0.07670858617182304 Centerline is valid? [True, True] Translation: X:49.38, Y:-16.01, Z:6.74 [[ 9.43280058e-01 3.31553116e-01 1.71832472e-02 4.93801729e+01] [-3.31494222e-01 9.43436532e-01 -6.25221238e-03 -1.60147600e+01] [-1.82842436e-02 2.01440097e-04 9.99832809e-01 6.73765646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19483917299999 meters 0.07649699830495571 Centerline is valid? [True, True] Translation: X:49.41, Y:-16.02, Z:6.74 [[ 9.43264363e-01 3.31637214e-01 1.64042859e-02 4.94090550e+01] [-3.31583614e-01 9.43406977e-01 -5.96519193e-03 -1.60190607e+01] [-1.74541974e-02 1.87360547e-04 9.99847646e-01 6.73764723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22483917299999 meters 0.07659442997984305 Centerline is valid? [True, True] Translation: X:49.44, Y:-16.03, Z:6.74 [[ 9.43487491e-01 3.31021245e-01 1.60090308e-02 4.94354892e+01] [-3.30970193e-01 9.43623283e-01 -5.81654271e-03 -1.60272246e+01] [-1.70318934e-02 1.89323284e-04 9.99854929e-01 6.73567955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.25483917299999 meters 0.07697840381373369 Centerline is valid? [True, True] Translation: X:49.46, Y:-16.04, Z:6.74 [[ 9.44029254e-01 3.29243867e-01 2.01802735e-02 4.94597502e+01] [-3.29162420e-01 9.44244884e-01 -7.32809969e-03 -1.60401231e+01] [-2.14678519e-02 2.75352808e-04 9.99769501e-01 6.73835978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.284839172999995 meters 0.07699640043834151 Centerline is valid? [True, True] Translation: X:49.49, Y:-16.05, Z:6.74 [[ 9.44089589e-01 3.28907942e-01 2.26806890e-02 4.94865351e+01] [-3.28805098e-01 9.44361937e-01 -8.23042695e-03 -1.60503542e+01] [-2.41258322e-02 3.12734221e-04 9.99708881e-01 6.74111136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.314839172999996 meters 0.0762745057202175 Centerline is valid? [True, True] Translation: X:49.52, Y:-16.06, Z:6.74 [[ 9.42405823e-01 3.33983061e-01 1.80715252e-02 4.95156267e+01] [-3.33918785e-01 9.42579066e-01 -6.55361293e-03 -1.60573141e+01] [-1.92226371e-02 1.41741233e-04 9.99815218e-01 6.73516856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.344839173 meters 0.07615852840594609 Centerline is valid? [True, True] Translation: X:49.54, Y:-16.06, Z:6.72 [[ 9.41024365e-01 3.38280972e-01 6.25530917e-03 4.95421744e+01] [-3.38273370e-01 9.41045155e-01 -2.26794916e-03 -1.60648436e+01] [-6.65373244e-03 1.81909057e-05 9.99977864e-01 6.71979062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37483917299999 meters 0.07636982544319694 Centerline is valid? [True, True] Translation: X:49.57, Y:-16.07, Z:6.71 [[ 9.40373744e-01 3.40125349e-01 3.45965530e-03 4.95679808e+01] [-3.40123036e-01 9.40380108e-01 -1.25431482e-03 -1.60720920e+01] [-3.68001529e-03 2.81625770e-06 9.99993229e-01 6.71497060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40483917299999 meters 0.07619934655701452 Centerline is valid? [True, True] Translation: X:49.59, Y:-16.08, Z:6.72 [[ 9.40440006e-01 3.39906355e-01 6.02198144e-03 4.95941536e+01] [-3.39899352e-01 9.40459287e-01 -2.18189735e-03 -1.60798448e+01] [-6.40506915e-03 5.07596554e-06 9.99979487e-01 6.71675987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43483917299999 meters 0.07638664761837637 Centerline is valid? [True, True] Translation: X:49.62, Y:-16.09, Z:6.73 [[ 9.42605072e-01 3.33452904e-01 1.74596598e-02 4.96213778e+01] [-3.33392975e-01 9.42766748e-01 -6.32318412e-03 -1.60899769e+01] [-1.85688708e-02 1.39337497e-04 9.99827574e-01 6.73183804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.464839172999994 meters 0.07765497076582403 Centerline is valid? [True, True] Translation: X:49.65, Y:-16.11, Z:6.74 [[ 9.45307739e-01 3.25148823e-01 2.59137155e-02 4.96461456e+01] [-3.25013817e-01 9.45662755e-01 -9.37940094e-03 -1.61089835e+01] [-2.75553367e-02 4.44104723e-04 9.99620181e-01 6.74109306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.494839172999995 meters 0.07870641772796252 Centerline is valid? [True, True] Translation: X:49.67, Y:-16.12, Z:6.74 [[ 9.46472524e-01 3.21627592e-01 2.73030102e-02 4.96703468e+01] [-3.21476343e-01 9.46866075e-01 -9.87912585e-03 -1.61245935e+01] [-2.90296936e-02 5.73049293e-04 9.99578385e-01 6.74388726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.524839173 meters 0.07986565661866037 Centerline is valid? [True, True] Translation: X:49.69, Y:-16.14, Z:6.74 [[ 9.48348888e-01 3.16303132e-01 2.42222025e-02 4.96943112e+01] [-3.16182500e-01 9.48657951e-01 -8.75885968e-03 -1.61436549e+01] [-2.57490398e-02 6.47818281e-04 9.99668229e-01 6.73746830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.554839173 meters 0.08064993450964256 Centerline is valid? [True, True] Translation: X:49.72, Y:-16.16, Z:6.73 [[ 9.48613043e-01 3.15557916e-01 2.35901942e-02 4.97178512e+01] [-3.15443347e-01 9.48906098e-01 -8.52713897e-03 -1.61594630e+01] [-2.50756854e-02 6.47585401e-04 9.99685346e-01 6.73432085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58483917299999 meters 0.08044062501179101 Centerline is valid? [True, True] Translation: X:49.74, Y:-16.17, Z:6.73 [[ 9.48712491e-01 3.15269745e-01 2.34434868e-02 4.97426240e+01] [-3.15156662e-01 9.49001882e-01 -8.46800903e-03 -1.61724962e+01] [-2.49176202e-02 6.45334884e-04 9.99689300e-01 6.73152568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61483917299999 meters 0.08038916985383572 Centerline is valid? [True, True] Translation: X:49.77, Y:-16.18, Z:6.73 [[ 9.48432687e-01 3.16030755e-01 2.44949151e-02 4.97678997e+01] [-3.15907664e-01 9.48748723e-01 -8.84350436e-03 -1.61804484e+01] [-2.60343388e-02 6.49337188e-04 9.99660838e-01 6.73318847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.644839172999994 meters 0.07957315088425879 Centerline is valid? [True, True] Translation: X:49.79, Y:-16.19, Z:6.74 [[ 9.47270511e-01 3.19225481e-01 2.78149433e-02 4.97942965e+01] [-3.19068238e-01 9.47678580e-01 -1.00383679e-02 -1.61857425e+01] [-2.95641288e-02 6.34184957e-04 9.99562684e-01 6.73749342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.674839172999995 meters 0.0799181770278461 Centerline is valid? [True, True] Translation: X:49.82, Y:-16.20, Z:6.74 [[ 9.47430062e-01 3.18597210e-01 2.95312706e-02 4.98209730e+01] [-3.18419875e-01 9.47889943e-01 -1.06507283e-02 -1.61972569e+01] [-3.13856867e-02 6.87476694e-04 9.99507112e-01 6.73969339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.704839172999996 meters 0.0806093290739239 Centerline is valid? [True, True] Translation: X:49.85, Y:-16.21, Z:6.74 [[ 9.48455187e-01 3.15388918e-01 3.10255931e-02 4.98479354e+01] [-3.15191570e-01 9.48962138e-01 -1.11863519e-02 -1.62096850e+01] [-3.29701646e-02 8.30748119e-04 9.99455991e-01 6.74116287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.734839173 meters 0.08278229224850436 Centerline is valid? [True, True] Translation: X:49.87, Y:-16.23, Z:6.74 [[ 9.49861098e-01 3.11263112e-01 2.96507955e-02 4.98720210e+01] [-3.11080914e-01 9.50323319e-01 -1.06889353e-02 -1.62269816e+01] [-3.15049137e-02 9.29207217e-04 9.99503165e-01 6.73828081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76483917299999 meters 0.08413145761566741 Centerline is valid? [True, True] Translation: X:49.90, Y:-16.24, Z:6.74 [[ 9.50849357e-01 3.08328819e-01 2.86153832e-02 4.98967956e+01] [-3.08157872e-01 9.51279329e-01 -1.03132599e-02 -1.62415405e+01] [-3.04010978e-02 9.88300939e-04 9.99537291e-01 6.73650929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79483917299999 meters 0.08528185984909975 Centerline is valid? [True, True] Translation: X:49.92, Y:-16.26, Z:6.73 [[ 9.51714986e-01 3.05764890e-01 2.73206411e-02 4.99223396e+01] [-3.05608186e-01 9.52106507e-01 -9.84055548e-03 -1.62563892e+01] [-2.90210565e-02 1.01599256e-03 9.99578284e-01 6.73306649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.824839172999994 meters 0.08768004152687708 Centerline is valid? [True, True] Translation: X:49.95, Y:-16.27, Z:6.73 [[ 9.53199525e-01 3.01157646e-01 2.67345883e-02 4.99470044e+01] [-3.01005847e-01 9.53573698e-01 -9.62720681e-03 -1.62728950e+01] [-2.83927072e-02 1.12938155e-03 9.99596208e-01 6.73126905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.854839172999995 meters 0.08712735104757396 Centerline is valid? [True, True] Translation: X:49.97, Y:-16.28, Z:6.73 [[ 9.53314202e-01 3.00787612e-01 2.68112603e-02 4.99746688e+01] [-3.00634958e-01 9.53690472e-01 -9.64910259e-03 -1.62802038e+01] [-2.84719740e-02 1.13822442e-03 9.99593943e-01 6.73067114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.884839172999996 meters 0.08728748431717791 Centerline is valid? [True, True] Translation: X:50.00, Y:-16.29, Z:6.73 [[ 9.53191689e-01 3.01410859e-01 2.40228530e-02 5.00013714e+01] [-3.01288602e-01 9.53493836e-01 -8.64195996e-03 -1.62877154e+01] [-2.55104228e-02 9.99632630e-04 9.99674056e-01 6.72706269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.914839173 meters 0.08728748431717791 Centerline is valid? [True, True] Translation: X:50.03, Y:-16.30, Z:6.73 [[ 9.53267892e-01 3.01169613e-01 2.40247695e-02 5.00272041e+01] [-3.01047413e-01 9.53570062e-01 -8.63663000e-03 -1.62967783e+01] [-2.55103915e-02 1.00042736e-03 9.99674056e-01 6.72690615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94483917299999 meters 0.08656069435580553 Centerline is valid? [True, True] Translation: X:50.06, Y:-16.30, Z:6.73 [[ 9.52838382e-01 3.02468897e-01 2.47302227e-02 5.00565674e+01] [-3.02340019e-01 9.53158744e-01 -8.88383688e-03 -1.63010267e+01] [-2.62589123e-02 9.87924764e-04 9.99654687e-01 6.72696668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97483917299999 meters 0.08552856920887528 Centerline is valid? [True, True] Translation: X:50.08, Y:-16.31, Z:6.73 [[ 9.52258588e-01 3.04177882e-01 2.60652530e-02 5.00848626e+01] [-3.04035531e-01 9.52614741e-01 -9.35683306e-03 -1.63065118e+01] [-2.76762859e-02 9.85361596e-04 9.99616453e-01 6.72848998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00483917299999 meters 0.08565824358798668 Centerline is valid? [True, True] Translation: X:50.11, Y:-16.31, Z:6.73 [[ 9.52039651e-01 3.04833873e-01 2.63972081e-02 5.01113245e+01] [-3.04688241e-01 9.52405040e-01 -9.47184740e-03 -1.63140135e+01] [-2.80281740e-02 9.74655387e-04 9.99606658e-01 6.72924690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.034839172999995 meters 0.08383322146844435 Centerline is valid? [True, True] Translation: X:50.14, Y:-16.32, Z:6.72 [[ 9.50943429e-01 3.08394822e-01 2.44791410e-02 5.01418016e+01] [-3.08270891e-01 9.51258109e-01 -8.77879540e-03 -1.63155386e+01] [-2.59933165e-02 8.01931195e-04 9.99661795e-01 6.72490334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.064839172999996 meters 0.08356674523877565 Centerline is valid? [True, True] Translation: X:50.17, Y:-16.32, Z:6.73 [[ 9.50140193e-01 3.10756824e-01 2.57644930e-02 5.01680129e+01] [-3.10620483e-01 9.50489136e-01 -9.23673931e-03 -1.63237991e+01] [-2.73592504e-02 7.73218034e-04 9.99625367e-01 6.72597301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.094839173 meters 0.083624730647105 Centerline is valid? [True, True] Translation: X:50.19, Y:-16.33, Z:6.73 [[ 9.49803627e-01 3.11606384e-01 2.78303882e-02 5.01933656e+01] [-3.11447733e-01 9.50210930e-01 -9.97491232e-03 -1.63341918e+01] [-2.95529854e-02 8.06496580e-04 9.99562890e-01 6.72728960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12483917299999 meters 0.0847857604881805 Centerline is valid? [True, True] Translation: X:50.22, Y:-16.35, Z:6.73 [[ 9.50708757e-01 3.08674715e-01 2.95428393e-02 5.02186142e+01] [-3.08494603e-01 9.51167187e-01 -1.05859713e-02 -1.63512247e+01] [-3.13678010e-02 9.50369116e-04 9.99507458e-01 6.72854094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15483917299999 meters 0.08592526094233405 Centerline is valid? [True, True] Translation: X:50.24, Y:-16.37, Z:6.73 [[ 9.51459135e-01 3.06245346e-01 3.06480407e-02 5.02444795e+01] [-3.06050302e-01 9.51952020e-01 -1.09801703e-02 -1.63660860e+01] [-3.25380903e-02 1.06734123e-03 9.99469926e-01 6.72936505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18483917299999 meters 0.08951575468244215 Centerline is valid? [True, True] Translation: X:50.27, Y:-16.39, Z:6.73 [[ 9.53534012e-01 2.99565773e-01 3.21439730e-02 5.02673760e+01] [-2.99347488e-01 9.54074686e-01 -1.15141276e-02 -1.63879384e+01] [-3.41169895e-02 1.35689472e-03 9.99416925e-01 6.73244828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.214839172999994 meters 0.09165584151287721 Centerline is valid? [True, True] Translation: X:50.29, Y:-16.41, Z:6.73 [[ 9.54699115e-01 2.95705053e-01 3.32884654e-02 5.02922436e+01] [-2.95468644e-01 9.55278037e-01 -1.19227342e-02 -1.64053777e+01] [-3.53253526e-02 1.54692603e-03 9.99374668e-01 6.73482285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.244839172999995 meters 0.09662227985779219 Centerline is valid? [True, True] Translation: X:50.31, Y:-16.43, Z:6.74 [[ 9.56841805e-01 2.87958794e-01 3.91598409e-02 5.03149230e+01] [-2.87625180e-01 9.57640375e-01 -1.40238221e-02 -1.64306308e+01] [-4.15393276e-02 2.15522298e-03 9.99134545e-01 6.74470613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.274839173 meters 0.08814075898025657 Centerline is valid? [True, True] Translation: X:50.35, Y:-16.43, Z:6.73 [[ 9.58279929e-01 2.83397139e-01 3.72241622e-02 5.03474120e+01] [-2.83092315e-01 9.59000033e-01 -1.33295855e-02 -1.64292380e+01] [-3.94755392e-02 2.23560002e-03 9.99218036e-01 6.72920650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.304839173 meters 0.10546894527941768 Centerline is valid? [True, False] Translation: X:50.35, Y:-16.43, Z:6.74 [[ 9.66187801e-01 2.57825520e-01 -2.67105684e-03 5.03511103e+01] [-2.57836625e-01 9.66173400e-01 -5.40703968e-03 -1.64326161e+01] [ 1.18663126e-03 5.91291206e-03 9.99981815e-01 6.73746386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.33483917299999 meters 0.10804535496220208 Centerline is valid? [False, False] Translation: X:50.34, Y:-16.43, Z:6.75 [[ 9.69905332e-01 2.41394214e-01 -3.18195073e-02 5.03414021e+01] [-2.41591345e-01 9.70375000e-01 -2.44576050e-03 -1.64271688e+01] [ 3.02864620e-02 1.00594737e-02 9.99490639e-01 6.74706325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36483917299999 meters 0.09396064350750201 Centerline is valid? [False, True] Translation: X:50.34, Y:-16.43, Z:6.75 [[ 9.69425467e-01 2.40743651e-01 -4.75053548e-02 5.03425738e+01] [-2.41171221e-01 9.70476632e-01 -3.39827436e-03 -1.64319202e+01] [ 4.52847237e-02 1.47512981e-02 9.98865203e-01 6.74981921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.394839172999994 meters 0.0909142715538762 Centerline is valid? [True, True] Translation: X:50.37, Y:-16.45, Z:6.75 [[ 9.67912430e-01 2.48532360e-01 -3.71105574e-02 5.03698705e+01] [-2.48261936e-01 9.68621079e-01 1.17990298e-02 -1.64456152e+01] [ 3.88785089e-02 -2.20728879e-03 9.99241507e-01 6.74752966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.424839172999995 meters 0.09304597608125449 Centerline is valid? [True, True] Translation: X:50.39, Y:-16.46, Z:6.76 [[ 9.67344928e-01 2.51259098e-01 -3.33564945e-02 5.03938692e+01] [-2.51042234e-01 9.67918028e-01 1.06059998e-02 -1.64593983e+01] [ 3.49512063e-02 -1.88577118e-03 9.99387241e-01 6.75769850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.454839172999996 meters 0.08923501401497547 Centerline is valid? [True, True] Translation: X:50.42, Y:-16.46, Z:6.76 [[ 9.66843941e-01 2.53329244e-01 -3.22038596e-02 5.04226504e+01] [-2.53128374e-01 9.67378545e-01 1.02360758e-02 -1.64635762e+01] [ 3.37464202e-02 -1.74497722e-03 9.99428904e-01 6.75858992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.484839173 meters 0.08889519968099979 Centerline is valid? [True, True] Translation: X:50.45, Y:-16.47, Z:6.76 [[ 9.66549383e-01 2.54279830e-01 -3.35269890e-02 5.04494517e+01] [-2.54062776e-01 9.67129051e-01 1.06538578e-02 -1.64726646e+01] [ 3.51339862e-02 -1.77951979e-03 9.99381027e-01 6.76129105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.51483917299999 meters 0.08666423440882205 Centerline is valid? [True, True] Translation: X:50.48, Y:-16.48, Z:6.76 [[ 9.65472673e-01 2.58475250e-01 -3.24509467e-02 5.04795767e+01] [-2.58274358e-01 9.66016601e-01 1.03093364e-02 -1.64761954e+01] [ 3.40128615e-02 -1.57213511e-03 9.99420159e-01 6.76494876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54483917299999 meters 0.0854063355997509 Centerline is valid? [True, True] Translation: X:50.51, Y:-16.48, Z:6.77 [[ 9.64329469e-01 2.63141349e-01 -2.87281186e-02 5.05077426e+01] [-2.62986019e-01 9.64756488e-01 9.12539614e-03 -1.64814987e+01] [ 3.01169079e-02 -1.24479487e-03 9.99545608e-01 6.77048767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.574839172999994 meters 0.08384271293905184 Centerline is valid? [True, True] Translation: X:50.54, Y:-16.49, Z:6.78 [[ 9.62730135e-01 2.69406050e-01 -2.38970220e-02 5.05356853e+01] [-2.69300529e-01 9.63026283e-01 7.58975098e-03 -1.64868451e+01] [ 2.50581851e-02 -8.71401333e-04 9.99685615e-01 6.77520094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.604839172999995 meters 0.08335366593914523 Centerline is valid? [True, True] Translation: X:50.56, Y:-16.49, Z:6.78 [[ 9.62421235e-01 2.70497986e-01 -2.40042903e-02 5.05633522e+01] [-2.70391734e-01 9.62720164e-01 7.62857890e-03 -1.64934454e+01] [ 2.51729295e-02 -8.51344652e-04 9.99682749e-01 6.77596253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.634839172999996 meters 0.08304729287775343 Centerline is valid? [True, True] Translation: X:50.59, Y:-16.50, Z:6.78 [[ 9.62001463e-01 2.72215854e-01 -2.12535849e-02 5.05906819e+01] [-2.72133209e-01 9.62235955e-01 6.74411521e-03 -1.65003251e+01] [ 2.22868186e-02 -7.04042430e-04 9.99751370e-01 6.78009769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.664839173 meters 0.08231471039181086 Centerline is valid? [True, True] Translation: X:50.62, Y:-16.51, Z:6.78 [[ 9.61851402e-01 2.72946224e-01 -1.84997109e-02 5.06193011e+01] [-2.72883810e-01 9.62029108e-01 5.86698390e-03 -1.65070047e+01] [ 1.93986315e-02 -5.94895098e-04 9.99811652e-01 6.78438081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.69483917299999 meters 0.08080679177413749 Centerline is valid? [True, True] Translation: X:50.65, Y:-16.51, Z:6.79 [[ 9.61560853e-01 2.74278896e-01 -1.31077747e-02 5.06485280e+01] [-2.74247671e-01 9.61650105e-01 4.15824286e-03 -1.65107303e+01] [ 1.37456111e-02 -4.03626879e-04 9.99905443e-01 6.79328421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72483917299999 meters 0.08087356330734959 Centerline is valid? [True, True] Translation: X:50.68, Y:-16.52, Z:6.80 [[ 9.61514293e-01 2.74577113e-01 -9.88293785e-03 5.06769558e+01] [-2.74559387e-01 9.61565036e-01 3.13437286e-03 -1.65182488e+01] [ 1.03637145e-02 -3.00290942e-04 9.99946250e-01 6.79800951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.75483917299999 meters 0.0824138073385647 Centerline is valid? [True, True] Translation: X:50.70, Y:-16.53, Z:6.81 [[ 9.61515787e-01 2.74670591e-01 -6.59219162e-03 5.07024744e+01] [-2.74662691e-01 9.61538364e-01 2.09291031e-03 -1.65287002e+01] [ 6.91350606e-03 -2.01737214e-04 9.99976081e-01 6.80934139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.784839172999995 meters 0.08183925556378104 Centerline is valid? [True, True] Translation: X:50.73, Y:-16.54, Z:6.81 [[ 9.61804055e-01 2.73638309e-01 -7.41859607e-03 5.07298947e+01] [-2.73628201e-01 9.61832634e-01 2.36470541e-03 -1.65388929e+01] [ 7.78252179e-03 -2.44446157e-04 9.99969686e-01 6.80528373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.814839172999996 meters 0.08244270606116606 Centerline is valid? [True, True] Translation: X:50.75, Y:-16.55, Z:6.81 [[ 9.61604744e-01 2.74350109e-01 -6.95221077e-03 5.07540285e+01] [-2.74341309e-01 9.61629851e-01 2.20793731e-03 -1.65501537e+01] [ 7.29120125e-03 -2.15884382e-04 9.99973396e-01 6.80787009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.844839173 meters 0.0813664293381509 Centerline is valid? [True, True] Translation: X:50.78, Y:-16.56, Z:6.81 [[ 9.60542772e-01 2.78110719e-01 -3.46556659e-03 5.07826315e+01] [-2.78108564e-01 9.60549020e-01 1.09880569e-03 -1.65579222e+01] [ 3.63443623e-03 -9.16461140e-05 9.99993391e-01 6.80806733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.87483917299999 meters 0.08043127363704573 Centerline is valid? [True, True] Translation: X:50.81, Y:-16.56, Z:6.81 [[ 9.60267180e-01 2.79057853e-01 -3.69569070e-03 5.08112561e+01] [-2.79055358e-01 9.60274285e-01 1.18495709e-03 -1.65625620e+01] [ 3.87954833e-03 -1.06573111e-04 9.99992469e-01 6.80783569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90483917299999 meters 0.07905790140161187 Centerline is valid? [True, True] Translation: X:50.84, Y:-16.56, Z:6.81 [[ 9.59150906e-01 2.82775295e-01 -8.22630651e-03 5.08428614e+01] [-2.82763371e-01 9.59186167e-01 2.60235932e-03 -1.65614764e+01] [ 8.62644234e-03 -1.69957141e-04 9.99962777e-01 6.80712070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93483917299999 meters 0.07876492968109633 Centerline is valid? [True, True] Translation: X:50.87, Y:-16.57, Z:6.80 [[ 9.58179043e-01 2.85991245e-01 -1.00960189e-02 5.08716412e+01] [-2.85973466e-01 9.58232215e-01 3.19360717e-03 -1.65678253e+01] [ 1.05876743e-02 -1.72853943e-04 9.99943934e-01 6.80477357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.964839172999994 meters 0.07827347275811326 Centerline is valid? [True, True] Translation: X:50.90, Y:-16.57, Z:6.80 [[ 9.56538726e-01 2.91310164e-01 -1.31169706e-02 5.09009757e+01] [-2.91280565e-01 9.56628645e-01 4.15549576e-03 -1.65745657e+01] [ 1.37586080e-02 -1.54174020e-04 9.99905334e-01 6.79961836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.994839172999995 meters 0.07900265289770282 Centerline is valid? [True, True] Translation: X:50.93, Y:-16.58, Z:6.81 [[ 9.56124844e-01 2.92708025e-01 -1.21365308e-02 5.09275900e+01] [-2.92682865e-01 9.56201860e-01 3.83958564e-03 -1.65820568e+01] [ 1.27288508e-02 -1.18968628e-04 9.99918978e-01 6.80629606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.024839173 meters 0.07865081270928408 Centerline is valid? [True, True] Translation: X:50.96, Y:-16.59, Z:6.81 [[ 9.56806255e-01 2.90642777e-01 -6.96896859e-03 5.09571330e+01] [-2.90634371e-01 9.56831630e-01 2.21240188e-03 -1.65853797e+01] [ 7.31114820e-03 -9.14181581e-05 9.99973269e-01 6.81146522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.054839173 meters 0.07901135787648801 Centerline is valid? [True, True] Translation: X:50.98, Y:-16.59, Z:6.82 [[ 9.58266863e-01 2.85797999e-01 -6.64248778e-03 5.09836802e+01] [-2.85790237e-01 9.58289877e-01 2.10989362e-03 -1.65947002e+01] [ 6.96843217e-03 -1.23482981e-04 9.99975713e-01 6.81672242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08483917299999 meters 0.07899000142872431 Centerline is valid? [True, True] Translation: X:51.01, Y:-16.61, Z:6.82 [[ 9.58505825e-01 2.84935828e-01 -8.84072543e-03 5.10105952e+01] [-2.84922214e-01 9.58546582e-01 2.78957205e-03 -1.66052521e+01] [ 9.26909616e-03 -1.54901993e-04 9.99957029e-01 6.81608459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11483917299999 meters 0.07851400869767798 Centerline is valid? [True, True] Translation: X:51.04, Y:-16.62, Z:6.81 [[ 9.57575514e-01 2.87725909e-01 -1.62152927e-02 5.10377627e+01] [-2.87680611e-01 9.57712770e-01 5.11049235e-03 -1.66159189e+01] [ 1.70000140e-02 -2.28857026e-04 9.99855463e-01 6.80843846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.144839172999994 meters 0.07867292021653631 Centerline is valid? [True, True] Translation: X:51.06, Y:-16.63, Z:6.81 [[ 9.57005402e-01 2.89503179e-01 -1.81264786e-02 5.10638303e+01] [-2.89446896e-01 9.57177027e-01 5.71259855e-03 -1.66259895e+01] [ 1.90040643e-02 -2.20334720e-04 9.99819382e-01 6.80696344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.174839172999995 meters 0.07894180640298668 Centerline is valid? [True, True] Translation: X:51.09, Y:-16.64, Z:6.80 [[ 9.55875414e-01 2.92837970e-01 -2.34118751e-02 5.10890894e+01] [-2.92745211e-01 9.56162060e-01 7.37260378e-03 -1.66425079e+01] [ 2.45445250e-02 -1.93576373e-04 9.99698719e-01 6.80039743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.204839172999996 meters 0.07872715305406551 Centerline is valid? [True, True] Translation: X:51.12, Y:-16.65, Z:6.80 [[ 9.55258043e-01 2.94624788e-01 -2.60443002e-02 5.11161124e+01] [-2.94510522e-01 9.55613000e-01 8.20651770e-03 -1.66548013e+01] [ 2.73061154e-02 -1.69021612e-04 9.99627104e-01 6.79693433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.234839173 meters 0.07776276215186104 Centerline is valid? [True, True] Translation: X:51.14, Y:-16.67, Z:6.79 [[ 9.54093985e-01 2.97990279e-01 -3.01074868e-02 5.11433450e+01] [-2.97839746e-01 9.54568902e-01 9.47084295e-03 -1.66658105e+01] [ 3.15618897e-02 -6.88680666e-05 9.99501797e-01 6.79433439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26483917299999 meters 0.07723543352249077 Centerline is valid? [True, True] Translation: X:51.17, Y:-16.67, Z:6.79 [[ 9.53248401e-01 3.00481906e-01 -3.20641513e-02 5.11700793e+01] [-3.00312613e-01 9.53787515e-01 1.00851810e-02 -1.66722531e+01] [ 3.36128016e-02 1.55863911e-05 9.99434930e-01 6.79477838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29483917299999 meters 0.07637043167576538 Centerline is valid? [True, True] Translation: X:51.20, Y:-16.68, Z:6.79 [[ 9.51430185e-01 3.05905098e-01 -3.46796006e-02 5.11992266e+01] [-3.05710634e-01 9.52061984e-01 1.09081098e-02 -1.66751811e+01] [ 3.63539757e-02 2.23617771e-04 9.99338951e-01 6.79443282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.324839172999994 meters 0.07625551212412457 Centerline is valid? [True, True] Translation: X:51.23, Y:-16.68, Z:6.80 [[ 9.50838030e-01 3.07739003e-01 -3.46950644e-02 5.12255826e+01] [-3.07546045e-01 9.51470763e-01 1.09003491e-02 -1.66823898e+01] [ 3.63658019e-02 3.05863382e-04 9.99338499e-01 6.79614871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.354839172999995 meters 0.07659935466047633 Centerline is valid? [True, True] Translation: X:51.25, Y:-16.70, Z:6.79 [[ 9.50230393e-01 3.09125224e-01 -3.87788177e-02 5.12501460e+01] [-3.08885583e-01 9.51021256e-01 1.21764772e-02 -1.66983723e+01] [ 4.06435362e-02 4.07758993e-04 9.99173627e-01 6.79331456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.384839172999996 meters 0.07645206524259945 Centerline is valid? [True, True] Translation: X:51.28, Y:-16.71, Z:6.79 [[ 9.50176566e-01 3.08528049e-01 -4.44402555e-02 5.12760139e+01] [-3.08213001e-01 9.51215141e-01 1.39463725e-02 -1.67134680e+01] [ 4.65750910e-02 4.45548241e-04 9.98914692e-01 6.78669991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.414839173 meters 0.07719383269045302 Centerline is valid? [True, True] Translation: X:51.30, Y:-16.72, Z:6.77 [[ 9.48822255e-01 3.10041818e-01 -6.00866085e-02 5.13044988e+01] [-3.09469086e-01 9.50722655e-01 1.88498593e-02 -1.67193801e+01] [ 6.29699446e-02 7.09781845e-04 9.98015171e-01 6.77270345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44483917299999 meters 0.07780375741787005 Centerline is valid? [True, True] Translation: X:51.33, Y:-16.73, Z:6.77 [[ 9.47509422e-01 3.13032755e-01 -6.50875439e-02 5.13324553e+01] [-3.12368221e-01 9.49741812e-01 2.04104103e-02 -1.67269614e+01] [ 6.82054888e-02 9.92224198e-04 9.97670801e-01 6.76804224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47483917299999 meters 0.0800246715519148 Centerline is valid? [True, True] Translation: X:51.36, Y:-16.74, Z:6.76 [[ 9.44727910e-01 3.19692618e-01 -7.27035438e-02 5.13601579e+01] [-3.18884436e-01 9.47519846e-01 2.27784477e-02 -1.67373779e+01] [ 7.61701522e-02 1.66459323e-03 9.97093444e-01 6.75870929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50483917299999 meters 0.08155696169562618 Centerline is valid? [True, True] Translation: X:51.39, Y:-16.74, Z:6.75 [[ 9.42040819e-01 3.26045401e-01 -7.90790216e-02 5.13879609e+01] [-3.25112195e-01 9.45351117e-01 2.47654247e-02 -1.67447571e+01] [ 8.28320942e-02 2.37951331e-03 9.96560677e-01 6.75360473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.534839172999995 meters 0.08297580870068062 Centerline is valid? [True, True] Translation: X:51.42, Y:-16.75, Z:6.75 [[ 9.40471971e-01 3.29112488e-01 -8.48377342e-02 5.14169275e+01] [-3.28051277e-01 9.44286420e-01 2.65615526e-02 -1.67493215e+01] [ 8.88528590e-02 2.85073132e-03 9.96040683e-01 6.75076396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.564839172999996 meters 0.08688757314291051 Centerline is valid? [True, True] Translation: X:51.45, Y:-16.76, Z:6.73 [[ 9.36535658e-01 3.33993208e-01 -1.06534027e-01 5.14454320e+01] [-3.32350801e-01 9.42566220e-01 3.33446436e-02 -1.67585399e+01] [ 1.11552259e-01 4.17822140e-03 9.93749785e-01 6.72725093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.594839173 meters 0.0914012416202927 Centerline is valid? [True, True] Translation: X:51.48, Y:-16.76, Z:6.72 [[ 9.33266845e-01 3.41702021e-01 -1.10692027e-01 5.14752924e+01] [-3.39983658e-01 9.39793347e-01 3.46349190e-02 -1.67609559e+01] [ 1.15862452e-01 5.30985869e-03 9.93251075e-01 6.72350262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62483917299999 meters 0.09533948891743696 Centerline is valid? [True, True] Translation: X:51.51, Y:-16.76, Z:6.71 [[ 9.29604912e-01 3.47445225e-01 -1.22949268e-01 5.15061373e+01] [-3.45375638e-01 9.37676244e-01 3.84568645e-02 -1.67600298e+01] [ 1.28648262e-01 6.71399187e-03 9.91667559e-01 6.70633987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65483917299999 meters 0.09859978060230176 Centerline is valid? [True, True] Translation: X:51.53, Y:-16.76, Z:6.70 [[ 9.27913286e-01 3.51614840e-01 -1.23870653e-01 5.15348731e+01] [-3.49552540e-01 9.36115829e-01 3.87321059e-02 -1.67627615e+01] [ 1.29576062e-01 7.35926576e-03 9.91542175e-01 6.70340018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68483917299999 meters 0.09995412239379306 Centerline is valid? [True, True] Translation: X:51.56, Y:-16.76, Z:6.70 [[ 9.27771115e-01 3.52406153e-01 -1.22681140e-01 5.15639412e+01] [-3.50391778e-01 9.35817836e-01 3.83481430e-02 -1.67630618e+01] [ 1.28321320e-01 7.40816336e-03 9.91704975e-01 6.70063732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.714839172999994 meters 0.099852835296228 Centerline is valid? [True, True] Translation: X:51.59, Y:-16.77, Z:6.70 [[ 9.28656886e-01 3.49592837e-01 -1.24021114e-01 5.15929081e+01] [-3.47511952e-01 9.36874696e-01 3.87459457e-02 -1.67688165e+01] [ 1.29737548e-01 7.11713003e-03 9.91522826e-01 6.70002880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.744839172999995 meters 0.09822275049910367 Centerline is valid? [True, True] Translation: X:51.62, Y:-16.77, Z:6.70 [[ 9.30048224e-01 3.45235497e-01 -1.25788526e-01 5.16209873e+01] [-3.43057626e-01 9.38492734e-01 3.92791739e-02 -1.67727299e+01] [ 1.31612183e-01 6.62118719e-03 9.91279170e-01 6.70259869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.774839173 meters 0.0981190823724661 Centerline is valid? [True, True] Translation: X:51.65, Y:-16.78, Z:6.70 [[ 9.30377090e-01 3.42666555e-01 -1.30300052e-01 5.16493022e+01] [-3.40305696e-01 9.39434629e-01 4.06769145e-02 -1.67817632e+01] [ 1.36346999e-01 6.49698065e-03 9.90639836e-01 6.70142947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.804839173 meters 0.0981190823724661 Centerline is valid? [True, True] Translation: X:51.68, Y:-16.79, Z:6.70 [[ 9.30467666e-01 3.42417674e-01 -1.30307557e-01 5.16755230e+01] [-3.40057754e-01 9.39525449e-01 4.06528608e-02 -1.67897136e+01] [ 1.36347524e-01 6.48592268e-03 9.90639836e-01 6.70312062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.83483917299999 meters 0.10459263237425402 Centerline is valid? [True, False] Translation: X:51.61, Y:-16.76, Z:6.69 [[ 9.34342312e-01 3.38853156e-01 -1.10376549e-01 5.16096269e+01] [-3.37509602e-01 9.40804487e-01 3.12119617e-02 -1.67617006e+01] [ 1.14419024e-01 8.09048863e-03 9.93399633e-01 6.68698415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86483917299999 meters 0.09604794521951418 Centerline is valid? [False, True] Translation: X:51.54, Y:-16.74, Z:6.68 [[ 9.36206300e-01 3.36343290e-01 -1.01936031e-01 5.15440406e+01] [-3.35673160e-01 9.41668214e-01 2.41765187e-02 -1.67361914e+01] [ 1.04121530e-01 1.15829805e-02 9.94497130e-01 6.67981259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.894839172999994 meters 0.09935457660906097 Centerline is valid? [True, True] Translation: X:51.57, Y:-16.74, Z:6.68 [[ 9.35335682e-01 3.40633948e-01 -9.54760513e-02 5.15715919e+01] [-3.39414243e-01 9.40182403e-01 2.92407541e-02 -1.67411583e+01] [ 9.97252968e-02 5.05601094e-03 9.95002162e-01 6.67973485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.924839172999995 meters 0.10188239347797849 Centerline is valid? [True, False] Translation: X:51.52, Y:-16.71, Z:6.68 [[ 9.38856636e-01 3.33623121e-01 -8.51106931e-02 5.15167151e+01] [-3.32471356e-01 9.42703946e-01 2.77861021e-02 -1.67145147e+01] [ 8.95042723e-02 2.20970112e-03 9.95983987e-01 6.67634539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.954839172999996 meters 0.10198244910824959 Centerline is valid? [False, False] Translation: X:51.49, Y:-16.70, Z:6.68 [[ 9.41262917e-01 3.24438450e-01 -9.36152451e-02 5.14939694e+01] [-3.22709579e-01 9.45905920e-01 3.34741500e-02 -1.67016852e+01] [ 9.94115158e-02 -1.29743973e-03 9.95045560e-01 6.68172831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.984839173 meters 0.10326865207971281 Centerline is valid? [False, False] Translation: X:51.46, Y:-16.68, Z:6.68 [[ 9.43107098e-01 3.18333408e-01 -9.59835571e-02 5.14600753e+01] [-3.16854922e-01 9.47977667e-01 3.06806287e-02 -1.66825120e+01] [ 1.00756938e-01 1.47774373e-03 9.94909974e-01 6.68141164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.014839173 meters 0.10082818157400465 Centerline is valid? [False, False] Translation: X:51.42, Y:-16.67, Z:6.68 [[ 9.45033510e-01 3.11894408e-01 -9.81506167e-02 5.14216674e+01] [-3.10462948e-01 9.50114248e-01 2.99277963e-02 -1.66659254e+01] [ 1.02588612e-01 2.18935946e-03 9.94721460e-01 6.68214764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.044839173 meters 0.11106685461259397 Centerline is valid? [False, False] Translation: X:51.39, Y:-16.65, Z:6.68 [[ 9.46221274e-01 3.06883220e-01 -1.02410885e-01 5.13894037e+01] [-3.05539070e-01 9.51739213e-01 2.89542146e-02 -1.66500101e+01] [ 1.06354018e-01 3.89343276e-03 9.94320705e-01 6.68219615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.074839173 meters 0.10301714986622597 Centerline is valid? [False, False] Translation: X:51.37, Y:-16.64, Z:6.68 [[ 9.48012001e-01 3.02425559e-01 -9.90556778e-02 5.13734221e+01] [-3.00910444e-01 9.53172344e-01 3.02553757e-02 -1.66397691e+01] [ 1.03567132e-01 1.12442875e-03 9.94621830e-01 6.68377466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.104839173 meters 0.11030402309333567 Centerline is valid? [False, False] Translation: X:51.35, Y:-16.63, Z:6.70 [[ 9.48193128e-01 2.99466750e-01 -1.06063461e-01 5.13520787e+01] [-2.97266778e-01 9.54102210e-01 3.63515547e-02 -1.66313120e+01] [ 1.12081464e-01 -2.93915118e-03 9.93694675e-01 6.69685956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.134839173 meters 0.11034998415103062 Centerline is valid? [False, False] Translation: X:51.32, Y:-16.62, Z:6.70 [[ 9.49944415e-01 2.93718510e-01 -1.06466165e-01 5.13153750e+01] [-2.92047088e-01 9.55891017e-01 3.13187307e-02 -1.66187906e+01] [ 1.10968941e-01 1.34208007e-03 9.93822969e-01 6.69959556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.164839173 meters 0.12585015125652008 Centerline is valid? [False, False] Translation: X:51.25, Y:-16.61, Z:6.70 [[ 9.48778582e-01 2.95223731e-01 -1.12526223e-01 5.12517598e+01] [-2.95149781e-01 9.55287050e-01 1.76991299e-02 -1.66068984e+01] [ 1.12720047e-01 1.64195348e-02 9.93491112e-01 6.70279375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.194839173 meters 0.1099526104569444 Centerline is valid? [False, False] Translation: X:51.21, Y:-16.60, Z:6.70 [[ 9.50667394e-01 2.89353895e-01 -1.11829462e-01 5.12138663e+01] [-2.89542105e-01 9.57049105e-01 1.49124200e-02 -1.65961442e+01] [ 1.11341253e-01 1.82025863e-02 9.93615515e-01 6.70232728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.224839173 meters 0.1177344094032947 Centerline is valid? [False, False] Translation: X:51.16, Y:-16.59, Z:6.71 [[ 9.51414074e-01 2.87362886e-01 -1.10606653e-01 5.11551635e+01] [-2.88213844e-01 9.57527774e-01 8.56401428e-03 -1.65887516e+01] [ 1.08369922e-01 2.37304448e-02 9.93827362e-01 6.70705966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25483917300001 meters 0.11009398717015796 Centerline is valid? [False, False] Translation: X:51.10, Y:-16.58, Z:6.71 [[ 9.52990359e-01 2.83965790e-01 -1.05701498e-01 5.10961524e+01] [-2.85445611e-01 9.58394189e-01 1.17545697e-03 -1.65805241e+01] [ 1.01637491e-01 2.90518296e-02 9.94397210e-01 6.70622457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.284839173 meters 0.11123247600906706 Centerline is valid? [False, False] Translation: X:51.03, Y:-16.58, Z:6.71 [[ 9.54864861e-01 2.79675477e-01 -1.00073599e-01 5.10308844e+01] [-2.81377221e-01 9.59592470e-01 -3.02516977e-03 -1.65775966e+01] [ 9.51838061e-02 3.10470595e-02 9.94975438e-01 6.70742274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.314839173 meters 0.10970079442192135 Centerline is valid? [False, False] Translation: X:50.98, Y:-16.57, Z:6.70 [[ 9.56879938e-01 2.74831918e-01 -9.40648764e-02 5.09808862e+01] [-2.75716942e-01 9.61231705e-01 3.71171585e-03 -1.65704764e+01] [ 9.14382395e-02 2.23836136e-02 9.95559151e-01 6.70450075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.344839173 meters 0.1138848335853981 Centerline is valid? [False, False] Translation: X:50.93, Y:-16.57, Z:6.71 [[ 9.59460974e-01 2.66438166e-01 -9.18985444e-02 5.09264876e+01] [-2.66644799e-01 9.63740366e-01 1.02497470e-02 -1.65688206e+01] [ 9.12972606e-02 1.46700366e-02 9.95715622e-01 6.70546767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.374839173 meters 0.1248488718585881 Centerline is valid? [False, False] Translation: X:50.85, Y:-16.57, Z:6.70 [[ 9.60935318e-01 2.64513305e-01 -8.14618054e-02 5.08495024e+01] [-2.65227029e-01 9.64183641e-01 2.12838447e-03 -1.65658095e+01] [ 7.91071262e-02 1.95606328e-02 9.96674192e-01 6.69875314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.404839173 meters 0.12027138487567605 Centerline is valid? [False, False] Translation: X:50.83, Y:-16.57, Z:6.69 [[ 9.63925928e-01 2.59561645e-01 -5.89453751e-02 5.08320331e+01] [-2.60162711e-01 9.65561213e-01 -2.62829804e-03 -1.65682602e+01] [ 5.62331625e-02 1.78688732e-02 9.98257750e-01 6.68637845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.434839173 meters 0.12286221583698766 Centerline is valid? [False, False] Translation: X:50.82, Y:-16.58, Z:6.68 [[ 9.65052803e-01 2.55987677e-01 -5.60660037e-02 5.08233573e+01] [-2.56547346e-01 9.66527311e-01 -2.90112848e-03 -1.65788545e+01] [ 5.34466706e-02 1.71833266e-02 9.98422850e-01 6.68493554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.464839173 meters 0.12667385790340638 Centerline is valid? [False, False] Translation: X:50.80, Y:-16.58, Z:6.67 [[ 9.67728295e-01 2.49742841e-01 -3.36223272e-02 5.08046761e+01] [-2.49822882e-01 9.68289752e-01 1.86666021e-03 -1.65812898e+01] [ 3.30223398e-02 6.59320678e-03 9.99432867e-01 6.67252005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.494839173 meters 0.12336242566089048 Centerline is valid? [False, False] Translation: X:50.81, Y:-16.59, Z:6.68 [[ 9.69669173e-01 2.42217075e-01 -3.27503317e-02 5.08082844e+01] [-2.42053742e-01 9.70221811e-01 8.92317687e-03 -1.65881943e+01] [ 3.39364319e-02 -7.25189206e-04 9.99423730e-01 6.67553456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.524839173 meters 0.12856049331825883 Centerline is valid? [False, False] Translation: X:50.80, Y:-16.60, Z:6.67 [[ 9.71570856e-01 2.36180447e-01 -1.63971766e-02 5.07979443e+01] [-2.36126410e-01 9.71708515e-01 5.18465271e-03 -1.66016439e+01] [ 1.71577898e-02 -1.16545102e-03 9.99852115e-01 6.67267993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.554839173 meters 0.12055298180507744 Centerline is valid? [False, False] Translation: X:50.80, Y:-16.61, Z:6.67 [[ 9.74234702e-01 2.25197212e-01 -1.23677433e-02 5.07964806e+01] [-2.25053575e-01 9.74272465e-01 1.20021580e-02 -1.66113504e+01] [ 1.47524043e-02 -8.90951396e-03 9.99851483e-01 6.67252225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.584839173 meters 0.11906526031678627 Centerline is valid? [False, False] Translation: X:50.78, Y:-16.63, Z:6.68 [[ 9.78023551e-01 2.08352093e-01 -7.70320231e-03 5.07830373e+01] [-2.08228479e-01 9.77974625e-01 1.43712440e-02 -1.66260770e+01] [ 1.05278152e-02 -1.24513890e-02 9.99867055e-01 6.67759555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61483917300001 meters 0.11053904766406979 Centerline is valid? [False, False] Translation: X:50.77, Y:-16.64, Z:6.69 [[ 9.81814419e-01 1.89819877e-01 2.97686313e-03 5.07730778e+01] [-1.89843215e-01 9.81696532e-01 1.52142246e-02 -1.66445840e+01] [-3.44139562e-05 -1.55026824e-02 9.99879826e-01 6.68649502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64483917300001 meters 0.10737678277543287 Centerline is valid? [False, False] Translation: X:50.77, Y:-16.65, Z:6.70 [[ 9.83268340e-01 1.82162386e-01 4.85508926e-04 5.07711333e+01] [-1.82145304e-01 9.83131968e-01 1.65717010e-02 -1.66523466e+01] [ 2.54142125e-03 -1.63828621e-02 9.99862562e-01 6.69707056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.674839173 meters 0.09842562134517047 Centerline is valid? [False, True] Translation: X:50.77, Y:-16.67, Z:6.70 [[ 9.84614400e-01 1.74338335e-01 1.18587045e-02 5.07679510e+01] [-1.74510520e-01 9.84533539e-01 1.54851152e-02 -1.66675610e+01] [-8.97564309e-03 -1.73163361e-02 9.99809773e-01 6.70098207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.704839173 meters 0.09900544718311682 Centerline is valid? [True, True] Translation: X:50.80, Y:-16.67, Z:6.70 [[ 9.84405706e-01 1.75672983e-01 9.18745334e-03 5.07958007e+01] [-1.75668457e-01 9.84448523e-01 -1.30370961e-03 -1.66681303e+01] [-9.27360143e-03 -3.30566569e-04 9.99956945e-01 6.70345939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.734839173 meters 0.1010006743285369 Centerline is valid? [True, False] Translation: X:50.80, Y:-16.68, Z:6.70 [[ 9.84608929e-01 1.74547067e-01 8.86438562e-03 5.07960620e+01] [-1.74567947e-01 9.84643776e-01 1.63301155e-03 -1.66839405e+01] [-8.44322476e-03 -3.15531535e-03 9.99959377e-01 6.69887340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.764839173 meters 0.10225146287379286 Centerline is valid? [False, False] Translation: X:50.80, Y:-16.69, Z:6.70 [[ 9.85091490e-01 1.71822898e-01 8.46449923e-03 5.07966913e+01] [-1.71831120e-01 9.85126390e-01 2.48396904e-04 -1.66903567e+01] [-8.29592130e-03 -1.69915806e-03 9.99964145e-01 6.69646418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.794839173 meters 0.11181427513395224 Centerline is valid? [False, False] Translation: X:50.80, Y:-16.70, Z:6.69 [[ 9.85950952e-01 1.66888527e-01 6.99576435e-03 5.07978251e+01] [-1.66879576e-01 9.85975553e-01 -1.84836994e-03 -1.67047076e+01] [-7.20612436e-03 6.54951910e-04 9.99973821e-01 6.69358894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.824839173 meters 0.11000075143260636 Centerline is valid? [False, False] Translation: X:50.80, Y:-16.71, Z:6.69 [[ 9.87549592e-01 1.57087503e-01 8.32588455e-03 5.07955588e+01] [-1.57174445e-01 9.87508641e-01 1.10850645e-02 -1.67127846e+01] [-6.48055784e-03 -1.22556672e-02 9.99903896e-01 6.69045833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.854839173 meters 0.10549268894735292 Centerline is valid? [False, False] Translation: X:50.74, Y:-16.72, Z:6.69 [[ 9.88753652e-01 1.48498428e-01 -1.77322319e-02 5.07406526e+01] [-1.48087347e-01 9.88715894e-01 2.26057395e-02 -1.67208287e+01] [ 2.08890563e-02 -1.97255883e-02 9.99587189e-01 6.69257200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.884839173 meters 0.09507616341892265 Centerline is valid? [False, True] Translation: X:50.63, Y:-16.72, Z:6.68 [[ 9.93035388e-01 1.17417597e-01 -9.68641115e-03 5.06337498e+01] [-1.16879620e-01 9.92151437e-01 4.44373843e-02 -1.67244886e+01] [ 1.48281176e-02 -4.29957510e-02 9.98965211e-01 6.67982560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.914839173 meters 0.11148223960675488 Centerline is valid? [True, False] Translation: X:50.63, Y:-16.73, Z:6.68 [[ 9.92780136e-01 8.21126231e-02 -8.74363739e-02 5.06331554e+01] [-7.80751729e-02 9.95760169e-01 4.86410695e-02 -1.67323146e+01] [ 9.10597043e-02 -4.14632776e-02 9.94981873e-01 6.67643179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.944839173 meters 0.12508168532088781 Centerline is valid? [False, False] Translation: X:50.77, Y:-16.74, Z:6.68 [[ 9.94357507e-01 7.86207199e-02 -7.12174869e-02 5.07663871e+01] [-7.55918061e-02 9.96155398e-01 4.42752865e-02 -1.67420200e+01] [ 7.44246390e-02 -3.86420050e-02 9.96477681e-01 6.68306371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.974839173 meters 0.05275373581796999 Centerline is valid? [False, True] Translation: X:50.57, Y:-16.75, Z:6.75 [[ 9.95644404e-01 6.13868625e-02 -7.01703247e-02 5.05664089e+01] [-6.16727537e-02 9.98094591e-01 -1.91301144e-03 -1.67475659e+01] [ 6.99191877e-02 6.23227628e-03 9.97533190e-01 6.75134350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00483917300001 meters 0.12592344619967077 Centerline is valid? [True, False] Translation: X:50.75, Y:-16.75, Z:6.62 [[ 9.98311394e-01 5.61956154e-02 -1.47109972e-02 5.07541594e+01] [-5.70037468e-02 9.96449985e-01 -6.19516019e-02 -1.67539555e+01] [ 1.11773645e-02 6.26855720e-02 9.97970734e-01 6.62031919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.034839173 meters 0.14516915200769645 Centerline is valid? [False, False] Translation: X:50.74, Y:-16.76, Z:6.61 [[ 9.98860048e-01 4.36856103e-02 -1.92398791e-02 5.07387861e+01] [-4.44163746e-02 9.98237775e-01 -3.93513725e-02 -1.67642671e+01] [ 1.74868854e-02 4.01610794e-02 9.99040188e-01 6.61010967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.064839173 meters 0.12876546323275662 Centerline is valid? [False, False] Translation: X:50.78, Y:-16.77, Z:6.61 [[ 9.99400276e-01 3.23248578e-02 -1.24173744e-02 5.07821812e+01] [-3.25423405e-02 9.99313070e-01 -1.77309023e-02 -1.67680257e+01] [ 1.18356956e-02 1.81243591e-02 9.99765685e-01 6.60713218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.094839173 meters 0.12749431332201328 Centerline is valid? [False, False] Translation: X:50.79, Y:-16.77, Z:6.61 [[ 9.99612801e-01 2.73667134e-02 -5.03100508e-03 5.07853404e+01] [-2.74128131e-02 9.99580613e-01 -9.33465251e-03 -1.67722070e+01] [ 4.77343638e-03 9.46895214e-03 9.99943775e-01 6.60688804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.124839173 meters 0.10417248923155155 Centerline is valid? [False, False] Translation: X:50.68, Y:-16.79, Z:6.63 [[ 9.99940120e-01 8.49017119e-03 -6.90458336e-03 5.06753589e+01] [-8.41639802e-03 9.99907926e-01 1.06444380e-02 -1.67909487e+01] [ 6.99432073e-03 -1.05856889e-02 9.99919508e-01 6.62838946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.154839173 meters 0.1265051104698326 Centerline is valid? [False, False] Translation: X:50.80, Y:-16.79, Z:6.63 [[ 9.99943975e-01 1.05695865e-02 5.74301448e-04 5.08031015e+01] [-1.05735869e-02 9.99916139e-01 7.47762836e-03 -1.67895657e+01] [-4.95217846e-04 -7.48328185e-03 9.99971877e-01 6.63016828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.184839173 meters 0.12438210655516377 Centerline is valid? [False, False] Translation: X:50.80, Y:-16.79, Z:6.64 [[ 9.99991641e-01 3.54938141e-03 -2.02988997e-03 5.08038544e+01] [-3.53212012e-03 9.99958103e-01 8.44484752e-03 -1.67946773e+01] [ 2.05977890e-03 -8.43760711e-03 9.99962281e-01 6.64014336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.214839173 meters 0.11585218770175848 Centerline is valid? [False, False] Translation: X:50.81, Y:-16.81, Z:6.65 [[ 9.99976335e-01 1.47140931e-03 6.72049061e-03 5.08059005e+01] [-1.53243485e-03 9.99957562e-01 9.08441415e-03 -1.68057851e+01] [-6.70683851e-03 -9.09449788e-03 9.99936152e-01 6.65292782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.244839173 meters 0.11566387497977937 Centerline is valid? [False, False] Translation: X:50.80, Y:-16.82, Z:6.67 [[ 9.99967669e-01 4.22003217e-04 8.03007055e-03 5.07994087e+01] [-5.67105474e-04 9.99836452e-01 1.80761725e-02 -1.68211373e+01] [-8.02112904e-03 -1.80801420e-02 9.99804366e-01 6.66627941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.274839173 meters 0.11203379288229566 Centerline is valid? [False, False] Translation: X:50.80, Y:-16.83, Z:6.67 [[ 9.99998346e-01 1.51112556e-03 -1.01191222e-03 5.07985927e+01] [-1.50472273e-03 9.99979032e-01 6.29859780e-03 -1.68264871e+01] [ 1.02140897e-03 -6.29706473e-03 9.99979652e-01 6.66881236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.304839173 meters 0.11189216705302309 Centerline is valid? [False, False] Translation: X:50.76, Y:-16.84, Z:6.66 [[ 9.99967122e-01 7.86359681e-03 -1.97948071e-03 5.07589252e+01] [-7.89229052e-03 9.99857377e-01 -1.49310642e-02 -1.68449614e+01] [ 1.86178652e-03 1.49461959e-02 9.99886566e-01 6.66361964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.334839173 meters 0.09952161829515134 Centerline is valid? [False, True] Translation: X:50.67, Y:-16.87, Z:6.67 [[ 9.99704398e-01 1.41108408e-03 -2.42719230e-02 5.06727343e+01] [-1.13178055e-03 9.99933035e-01 1.15171589e-02 -1.68732377e+01] [ 2.42865493e-02 -1.14862839e-02 9.99639049e-01 6.66727046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36483917300001 meters 0.03994295156509542 Centerline is valid? [True, True] Translation: X:50.76, Y:-16.89, Z:7.07 [[ 9.93837563e-01 1.09620906e-01 1.64364259e-02 5.07600734e+01] [-1.09647274e-01 9.93970308e-01 7.08995979e-04 -1.68934030e+01] [-1.62595985e-02 -2.50683612e-03 9.99864661e-01 7.07348355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39483917300001 meters 0.1459206232356654 Centerline is valid? [True, False] Translation: X:50.02, Y:-16.89, Z:7.12 [[ 3.52560601e-01 1.92775103e-02 9.35590402e-01 5.00160574e+01] [ 6.61799918e-02 9.96770818e-01 -4.54768639e-02 -1.68858465e+01] [-9.33445891e-01 7.79507156e-02 3.50146333e-01 7.12449129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.424839173 meters 0.09619354666630707 Centerline is valid? [False, True] Translation: X:49.62, Y:-17.95, Z:7.69 [[ 0.12430455 0.05180992 0.99089056 49.62157354] [ -0.98945571 0.08128667 0.11987438 -17.95253515] [ -0.07433551 -0.99534326 0.06136792 7.68732415] [ 0. 0. 0. 1. ]] SLAMing on 65.454839173 meters 0.12946585589441492 Centerline is valid? [True, False] Translation: X:49.99, Y:-18.46, Z:7.64 [[ 9.66601065e-01 -2.45559005e-03 -2.56273977e-01 4.99919939e+01] [ 2.54527604e-01 1.26124445e-01 9.58805675e-01 -1.84581627e+01] [ 2.99679795e-02 -9.92011388e-01 1.22537039e-01 7.63599827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.484839173 meters 0.08515627401065616 Centerline is valid? [False, True] Translation: X:49.63, Y:-18.26, Z:7.40 [[ 9.90649387e-01 1.08281493e-01 8.29994627e-02 4.96314502e+01] [-1.35791624e-01 7.23659595e-01 6.76666407e-01 -1.82554165e+01] [ 1.32070909e-02 -6.81609793e-01 7.31596653e-01 7.40197952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.514839173 meters 0.0481598819894254 Centerline is valid? [True, True] Translation: X:49.73, Y:-17.89, Z:7.18 [[ 6.76241296e-01 4.14121324e-01 6.09262865e-01 4.97345199e+01] [-3.16314045e-01 9.10145298e-01 -2.67546186e-01 -1.78855392e+01] [-6.65314313e-01 -1.17926220e-02 7.46470227e-01 7.17556120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.544839173 meters 0.11075018104928153 Centerline is valid? [True, False] Translation: X:49.68, Y:-17.83, Z:7.03 [[ 0.84816362 0.45249655 0.27543666 49.67739332] [ -0.37521331 0.88020281 -0.29061656 -17.8313032 ] [ -0.37394311 0.14314289 0.91633873 7.02620597] [ 0. 0. 0. 1. ]] SLAMing on 65.574839173 meters 0.11362531494271214 Centerline is valid? [False, False] Translation: X:49.46, Y:-17.77, Z:7.11 [[ 0.87460997 0.40229009 0.27059208 49.46109717] [ -0.33377932 0.90441522 -0.26575265 -17.77011798] [ -0.35163726 0.14211188 0.92528669 7.11109784] [ 0. 0. 0. 1. ]] SLAMing on 65.604839173 meters 0.11374324010203142 Centerline is valid? [False, False] Translation: X:49.46, Y:-17.80, Z:7.20 [[ 0.91711843 0.31490019 0.24440061 49.4636239 ] [ -0.28070425 0.94552001 -0.16491524 -17.79851598] [ -0.28301751 0.08264252 0.95554765 7.199564 ] [ 0. 0. 0. 1. ]] SLAMing on 65.634839173 meters 0.11663384238992267 Centerline is valid? [False, False] Translation: X:49.48, Y:-17.81, Z:7.24 [[ 0.93456902 0.29763606 0.19491926 49.48356387] [ -0.27585718 0.95218557 -0.13132198 -17.80594046] [ -0.22468547 0.06895958 0.97198818 7.24094537] [ 0. 0. 0. 1. ]] SLAMing on 65.664839173 meters 0.11201423643978944 Centerline is valid? [False, False] Translation: X:49.47, Y:-17.81, Z:7.28 [[ 0.94691541 0.28726708 0.14432195 49.47454892] [ -0.27443613 0.95612503 -0.10251697 -17.80997284] [ -0.16743957 0.05746774 0.984206 7.28422713] [ 0. 0. 0. 1. ]] SLAMing on 65.694839173 meters 0.10895538235301568 Centerline is valid? [False, False] Translation: X:49.47, Y:-17.81, Z:7.31 [[ 9.56957373e-01 2.67908389e-01 1.11613981e-01 4.94677911e+01] [-2.60757991e-01 9.62514163e-01 -7.46442016e-02 -1.78114195e+01] [-1.27427846e-01 4.23270816e-02 9.90944278e-01 7.31053454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.724839173 meters 0.11588910782269243 Centerline is valid? [False, False] Translation: X:49.45, Y:-17.81, Z:7.33 [[ 9.63059889e-01 2.53508193e-01 9.08253563e-02 4.94484197e+01] [-2.49550462e-01 9.66923951e-01 -5.27507251e-02 -1.78148924e+01] [-1.01193953e-01 2.81365978e-02 9.94468761e-01 7.32606429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75483917300001 meters 0.11588910782269243 Centerline is valid? [False, False] Translation: X:49.44, Y:-17.81, Z:7.34 [[ 9.67021799e-01 2.42740181e-01 7.71106045e-02 4.94382020e+01] [-2.40496799e-01 9.69933060e-01 -3.72981079e-02 -1.78145897e+01] [-8.38458741e-02 1.75232298e-02 9.96324649e-01 7.33556329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.784839173 meters 0.1065359924788583 Centerline is valid? [False, False] Translation: X:49.43, Y:-17.82, Z:7.35 [[ 9.71583138e-01 2.30064659e-01 5.56458327e-02 4.94254062e+01] [-2.29205750e-01 9.73141824e-01 -2.14409560e-02 -1.78175885e+01] [-5.90840933e-02 8.07732646e-03 9.98220330e-01 7.35097511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.814839173 meters 0.10604850208374786 Centerline is valid? [False, False] Translation: X:49.41, Y:-17.83, Z:7.36 [[ 9.77004516e-01 2.10783949e-01 3.21294623e-02 4.94097301e+01] [-2.10611384e-01 9.77531133e-01 -8.70227655e-03 -1.78304344e+01] [-3.32418499e-02 1.73533297e-03 9.99445830e-01 7.35791763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.844839173 meters 0.10412286051789027 Centerline is valid? [False, False] Translation: X:49.25, Y:-17.80, Z:7.42 [[ 9.77150964e-01 2.10430515e-01 -2.99164165e-02 4.92529850e+01] [-2.11836262e-01 9.75687325e-01 -5.62106835e-02 -1.77994133e+01] [ 1.73606254e-02 6.12637055e-02 9.97970624e-01 7.41815374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.874839173 meters 0.11706466097001839 Centerline is valid? [False, False] Translation: X:49.34, Y:-17.82, Z:7.40 [[ 9.77463698e-01 2.11021682e-01 -5.87958469e-03 4.93441698e+01] [-2.11054733e-01 9.76259344e-01 -4.87195315e-02 -1.78169828e+01] [-4.54087797e-03 4.88624875e-02 9.98795193e-01 7.39500073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.904839173 meters 0.11087627181483317 Centerline is valid? [False, False] Translation: X:49.19, Y:-17.80, Z:7.39 [[ 9.85690774e-01 1.68470541e-01 5.60127188e-03 4.91948303e+01] [-1.68304016e-01 9.85472689e-01 -2.27450452e-02 -1.77997684e+01] [-9.35177052e-03 2.14768646e-02 9.99725607e-01 7.39400349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.934839173 meters 0.06998319585870641 Centerline is valid? [False, True] Translation: X:49.39, Y:-17.85, Z:7.27 [[ 9.94219971e-01 1.04917531e-01 2.27807006e-02 4.93863666e+01] [-1.06586024e-01 9.90025398e-01 9.21364822e-02 -1.78513019e+01] [-1.28867400e-02 -9.40320349e-02 9.95485765e-01 7.27314332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.964839173 meters 0.10872622681363167 Centerline is valid? [True, False] Translation: X:49.25, Y:-17.79, Z:7.61 [[ 0.9781158 0.11003232 -0.17658529 49.24583947] [ -0.1467472 0.96649347 -0.21060779 -17.78590845] [ 0.14749486 0.2319122 0.96148947 7.61339878] [ 0. 0. 0. 1. ]] SLAMing on 65.994839173 meters 0.11280810842853982 Centerline is valid? [False, False] Translation: X:49.19, Y:-17.78, Z:7.58 [[ 9.97035204e-01 7.44169019e-02 -1.95685250e-02 4.91914037e+01] [-7.67000507e-02 9.81511356e-01 -1.75364078e-01 -1.77805633e+01] [ 6.15667817e-03 1.76345066e-01 9.84309155e-01 7.57990760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.024839173 meters 0.11688330843617574 Centerline is valid? [False, False] Translation: X:49.08, Y:-17.80, Z:7.57 [[ 9.97106280e-01 7.54734712e-02 9.10064131e-03 4.90789507e+01] [-7.36779632e-02 9.88922620e-01 -1.28854995e-01 -1.78043786e+01] [-1.87249638e-02 1.27811608e-01 9.91621686e-01 7.56786968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.054839173 meters 0.12029490026043713 Centerline is valid? [False, False] Translation: X:49.07, Y:-17.82, Z:7.53 [[ 9.98282989e-01 4.16171225e-02 4.12200149e-02 4.90710653e+01] [-3.78299267e-02 9.95335799e-01 -8.87442555e-02 -1.78192905e+01] [-4.47210371e-02 8.70325305e-02 9.95201169e-01 7.53435708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.084839173 meters 0.12532329230696723 Centerline is valid? [False, False] Translation: X:49.13, Y:-17.82, Z:7.52 [[ 9.97326669e-01 3.78525973e-02 6.25035725e-02 4.91253126e+01] [-3.27795883e-02 9.96232884e-01 -8.02841225e-02 -1.78213411e+01] [-6.53070768e-02 7.80206550e-02 9.94810416e-01 7.52440158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11483917300001 meters 0.11781772566053855 Centerline is valid? [False, False] Translation: X:49.07, Y:-17.84, Z:7.53 [[ 9.99573265e-01 2.83044474e-02 7.22126833e-03 4.90688334e+01] [-2.80675456e-02 9.99124228e-01 -3.10320827e-02 -1.78433344e+01] [-8.09329010e-03 3.08161570e-02 9.99492303e-01 7.53035032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14483917300001 meters 0.0724492555916414 Centerline is valid? [False, True] Translation: X:48.96, Y:-17.80, Z:7.94 [[ 9.90501085e-01 2.46993954e-02 1.35268398e-01 4.89594329e+01] [-6.24680271e-02 9.57188959e-01 2.82642958e-01 -1.77993792e+01] [-1.22496307e-01 -2.88408106e-01 9.49639626e-01 7.94477148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.174839173 meters 0.052238407431122 Centerline is valid? [True, True] Translation: X:48.80, Y:-16.78, Z:7.16 [[ 9.78179613e-01 -1.59628203e-01 -1.32979252e-01 4.87976278e+01] [ 1.56818893e-01 9.87127889e-01 -3.14064526e-02 -1.67819040e+01] [ 1.36280884e-01 9.86749256e-03 9.90621095e-01 7.16228029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.204839173 meters 0.024773977345418943 Centerline is valid? [True, True] Translation: X:48.60, Y:-15.89, Z:7.42 [[ 9.73986174e-01 -1.59704234e-01 -1.60765326e-01 4.86029311e+01] [ 1.55590581e-01 9.87092677e-01 -3.79422976e-02 -1.58873999e+01] [ 1.64749822e-01 1.19417029e-02 9.86263095e-01 7.42333042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.234839173 meters 0.1576986889233399 Centerline is valid? [True, False] Translation: X:48.89, Y:-16.02, Z:7.53 [[ 9.64164747e-01 7.72100958e-02 -2.53820688e-01 4.88907035e+01] [-7.46890341e-02 9.97014841e-01 1.95692391e-02 -1.60166588e+01] [ 2.54573936e-01 8.96516027e-05 9.67053309e-01 7.53292988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.264839173 meters 0.06640837102977287 Centerline is valid? [False, True] Translation: X:48.53, Y:-13.66, Z:7.64 [[ 9.19978775e-01 1.95746985e-01 3.39591184e-01 4.85325831e+01] [ 1.62609128e-02 8.46568812e-01 -5.32030853e-01 -1.36586944e+01] [-3.91630740e-01 4.94979155e-01 7.75642314e-01 7.64147906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.294839173 meters 0.024254885032672254 Centerline is valid? [True, True] Translation: X:49.65, Y:-15.04, Z:8.07 [[-7.36968718e-01 4.67791297e-01 4.87902051e-01 4.96531654e+01] [-4.02759242e-01 -8.83601057e-01 2.38818267e-01 -1.50442759e+01] [ 5.42827875e-01 -2.05054678e-02 8.39593606e-01 8.07265830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.324839173 meters 0.11309768607079762 Centerline is valid? [True, False] Translation: X:49.50, Y:-15.43, Z:8.53 [[ 9.34745195e-01 3.97475195e-02 3.53088593e-01 4.95030784e+01] [ 1.93912895e-01 7.75627367e-01 -6.00666277e-01 -1.54294840e+01] [-2.97740170e-01 6.29938348e-01 7.17306398e-01 8.52932182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.354839173 meters 0.04050436039444008 Centerline is valid? [False, True] Translation: X:49.49, Y:-15.89, Z:8.90 [[ 0.97515627 0.10699884 -0.19396261 49.48664805] [ -0.18384974 0.87937059 -0.43921139 -15.89117484] [ 0.12356991 0.46395971 0.87719545 8.90053616] [ 0. 0. 0. 1. ]] SLAMing on 66.384839173 meters 0.06543126424973608 Centerline is valid? [True, True] Translation: X:49.47, Y:-16.03, Z:8.72 [[ 9.90479654e-01 3.95584476e-02 1.31852885e-01 4.94724713e+01] [-4.13615971e-02 9.99084088e-01 1.09637712e-02 -1.60307006e+01] [-1.31298409e-01 -1.63130382e-02 9.91208662e-01 8.71711364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.414839173 meters 0.04759163315236797 Centerline is valid? [True, True] Translation: X:49.57, Y:-16.03, Z:8.92 [[ 9.70450508e-01 -3.49063545e-02 2.38762137e-01 4.95651599e+01] [ 3.10343598e-02 9.99319037e-01 1.99582492e-02 -1.60264846e+01] [-2.39296218e-01 -1.19586630e-02 9.70872963e-01 8.91522035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.444839173 meters 0.040325399186130685 Centerline is valid? [True, True] Translation: X:49.64, Y:-15.12, Z:9.29 [[ 0.52672213 -0.36478988 0.76778391 49.64018809] [ 0.50579622 0.86043509 0.06181941 -15.11763691] [ -0.68317932 0.35578055 0.63771955 9.28589338] [ 0. 0. 0. 1. ]] SLAMing on 66.474839173 meters 0.08266001721600408 Centerline is valid? [True, True] SLAMing on 66.50483917300001 meters 0.1270616017916999 Centerline is valid? [True, False] Translation: X:49.83, Y:-16.37, Z:7.81 [[ 0.33832441 -0.44490842 0.82921234 49.83001088] [ 0.90800031 0.38575085 -0.16349838 -16.37159126] [ -0.24712756 0.80824055 0.53448591 7.80992773] [ 0. 0. 0. 1. ]] SLAMing on 66.534839173 meters 0.12035786798567019 Centerline is valid? [False, False] Translation: X:50.15, Y:-16.13, Z:7.77 [[ 0.94914159 -0.22311108 0.22215239 50.14789114] [ 0.30935399 0.5295938 -0.78982943 -16.12761211] [ 0.05856917 0.81838369 0.5716798 7.77230514] [ 0. 0. 0. 1. ]] SLAMing on 66.564839173 meters 0.09857018527805249 Centerline is valid? [False, True] Translation: X:49.90, Y:-16.72, Z:8.00 [[ 0.91380326 -0.29363439 0.28061085 49.89900542] [ 0.38202446 0.85598988 -0.34833695 -16.71762997] [ -0.13791634 0.42551165 0.89438186 8.00331954] [ 0. 0. 0. 1. ]] SLAMing on 66.594839173 meters 0.09356330477264135 Centerline is valid? [True, True] Translation: X:50.32, Y:-16.25, Z:9.27 [[ 0.35692749 0.87579319 -0.3249447 50.32233578] [ 0.84849088 -0.44945735 -0.27937665 -16.25000279] [ -0.39072495 -0.17599541 -0.90352622 9.27434007] [ 0. 0. 0. 1. ]] SLAMing on 66.624839173 meters 0.06289718807787191 Centerline is valid? [True, True] Translation: X:50.15, Y:-16.45, Z:9.28 [[ 0.34689654 0.79871828 -0.49164205 50.14893653] [ 0.57016047 -0.59579905 -0.56563285 -16.44850961] [ -0.74470117 -0.08409879 -0.66207822 9.2838378 ] [ 0. 0. 0. 1. ]] SLAMing on 66.654839173 meters 0.0496935788994356 Centerline is valid? [True, True] Translation: X:51.39, Y:-19.33, Z:9.73 [[-4.03381994e-02 -8.42743042e-01 -5.36802565e-01 5.13882363e+01] [-1.77098092e-01 5.34764057e-01 -8.26234633e-01 -1.93295956e+01] [ 9.83366206e-01 6.17378928e-02 -1.70819604e-01 9.72838180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.684839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.714839173 meters 0.014258815249482595 Centerline is valid? [True, True] SLAMing on 66.744839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.774839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.804839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.834839173 meters 0.05938940905967658 Centerline is valid? [True, True] SLAMing on 66.86483917300001 meters 0.06683406185378006 Centerline is valid? [True, True] SLAMing on 66.89483917300001 meters 0.03220877732279135 Centerline is valid? [True, True] SLAMing on 66.924839173 meters 0.011862444792916031 Centerline is valid? [True, True] SLAMing on 66.954839173 meters 0.09512804202933993 Centerline is valid? [True, True] SLAMing on 66.984839173 meters 0.03281493789060918 Centerline is valid? [True, True] SLAMing on 67.014839173 meters 0.0882065854479492 Centerline is valid? [True, True] SLAMing on 67.044839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 67.074839173 meters 0.05290890949733236 Centerline is valid? [True, True] SLAMing on 67.104839173 meters 0.12743214186279495 Centerline is valid? [True, False] Translation: X:51.60, Y:-19.59, Z:8.86 [[ 6.39892513e-01 7.66836750e-01 -4.99896969e-02 5.15957855e+01] [-6.84774552e-01 5.98518531e-01 4.15763612e-01 -1.95907659e+01] [ 3.48742577e-01 -2.31812350e-01 9.08097819e-01 8.85522115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.134839173 meters 0.07931444969647533 Centerline is valid? [False, True] Translation: X:51.64, Y:-19.47, Z:8.86 [[ 0.66031575 0.72393473 -0.1997539 51.64437509] [ -0.63673899 0.68072127 0.36219058 -19.46537331] [ 0.39817907 -0.11196905 0.91044844 8.858285 ] [ 0. 0. 0. 1. ]] SLAMing on 67.164839173 meters 0.10590313921108906 Centerline is valid? [True, False] Translation: X:51.11, Y:-18.85, Z:8.82 [[ 8.68664484e-01 4.74001262e-01 1.44030611e-01 5.11112847e+01] [-4.61028047e-01 8.79881644e-01 -1.15158294e-01 -1.88503436e+01] [-1.81315068e-01 3.36317691e-02 9.82849811e-01 8.82163849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.194839173 meters 0.12091142439841486 Centerline is valid? [False, False] Translation: X:51.07, Y:-18.88, Z:8.81 [[ 9.23739810e-01 3.60674179e-01 1.28914316e-01 5.10651946e+01] [-3.64544732e-01 9.31159753e-01 6.97519087e-03 -1.88762847e+01] [-1.17524051e-01 -5.34382962e-02 9.91631205e-01 8.81191856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.224839173 meters 0.04478039075270968 Centerline is valid? [False, True] Translation: X:51.04, Y:-18.66, Z:9.32 [[ 9.78435375e-01 2.06542295e-01 -2.12090042e-03 5.10388136e+01] [-2.03728312e-01 9.66695552e-01 1.54901534e-01 -1.86644638e+01] [ 3.40439834e-02 -1.51129053e-01 9.87927637e-01 9.31594276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25483917300001 meters 0.04318553195688211 Centerline is valid? [True, True] Translation: X:51.03, Y:-18.57, Z:9.13 [[ 9.75518472e-01 2.16728803e-01 -3.73140285e-02 5.10331971e+01] [-2.16517819e-01 9.76230933e-01 9.65401611e-03 -1.85676937e+01] [ 3.85194122e-02 -1.33851898e-03 9.99256956e-01 9.13426673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.284839173 meters 0.13044753065745143 Centerline is valid? [True, False] Translation: X:50.86, Y:-18.54, Z:9.10 [[ 8.40314677e-01 5.30228967e-01 1.12820593e-01 5.08575048e+01] [-5.35024704e-01 8.44701401e-01 1.51032689e-02 -1.85399811e+01] [-8.72915224e-02 -7.30533030e-02 9.93500581e-01 9.10494521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.314839173 meters 0.0985861972640426 Centerline is valid? [False, True] Translation: X:50.80, Y:-18.47, Z:9.17 [[ 8.64348071e-01 4.65468173e-01 1.90372773e-01 5.07981068e+01] [-4.68531563e-01 8.82887795e-01 -3.14215950e-02 -1.84696332e+01] [-1.82703550e-01 -6.20364576e-02 9.81208893e-01 9.17394089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.344839173 meters 0.10735860674895158 Centerline is valid? [True, False] Translation: X:50.77, Y:-18.42, Z:9.22 [[ 9.01503324e-01 3.85750819e-01 1.96183746e-01 5.07697773e+01] [-3.85295867e-01 9.21833802e-01 -4.20658641e-02 -1.84190519e+01] [-1.97075750e-01 -3.76662701e-02 9.79664433e-01 9.21694607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.374839173 meters 0.116834417430276 Centerline is valid? [False, False] Translation: X:50.75, Y:-18.42, Z:9.19 [[ 9.48848248e-01 2.66958528e-01 1.68582758e-01 5.07523097e+01] [-2.67970368e-01 9.63274505e-01 -1.71496199e-02 -1.84165229e+01] [-1.66969710e-01 -2.89027969e-02 9.85538302e-01 9.18682651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.404839173 meters 0.10181228437912089 Centerline is valid? [False, False] Translation: X:50.82, Y:-18.38, Z:9.33 [[ 9.68626002e-01 2.48098466e-01 1.45195980e-02 5.08162768e+01] [-2.48090143e-01 9.68733978e-01 -2.40026787e-03 -1.83794061e+01] [-1.46611307e-02 -1.27720726e-03 9.99891704e-01 9.32580857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.434839173 meters 0.09268124704136642 Centerline is valid? [False, True] Translation: X:50.60, Y:-18.30, Z:9.33 [[ 9.76146798e-01 2.12606524e-01 -4.39987953e-02 5.06049186e+01] [-2.14707169e-01 9.75382475e-01 -5.02977091e-02 -1.82994680e+01] [ 3.22220328e-02 5.85448045e-02 9.97764625e-01 9.33444826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.464839173 meters 0.1106839808314831 Centerline is valid? [True, False] Translation: X:50.72, Y:-18.35, Z:9.39 [[ 9.70966136e-01 2.35965596e-01 -3.93064970e-02 5.07240945e+01] [-2.35887663e-01 9.71757403e-01 6.67529867e-03 -1.83530746e+01] [ 3.97715202e-02 2.79042873e-03 9.99204904e-01 9.38709549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.494839173 meters 0.11406940738643116 Centerline is valid? [False, False] Translation: X:50.80, Y:-18.35, Z:9.38 [[ 9.76489465e-01 2.15367074e-01 9.23838268e-03 5.07963414e+01] [-2.15402401e-01 9.76520751e-01 3.00478701e-03 -1.83522266e+01] [-8.37434021e-03 -4.92411267e-03 9.99952811e-01 9.38322268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.524839173 meters 0.10497165431320103 Centerline is valid? [False, False] Translation: X:50.79, Y:-18.33, Z:9.39 [[ 9.76165368e-01 2.16644538e-01 1.28964451e-02 5.07890204e+01] [-2.16738224e-01 9.76209059e-01 6.35735385e-03 -1.83311141e+01] [-1.12123405e-02 -9.00098127e-03 9.99896628e-01 9.38790751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.554839173 meters 0.10389134895533352 Centerline is valid? [False, False] Translation: X:50.79, Y:-18.32, Z:9.39 [[ 9.77252718e-01 2.11856620e-01 9.69003907e-03 5.07948875e+01] [-2.11927752e-01 9.77260193e-01 7.01028855e-03 -1.83203191e+01] [-7.98451341e-03 -8.90441173e-03 9.99928477e-01 9.39354638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.584839173 meters 0.10193367964743585 Centerline is valid? [False, False] Translation: X:50.80, Y:-18.31, Z:9.40 [[ 9.78033963e-01 2.08372470e-01 5.52101807e-03 5.08027569e+01] [-2.08405467e-01 9.78022323e-01 6.28465110e-03 -1.83103757e+01] [-4.09013065e-03 -7.29721257e-03 9.99965010e-01 9.39715651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61483917300001 meters 0.0980713777862201 Centerline is valid? [False, True] Translation: X:50.80, Y:-18.29, Z:9.40 [[ 9.80223537e-01 1.97703507e-01 8.66839111e-03 5.08025789e+01] [-1.97768185e-01 9.80221120e-01 7.36895045e-03 -1.82938731e+01] [-7.04007270e-03 -8.93755065e-03 9.99935277e-01 9.40455646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64483917300001 meters 0.0980713777862201 Centerline is valid? [True, True] Translation: X:50.83, Y:-18.29, Z:9.40 [[ 9.80060589e-01 1.98579014e-01 6.90056890e-03 5.08306831e+01] [-1.98574030e-01 9.80084882e-01 -1.40697245e-03 -1.82937730e+01] [-7.04253846e-03 8.64447435e-06 9.99975201e-01 9.40201237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.674839173 meters 0.09610480521132796 Centerline is valid? [True, True] Translation: X:50.86, Y:-18.30, Z:9.40 [[ 9.81357009e-01 1.92160194e-01 3.58894362e-03 5.08607807e+01] [-1.92158830e-01 9.81363571e-01 -7.24378499e-04 -1.82995007e+01] [-3.66125524e-03 2.12267111e-05 9.99993297e-01 9.40224887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.704839173 meters 0.09824202990792585 Centerline is valid? [True, True] Translation: X:50.89, Y:-18.30, Z:9.39 [[ 9.82765148e-01 1.84833071e-01 3.06596270e-03 5.08877677e+01] [-1.84832018e-01 9.82769929e-01 -6.25873199e-04 -1.83031053e+01] [-3.12881801e-03 4.83982961e-05 9.99995104e-01 9.38907685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.734839173 meters 0.09677022850898367 Centerline is valid? [True, True] Translation: X:50.92, Y:-18.29, Z:9.40 [[ 9.82600317e-01 1.85328100e-01 1.22520436e-02 5.09213499e+01] [-1.85311670e-01 9.82676686e-01 -2.47290426e-03 -1.82947835e+01] [-1.24980963e-02 1.59429849e-04 9.99921883e-01 9.39600699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.764839173 meters 0.09423623580124488 Centerline is valid? [True, True] Translation: X:50.96, Y:-18.29, Z:9.41 [[ 9.82239030e-01 1.86711900e-01 1.85783468e-02 5.09552558e+01] [-1.86674384e-01 9.82414689e-01 -3.74884756e-03 -1.82914623e+01] [-1.89515952e-02 2.14162949e-04 9.99820379e-01 9.41025537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.794839173 meters 0.09514347410573801 Centerline is valid? [True, True] Translation: X:50.99, Y:-18.29, Z:9.41 [[ 9.82351044e-01 1.85751418e-01 2.19735695e-02 5.09857123e+01] [-1.85698655e-01 9.82596730e-01 -4.43569514e-03 -1.82892494e+01] [-2.24150942e-02 2.76947450e-04 9.99748712e-01 9.40710236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.824839173 meters 0.09389339388021858 Centerline is valid? [True, True] Translation: X:51.02, Y:-18.29, Z:9.41 [[ 9.82371775e-01 1.85341357e-01 2.43777887e-02 5.10159543e+01] [-1.85276283e-01 9.82674148e-01 -4.92123163e-03 -1.82917830e+01] [-2.48675305e-02 3.17852968e-04 9.99690705e-01 9.41077286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.854839173 meters 0.09286170178566164 Centerline is valid? [True, True] Translation: X:51.05, Y:-18.29, Z:9.41 [[ 9.82597129e-01 1.83888990e-01 2.62244458e-02 5.10463171e+01] [-1.83813251e-01 9.82946945e-01 -5.29081568e-03 -1.82947054e+01] [-2.67501616e-02 3.78339675e-04 9.99642079e-01 9.41196323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.884839173 meters 0.09233479276034993 Centerline is valid? [True, True] Translation: X:51.08, Y:-18.30, Z:9.41 [[ 9.83262967e-01 1.79052079e-01 3.36792236e-02 5.10765832e+01] [-1.78924362e-01 9.83839380e-01 -6.79313565e-03 -1.82954425e+01] [-3.43512716e-02 6.53405114e-04 9.99409607e-01 9.41095039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.914839173 meters 0.09167225371759788 Centerline is valid? [True, True] Translation: X:51.11, Y:-18.30, Z:9.41 [[ 9.84041759e-01 1.74809907e-01 3.32161480e-02 5.11065074e+01] [-1.74683216e-01 9.84601884e-01 -6.70109624e-03 -1.82994294e+01] [-3.38760999e-02 7.91854977e-04 9.99425727e-01 9.41215344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.944839173 meters 0.09229617085145912 Centerline is valid? [True, True] Translation: X:51.14, Y:-18.30, Z:9.41 [[ 9.84918760e-01 1.69401407e-01 3.51880495e-02 5.11356840e+01] [-1.69255721e-01 9.85546593e-01 -7.10029364e-03 -1.83020920e+01] [-3.58822621e-02 1.03743374e-03 9.99355486e-01 9.41064545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.974839173 meters 0.09152118283364587 Centerline is valid? [True, True] Translation: X:51.17, Y:-18.30, Z:9.41 [[ 9.85322042e-01 1.67475298e-01 3.30529430e-02 5.11663092e+01] [-1.67345916e-01 9.85875731e-01 -6.66241655e-03 -1.83036072e+01] [-3.37018846e-02 1.03335085e-03 9.99431396e-01 9.40937391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00483917300001 meters 0.09256734009331095 Centerline is valid? [True, True] Translation: X:51.19, Y:-18.31, Z:9.40 [[ 9.84929477e-01 1.69796311e-01 3.29110724e-02 5.11931020e+01] [-1.69669134e-01 9.85478716e-01 -6.63971220e-03 -1.83051725e+01] [-3.35605600e-02 9.55655124e-04 9.99436229e-01 9.39998627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.034839173 meters 0.09303047204415948 Centerline is valid? [True, True] Translation: X:51.22, Y:-18.29, Z:9.39 [[ 9.83672573e-01 1.77415453e-01 3.01997568e-02 5.12226220e+01] [-1.77311984e-01 9.84135839e-01 -6.09177406e-03 -1.82915541e+01] [-3.08014379e-02 6.37532259e-04 9.99525320e-01 9.38908758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.064839173 meters 0.09099170126779145 Centerline is valid? [True, True] Translation: X:51.25, Y:-18.28, Z:9.39 [[ 9.82946996e-01 1.81580492e-01 2.90469914e-02 5.12542269e+01] [-1.81486773e-01 9.83375967e-01 -5.85306088e-03 -1.82847147e+01] [-2.96269149e-02 4.81603892e-04 9.99560911e-01 9.39163060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.094839173 meters 0.09067504092852004 Centerline is valid? [True, True] Translation: X:51.29, Y:-18.28, Z:9.39 [[ 9.81603741e-01 1.87868201e-01 3.40534008e-02 5.12858176e+01] [-1.87743448e-01 9.82194190e-01 -6.85347842e-03 -1.82755170e+01] [-3.47346031e-02 3.34097174e-04 9.99396516e-01 9.38813834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.124839173 meters 0.09027580753749098 Centerline is valid? [True, True] Translation: X:51.32, Y:-18.28, Z:9.39 [[ 9.81232755e-01 1.89473948e-01 3.58036663e-02 5.13158174e+01] [-1.89337145e-01 9.81885705e-01 -7.20465403e-03 -1.82778600e+01] [-3.65202023e-02 2.90478587e-04 9.99332873e-01 9.38709910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.154839173 meters 0.09012556536196648 Centerline is valid? [True, True] Translation: X:51.35, Y:-18.28, Z:9.39 [[ 9.80787770e-01 1.91155887e-01 3.89201360e-02 5.13459010e+01] [-1.90995629e-01 9.81559660e-01 -7.82964233e-03 -1.82818323e+01] [-3.96991177e-02 2.45641592e-04 9.99211649e-01 9.38599173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.184839173 meters 0.08967245148155313 Centerline is valid? [True, True] Translation: X:51.38, Y:-18.28, Z:9.38 [[ 9.80331792e-01 1.93773280e-01 3.74365406e-02 5.13753259e+01] [-1.93626247e-01 9.81046326e-01 -7.54873465e-03 -1.82814515e+01] [-3.81897237e-02 1.51567712e-04 9.99270495e-01 9.38469792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.214839173 meters 0.09257792262014426 Centerline is valid? [True, True] Translation: X:51.40, Y:-18.28, Z:9.37 [[ 9.78847440e-01 2.01549905e-01 3.51471932e-02 5.14037525e+01] [-2.01426263e-01 9.79478232e-01 -7.06067266e-03 -1.82796322e+01] [-3.58489885e-02 -1.68246431e-04 9.99357204e-01 9.37169921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.244839173 meters 0.09286348929320867 Centerline is valid? [True, True] Translation: X:51.43, Y:-18.29, Z:9.37 [[ 9.78465336e-01 2.04269238e-01 2.96591554e-02 5.14327649e+01] [-2.04182582e-01 9.78914718e-01 -5.95382458e-03 -1.82857884e+01] [-3.02499669e-02 -2.30271945e-04 9.99542339e-01 9.36542595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.274839173 meters 0.09982126696974979 Centerline is valid? [True, True] Translation: X:51.46, Y:-18.28, Z:9.35 [[ 9.75437211e-01 2.19726154e-01 1.55777095e-02 5.14631671e+01] [-2.19704215e-01 9.75561520e-01 -3.12716481e-03 -1.82802652e+01] [-1.58841338e-02 -3.72135515e-04 9.99873770e-01 9.34695091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.304839173 meters 0.10471145475908311 Centerline is valid? [True, False] Translation: X:51.45, Y:-18.28, Z:9.34 [[ 9.77036384e-01 2.12893616e-01 8.72994176e-03 5.14506513e+01] [-2.12958086e-01 9.77034321e-01 7.26562409e-03 -1.82812655e+01] [-6.98264773e-03 -8.95789078e-03 9.99935497e-01 9.34164650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.334839173 meters 0.1207486959395823 Centerline is valid? [False, False] Translation: X:51.44, Y:-18.29, Z:9.33 [[ 9.76095865e-01 2.17164493e-01 -8.74327428e-03 5.14359536e+01] [-2.17056366e-01 9.76087100e-01 1.18535509e-02 -1.82893582e+01] [ 1.11083676e-02 -9.67241869e-03 9.99891518e-01 9.33454879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36483917300001 meters 0.12232007317518453 Centerline is valid? [False, False] Translation: X:51.42, Y:-18.29, Z:9.33 [[ 9.77458156e-01 2.11119245e-01 -2.05381403e-03 5.14231000e+01] [-2.11060460e-01 9.77341794e-01 1.60156260e-02 -1.82927443e+01] [ 5.38848516e-03 -1.52211253e-02 9.99869632e-01 9.32778362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39483917300001 meters 0.12457327174223734 Centerline is valid? [False, False] Translation: X:51.40, Y:-18.30, Z:9.33 [[ 9.78658707e-01 2.05336681e-01 -7.99896129e-03 5.14029336e+01] [-2.05062461e-01 9.78387604e-01 2.65910476e-02 -1.83009715e+01] [ 1.32862020e-02 -2.43832735e-02 9.99614392e-01 9.32867234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.424839173 meters 0.12466455100734439 Centerline is valid? [False, False] Translation: X:51.40, Y:-18.31, Z:9.33 [[ 9.80748838e-01 1.94958242e-01 -1.10905657e-02 5.13989198e+01] [-1.94453326e-01 9.80253219e-01 3.59378824e-02 -1.83056525e+01] [ 1.78779491e-02 -3.30894390e-02 9.99292484e-01 9.33318000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.454839173 meters 0.11863724955101503 Centerline is valid? [False, False] Translation: X:51.38, Y:-18.32, Z:9.34 [[ 9.83339083e-01 1.81582194e-01 -8.49438669e-03 5.13816870e+01] [-1.81119805e-01 9.82674581e-01 3.93228196e-02 -1.83185054e+01] [ 1.54875417e-02 -3.71291637e-02 9.99190453e-01 9.34124975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.484839173 meters 0.11610058560308771 Centerline is valid? [False, False] Translation: X:51.36, Y:-18.32, Z:9.34 [[ 9.85239669e-01 1.71163762e-01 -2.40033131e-03 5.13644913e+01] [-1.70957809e-01 9.84575849e-01 3.71997886e-02 -1.83214986e+01] [ 8.73056402e-03 -3.62403520e-02 9.99304966e-01 9.34393359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.514839173 meters 0.11249029509344219 Centerline is valid? [False, False] Translation: X:51.36, Y:-18.34, Z:9.35 [[ 9.86960698e-01 1.60684084e-01 9.44492426e-03 5.13610514e+01] [-1.60916691e-01 9.86369632e-01 3.43622930e-02 -1.83352259e+01] [-3.79471290e-03 -3.54340786e-02 9.99364811e-01 9.34590283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.544839173 meters 0.10997613633600191 Centerline is valid? [False, False] Translation: X:51.35, Y:-18.34, Z:9.35 [[ 9.88420303e-01 1.51094750e-01 1.39886284e-02 5.13491532e+01] [-1.51464434e-01 9.87980490e-01 3.08719263e-02 -1.83390563e+01] [-9.15590591e-03 -3.26332184e-02 9.99425456e-01 9.34637831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.574839173 meters 0.10504399693119733 Centerline is valid? [False, False] Translation: X:51.34, Y:-18.35, Z:9.35 [[ 9.90387969e-01 1.37661537e-01 1.34526045e-02 5.13426146e+01] [-1.37918442e-01 9.90231006e-01 2.05197084e-02 -1.83529982e+01] [-1.04964115e-02 -2.21778346e-02 9.99698939e-01 9.35208008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.604839173 meters 0.10986640563745163 Centerline is valid? [False, False] Translation: X:51.34, Y:-18.37, Z:9.35 [[ 9.91188709e-01 1.31803690e-01 1.31426858e-02 5.13407880e+01] [-1.32024655e-01 9.91089029e-01 1.76642729e-02 -1.83652682e+01] [-1.06973553e-02 -1.92437864e-02 9.99757592e-01 9.35253251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.634839173 meters 0.108333611059956 Centerline is valid? [False, False] Translation: X:51.33, Y:-18.37, Z:9.35 [[ 9.92852493e-01 1.19337897e-01 -1.54720627e-03 5.13345835e+01] [-1.19244460e-01 9.92448092e-01 2.87670528e-02 -1.83682035e+01] [ 4.96852148e-03 -2.83769443e-02 9.99584945e-01 9.35399504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.664839173 meters 0.10130954928575876 Centerline is valid? [False, False] Translation: X:51.34, Y:-18.37, Z:9.35 [[ 9.93966147e-01 1.09675482e-01 1.60821726e-03 5.13352520e+01] [-1.09657119e-01 9.93242324e-01 3.80131814e-02 -1.83719247e+01] [ 2.57176456e-03 -3.79601679e-02 9.99275944e-01 9.35254151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.694839173 meters 0.10574652020751138 Centerline is valid? [False, False] Translation: X:51.34, Y:-18.38, Z:9.35 [[ 9.94226843e-01 1.07289999e-01 1.35679321e-03 5.13361616e+01] [-1.07266795e-01 9.93545125e-01 3.69041906e-02 -1.83779839e+01] [ 2.61141529e-03 -3.68366758e-02 9.99317887e-01 9.35080727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.724839173 meters 0.10737277334304167 Centerline is valid? [False, False] Translation: X:51.34, Y:-18.38, Z:9.35 [[ 9.95023163e-01 9.96418180e-02 6.43323494e-04 5.13362678e+01] [-9.96163750e-02 9.94575898e-01 2.99225979e-02 -1.83815201e+01] [ 2.34170802e-03 -2.98377636e-02 9.99552012e-01 9.35011748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75483917300001 meters 0.11767885313849598 Centerline is valid? [False, False] Translation: X:51.35, Y:-18.40, Z:9.35 [[ 9.95608499e-01 9.34959063e-02 -4.71511538e-03 5.13468619e+01] [-9.33803018e-02 9.95417079e-01 2.06145132e-02 -1.83966429e+01] [ 6.62087898e-03 -2.00836857e-02 9.99776380e-01 9.34844382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.784839173 meters 0.11162029894562647 Centerline is valid? [False, False] Translation: X:51.35, Y:-18.40, Z:9.35 [[ 9.95840944e-01 9.09692047e-02 -5.04159694e-03 5.13471969e+01] [-9.08557013e-02 9.95674698e-01 1.94200364e-02 -1.84031007e+01] [ 6.78641578e-03 -1.88812096e-02 9.99798702e-01 9.34784364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.814839173 meters 0.11162729467951502 Centerline is valid? [False, False] Translation: X:51.35, Y:-18.41, Z:9.35 [[ 9.95785676e-01 9.15912465e-02 -4.68304691e-03 5.13459105e+01] [-9.14756248e-02 9.95590661e-01 2.07712628e-02 -1.84059093e+01] [ 6.56486362e-03 -2.02553413e-02 9.99773286e-01 9.34894423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.844839173 meters 0.11330100793773261 Centerline is valid? [False, False] Translation: X:51.35, Y:-18.42, Z:9.35 [[ 9.95451192e-01 9.51937405e-02 3.88281534e-03 5.13518710e+01] [-9.52598321e-02 9.95162637e-01 2.40185423e-02 -1.84186069e+01] [-1.57761787e-03 -2.42791629e-02 9.99703973e-01 9.35485024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.874839173 meters 0.11537054431814327 Centerline is valid? [False, False] Translation: X:51.35, Y:-18.42, Z:9.36 [[ 9.95689577e-01 9.26511460e-02 4.24629974e-03 5.13487249e+01] [-9.27242590e-02 9.95431145e-01 2.27826215e-02 -1.84249353e+01] [-2.11606302e-03 -2.30781538e-02 9.99731424e-01 9.35785023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.904839173 meters 0.11260804635761044 Centerline is valid? [False, False] Translation: X:51.34, Y:-18.44, Z:9.36 [[ 9.95938705e-01 8.99021904e-02 4.86740865e-03 5.13445589e+01] [-8.99899192e-02 9.95685678e-01 2.26239774e-02 -1.84361734e+01] [-2.81246396e-03 -2.29701125e-02 9.99732196e-01 9.36184168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.934839173 meters 0.11465190647950438 Centerline is valid? [False, False] Translation: X:51.34, Y:-18.44, Z:9.36 [[ 9.96364405e-01 8.51441907e-02 2.90511532e-03 5.13416740e+01] [-8.51933551e-02 9.95882644e-01 3.09814834e-02 -1.84404516e+01] [-2.55260588e-04 -3.11163438e-02 9.99515737e-01 9.35653191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.964839173 meters 0.11439352515455745 Centerline is valid? [False, False] Translation: X:51.34, Y:-18.44, Z:9.36 [[ 9.96287148e-01 8.60368618e-02 3.09480514e-03 5.13417074e+01] [-8.60921640e-02 9.95740450e-01 3.30014548e-02 -1.84442464e+01] [-2.42281052e-04 -3.31453638e-02 9.99450512e-01 9.35605143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.994839173 meters 0.11807794124750243 Centerline is valid? [False, False] Translation: X:51.35, Y:-18.45, Z:9.35 [[ 9.96568706e-01 8.14080385e-02 1.49514364e-02 5.13461453e+01] [-8.18475280e-02 9.96143497e-01 3.16087986e-02 -1.84485630e+01] [-1.23205659e-02 -3.27240777e-02 9.99388482e-01 9.35340249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.024839173 meters 0.11080939951891901 Centerline is valid? [False, False] Translation: X:51.34, Y:-18.46, Z:9.36 [[ 9.97419687e-01 7.02368064e-02 1.48579300e-02 5.13423495e+01] [-7.05538717e-02 9.97264982e-01 2.20160685e-02 -1.84587632e+01] [-1.32709550e-02 -2.30075447e-02 9.99647205e-01 9.35685130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.054839173 meters 0.11268990343412157 Centerline is valid? [False, False] Translation: X:51.34, Y:-18.46, Z:9.36 [[ 9.97672686e-01 6.64168770e-02 1.54275637e-02 5.13405720e+01] [-6.67068997e-02 9.97589532e-01 1.91132312e-02 -1.84622615e+01] [-1.41209349e-02 -2.00978737e-02 9.99698292e-01 9.35760870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.084839173 meters 0.10596379943572298 Centerline is valid? [False, False] Translation: X:51.33, Y:-18.47, Z:9.36 [[ 9.98755853e-01 4.96929406e-02 4.16629206e-03 5.13311409e+01] [-4.97930206e-02 9.98339777e-01 2.89541764e-02 -1.84678317e+01] [-2.72055692e-03 -2.91256054e-02 9.99572057e-01 9.35928084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11483917300001 meters 0.10466913738934125 Centerline is valid? [False, False] Translation: X:51.33, Y:-18.47, Z:9.36 [[ 9.98947993e-01 4.56922008e-02 3.88979628e-03 5.13313767e+01] [-4.57764629e-02 9.98629109e-01 2.53854036e-02 -1.84695166e+01] [-2.72454883e-03 -2.55367591e-02 9.99670171e-01 9.35922452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14483917300001 meters 0.09996782436291528 Centerline is valid? [False, True] Translation: X:51.33, Y:-18.48, Z:9.36 [[ 9.99540608e-01 3.00956314e-02 3.58142163e-03 5.13314553e+01] [-3.01340668e-02 9.99482991e-01 1.12111167e-02 -1.84775692e+01] [-3.24216437e-03 -1.13138892e-02 9.99930740e-01 9.35836089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.174839173 meters 0.09933068903099206 Centerline is valid? [True, True] Translation: X:51.36, Y:-18.48, Z:9.35 [[ 9.99653147e-01 2.60425253e-02 3.92082984e-03 5.13607374e+01] [-2.60430497e-02 9.99660819e-01 8.27511487e-05 -1.84801904e+01] [-3.91734492e-03 -1.84832812e-04 9.99992310e-01 9.35183706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.204839173 meters 0.10236111578294582 Centerline is valid? [True, False] Translation: X:51.36, Y:-18.48, Z:9.35 [[ 9.99727522e-01 2.26060931e-02 5.81776531e-03 5.13599978e+01] [-2.26009368e-02 9.99744114e-01 -9.50545480e-04 -1.84849440e+01] [-5.83776475e-03 8.18799531e-04 9.99982625e-01 9.34782860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.234839173 meters 0.09721091470726542 Centerline is valid? [False, True] Translation: X:51.36, Y:-18.49, Z:9.35 [[ 9.99931636e-01 9.34980555e-03 7.02165146e-03 5.13629984e+01] [-9.38209819e-03 9.99945497e-01 4.58023807e-03 -1.84858842e+01] [-6.97844442e-03 -4.64580277e-03 9.99964858e-01 9.34538130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.264839173 meters 0.09369946676670722 Centerline is valid? [True, True] Translation: X:51.39, Y:-18.50, Z:9.35 [[ 9.99952089e-01 2.89665564e-03 9.35033690e-03 5.13945958e+01] [-2.89978097e-03 9.99995744e-01 3.20708205e-04 -1.84984572e+01] [-9.34936812e-03 -3.47806769e-04 9.99956233e-01 9.34657760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.294839173 meters 0.09052776953310533 Centerline is valid? [True, True] Translation: X:51.43, Y:-18.51, Z:9.35 [[ 9.99881720e-01 -3.70784682e-04 1.53756108e-02 5.14258932e+01] [ 3.62739508e-04 9.99999796e-01 5.26028095e-04 -1.85057154e+01] [-1.53758027e-02 -5.20388535e-04 9.99881650e-01 9.35256744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.324839173 meters 0.08917395717373675 Centerline is valid? [True, True] Translation: X:51.46, Y:-18.51, Z:9.35 [[ 9.99779225e-01 -6.79391542e-03 1.98832394e-02 5.14555257e+01] [ 6.78175143e-03 9.99976773e-01 6.79136283e-04 -1.85138827e+01] [-1.98873916e-02 -5.44143160e-04 9.99802078e-01 9.35086004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.354839173 meters 0.08979317632852798 Centerline is valid? [True, True] Translation: X:51.48, Y:-18.52, Z:9.34 [[ 9.99828496e-01 -1.05620559e-02 1.52125542e-02 5.14847016e+01] [ 1.05553512e-02 9.99944155e-01 5.20964204e-04 -1.85176368e+01] [-1.52172071e-02 -3.60301005e-04 9.99884147e-01 9.34275664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.384839173 meters 0.0919282484066526 Centerline is valid? [True, True] Translation: X:51.51, Y:-18.52, Z:9.33 [[ 9.99941199e-01 -1.06987538e-02 1.77042379e-03 5.15143584e+01] [ 1.06986626e-02 9.99942766e-01 6.09807512e-05 -1.85217370e+01] [-1.77097488e-03 -4.20359987e-05 9.99998431e-01 9.33306808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.414839173 meters 0.09471558196757854 Centerline is valid? [True, True] Translation: X:51.54, Y:-18.52, Z:9.32 [[ 9.99930457e-01 -1.00976954e-02 -6.09242845e-03 5.15436405e+01] [ 1.00966084e-02 9.99949006e-01 -2.09161781e-04 -1.85187905e+01] [ 6.09422983e-03 1.47634372e-04 9.99981419e-01 9.32058204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.444839173 meters 0.09641418385871332 Centerline is valid? [True, True] Translation: X:51.57, Y:-18.51, Z:9.31 [[ 9.99949862e-01 -7.50751776e-03 -6.62649849e-03 5.15708863e+01] [ 7.50613024e-03 9.99971801e-01 -2.34234819e-04 -1.85063296e+01] [ 6.62807016e-03 1.84483714e-04 9.99978017e-01 9.30712642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.474839173 meters 0.09780669985732575 Centerline is valid? [True, True] Translation: X:51.60, Y:-18.50, Z:9.30 [[ 9.99920685e-01 -5.41666017e-03 -1.13703267e-02 5.16010283e+01] [ 5.41257303e-03 9.99985276e-01 -3.90198409e-04 -1.84987657e+01] [ 1.13722729e-02 3.28624737e-04 9.99935280e-01 9.30214322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50483917300001 meters 0.0982813615436979 Centerline is valid? [True, True] Translation: X:51.63, Y:-18.50, Z:9.30 [[ 9.99846811e-01 -5.15774734e-03 -1.67258130e-02 5.16310107e+01] [ 5.14883466e-03 9.99986579e-01 -5.75888793e-04 -1.85024031e+01] [ 1.67285588e-02 4.89682128e-04 9.99859948e-01 9.29682624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.534839173 meters 0.0982813615436979 Centerline is valid? [True, True] Translation: X:51.66, Y:-18.50, Z:9.29 [[ 9.99845056e-01 -5.49054782e-03 -1.67247542e-02 5.16585575e+01] [ 5.48116905e-03 9.99984794e-01 -6.06559261e-04 -1.85011774e+01] [ 1.67278302e-02 5.14794074e-04 9.99859948e-01 9.29462937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.564839173 meters 0.09858595281347451 Centerline is valid? [True, True] Translation: X:51.69, Y:-18.51, Z:9.29 [[ 9.99827002e-01 -7.56202978e-03 -1.69935533e-02 5.16866405e+01] [ 7.55293455e-03 9.99971297e-01 -5.99333729e-04 -1.85126918e+01] [ 1.69975977e-02 4.70878849e-04 9.99855420e-01 9.28817071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.594839173 meters 0.09842703621440907 Centerline is valid? [True, True] Translation: X:51.72, Y:-18.51, Z:9.29 [[ 9.99788778e-01 -7.65629869e-03 -1.90730187e-02 5.17164824e+01] [ 7.64498879e-03 9.99970555e-01 -6.65822744e-04 -1.85131971e+01] [ 1.90775548e-02 5.19869093e-04 9.99817872e-01 9.28746967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.624839173 meters 0.1014217233671748 Centerline is valid? [True, False] Translation: X:51.71, Y:-18.51, Z:9.28 [[ 9.99982339e-01 -4.79176428e-03 -3.51590439e-03 5.17147494e+01] [ 4.79093510e-03 9.99988494e-01 -2.44220432e-04 -1.85103576e+01] [ 3.51703418e-03 2.27371649e-04 9.99993789e-01 9.28283789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.654839173 meters 0.10495315960243977 Centerline is valid? [False, False] Translation: X:51.72, Y:-18.50, Z:9.28 [[ 9.99990607e-01 2.23651683e-03 -3.71260670e-03 5.17150637e+01] [-2.21725257e-03 9.99984100e-01 5.18490645e-03 -1.85022796e+01] [ 3.72414380e-03 -5.17662596e-03 9.99979666e-01 9.28275153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.684839173 meters 0.10666134848963651 Centerline is valid? [False, False] Translation: X:51.72, Y:-18.50, Z:9.28 [[ 9.99991408e-01 1.44756088e-03 -3.88451078e-03 5.17157800e+01] [-1.43455654e-03 9.99993365e-01 3.34844102e-03 -1.84978129e+01] [ 3.88933208e-03 -3.34283970e-03 9.99986849e-01 9.28197900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.714839173 meters 0.1057241754164629 Centerline is valid? [False, False] Translation: X:51.72, Y:-18.50, Z:9.28 [[ 9.99991783e-01 1.16568745e-03 -3.88259059e-03 5.17159128e+01] [-1.15599554e-03 9.99996213e-01 2.49755658e-03 -1.84957572e+01] [ 3.88548726e-03 -2.49304780e-03 9.99989344e-01 9.28180135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.744839173 meters 0.10729374702122245 Centerline is valid? [False, False] Translation: X:51.72, Y:-18.50, Z:9.28 [[ 9.99991347e-01 1.48754551e-03 -3.88496486e-03 5.17157538e+01] [-1.47533533e-03 9.99993970e-01 3.14390881e-03 -1.84974898e+01] [ 3.88961814e-03 -3.13814999e-03 9.99987511e-01 9.28209592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.774839173 meters 0.10434083459314096 Centerline is valid? [False, False] Translation: X:51.72, Y:-18.50, Z:9.28 [[ 9.99989113e-01 -2.41122856e-03 -3.99486341e-03 5.17156363e+01] [ 2.41022991e-03 9.99997063e-01 -2.54779923e-04 -1.84995517e+01] [ 3.99546601e-03 2.45148611e-04 9.99991988e-01 9.28271927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.804839173 meters 0.10184524517288733 Centerline is valid? [False, False] Translation: X:51.71, Y:-18.50, Z:9.29 [[ 9.99989675e-01 -3.07407634e-03 -3.34667992e-03 5.17121204e+01] [ 3.07425708e-03 9.99995273e-01 4.88622747e-05 -1.85021169e+01] [ 3.34651389e-03 -5.91503246e-05 9.99994399e-01 9.28647120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.834839173 meters 0.10031443978060278 Centerline is valid? [False, False] Translation: X:51.71, Y:-18.50, Z:9.29 [[ 9.99988095e-01 -3.16695601e-03 -3.71225148e-03 5.17126312e+01] [ 3.16957944e-03 9.99994731e-01 7.01025653e-04 -1.85045247e+01] [ 3.71001181e-03 -7.12783584e-04 9.99992864e-01 9.28689667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86483917300001 meters 0.0995475564344428 Centerline is valid? [False, True] Translation: X:51.71, Y:-18.51, Z:9.29 [[ 9.99988677e-01 -2.88086019e-03 -3.78770073e-03 5.17125060e+01] [ 2.88566526e-03 9.99995038e-01 1.26374616e-03 -1.85057412e+01] [ 3.78404126e-03 -1.27466188e-03 9.99992028e-01 9.28731607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.894839173 meters 0.09595069583198479 Centerline is valid? [True, True] Translation: X:51.74, Y:-18.52, Z:9.29 [[ 9.99960101e-01 -8.91046527e-03 6.32660578e-04 5.17435384e+01] [ 8.91045174e-03 9.99960301e-01 2.42049740e-05 -1.85168531e+01] [-6.32851140e-04 -1.85667167e-05 9.99999800e-01 9.29301697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.924839173 meters 0.08840652957176423 Centerline is valid? [True, True] Translation: X:51.78, Y:-18.54, Z:9.31 [[ 9.99756127e-01 -1.79444609e-02 1.28718117e-02 5.17763419e+01] [ 1.79395240e-02 9.99838949e-01 4.98911411e-04 -1.85374668e+01] [-1.28786914e-02 -2.67875564e-04 9.99917030e-01 9.30981848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.954839173 meters 0.08735794430344675 Centerline is valid? [True, True] Translation: X:51.81, Y:-18.54, Z:9.31 [[ 9.99628129e-01 -2.19576649e-02 1.61698919e-02 5.18071368e+01] [ 2.19503825e-02 9.99758864e-01 6.27733110e-04 -1.85418223e+01] [-1.61797763e-02 -2.72564363e-04 9.99869062e-01 9.30943542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.984839173 meters 0.08781291243223419 Centerline is valid? [True, True] Translation: X:51.84, Y:-18.55, Z:9.31 [[ 9.99433222e-01 -3.09378205e-02 1.32697239e-02 5.18379934e+01] [ 3.09336671e-02 9.99521305e-01 5.18180083e-04 -1.85472984e+01] [-1.32794031e-02 -1.07405169e-04 9.99911819e-01 9.30623873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.014839173 meters 0.08738464580505702 Centerline is valid? [True, True] Translation: X:51.87, Y:-18.55, Z:9.31 [[ 9.99268992e-01 -3.66733999e-02 1.07955403e-02 5.18693181e+01] [ 3.66709822e-02 9.99327304e-01 4.21879692e-04 -1.85519072e+01] [-1.08037500e-02 -2.56882264e-05 9.99941637e-01 9.30899983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.044839173 meters 0.0895043693213376 Centerline is valid? [True, True] Translation: X:51.90, Y:-18.56, Z:9.30 [[ 9.99084186e-01 -4.16042580e-02 9.99373128e-03 5.18987092e+01] [ 4.16024766e-02 9.99134168e-01 3.86154778e-04 -1.85563312e+01] [-1.00011441e-02 2.99628403e-05 9.99949987e-01 9.30088498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.074839173 meters 0.08762270654537342 Centerline is valid? [True, True] Translation: X:51.93, Y:-18.57, Z:9.31 [[ 9.98569099e-01 -5.09031254e-02 1.63898062e-02 5.19295345e+01] [ 5.08995998e-02 9.98703575e-01 6.32453112e-04 -1.85651326e+01] [-1.64007519e-02 2.02686444e-04 9.99865478e-01 9.30725050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.104839173 meters 0.0896143106757292 Centerline is valid? [True, True] Translation: X:51.96, Y:-18.58, Z:9.31 [[ 9.97696208e-01 -6.34509451e-02 2.40052753e-02 5.19603893e+01] [ 6.34469131e-02 9.97984781e-01 9.30334791e-04 -1.85844180e+01] [-2.40159301e-02 5.94869124e-04 9.99711399e-01 9.30977259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.134839173 meters 0.0862900574173934 Centerline is valid? [True, True] Translation: X:51.99, Y:-18.59, Z:9.32 [[ 9.97347759e-01 -6.65396342e-02 2.94944986e-02 5.19914785e+01] [ 6.65349620e-02 9.97783442e-01 1.14089306e-03 -1.85854677e+01] [-2.95050369e-02 8.24548202e-04 9.99564292e-01 9.32362214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.164839173 meters 0.0865138592348019 Centerline is valid? [True, True] Translation: X:52.02, Y:-18.58, Z:9.32 [[ 9.97257218e-01 -6.67902876e-02 3.18919951e-02 5.20203268e+01] [ 6.67849406e-02 9.97766630e-01 1.23404451e-03 -1.85848032e+01] [-3.19031906e-02 8.99245202e-04 9.99490559e-01 9.32306419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.194839173 meters 0.08782043124343777 Centerline is valid? [True, True] Translation: X:52.05, Y:-18.58, Z:9.32 [[ 9.97251537e-01 -6.87573469e-02 2.76007085e-02 5.20500872e+01] [ 6.87539595e-02 9.97633070e-01 1.07284433e-03 -1.85826464e+01] [-2.76091455e-02 8.27762341e-04 9.99618452e-01 9.31769727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.224839173 meters 0.08938361785902448 Centerline is valid? [True, True] Translation: X:52.08, Y:-18.58, Z:9.31 [[ 9.97174979e-01 -7.10144131e-02 2.44747842e-02 5.20794427e+01] [ 7.10124691e-02 9.97474976e-01 9.49655731e-04 -1.85840120e+01] [-2.44804241e-02 7.91041927e-04 9.99699997e-01 9.31145366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25483917300001 meters 0.09238377539688476 Centerline is valid? [True, True] Translation: X:52.11, Y:-18.59, Z:9.30 [[ 9.96806466e-01 -7.72039847e-02 2.04062503e-02 5.21093005e+01] [ 7.72039087e-02 9.97015009e-01 7.92702430e-04 -1.85861884e+01] [-2.04065376e-02 7.85271376e-04 9.99791457e-01 9.30378447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.284839173 meters 0.09351309271771467 Centerline is valid? [True, True] Translation: X:52.14, Y:-18.58, Z:9.30 [[ 9.96690668e-01 -7.89714347e-02 1.92671755e-02 5.21384908e+01] [ 7.89717234e-02 9.96876577e-01 7.47055967e-04 -1.85834735e+01] [-1.92659920e-02 7.76978343e-04 9.99814092e-01 9.29856200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.314839173 meters 0.09676846236949634 Centerline is valid? [True, True] Translation: X:52.17, Y:-18.59, Z:9.29 [[ 9.96528870e-01 -8.19273672e-02 1.47688401e-02 5.21677068e+01] [ 8.19278292e-02 9.96638099e-01 5.74756747e-04 -1.85854850e+01] [-1.47662771e-02 6.37217321e-04 9.99890770e-01 9.29332923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.344839173 meters 0.09696664813179035 Centerline is valid? [True, True] Translation: X:52.20, Y:-18.59, Z:9.30 [[ 9.96448851e-01 -8.23599667e-02 1.75078300e-02 5.21973177e+01] [ 8.23607150e-02 9.96602353e-01 6.79510985e-04 -1.85929222e+01] [-1.75043091e-02 7.64859456e-04 9.99846495e-01 9.29545678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.374839173 meters 0.0946050876078411 Centerline is valid? [True, True] Translation: X:52.23, Y:-18.59, Z:9.29 [[ 9.96763028e-01 -7.84128824e-02 1.77450043e-02 5.22268212e+01] [ 7.84130118e-02 9.96920721e-01 6.89553955e-04 -1.85857728e+01] [-1.77444324e-02 7.04117345e-04 9.99842307e-01 9.29494939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.404839173 meters 0.08843712099595018 Centerline is valid? [True, True] Translation: X:52.26, Y:-18.55, Z:9.29 [[ 9.97772882e-01 -6.44682252e-02 1.71208882e-02 5.22551733e+01] [ 6.44662702e-02 9.97919664e-01 6.66641197e-04 -1.85541940e+01] [-1.71282482e-02 4.38563295e-04 9.99853205e-01 9.29402884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.434839173 meters 0.08674980735875976 Centerline is valid? [True, True] Translation: X:52.28, Y:-18.54, Z:9.29 [[ 9.98307990e-01 -5.53633472e-02 1.77780007e-02 5.22827915e+01] [ 5.53597774e-02 9.98466231e-01 6.93245952e-04 -1.85391522e+01] [-1.77891138e-02 2.92113189e-04 9.99841719e-01 9.28869471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.464839173 meters 0.08575887374547099 Centerline is valid? [True, True] Translation: X:52.31, Y:-18.53, Z:9.28 [[ 9.98788957e-01 -4.66650483e-02 1.55882072e-02 5.23108041e+01] [ 4.66612838e-02 9.98910586e-01 6.05318971e-04 -1.85258285e+01] [-1.55994724e-02 1.22779856e-04 9.99878313e-01 9.28468030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.494839173 meters 0.08451926355791438 Centerline is valid? [True, True] Translation: X:52.34, Y:-18.50, Z:9.29 [[ 9.99549408e-01 -2.38771610e-02 1.81896039e-02 5.23393776e+01] [ 2.38681951e-02 9.99714862e-01 7.09882795e-04 -1.84993145e+01] [-1.82013673e-02 -2.75409913e-04 9.99834303e-01 9.28581148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.524839173 meters 0.08600950176837369 Centerline is valid? [True, True] Translation: X:52.37, Y:-18.48, Z:9.29 [[ 9.99706206e-01 -6.68072745e-03 2.32995426e-02 5.23704962e+01] [ 6.66114854e-03 9.99977393e-01 9.17824124e-04 -1.84759991e+01] [-2.33051476e-02 -7.62352759e-04 9.99728107e-01 9.29141465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.554839173 meters 0.08427441893086071 Centerline is valid? [True, True] Translation: X:52.40, Y:-18.47, Z:9.30 [[ 9.99660592e-01 -8.68065032e-04 2.60374361e-02 5.24033317e+01] [ 8.41659980e-04 9.99999120e-01 1.02506081e-03 -1.84689940e+01] [-2.60383030e-02 -1.00279823e-03 9.99660443e-01 9.30045271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.584839173 meters 0.08506494296362739 Centerline is valid? [True, True] Translation: X:52.43, Y:-18.45, Z:9.31 [[ 9.99530299e-01 8.30769033e-03 2.94985516e-02 5.24346252e+01] [-8.34536146e-03 9.99964511e-01 1.15416292e-03 -1.84536716e+01] [-2.94879163e-02 -1.39979688e-03 9.99564157e-01 9.30724067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61483917300001 meters 0.08581063917766502 Centerline is valid? [True, True] Translation: X:52.47, Y:-18.45, Z:9.30 [[ 9.99507881e-01 1.02299367e-02 2.96537270e-02 5.24662385e+01] [-1.02693238e-02 9.99946577e-01 1.17624235e-03 -1.84506329e+01] [-2.96401099e-02 -1.48018722e-03 9.99559539e-01 9.30462231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.644839173 meters 0.08510044835600195 Centerline is valid? [True, True] Translation: X:52.50, Y:-18.46, Z:9.31 [[ 9.99374890e-01 1.21461345e-02 3.32009101e-02 5.24979708e+01] [-1.21956598e-02 9.99924799e-01 1.28957676e-03 -1.84571272e+01] [-3.31827500e-02 -1.69367764e-03 9.99447866e-01 9.30696000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.674839173 meters 0.08477590338755091 Centerline is valid? [True, True] Translation: X:52.53, Y:-18.46, Z:9.31 [[ 9.99272322e-01 1.27617725e-02 3.59439091e-02 5.25301334e+01] [-1.28202501e-02 9.99916841e-01 1.39689345e-03 -1.84595257e+01] [-3.59230932e-02 -1.85668686e-03 9.99352833e-01 9.30678339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.704839173 meters 0.08530463707431074 Centerline is valid? [True, True] Translation: X:52.56, Y:-18.47, Z:9.31 [[ 9.99245517e-01 1.53367562e-02 3.56816697e-02 5.25612555e+01] [-1.53957715e-02 9.99880526e-01 1.37975013e-03 -1.84666248e+01] [-3.56562457e-02 -1.92805597e-03 9.99362254e-01 9.30586069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.734839173 meters 0.08946745534557168 Centerline is valid? [True, True] Translation: X:52.59, Y:-18.46, Z:9.30 [[ 9.99280608e-01 2.03743221e-02 3.19867830e-02 5.25902677e+01] [-2.04242704e-02 9.99790639e-01 1.23553627e-03 -1.84568291e+01] [-3.19549130e-02 -1.88795414e-03 9.99487528e-01 9.29654321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.764839173 meters 0.09035204531816537 Centerline is valid? [True, True] Translation: X:52.62, Y:-18.45, Z:9.29 [[ 9.99177914e-01 2.25130184e-02 3.37143847e-02 5.26223500e+01] [-2.25702933e-02 9.99744388e-01 1.31916327e-03 -1.84492174e+01] [-3.36760686e-02 -2.07902236e-03 9.99430638e-01 9.29345057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.794839173 meters 0.08939566708281274 Centerline is valid? [True, True] Translation: X:52.66, Y:-18.45, Z:9.30 [[ 9.99043062e-01 2.44135021e-02 3.62896903e-02 5.26553027e+01] [-2.44806103e-02 9.99699316e-01 1.40597635e-03 -1.84454214e+01] [-3.62444538e-02 -2.29302469e-03 9.99340323e-01 9.29739241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.824839173 meters 0.09016458605574931 Centerline is valid? [True, True] Translation: X:52.69, Y:-18.45, Z:9.29 [[ 9.98997743e-01 2.47340012e-02 3.73060012e-02 5.26863779e+01] [-2.48044603e-02 9.99691304e-01 1.42695668e-03 -1.84463672e+01] [-3.72591906e-02 -2.35088174e-03 9.99302870e-01 9.29471952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.854839173 meters 0.0880556497329272 Centerline is valid? [True, True] Translation: X:52.72, Y:-18.46, Z:9.29 [[ 9.99111187e-01 2.49488089e-02 3.39763596e-02 5.27183458e+01] [-2.50069831e-02 9.99686446e-01 1.28826373e-03 -1.84597708e+01] [-3.39335655e-02 -2.13676496e-03 9.99421807e-01 9.29492092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.884839173 meters 0.08679872683230971 Centerline is valid? [True, True] Translation: X:52.75, Y:-18.46, Z:9.29 [[ 9.99206905e-01 2.30742402e-02 3.24521181e-02 5.27508341e+01] [-2.31267716e-02 9.99731766e-01 1.24426317e-03 -1.84631776e+01] [-3.24147029e-02 -1.99378908e-03 9.99472517e-01 9.29152525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.914839173 meters 0.08915994717473666 Centerline is valid? [True, True] Translation: X:52.78, Y:-18.46, Z:9.27 [[ 9.99547072e-01 1.74663139e-02 2.45066930e-02 5.27797040e+01] [-1.74941736e-02 9.99846539e-01 9.22869838e-04 -1.84596620e+01] [-2.44868130e-02 -1.35117619e-03 9.99699240e-01 9.27298730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.944839173 meters 0.08978393413446785 Centerline is valid? [True, True] Translation: X:52.81, Y:-18.46, Z:9.26 [[ 9.99726338e-01 1.35607160e-02 1.90619126e-02 5.28086111e+01] [-1.35769156e-02 9.99907570e-01 7.20682876e-04 -1.84583160e+01] [-1.90503777e-02 -9.79287631e-04 9.99818045e-01 9.26229695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.974839173 meters 0.0892968717349223 Centerline is valid? [True, True] Translation: X:52.84, Y:-18.47, Z:9.25 [[ 9.99881728e-01 9.33661552e-03 1.22212268e-02 5.28383255e+01] [-9.34289684e-03 9.99956250e-01 4.56974989e-04 -1.84660916e+01] [-1.22164255e-02 -5.71102603e-04 9.99925214e-01 9.25240581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00483917300001 meters 0.0907364108181104 Centerline is valid? [True, True] Translation: X:52.87, Y:-18.47, Z:9.25 [[ 9.99890092e-01 9.06284709e-03 1.17332393e-02 5.28693461e+01] [-9.06885433e-03 9.99958772e-01 4.58879631e-04 -1.84673747e+01] [-1.17285968e-02 -5.65236235e-04 9.99931058e-01 9.24532730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.034839173 meters 0.09122732657714232 Centerline is valid? [True, True] Translation: X:52.90, Y:-18.47, Z:9.24 [[ 9.99865922e-01 1.16681607e-02 1.14887708e-02 5.29007875e+01] [-1.16738615e-02 9.99931766e-01 4.29269752e-04 -1.84700613e+01] [-1.14829781e-02 -5.63330515e-04 9.99933910e-01 9.24325601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.064839173 meters 0.08887884424386211 Centerline is valid? [True, True] Translation: X:52.93, Y:-18.47, Z:9.25 [[ 9.99836405e-01 1.49818632e-02 1.01344472e-02 5.29323402e+01] [-1.49864452e-02 9.99887626e-01 3.76324439e-04 -1.84721032e+01] [-1.01276703e-02 -5.28142212e-04 9.99948574e-01 9.24934039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.094839173 meters 0.09551376391383758 Centerline is valid? [True, True] Translation: X:52.96, Y:-18.46, Z:9.24 [[ 9.99646285e-01 2.46061143e-02 1.00917436e-02 5.29602359e+01] [-2.46111179e-02 9.99697031e-01 3.71899127e-04 -1.84568168e+01] [-1.00795352e-02 -6.20136674e-04 9.99949008e-01 9.23802873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.124839173 meters 0.0983263942225294 Centerline is valid? [True, True] Translation: X:52.99, Y:-18.45, Z:9.23 [[ 9.99510439e-01 2.96546652e-02 9.97415068e-03 5.29902812e+01] [-2.96598266e-02 9.99559982e-01 3.69931837e-04 -1.84493548e+01] [-9.95879167e-03 -6.65582313e-04 9.99950188e-01 9.23337946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.154839173 meters 0.10406088677092076 Centerline is valid? [True, False] Translation: X:52.99, Y:-18.45, Z:9.23 [[ 9.99449376e-01 3.30007837e-02 -3.44850070e-03 5.29887125e+01] [-3.29885192e-02 9.99449409e-01 3.55482470e-03 -1.84513301e+01] [ 3.56391399e-03 -3.43910640e-03 9.99987735e-01 9.23428514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.184839173 meters 0.10845724195164934 Centerline is valid? [False, False] Translation: X:52.99, Y:-18.45, Z:9.23 [[ 9.99453563e-01 3.28821039e-02 -3.36782056e-03 5.29891447e+01] [-3.28710235e-02 9.99454173e-01 3.29422428e-03 -1.84507821e+01] [ 3.47430333e-03 -3.18172049e-03 9.99988903e-01 9.23337763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.214839173 meters 0.10755752367850745 Centerline is valid? [False, False] Translation: X:52.99, Y:-18.45, Z:9.23 [[ 9.99447852e-01 3.30738057e-02 -3.18018957e-03 5.29889246e+01] [-3.30624385e-02 9.99446938e-01 3.56289072e-03 -1.84511309e+01] [ 3.29626908e-03 -3.45577865e-03 9.99988596e-01 9.23325677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.244839173 meters 0.11016160288518147 Centerline is valid? [False, False] Translation: X:52.99, Y:-18.45, Z:9.23 [[ 9.99445371e-01 3.17269242e-02 1.01169181e-02 5.29907466e+01] [-3.17902489e-02 9.99475573e-01 6.16110066e-03 -1.84538677e+01] [-9.91613970e-03 -6.47930288e-03 9.99929842e-01 9.23037748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.274839173 meters 0.10614519153631555 Centerline is valid? [False, False] Translation: X:52.99, Y:-18.46, Z:9.23 [[ 9.99513990e-01 2.93019827e-02 1.06384986e-02 5.29876897e+01] [-2.93519208e-02 9.99558699e-01 4.56866845e-03 -1.84580509e+01] [-1.04999328e-02 -4.87870840e-03 9.99932973e-01 9.23350893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.304839173 meters 0.10447207813567394 Centerline is valid? [False, False] Translation: X:52.98, Y:-18.46, Z:9.23 [[ 9.99504786e-01 2.84640172e-02 1.34157767e-02 5.29833242e+01] [-2.85448221e-02 9.99575274e-01 5.87058616e-03 -1.84598658e+01] [-1.32429783e-02 -6.25062992e-03 9.99892771e-01 9.23345587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.334839173 meters 0.10870131821408674 Centerline is valid? [False, False] Translation: X:52.98, Y:-18.46, Z:9.23 [[ 9.99565470e-01 2.35062108e-02 1.77856368e-02 5.29758259e+01] [-2.37072907e-02 9.99656420e-01 1.11806281e-02 -1.84628431e+01] [-1.75167118e-02 -1.15974191e-02 9.99779308e-01 9.22825424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36483917300001 meters 0.10666748392677569 Centerline is valid? [False, False] Translation: X:52.97, Y:-18.47, Z:9.22 [[ 9.99806285e-01 1.71511046e-02 9.65568617e-03 5.29682178e+01] [-1.72259016e-02 9.99821840e-01 7.71728479e-03 -1.84660713e+01] [-9.52160595e-03 -7.88211774e-03 9.99923603e-01 9.22278582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.394839173 meters 0.10490940934195338 Centerline is valid? [False, False] Translation: X:52.97, Y:-18.47, Z:9.22 [[ 9.99878056e-01 1.23739416e-02 9.52678176e-03 5.29703284e+01] [-1.24000853e-02 9.99919497e-01 2.69006975e-03 -1.84657898e+01] [-9.49272806e-03 -2.80787462e-03 9.99951001e-01 9.21973923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.424839173 meters 0.10490940934195338 Centerline is valid? [False, False] Translation: X:52.97, Y:-18.47, Z:9.22 [[ 9.99878056e-01 1.23739416e-02 9.52678176e-03 5.29703284e+01] [-1.24000853e-02 9.99919497e-01 2.69006975e-03 -1.84657898e+01] [-9.49272806e-03 -2.80787462e-03 9.99951001e-01 9.21973923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.454839173 meters 0.10682064529605295 Centerline is valid? [False, False] Translation: X:52.98, Y:-18.47, Z:9.21 [[ 9.99921173e-01 9.04459518e-03 8.70877125e-03 5.29754106e+01] [-9.03411131e-03 9.99958420e-01 -1.24241667e-03 -1.84654223e+01] [-8.71964630e-03 1.16364273e-03 9.99961306e-01 9.21401511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.484839173 meters 0.11120298592475213 Centerline is valid? [False, False] Translation: X:52.97, Y:-18.46, Z:9.20 [[ 9.99985607e-01 5.34504889e-03 -4.65470756e-04 5.29740999e+01] [-5.34566274e-03 9.99984830e-01 -1.32765784e-03 -1.84637799e+01] [ 4.58367299e-04 1.33012698e-03 9.99999010e-01 9.20278466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.514839173 meters 0.11261264323875665 Centerline is valid? [False, False] Translation: X:52.98, Y:-18.46, Z:9.20 [[ 9.99989587e-01 4.49167088e-03 -8.06151786e-04 5.29769733e+01] [-4.49349713e-03 9.99987309e-01 -2.27806927e-03 -1.84633844e+01] [ 7.95909218e-04 2.28166799e-03 9.99997080e-01 9.19923504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.544839173 meters 0.11271203858457025 Centerline is valid? [False, False] Translation: X:52.98, Y:-18.47, Z:9.19 [[ 9.99997666e-01 -2.06438182e-03 -6.36723770e-04 5.29760773e+01] [ 2.06654854e-03 9.99992012e-01 3.42125198e-03 -1.84686959e+01] [ 6.29655913e-04 -3.42255982e-03 9.99993945e-01 9.18917466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.574839173 meters 0.11144303348333082 Centerline is valid? [False, False] Translation: X:52.98, Y:-18.47, Z:9.19 [[ 9.99983882e-01 -5.59734266e-03 -9.51656892e-04 5.29778672e+01] [ 5.59819452e-03 9.99983930e-01 8.94832327e-04 -1.84724733e+01] [ 9.46632915e-04 -9.00145464e-04 9.99999147e-01 9.18737443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.604839173 meters 0.10474523229196836 Centerline is valid? [False, False] Translation: X:52.98, Y:-18.47, Z:9.19 [[ 9.99984843e-01 -5.36523979e-03 -1.23642799e-03 5.29781419e+01] [ 5.36719880e-03 9.99984338e-01 1.58657598e-03 -1.84740453e+01] [ 1.22789627e-03 -1.59318809e-03 9.99997977e-01 9.18785493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.634839173 meters 0.10724479421999035 Centerline is valid? [False, False] Translation: X:52.98, Y:-18.48, Z:9.19 [[ 9.99988754e-01 -4.60732159e-03 -1.12420226e-03 5.29764058e+01] [ 4.61073212e-03 9.99984718e-01 3.05024562e-03 -1.84763452e+01] [ 1.11013162e-03 -3.05539471e-03 9.99994716e-01 9.19060246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.664839173 meters 0.09989600631227818 Centerline is valid? [False, True] Translation: X:52.98, Y:-18.48, Z:9.20 [[ 9.99962839e-01 -3.27332327e-03 -7.97536134e-03 5.29822421e+01] [ 3.27223493e-03 9.99994635e-01 -1.49508893e-04 -1.84833270e+01] [ 7.97580794e-03 1.23406081e-04 9.99968185e-01 9.20098164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.694839173 meters 0.09883948766325053 Centerline is valid? [True, True] Translation: X:53.01, Y:-18.49, Z:9.20 [[ 9.99967800e-01 -5.93930697e-03 -5.39670852e-03 5.30122542e+01] [ 5.93778669e-03 9.99982327e-01 -2.97683030e-04 -1.84881499e+01] [ 5.39838117e-03 2.65628941e-04 9.99985393e-01 9.20071771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.724839173 meters 0.09921666529576302 Centerline is valid? [True, True] Translation: X:53.04, Y:-18.50, Z:9.19 [[ 9.99895014e-01 -1.03483257e-02 -1.01426835e-02 5.30430210e+01] [ 1.03432613e-02 9.99946355e-01 -5.51647665e-04 -1.84955973e+01] [ 1.01478481e-02 4.46681324e-04 9.99948409e-01 9.19412299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75483917300001 meters 0.09823782822050317 Centerline is valid? [True, True] Translation: X:53.07, Y:-18.50, Z:9.19 [[ 9.99714463e-01 -1.77648534e-02 -1.59813105e-02 5.30734566e+01] [ 1.77531811e-02 9.99842020e-01 -8.71955763e-04 -1.85028509e+01] [ 1.59942759e-02 5.87987688e-04 9.99871911e-01 9.18541847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.784839173 meters 0.0962499704874096 Centerline is valid? [True, True] Translation: X:53.10, Y:-18.51, Z:9.18 [[ 9.99647933e-01 -2.25230607e-02 -1.40257498e-02 5.31040700e+01] [ 2.25144641e-02 9.99746220e-01 -7.70534402e-04 -1.85074016e+01] [ 1.40395451e-02 4.54480883e-04 9.99901337e-01 9.18291379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.814839173 meters 0.09415735462687401 Centerline is valid? [True, True] Translation: X:53.13, Y:-18.52, Z:9.18 [[ 9.99163676e-01 -4.05239528e-02 -5.45505264e-03 5.31343766e+01] [ 4.05229267e-02 9.99178564e-01 -2.98550201e-04 -1.85227893e+01] [ 5.46267010e-03 7.72458183e-05 9.99985077e-01 9.17927280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.844839173 meters 0.0892294646731241 Centerline is valid? [True, True] Translation: X:53.17, Y:-18.53, Z:9.19 [[ 9.98683992e-01 -5.11251591e-02 4.06225462e-03 5.31668726e+01] [ 5.11246781e-02 9.98692254e-01 2.22223769e-04 -1.85333026e+01] [-4.06830345e-03 -1.42498602e-05 9.99991724e-01 9.18806906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.874839173 meters 0.08856343028393922 Centerline is valid? [True, True] Translation: X:53.20, Y:-18.54, Z:9.19 [[ 9.98056173e-01 -6.20108090e-02 6.20770066e-03 5.31977014e+01] [ 6.20099228e-02 9.98075477e-01 3.35320950e-04 -1.85438635e+01] [-6.21654732e-03 5.02698944e-05 9.99980676e-01 9.19172555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.904839173 meters 0.09244081361764954 Centerline is valid? [True, True] Translation: X:53.23, Y:-18.56, Z:9.19 [[ 9.97029149e-01 -7.63398343e-02 1.02521260e-02 5.32273364e+01] [ 7.63381429e-02 9.97081831e-01 5.56774098e-04 -1.85608471e+01] [-1.02647126e-02 2.27508256e-04 9.99947291e-01 9.18898365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.934839173 meters 0.09043131885292349 Centerline is valid? [True, True] Translation: X:53.26, Y:-18.56, Z:9.20 [[ 9.96562970e-01 -8.21477418e-02 1.06768312e-02 5.32577101e+01] [ 8.21462558e-02 9.96620117e-01 5.78398075e-04 -1.85617619e+01] [-1.06882588e-02 3.00651600e-04 9.99942834e-01 9.19735200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.964839173 meters 0.09051810504628366 Centerline is valid? [True, True] Translation: X:53.29, Y:-18.56, Z:9.20 [[ 9.95983875e-01 -8.88672530e-02 1.08964079e-02 5.32872069e+01] [ 8.88660781e-02 9.96043407e-01 5.92910370e-04 -1.85569153e+01] [-1.09059856e-02 3.77791868e-04 9.99940457e-01 9.19728018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.994839173 meters 0.09687816125349041 Centerline is valid? [True, True] Translation: X:53.31, Y:-18.55, Z:9.17 [[ 9.96008118e-01 -8.89203970e-02 7.80966832e-03 5.33140925e+01] [ 8.89197813e-02 9.96038699e-01 4.26719813e-04 -1.85494078e+01] [-7.81667597e-03 2.69417601e-04 9.99969413e-01 9.17466506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.024839173 meters 0.09190418068162054 Centerline is valid? [True, True] Translation: X:53.34, Y:-18.53, Z:9.18 [[ 9.96252591e-01 -8.62675119e-02 6.22030865e-03 5.33432440e+01] [ 8.62672366e-02 9.96271984e-01 3.13063774e-04 -1.85346344e+01] [-6.22412647e-03 2.24718242e-04 9.99980605e-01 9.18091612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.054839173 meters 0.09411123358743749 Centerline is valid? [True, True] Translation: X:53.37, Y:-18.52, Z:9.17 [[ 9.96709360e-01 -8.07105273e-02 7.50079476e-03 5.33706426e+01] [ 8.07097215e-02 9.96737564e-01 4.10569951e-04 -1.85227100e+01] [-7.50946122e-03 1.96168143e-04 9.99971784e-01 9.16801779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.084839173 meters 0.08920433442809611 Centerline is valid? [True, True] Translation: X:53.40, Y:-18.52, Z:9.18 [[ 9.96746386e-01 -8.01450352e-02 8.56830383e-03 5.34006715e+01] [ 8.01439996e-02 9.96783188e-01 4.64703883e-04 -1.85156256e+01] [-8.57798491e-03 2.23506223e-04 9.99963183e-01 9.18100743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11483917300001 meters 0.08713990737070117 Centerline is valid? [True, True] Translation: X:53.43, Y:-18.51, Z:9.19 [[ 9.96750591e-01 -7.88123639e-02 1.66394114e-02 5.34302511e+01] [ 7.88080502e-02 9.96889388e-01 9.15814083e-04 -1.85055130e+01] [-1.66598301e-02 3.98481337e-04 9.99861136e-01 9.18593271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.144839173 meters 0.0859948996118008 Centerline is valid? [True, True] Translation: X:53.46, Y:-18.49, Z:9.19 [[ 9.96830173e-01 -7.67337882e-02 2.10126731e-02 5.34587707e+01] [ 7.67264400e-02 9.97051511e-01 1.15687150e-03 -1.84916153e+01] [-2.10394886e-02 4.59023192e-04 9.99778540e-01 9.18655218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.174839173 meters 0.0841536223225726 Centerline is valid? [True, True] Translation: X:53.49, Y:-18.48, Z:9.19 [[ 9.97027628e-01 -7.27451228e-02 2.53782425e-02 5.34887171e+01] [ 7.27330157e-02 9.97350463e-01 1.40103549e-03 -1.84832302e+01] [-2.54129204e-02 4.48965013e-04 9.99676939e-01 9.18775067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.204839173 meters 0.08182593733899132 Centerline is valid? [True, True] Translation: X:53.52, Y:-18.48, Z:9.19 [[ 9.97199436e-01 -6.89163651e-02 2.90485817e-02 5.35194517e+01] [ 6.88987782e-02 9.97622361e-01 1.60710509e-03 -1.84763192e+01] [-2.90902706e-02 3.98807502e-04 9.99576709e-01 9.19115787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.234839173 meters 0.07794674792076951 Centerline is valid? [True, True] Translation: X:53.55, Y:-18.47, Z:9.20 [[ 9.97222331e-01 -6.17515421e-02 4.16457530e-02 5.35500207e+01] [ 6.17091846e-02 9.98091515e-01 2.30307604e-03 -1.84685514e+01] [-4.17084913e-02 2.73246603e-04 9.99129785e-01 9.20171942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.264839173 meters 0.07737373584367044 Centerline is valid? [True, True] Translation: X:53.58, Y:-18.47, Z:9.20 [[ 9.97157450e-01 -6.08172721e-02 4.44778440e-02 5.35813695e+01] [ 6.07677646e-02 9.98148887e-01 2.46556850e-03 -1.84651001e+01] [-4.45454597e-02 2.44259161e-04 9.99007328e-01 9.20189635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.294839173 meters 0.07638418185634487 Centerline is valid? [True, True] Translation: X:53.61, Y:-18.45, Z:9.20 [[ 9.97035729e-01 -6.00119588e-02 4.81489337e-02 5.36110217e+01] [ 5.99533067e-02 9.98197631e-01 2.66270368e-03 -1.84534467e+01] [-4.82219456e-02 2.31877087e-04 9.98836618e-01 9.20352084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.324839173 meters 0.07570276286117684 Centerline is valid? [True, True] Translation: X:53.64, Y:-18.45, Z:9.20 [[ 9.96786169e-01 -6.16321205e-02 5.11743680e-02 5.36424872e+01] [ 6.15678961e-02 9.98098880e-01 2.83194822e-03 -1.84501638e+01] [-5.12516184e-02 3.27851354e-04 9.98685718e-01 9.20472215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.354839173 meters 0.07476125824958256 Centerline is valid? [True, True] Translation: X:53.67, Y:-18.45, Z:9.21 [[ 9.96538263e-01 -6.20358573e-02 5.53447551e-02 5.36735720e+01] [ 6.19615898e-02 9.98073848e-01 3.05849636e-03 -1.84475610e+01] [-5.54278892e-02 3.81340366e-04 9.98462620e-01 9.21017351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.384839173 meters 0.07458256436086537 Centerline is valid? [True, True] Translation: X:53.71, Y:-18.44, Z:9.21 [[ 9.96722419e-01 -5.96651657e-02 5.46304703e-02 5.37051759e+01] [ 5.95890492e-02 9.98218418e-01 3.02259965e-03 -1.84414106e+01] [-5.47134856e-02 2.42684955e-04 9.98502066e-01 9.20884281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.414839173 meters 0.07407401153048034 Centerline is valid? [True, True] Translation: X:53.74, Y:-18.42, Z:9.21 [[ 9.97084394e-01 -5.12120410e-02 5.65688845e-02 5.37360399e+01] [ 5.11171365e-02 9.98687777e-01 3.12433815e-03 -1.84243483e+01] [-5.66546573e-02 -2.23589418e-04 9.98393810e-01 9.20812798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.444839173 meters 0.07236760007323156 Centerline is valid? [True, True] Translation: X:53.77, Y:-18.42, Z:9.22 [[ 9.97154031e-01 -4.98813613e-02 5.65304191e-02 5.37692967e+01] [ 4.97845555e-02 9.98755106e-01 3.12033907e-03 -1.84179933e+01] [-5.66156914e-02 -2.97116893e-04 9.98396001e-01 9.21590256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.474839173 meters 0.07392767915367147 Centerline is valid? [True, True] Translation: X:53.80, Y:-18.41, Z:9.20 [[ 9.97047488e-01 -4.95712295e-02 5.86429862e-02 5.37986988e+01] [ 4.94663509e-02 9.98770537e-01 3.23964755e-03 -1.84101507e+01] [-5.87314801e-02 -3.29227914e-04 9.98273762e-01 9.20471645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50483917300001 meters 0.07215263378918656 Centerline is valid? [True, True] Translation: X:53.83, Y:-18.41, Z:9.21 [[ 9.96915316e-01 -5.08995495e-02 5.97418445e-02 5.38322045e+01] [ 5.07945479e-02 9.98703751e-01 3.27589901e-03 -1.84099202e+01] [-5.98311459e-02 -2.31233915e-04 9.98208485e-01 9.21185668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.534839173 meters 0.07396304317514359 Centerline is valid? [True, True] Translation: X:53.86, Y:-18.41, Z:9.20 [[ 9.96962282e-01 -5.22375649e-02 5.77706302e-02 5.38626769e+01] [ 5.21420797e-02 9.98634677e-01 3.16003155e-03 -1.84107698e+01] [-5.78568270e-02 -1.38151462e-04 9.98324881e-01 9.19879543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.564839173 meters 0.07430737013348837 Centerline is valid? [True, True] Translation: X:53.89, Y:-18.41, Z:9.19 [[ 9.96903147e-01 -5.33897741e-02 5.77377492e-02 5.38939414e+01] [ 5.32964715e-02 9.98573747e-01 3.15576205e-03 -1.84121495e+01] [-5.78238860e-02 -6.87708192e-05 9.98326797e-01 9.19357767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.594839173 meters 0.07278485379945107 Centerline is valid? [True, True] Translation: X:53.93, Y:-18.41, Z:9.20 [[ 9.97053411e-01 -5.36514178e-02 5.48271934e-02 5.39266905e+01] [ 5.35679594e-02 9.98559724e-01 2.99173286e-03 -1.84115961e+01] [-5.49087378e-02 -4.59365841e-05 9.98491376e-01 9.19921476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.624839173 meters 0.07339479965514183 Centerline is valid? [True, True] Translation: X:53.96, Y:-18.41, Z:9.19 [[ 9.97306314e-01 -5.19788973e-02 5.17523954e-02 5.39573923e+01] [ 5.19026128e-02 9.98648176e-01 2.81779258e-03 -1.84057070e+01] [-5.18289010e-02 -1.24117790e-04 9.98655972e-01 9.19429940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.654839173 meters 0.0740224119743523 Centerline is valid? [True, True] Translation: X:53.99, Y:-18.40, Z:9.19 [[ 9.97571413e-01 -4.80870888e-02 5.03875728e-02 5.39886766e+01] [ 4.80098096e-02 9.98843096e-01 2.74359538e-03 -1.83951904e+01] [-5.04612108e-02 -3.17834543e-04 9.98725971e-01 9.18875671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.684839173 meters 0.074499208797471 Centerline is valid? [True, True] Translation: X:54.02, Y:-18.39, Z:9.18 [[ 9.97740009e-01 -4.48896147e-02 4.99979612e-02 5.40189751e+01] [ 4.48097852e-02 9.98991842e-01 2.71697863e-03 -1.83900972e+01] [-5.00695195e-02 -4.70440384e-04 9.98745624e-01 9.18404825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.714839173 meters 0.07472118109853848 Centerline is valid? [True, True] Translation: X:54.05, Y:-18.38, Z:9.18 [[ 9.97932990e-01 -3.77559750e-02 5.20022461e-02 5.40514210e+01] [ 3.76600652e-02 9.99286620e-01 2.82332285e-03 -1.83816654e+01] [-5.20717460e-02 -8.59079029e-04 9.98642977e-01 9.18453293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.744839173 meters 0.07466548030075006 Centerline is valid? [True, True] Translation: X:54.08, Y:-18.38, Z:9.18 [[ 9.97997188e-01 -3.46636175e-02 5.29154680e-02 5.40831083e+01] [ 3.45602093e-02 9.99398502e-01 2.86826600e-03 -1.83752926e+01] [-5.29830639e-02 -1.03375175e-03 9.98594876e-01 9.18333620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.774839173 meters 0.07673511350984456 Centerline is valid? [True, True] Translation: X:54.11, Y:-18.36, Z:9.18 [[ 9.98262932e-01 -2.79514450e-02 5.18636301e-02 5.41115405e+01] [ 2.78435050e-02 9.99608365e-01 2.80272198e-03 -1.83639567e+01] [-5.19216587e-02 -1.35378821e-03 9.98650243e-01 9.17567243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.804839173 meters 0.07832251062050073 Centerline is valid? [True, True] Translation: X:54.14, Y:-18.36, Z:9.17 [[ 9.98481682e-01 -2.54394115e-02 4.88586511e-02 5.41401898e+01] [ 2.53406256e-02 9.99675388e-01 2.64033225e-03 -1.83579050e+01] [-4.89099594e-02 -1.39821460e-03 9.98802213e-01 9.16637131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.834839173 meters 0.07939393700657894 Centerline is valid? [True, True] Translation: X:54.17, Y:-18.35, Z:9.15 [[ 9.98750731e-01 -2.39970602e-02 4.38305576e-02 5.41698762e+01] [ 2.39161761e-02 9.99711161e-01 2.36890789e-03 -1.83541035e+01] [-4.38747444e-02 -1.31768915e-03 9.99036171e-01 9.15466363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86483917300001 meters 0.08069926923570768 Centerline is valid? [True, True] Translation: X:54.20, Y:-18.35, Z:9.14 [[ 9.98908734e-01 -2.48502335e-02 3.95450069e-02 5.41986049e+01] [ 2.47850895e-02 9.99690519e-01 2.13681689e-03 -1.83534352e+01] [-3.95858689e-02 -1.15435851e-03 9.99215506e-01 9.14489187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.894839173 meters 0.081992586313522 Centerline is valid? [True, True] Translation: X:54.23, Y:-18.36, Z:9.13 [[ 9.99076864e-01 -2.87590707e-02 3.19113797e-02 5.42288287e+01] [ 2.87185413e-02 9.99586044e-01 1.72777323e-03 -1.83570526e+01] [-3.19478590e-02 -8.09729980e-04 9.99489209e-01 9.13237651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.924839173 meters 0.08122102351575158 Centerline is valid? [True, True] Translation: X:54.26, Y:-18.36, Z:9.13 [[ 9.99009231e-01 -2.91530893e-02 3.36252032e-02 5.42606314e+01] [ 2.91083474e-02 9.99574606e-01 1.81947038e-03 -1.83550959e+01] [-3.36639424e-02 -8.38893608e-04 9.99432857e-01 9.13198392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.954839173 meters 0.08146189588996973 Centerline is valid? [True, True] Translation: X:54.29, Y:-18.35, Z:9.13 [[ 9.98938467e-01 -3.00052914e-02 3.49516999e-02 5.42911298e+01] [ 2.99576033e-02 9.99549388e-01 1.88741597e-03 -1.83538732e+01] [-3.49925827e-02 -8.38343261e-04 9.99387220e-01 9.12785916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.984839173 meters 0.08165541266386736 Centerline is valid? [True, True] Translation: X:54.32, Y:-18.36, Z:9.12 [[ 9.98963172e-01 -3.06489352e-02 3.36633952e-02 5.43230842e+01] [ 3.06050180e-02 9.99529901e-01 1.81922662e-03 -1.83554015e+01] [-3.37033274e-02 -7.87071574e-04 9.99431572e-01 9.12308189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.014839173 meters 0.0837258701541413 Centerline is valid? [True, True] Translation: X:54.35, Y:-18.36, Z:9.11 [[ 9.99165612e-01 -2.92843016e-02 2.84694610e-02 5.43523591e+01] [ 2.92525158e-02 9.99570879e-01 1.53242587e-03 -1.83579958e+01] [-2.85021202e-02 -6.98343880e-04 9.99593488e-01 9.11183176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.044839173 meters 0.0846868110338278 Centerline is valid? [True, True] Translation: X:54.38, Y:-18.36, Z:9.10 [[ 9.99246193e-01 -2.85956968e-02 2.62551257e-02 5.43823868e+01] [ 2.85684130e-02 9.99590840e-01 1.41376867e-03 -1.83555399e+01] [-2.62848109e-02 -6.62635687e-04 9.99654275e-01 9.10376467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.074839173 meters 0.0870250811890524 Centerline is valid? [True, True] Translation: X:54.41, Y:-18.34, Z:9.10 [[ 9.99574221e-01 -2.22577936e-02 1.88670734e-02 5.44118546e+01] [ 2.22425955e-02 9.99752088e-01 1.01502514e-03 -1.83449940e+01] [-1.88849882e-02 -5.94940279e-04 9.99821486e-01 9.09589858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.104839173 meters 0.0903976529580226 Centerline is valid? [True, True] Translation: X:54.44, Y:-18.34, Z:9.08 [[ 9.99740622e-01 -1.86597069e-02 1.30577484e-02 5.44401673e+01] [ 1.86521458e-02 9.99825788e-01 7.00601679e-04 -1.83373224e+01] [-1.30685466e-02 -4.56864931e-04 9.99914499e-01 9.08468272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.134839173 meters 0.0929660028215482 Centerline is valid? [True, True] Translation: X:54.47, Y:-18.33, Z:9.08 [[ 9.99831434e-01 -1.12727427e-02 1.44923974e-02 5.44689611e+01] [ 1.12625038e-02 9.99936266e-01 7.87925389e-04 -1.83256571e+01] [-1.45003558e-02 -6.24571890e-04 9.99894669e-01 9.07870407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.164839173 meters 0.09798395506253742 Centerline is valid? [True, True] Translation: X:54.50, Y:-18.31, Z:9.07 [[ 9.99883913e-01 -2.61133126e-03 1.50113805e-02 5.44970789e+01] [ 2.59944576e-03 9.99996292e-01 8.11223448e-04 -1.83119053e+01] [-1.50134433e-02 -7.72108006e-04 9.99886994e-01 9.07462434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.194839173 meters 0.09765361466661417 Centerline is valid? [True, True] Translation: X:54.53, Y:-18.31, Z:9.08 [[ 9.99777420e-01 7.70846526e-04 2.10835428e-02 5.45283957e+01] [-7.94890726e-04 9.99999043e-01 1.13206830e-03 -1.83058096e+01] [-2.10826500e-02 -1.14857544e-03 9.99777076e-01 9.07850895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.224839173 meters 0.09367767160139528 Centerline is valid? [True, True] Translation: X:54.56, Y:-18.30, Z:9.10 [[ 9.99405066e-01 5.61817189e-03 3.40286560e-02 5.45611543e+01] [-5.68353592e-03 9.99982184e-01 1.82442713e-03 -1.83030725e+01] [-3.40177998e-02 -2.01674481e-03 9.99419192e-01 9.09787626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25483917300001 meters 0.09739365932389936 Centerline is valid? [True, True] Translation: X:54.59, Y:-18.29, Z:9.09 [[ 9.99236091e-01 4.47702465e-03 3.88225564e-02 5.45904134e+01] [-4.56122737e-03 9.99987433e-01 2.08061066e-03 -1.82947179e+01] [-3.88127536e-02 -2.25609977e-03 9.99243954e-01 9.09260279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.284839173 meters 0.09445791489484201 Centerline is valid? [True, True] Translation: X:54.62, Y:-18.30, Z:9.09 [[ 9.99185036e-01 1.79764406e-03 4.03240993e-02 5.46216020e+01] [-1.88636467e-03 9.99995883e-01 2.16224777e-03 -1.82980182e+01] [-4.03200463e-02 -2.23655157e-03 9.99184313e-01 9.09349455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.314839173 meters 0.08571071733319922 Centerline is valid? [True, True] Translation: X:54.66, Y:-18.32, Z:9.10 [[ 9.98933132e-01 -4.80187990e-03 4.59297160e-02 5.46550095e+01] [ 4.69378870e-03 9.99985956e-01 2.46096467e-03 -1.83189532e+01] [-4.59408882e-02 -2.24275477e-03 9.98941642e-01 9.10444181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.344839173 meters 0.08571071733319922 Centerline is valid? [True, True] Translation: X:54.69, Y:-18.32, Z:9.10 [[ 9.98934627e-01 -4.48960898e-03 4.59288045e-02 5.46873906e+01] [ 4.38040600e-03 9.99987336e-01 2.47802853e-03 -1.83174844e+01] [-4.59393483e-02 -2.27420169e-03 9.98941642e-01 9.10114068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.374839173 meters 0.08048721901447141 Centerline is valid? [True, True] Translation: X:54.72, Y:-18.34, Z:9.11 [[ 9.98206031e-01 -1.05602971e-02 5.89338564e-02 5.47206034e+01] [ 1.03933279e-02 9.99941061e-01 3.13897845e-03 -1.83367223e+01] [-5.89635315e-02 -2.52082833e-03 9.98256955e-01 9.11210922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.404839173 meters 0.07903709959864186 Centerline is valid? [True, True] Translation: X:54.75, Y:-18.34, Z:9.11 [[ 9.97858402e-01 -1.25899979e-02 6.41880170e-02 5.47518275e+01] [ 1.23960903e-02 9.99917323e-01 3.41830414e-03 -1.83413082e+01] [-6.42257465e-02 -2.61530305e-03 9.97931968e-01 9.11395246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.434839173 meters 0.07790111190530205 Centerline is valid? [True, True] Translation: X:54.78, Y:-18.34, Z:9.12 [[ 9.97622833e-01 -1.37644758e-02 6.75220165e-02 5.47834958e+01] [ 1.35524947e-02 9.99901693e-01 3.59652407e-03 -1.83436850e+01] [-6.75648829e-02 -2.67288276e-03 9.97711302e-01 9.11612152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.464839173 meters 0.07911658759365889 Centerline is valid? [True, True] Translation: X:54.81, Y:-18.34, Z:9.11 [[ 9.97828410e-01 -1.36088455e-02 6.44458236e-02 5.48136235e+01] [ 1.34153764e-02 9.99904114e-01 3.43384313e-03 -1.83394523e+01] [-6.44863748e-02 -2.56182125e-03 9.97915299e-01 9.10940824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.494839173 meters 0.08386808660729923 Centerline is valid? [True, True] Translation: X:54.84, Y:-18.33, Z:9.09 [[ 9.98595829e-01 -8.72764745e-03 5.22513089e-02 5.48411751e+01] [ 8.59431634e-03 9.99959215e-01 2.77587408e-03 -1.83323755e+01] [-5.22734047e-02 -2.32291200e-03 9.98630109e-01 9.09291484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.524839173 meters 0.08632899767026295 Centerline is valid? [True, True] Translation: X:54.87, Y:-18.33, Z:9.08 [[ 9.98812798e-01 -5.29208563e-03 4.84250812e-02 5.48713044e+01] [ 5.17381319e-03 9.99983320e-01 2.56739960e-03 -1.83305531e+01] [-4.84378604e-02 -2.31380925e-03 9.98823518e-01 9.08284273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.554839173 meters 0.09183942042632992 Centerline is valid? [True, True] Translation: X:54.90, Y:-18.33, Z:9.07 [[ 9.99166396e-01 2.34177632e-03 4.07557300e-02 5.49003448e+01] [-2.43184823e-03 9.99994709e-01 2.16060671e-03 -1.83324615e+01] [-4.07504547e-02 -2.25791737e-03 9.99166804e-01 9.06990963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.584839173 meters 0.0991897237201389 Centerline is valid? [True, True] Translation: X:54.93, Y:-18.33, Z:9.06 [[ 9.99260076e-01 1.36263352e-02 3.59669886e-02 5.49295562e+01] [-1.37037082e-02 9.99904284e-01 1.90556884e-03 -1.83295443e+01] [-3.59375801e-02 -2.39703998e-03 9.99351162e-01 9.06050661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61483917300001 meters 0.10021041233591937 Centerline is valid? [True, False] Translation: X:54.93, Y:-18.33, Z:9.06 [[ 9.99680717e-01 1.52666198e-02 2.01344020e-02 5.49324427e+01] [-1.53147869e-02 9.99880212e-01 2.24025182e-03 -1.83312603e+01] [-2.00977891e-02 -2.54789062e-03 9.99794773e-01 9.06377528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.644839173 meters 0.10427189309692582 Centerline is valid? [False, False] Translation: X:54.93, Y:-18.34, Z:9.07 [[ 9.99792402e-01 1.95116899e-02 5.86919615e-03 5.49318419e+01] [-1.95804900e-02 9.99737432e-01 1.19025508e-02 -1.83358758e+01] [-5.63541621e-03 -1.20150016e-02 9.99911937e-01 9.06993125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.674839173 meters 0.10414723333990261 Centerline is valid? [False, False] Translation: X:54.93, Y:-18.34, Z:9.07 [[ 9.99787329e-01 1.97665470e-02 5.88047510e-03 5.49312605e+01] [-1.98384483e-02 9.99725916e-01 1.24309596e-02 -1.83365506e+01] [-5.63314621e-03 -1.25449754e-02 9.99905441e-01 9.07087048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.704839173 meters 0.10249963879883192 Centerline is valid? [False, False] Translation: X:54.93, Y:-18.34, Z:9.07 [[ 9.99858423e-01 1.57182522e-02 6.00593785e-03 5.49309452e+01] [-1.57671740e-02 9.99842173e-01 8.18694531e-03 -1.83357272e+01] [-5.87630547e-03 -8.28048290e-03 9.99948450e-01 9.07089020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.734839173 meters 0.09881243217775044 Centerline is valid? [False, True] Translation: X:54.93, Y:-18.34, Z:9.07 [[ 9.99933046e-01 9.57443002e-03 6.49868159e-03 5.49280453e+01] [-9.59153608e-03 9.99950604e-01 2.60619267e-03 -1.83405006e+01] [-6.47340777e-03 -2.66835051e-03 9.99975487e-01 9.07399891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.764839173 meters 0.10008904955338853 Centerline is valid? [True, False] Translation: X:54.92, Y:-18.35, Z:9.08 [[ 9.99963140e-01 5.07978789e-03 6.92197261e-03 5.49246372e+01] [-5.07231179e-03 9.99986534e-01 -1.09718094e-03 -1.83528212e+01] [-6.92745284e-03 1.06203010e-03 9.99975441e-01 9.07705495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.794839173 meters 0.09921276554237937 Centerline is valid? [False, True] Translation: X:54.92, Y:-18.36, Z:9.08 [[ 9.99959655e-01 5.83994127e-03 6.82524120e-03 5.49248949e+01] [-5.84359813e-03 9.99982793e-01 5.15964000e-04 -1.83573347e+01] [-6.82211055e-03 -5.55827150e-04 9.99976575e-01 9.07702508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.824839173 meters 0.10088344996731567 Centerline is valid? [True, False] Translation: X:54.93, Y:-18.36, Z:9.07 [[ 9.99967320e-01 5.14400145e-03 6.23688126e-03 5.49279947e+01] [-5.14558353e-03 9.99986733e-01 2.37645141e-04 -1.83577436e+01] [-6.23557607e-03 -2.69729768e-04 9.99980522e-01 9.07398443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.854839173 meters 0.10053237305163208 Centerline is valid? [False, False] Translation: X:54.93, Y:-18.36, Z:9.07 [[ 9.99971784e-01 4.79256791e-03 5.78473617e-03 5.49295134e+01] [-4.79302323e-03 9.99988511e-01 6.48497731e-05 -1.83578904e+01] [-5.78435891e-03 -9.25743181e-05 9.99983266e-01 9.07284119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.884839173 meters 0.09634093225747024 Centerline is valid? [False, True] Translation: X:54.93, Y:-18.37, Z:9.08 [[ 9.99984738e-01 1.96922771e-03 5.16200213e-03 5.49296630e+01] [-1.96891012e-03 9.99998059e-01 -6.66072654e-05 -1.83675583e+01] [-5.16212328e-03 5.64427306e-05 9.99986675e-01 9.07510443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.914839173 meters 0.0964770360625278 Centerline is valid? [True, True] Translation: X:54.96, Y:-18.38, Z:9.07 [[ 9.99986045e-01 -1.72822975e-04 5.28021665e-03 5.49609504e+01] [ 1.70740151e-04 9.99999907e-01 3.94906219e-04 -1.83752278e+01] [-5.28028441e-03 -3.93999163e-04 9.99985982e-01 9.07381850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.944839173 meters 0.09267656631662066 Centerline is valid? [True, True] Translation: X:54.99, Y:-18.39, Z:9.08 [[ 9.99981477e-01 -6.18946510e-04 6.05500103e-03 5.49949837e+01] [ 6.16188588e-04 9.99999706e-01 4.57333234e-04 -1.83888327e+01] [-6.05528231e-03 -4.53593740e-04 9.99981564e-01 9.07728099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.974839173 meters 0.09368858721640085 Centerline is valid? [True, True] Translation: X:55.03, Y:-18.39, Z:9.08 [[ 9.99930916e-01 -1.26382705e-03 1.16861440e-02 5.50261135e+01] [ 1.25377101e-03 9.99998837e-01 8.67795755e-04 -1.83943179e+01] [-1.16872271e-02 -8.53084056e-04 9.99931338e-01 9.07648884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00483917300001 meters 0.09286517142494319 Centerline is valid? [True, True] Translation: X:55.06, Y:-18.39, Z:9.08 [[ 9.99888621e-01 2.42678351e-04 1.49226635e-02 5.50588101e+01] [-2.59289385e-04 9.99999349e-01 1.11121669e-03 -1.83942078e+01] [-1.49223841e-02 -1.11496222e-03 9.99888033e-01 9.07622991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.034839173 meters 0.09779943615369831 Centerline is valid? [True, True] Translation: X:55.09, Y:-18.39, Z:9.07 [[ 9.99888235e-01 8.73322497e-04 1.49249946e-02 5.50888890e+01] [-8.89980063e-04 9.99998988e-01 1.10947981e-03 -1.83866224e+01] [-1.49240106e-02 -1.12263876e-03 9.99888001e-01 9.07041867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.064839173 meters 0.08827106615420623 Centerline is valid? [True, True] Translation: X:55.12, Y:-18.42, Z:9.08 [[ 9.99949831e-01 1.00136585e-03 9.96661203e-03 5.51227934e+01] [-1.00878818e-03 9.99999218e-01 7.39719524e-04 -1.84169718e+01] [-9.96586350e-03 -7.49736613e-04 9.99950058e-01 9.07646627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.094839173 meters 0.09633482460214907 Centerline is valid? [True, True] Translation: X:55.15, Y:-18.41, Z:9.06 [[ 9.99978712e-01 1.67896918e-03 6.30529422e-03 5.51521528e+01] [-1.68196107e-03 9.99998475e-01 4.69232685e-04 -1.84110930e+01] [-6.30449678e-03 -4.79827956e-04 9.99980011e-01 9.06469264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.124839173 meters 0.08807130492288222 Centerline is valid? [True, True] Translation: X:55.19, Y:-18.44, Z:9.07 [[ 9.99982295e-01 -6.41648557e-04 5.91594580e-03 5.51864377e+01] [ 6.39051205e-04 9.99999699e-01 4.40922427e-04 -1.84366859e+01] [-5.91622694e-03 -4.37134028e-04 9.99982403e-01 9.06933601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.154839173 meters 0.08771885296041307 Centerline is valid? [True, True] Translation: X:55.22, Y:-18.44, Z:9.07 [[ 9.99956458e-01 -8.05036916e-04 9.29700806e-03 5.52176309e+01] [ 7.98658285e-04 9.99999443e-01 6.89787311e-04 -1.84357587e+01] [-9.29755819e-03 -6.82332143e-04 9.99956544e-01 9.06813003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.184839173 meters 0.09035928222129266 Centerline is valid? [True, True] Translation: X:55.25, Y:-18.43, Z:9.07 [[ 9.99920222e-01 5.16567978e-04 1.26207146e-02 5.52481563e+01] [-5.28470035e-04 9.99999419e-01 9.39740584e-04 -1.84315725e+01] [-1.26202218e-02 -9.46335283e-04 9.99919914e-01 9.06664772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.214839173 meters 0.09290373506686903 Centerline is valid? [True, True] Translation: X:55.28, Y:-18.43, Z:9.06 [[ 9.99928521e-01 1.04354992e-03 1.19106737e-02 5.52792421e+01] [-1.05412409e-03 9.99999056e-01 8.81546000e-04 -1.84298889e+01] [-1.19097425e-02 -8.94038316e-04 9.99928677e-01 9.06227264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.244839173 meters 0.09086445641657447 Centerline is valid? [True, True] Translation: X:55.31, Y:-18.45, Z:9.06 [[ 9.99962351e-01 -5.52177592e-04 8.65983148e-03 5.53128852e+01] [ 5.46552876e-04 9.99999638e-01 6.51871083e-04 -1.84457236e+01] [-8.66018830e-03 -6.47113485e-04 9.99962290e-01 9.05847353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.274839173 meters 0.09285852996088065 Centerline is valid? [True, True] Translation: X:55.34, Y:-18.45, Z:9.05 [[ 9.99956435e-01 -7.43388342e-04 9.30460630e-03 5.53440558e+01] [ 7.37037255e-04 9.99999493e-01 6.85984857e-04 -1.84464559e+01] [-9.30511154e-03 -6.79097130e-04 9.99956476e-01 9.05372429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.304839173 meters 0.09167347937135675 Centerline is valid? [True, True] Translation: X:55.38, Y:-18.46, Z:9.05 [[ 9.99978533e-01 2.71870028e-03 5.96180180e-03 5.53754356e+01] [-2.72136093e-03 9.99996201e-01 4.38216598e-04 -1.84551232e+01] [-5.96058778e-03 -4.54431406e-04 9.99982132e-01 9.05203803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.334839173 meters 0.09407903963088232 Centerline is valid? [True, True] Translation: X:55.41, Y:-18.45, Z:9.04 [[ 9.99981814e-01 5.86379503e-03 1.41012820e-03 5.54051009e+01] [-5.86394694e-03 9.99982802e-01 1.03620530e-04 -1.84522625e+01] [-1.40949634e-03 -1.11887563e-04 9.99999000e-01 9.04424689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36483917300001 meters 0.1026974342855404 Centerline is valid? [True, False] Translation: X:55.41, Y:-18.45, Z:9.03 [[ 9.99983486e-01 5.72318173e-03 -5.22632487e-04 5.54139202e+01] [-5.72399265e-03 9.99982395e-01 -1.56352887e-03 -1.84523991e+01] [ 5.13674926e-04 1.56649460e-03 9.99998641e-01 9.03349185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.394839173 meters 0.10127813117909973 Centerline is valid? [False, False] Translation: X:55.41, Y:-18.46, Z:9.03 [[ 9.99965851e-01 -1.24556792e-03 -8.16975806e-03 5.54078943e+01] [ 1.23229252e-03 9.99997913e-01 -1.62977714e-03 -1.84638309e+01] [ 8.17177101e-03 1.61965395e-03 9.99965299e-01 9.02794254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.424839173 meters 0.10136164852770964 Centerline is valid? [False, False] Translation: X:55.41, Y:-18.47, Z:9.03 [[ 9.99953776e-01 -4.72147357e-03 -8.37578649e-03 5.54099376e+01] [ 4.68891203e-03 9.99981390e-01 -3.90296666e-03 -1.84709528e+01] [ 8.39405837e-03 3.86351293e-03 9.99957306e-01 9.02594262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.454839173 meters 0.09992754812200427 Centerline is valid? [False, True] Translation: X:55.41, Y:-18.48, Z:9.03 [[ 9.99950685e-01 -4.32825485e-03 -8.93828391e-03 5.54114956e+01] [ 4.30859875e-03 9.99988260e-01 -2.21717722e-03 -1.84777537e+01] [ 8.94777548e-03 2.17855641e-03 9.99957595e-01 9.02519059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.484839173 meters 0.09653095453057813 Centerline is valid? [True, True] Translation: X:55.44, Y:-18.48, Z:9.03 [[ 9.99931795e-01 -1.09118902e-02 -4.16371626e-03 5.54418299e+01] [ 1.09106243e-02 9.99940424e-01 -3.26621102e-04 -1.84822559e+01] [ 4.16703225e-03 2.81170081e-04 9.99991278e-01 9.02575411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.514839173 meters 0.09236053787238412 Centerline is valid? [True, True] Translation: X:55.47, Y:-18.48, Z:9.03 [[ 9.99887095e-01 -1.50107103e-02 6.89342605e-04 5.54724314e+01] [ 1.50106769e-02 9.99887332e-01 5.36779638e-05 -1.84839176e+01] [-6.90070683e-04 -4.33244042e-05 9.99999761e-01 9.02988821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.544839173 meters 0.08873689576575979 Centerline is valid? [True, True] Translation: X:55.50, Y:-18.49, Z:9.04 [[ 9.99688403e-01 -2.38282074e-02 7.43735370e-03 5.55031536e+01] [ 2.38245467e-02 9.99715987e-01 5.80433384e-04 -1.84945182e+01] [-7.44907208e-03 -4.03060942e-04 9.99972174e-01 9.03556170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.574839173 meters 0.08167303746232639 Centerline is valid? [True, True] Translation: X:55.54, Y:-18.52, Z:9.05 [[ 9.99366252e-01 -3.16019556e-02 1.63832443e-02 5.55368760e+01] [ 3.15852210e-02 9.99500244e-01 1.27925521e-03 -1.85220703e+01] [-1.64154837e-02 -7.60976091e-04 9.99864967e-01 9.05281048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.604839173 meters 0.07861533807474297 Centerline is valid? [True, True] Translation: X:55.57, Y:-18.53, Z:9.06 [[ 9.99198851e-01 -3.38940036e-02 2.12803421e-02 5.55682797e+01] [ 3.38662796e-02 9.99424991e-01 1.66193874e-03 -1.85303694e+01] [-2.13244355e-02 -9.39921260e-04 9.99772167e-01 9.06028056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.634839173 meters 0.07818359673550755 Centerline is valid? [True, True] Translation: X:55.60, Y:-18.53, Z:9.06 [[ 9.99082005e-01 -3.56665935e-02 2.37285099e-02 5.55968787e+01] [ 3.56326731e-02 9.99363241e-01 1.85093735e-03 -1.85276365e+01] [-2.37794172e-02 -1.00372796e-03 9.99716726e-01 9.05925530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.664839173 meters 0.07778886988488444 Centerline is valid? [True, True] Translation: X:55.63, Y:-18.52, Z:9.06 [[ 9.99095069e-01 -3.63584893e-02 2.20704127e-02 5.56252156e+01] [ 3.63294997e-02 9.99338397e-01 1.71317128e-03 -1.85189829e+01] [-2.21180992e-02 -9.09813926e-04 9.99754951e-01 9.05659340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.694839173 meters 0.07870813446755652 Centerline is valid? [True, True] Translation: X:55.65, Y:-18.51, Z:9.05 [[ 9.99058397e-01 -3.80709819e-02 2.08067275e-02 5.56516234e+01] [ 3.80454394e-02 9.99274693e-01 1.62222145e-03 -1.85140230e+01] [-2.08533958e-02 -8.29092872e-04 9.99782201e-01 9.05098692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.724839173 meters 0.07700808568096934 Centerline is valid? [True, True] Translation: X:55.68, Y:-18.52, Z:9.06 [[ 9.98773447e-01 -4.08390557e-02 2.79959432e-02 5.56821082e+01] [ 4.07933962e-02 9.99165180e-01 2.20037192e-03 -1.85162651e+01] [-2.80624328e-02 -1.05562344e-03 9.99605615e-01 9.05596307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75483917300001 meters 0.07499331257239707 Centerline is valid? [True, True] Translation: X:55.71, Y:-18.52, Z:9.06 [[ 9.98614565e-01 -4.15848737e-02 3.22435788e-02 5.57129535e+01] [ 4.15246351e-02 9.99134262e-01 2.53590363e-03 -1.85190142e+01] [-3.23211195e-02 -1.19348746e-03 9.99476824e-01 9.06367345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.784839173 meters 0.07547485658057874 Centerline is valid? [True, True] Translation: X:55.74, Y:-18.51, Z:9.07 [[ 9.98617840e-01 -4.02088656e-02 3.38475656e-02 5.57405273e+01] [ 4.01417526e-02 9.99190454e-01 2.66028992e-03 -1.85118149e+01] [-3.39271317e-02 -1.29791237e-03 9.99423466e-01 9.06743883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.814839173 meters 0.07644927962409351 Centerline is valid? [True, True] Translation: X:55.77, Y:-18.50, Z:9.07 [[ 9.98924933e-01 -3.27650274e-02 3.27937599e-02 5.57701853e+01] [ 3.26978342e-02 9.99461944e-01 2.58330044e-03 -1.84982208e+01] [-3.28607569e-02 -1.50823830e-03 9.99458801e-01 9.06875840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.844839173 meters 0.07979028391528026 Centerline is valid? [True, True] Translation: X:55.80, Y:-18.48, Z:9.06 [[ 9.99052088e-01 -3.01662044e-02 3.13835153e-02 5.57989995e+01] [ 3.01033561e-02 9.99543731e-01 2.47326586e-03 -1.84827067e+01] [-3.14438051e-02 -1.52617229e-03 9.99504356e-01 9.06115178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.874839173 meters 0.08246828793216018 Centerline is valid? [True, True] Translation: X:55.83, Y:-18.47, Z:9.05 [[ 9.99312701e-01 -2.68090515e-02 2.56007773e-02 5.58276094e+01] [ 2.67661702e-02 9.99639688e-01 2.01626776e-03 -1.84718929e+01] [-2.56456073e-02 -1.32964722e-03 9.99670213e-01 9.05190527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.904839173 meters 0.08311559980464195 Centerline is valid? [True, True] Translation: X:55.86, Y:-18.47, Z:9.05 [[ 9.99370484e-01 -2.57294790e-02 2.44260145e-02 5.58582738e+01] [ 2.56900764e-02 9.99668101e-01 1.92562610e-03 -1.84663336e+01] [-2.44674529e-02 -1.29690771e-03 9.99699786e-01 9.04885323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.934839173 meters 0.08148616910030912 Centerline is valid? [True, True] Translation: X:55.89, Y:-18.46, Z:9.05 [[ 9.99393146e-01 -2.26947240e-02 2.64251547e-02 5.58891743e+01] [ 2.26475954e-02 9.99741344e-01 2.08143625e-03 -1.84604722e+01] [-2.64655573e-02 -1.48170691e-03 9.99648628e-01 9.05254117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.964839173 meters 0.08039299204604068 Centerline is valid? [True, True] Translation: X:55.92, Y:-18.46, Z:9.05 [[ 9.99530618e-01 -2.01952965e-02 2.30368069e-02 5.59198550e+01] [ 2.01588413e-02 9.99795145e-01 1.81363599e-03 -1.84587518e+01] [-2.30687146e-02 -1.34838937e-03 9.99732972e-01 9.05105006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.994839173 meters 0.08677176870792203 Centerline is valid? [True, True] Translation: X:55.95, Y:-18.44, Z:9.04 [[ 9.99774138e-01 -1.55303939e-02 1.45079480e-02 5.59476262e+01] [ 1.55154491e-02 9.99878976e-01 1.14210655e-03 -1.84428682e+01] [-1.45239296e-02 -9.16751266e-04 9.99894102e-01 9.03572538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.024839173 meters 0.08833705258214213 Centerline is valid? [True, True] Translation: X:55.98, Y:-18.43, Z:9.04 [[ 9.99789840e-01 -9.00775722e-03 1.84156311e-02 5.59780472e+01] [ 8.98254920e-03 9.99958603e-01 1.45109872e-03 -1.84280475e+01] [-1.84279399e-02 -1.28537445e-03 9.99829365e-01 9.03778853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.054839173 meters 0.08810141492117732 Centerline is valid? [True, True] Translation: X:56.01, Y:-18.42, Z:9.04 [[ 9.99755546e-01 -8.12026814e-03 2.05647798e-02 5.60091511e+01] [ 8.08862103e-03 9.99965972e-01 1.62161211e-03 -1.84172560e+01] [-2.05772479e-02 -1.45487499e-03 9.99787207e-01 9.03786499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.084839173 meters 0.08581754389955225 Centerline is valid? [True, True] Translation: X:56.04, Y:-18.41, Z:9.04 [[ 9.99718560e-01 -8.80234786e-03 2.20299498e-02 5.60407811e+01] [ 8.76623198e-03 9.99960070e-01 1.73543590e-03 -1.84130282e+01] [-2.20443460e-02 -1.54182783e-03 9.99755805e-01 9.03961715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11483917300001 meters 0.08515282463016896 Centerline is valid? [True, True] Translation: X:56.07, Y:-18.42, Z:9.04 [[ 9.99668566e-01 -1.39031828e-02 2.16670313e-02 5.60712916e+01] [ 1.38695584e-02 9.99902366e-01 1.70137768e-03 -1.84169178e+01] [-2.16885705e-02 -1.40030162e-03 9.99763795e-01 9.03980416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.144839173 meters 0.08054642050151292 Centerline is valid? [True, True] Translation: X:56.10, Y:-18.43, Z:9.05 [[ 9.99628953e-01 -1.76165202e-02 2.07753309e-02 5.61041498e+01] [ 1.75863873e-02 9.99844015e-01 1.63224010e-03 -1.84336081e+01] [-2.08008447e-02 -1.26627145e-03 9.99782837e-01 9.04556586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.174839173 meters 0.08003952231514705 Centerline is valid? [True, True] Translation: X:56.13, Y:-18.44, Z:9.04 [[ 9.99560403e-01 -2.30035499e-02 1.87039567e-02 5.61349723e+01] [ 2.29800898e-02 9.99734845e-01 1.46827692e-03 -1.84437410e+01] [-1.87327728e-02 -1.03781287e-03 9.99823988e-01 9.04334346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.204839173 meters 0.07802940106631988 Centerline is valid? [True, True] Translation: X:56.17, Y:-18.44, Z:9.04 [[ 9.99450226e-01 -2.49391033e-02 2.18469028e-02 5.61655108e+01] [ 2.49075419e-02 9.99688287e-01 1.71562491e-03 -1.84428045e+01] [-2.18828790e-02 -1.17052906e-03 9.99759856e-01 9.04281749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.234839173 meters 0.07802940106631988 Centerline is valid? [True, True] Translation: X:56.20, Y:-18.44, Z:9.04 [[ 9.99451224e-01 -2.48991419e-02 2.18468333e-02 5.61962477e+01] [ 2.48675517e-02 9.99689281e-01 1.71651089e-03 -1.84404364e+01] [-2.18827847e-02 -1.17229165e-03 9.99759856e-01 9.04074126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.264839173 meters 0.07935497518987909 Centerline is valid? [True, True] Translation: X:56.23, Y:-18.43, Z:9.04 [[ 9.99426603e-01 -2.42646222e-02 2.36155194e-02 5.62255932e+01] [ 2.42275221e-02 9.99704748e-01 1.85589235e-03 -1.84326042e+01] [-2.36535794e-02 -1.28268266e-03 9.99719392e-01 9.03572489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.294839173 meters 0.08325004134641131 Centerline is valid? [True, True] Translation: X:56.26, Y:-18.43, Z:9.03 [[ 9.99385067e-01 -2.56131284e-02 2.39469425e-02 5.62551594e+01] [ 2.55754707e-02 9.99671131e-01 1.87755020e-03 -1.84275058e+01] [-2.39871570e-02 -1.26394131e-03 9.99711468e-01 9.02542301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.324839173 meters 0.0802228876735684 Centerline is valid? [True, True] Translation: X:56.29, Y:-18.44, Z:9.03 [[ 9.99364761e-01 -2.65786214e-02 2.37413352e-02 5.62881509e+01] [ 2.65418707e-02 9.99645969e-01 1.86179205e-03 -1.84408881e+01] [-2.37824139e-02 -1.23046992e-03 9.99716401e-01 9.03019457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.354839173 meters 0.08097234610888551 Centerline is valid? [True, True] Translation: X:56.32, Y:-18.45, Z:9.03 [[ 9.99366280e-01 -2.52998681e-02 2.50390872e-02 5.63198582e+01] [ 2.52586363e-02 9.99679025e-01 1.96165604e-03 -1.84505897e+01] [-2.50806799e-02 -1.32795971e-03 9.99684548e-01 9.03033300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.384839173 meters 0.08017327193418997 Centerline is valid? [True, True] Translation: X:56.35, Y:-18.45, Z:9.03 [[ 9.99454721e-01 -2.14502092e-02 2.51027915e-02 5.63516711e+01] [ 2.14075470e-02 9.99768897e-01 1.96703750e-03 -1.84514487e+01] [-2.51391835e-02 -1.42857573e-03 9.99682940e-01 9.03284744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.414839173 meters 0.08565740065898715 Centerline is valid? [True, True] Translation: X:56.38, Y:-18.43, Z:9.03 [[ 9.99577633e-01 -1.08685094e-02 2.69524040e-02 5.63797499e+01] [ 1.08155461e-02 9.99939284e-01 2.11007081e-03 -1.84322974e+01] [-2.69737009e-02 -1.81767462e-03 9.99634491e-01 9.02600755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.444839173 meters 0.09153888748332793 Centerline is valid? [True, True] Translation: X:56.41, Y:-18.42, Z:9.02 [[ 9.99575517e-01 -5.79755104e-03 2.85512687e-02 5.64077597e+01] [ 5.73608374e-03 9.99981052e-01 2.23430782e-03 -1.84173135e+01] [-2.85636812e-02 -2.06958693e-03 9.99589832e-01 9.02060232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.474839173 meters 0.09226180831828427 Centerline is valid? [True, True] Translation: X:56.44, Y:-18.42, Z:9.03 [[ 9.99406193e-01 1.69366636e-03 3.44150041e-02 5.64382499e+01] [-1.78733166e-03 9.99994782e-01 2.69105895e-03 -1.84167373e+01] [-3.44102667e-02 -2.75097201e-03 9.99404005e-01 9.02510046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50483917300001 meters 0.09290242725382801 Centerline is valid? [True, True] Translation: X:56.47, Y:-18.42, Z:9.02 [[ 9.99358129e-01 3.80913816e-03 3.56205164e-02 5.64705019e+01] [-3.91094448e-03 9.99988463e-01 2.78884048e-03 -1.84159994e+01] [-3.56094823e-02 -2.92636026e-03 9.99361497e-01 9.02392281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.534839173 meters 0.09449891778277927 Centerline is valid? [True, True] Translation: X:56.50, Y:-18.42, Z:9.02 [[ 9.99364163e-01 5.44686370e-03 3.52363600e-02 5.65019870e+01] [-5.54759592e-03 9.99980799e-01 2.76162002e-03 -1.84231737e+01] [-3.52206413e-02 -2.95534117e-03 9.99375191e-01 9.02208745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.564839173 meters 0.09545009996312782 Centerline is valid? [True, True] Translation: X:56.53, Y:-18.43, Z:9.02 [[ 9.99466732e-01 5.34999614e-03 3.22122422e-02 5.65327352e+01] [-5.43390483e-03 9.99982066e-01 2.51789072e-03 -1.84253095e+01] [-3.21981938e-02 -2.69158627e-03 9.99477880e-01 9.01652656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.594839173 meters 0.09561855073683176 Centerline is valid? [True, True] Translation: X:56.56, Y:-18.43, Z:9.01 [[ 9.99499909e-01 3.11254892e-03 3.14681285e-02 5.65632878e+01] [-3.19105505e-03 9.99991920e-01 2.44486949e-03 -1.84254782e+01] [-3.14602644e-02 -2.54406337e-03 9.99501766e-01 9.00859652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.624839173 meters 0.09225246887185456 Centerline is valid? [True, True] Translation: X:56.59, Y:-18.43, Z:9.00 [[ 9.99430091e-01 -1.05339553e-03 3.37399279e-02 5.65946352e+01] [ 9.65579596e-04 9.99996104e-01 2.61891856e-03 -1.84336912e+01] [-3.37425552e-02 -2.58484743e-03 9.99427215e-01 9.00206821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.654839173 meters 0.09230111219716441 Centerline is valid? [True, True] Translation: X:56.63, Y:-18.44, Z:9.00 [[ 9.99457933e-01 -3.14668696e-03 3.27709934e-02 5.66253331e+01] [ 3.06493789e-03 9.99992066e-01 2.54449127e-03 -1.84375724e+01] [-3.27787401e-02 -2.44267092e-03 9.99459648e-01 8.99588300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.684839173 meters 0.09443510719037865 Centerline is valid? [True, True] Translation: X:56.66, Y:-18.44, Z:8.99 [[ 9.99549481e-01 -3.42631320e-03 2.98176919e-02 5.66556423e+01] [ 3.35879213e-03 9.99991681e-01 2.31425576e-03 -1.84371098e+01] [-2.98253732e-02 -2.21306172e-03 9.99552675e-01 8.98873247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.714839173 meters 0.09305571024886639 Centerline is valid? [True, True] Translation: X:56.69, Y:-18.44, Z:8.99 [[ 9.99534378e-01 -2.07315615e-03 3.04422300e-02 5.66887047e+01] [ 2.00193266e-03 9.99995188e-01 2.36992040e-03 -1.84445454e+01] [-3.04469968e-02 -2.30787362e-03 9.99533718e-01 8.98832169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.744839173 meters 0.09501321496416075 Centerline is valid? [True, True] Translation: X:56.72, Y:-18.44, Z:8.99 [[ 9.99524184e-01 6.41006758e-04 3.08382110e-02 5.67187343e+01] [-7.14839205e-04 9.99996905e-01 2.38322185e-03 -1.84407547e+01] [-3.08365879e-02 -2.40413224e-03 9.99521548e-01 8.98655338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.774839173 meters 0.09600194350314849 Centerline is valid? [True, True] Translation: X:56.75, Y:-18.44, Z:8.98 [[ 9.99576242e-01 5.98330837e-03 2.84874619e-02 5.67487616e+01] [-6.04843401e-03 9.99979287e-01 2.20049447e-03 -1.84386631e+01] [-2.84737056e-02 -2.37186652e-03 9.99591728e-01 8.98399223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.804839173 meters 0.10103587583450882 Centerline is valid? [True, False] Translation: X:56.75, Y:-18.44, Z:8.99 [[ 9.99901033e-01 7.91141112e-03 1.16332732e-02 5.67544924e+01] [-7.96593269e-03 9.99957470e-01 4.64784742e-03 -1.84389846e+01] [-1.15960074e-02 -4.74005731e-03 9.99921529e-01 8.98683381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.834839173 meters 0.10177276338562513 Centerline is valid? [False, False] Translation: X:56.75, Y:-18.44, Z:8.99 [[ 9.99914375e-01 3.94855989e-03 1.24760417e-02 5.67537874e+01] [-3.95059508e-03 9.99992187e-01 1.38487212e-04 -1.84381320e+01] [-1.24753974e-02 -1.87763143e-04 9.99922162e-01 8.98538692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86483917300001 meters 0.10820473122918511 Centerline is valid? [False, False] Translation: X:56.75, Y:-18.44, Z:8.99 [[ 9.99910252e-01 4.33138528e-03 1.26778329e-02 5.67535074e+01] [-4.34180538e-03 9.99990259e-01 7.94506321e-04 -1.84402093e+01] [-1.26742681e-02 -8.49479698e-04 9.99919317e-01 8.98532164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.894839173 meters 0.10864510528342781 Centerline is valid? [False, False] Translation: X:56.75, Y:-18.44, Z:8.98 [[ 9.99910003e-01 3.28054785e-03 1.30085968e-02 5.67547915e+01] [-3.26731978e-03 9.99994124e-01 -1.03799368e-03 -1.84356592e+01] [-1.30119256e-02 9.95397016e-04 9.99914846e-01 8.98244807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.924839173 meters 0.10742454046564939 Centerline is valid? [False, False] Translation: X:56.76, Y:-18.43, Z:8.98 [[ 9.99908470e-01 5.87952161e-03 1.21853927e-02 5.67584404e+01] [-5.89619050e-03 9.99981730e-01 1.33246675e-03 -1.84332735e+01] [-1.21773358e-02 -1.40419218e-03 9.99924868e-01 8.97913529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.954839173 meters 0.10503733196397622 Centerline is valid? [False, False] Translation: X:56.76, Y:-18.43, Z:8.98 [[ 9.99929790e-01 4.31406258e-03 1.10364520e-02 5.67622280e+01] [-4.31119374e-03 9.99990667e-01 -2.83720036e-04 -1.84320916e+01] [-1.10375730e-02 2.36119834e-04 9.99939056e-01 8.97619040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.984839173 meters 0.1053088779662453 Centerline is valid? [False, False] Translation: X:56.76, Y:-18.43, Z:8.98 [[ 9.99941252e-01 1.41456016e-05 1.08393815e-02 5.67629351e+01] [ 3.41055905e-05 9.99990092e-01 -4.45127318e-03 -1.84334463e+01] [-1.08393371e-02 4.45138136e-03 9.99931345e-01 8.97572396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.014839173 meters 0.09695857483953708 Centerline is valid? [False, True] Translation: X:56.76, Y:-18.44, Z:8.98 [[ 9.99937691e-01 -2.88612274e-03 1.07835037e-02 5.67614750e+01] [ 2.95186065e-03 9.99977128e-01 -6.08521955e-03 -1.84403995e+01] [-1.07656944e-02 6.11667179e-03 9.99923340e-01 8.97848483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.044839173 meters 0.09691684046703762 Centerline is valid? [True, True] Translation: X:56.79, Y:-18.44, Z:8.99 [[ 9.99817321e-01 -7.47040695e-04 1.90988855e-02 5.67938032e+01] [ 7.17134739e-04 9.99998506e-01 1.57264915e-03 -1.84401232e+01] [-1.91000318e-02 -1.55866538e-03 9.99816363e-01 8.98790757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.074839173 meters 0.09625270216137083 Centerline is valid? [True, True] Translation: X:56.83, Y:-18.44, Z:8.99 [[ 9.99703942e-01 1.26604677e-03 2.42986867e-02 5.68257181e+01] [-1.31500940e-03 9.99997137e-01 1.99915877e-03 -1.84354552e+01] [-2.42960861e-02 -2.03051991e-03 9.99702744e-01 8.98798151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.104839173 meters 0.1004918885511326 Centerline is valid? [True, False] Translation: X:56.83, Y:-18.44, Z:8.99 [[ 9.99956803e-01 6.04178520e-03 7.06321938e-03 5.68310371e+01] [-6.10522721e-03 9.99940904e-01 8.99523562e-03 -1.84357820e+01] [-7.00845469e-03 -9.03796962e-03 9.99934596e-01 8.99262511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.134839173 meters 0.106600142239575 Centerline is valid? [False, False] Translation: X:56.83, Y:-18.44, Z:8.99 [[ 9.99968228e-01 2.08815945e-03 7.69304948e-03 5.68302081e+01] [-2.12605816e-03 9.99985629e-01 4.92147789e-03 -1.84361455e+01] [-7.68266209e-03 -4.93767740e-03 9.99958297e-01 8.99216273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.164839173 meters 0.09867418166344658 Centerline is valid? [False, True] Translation: X:56.83, Y:-18.44, Z:8.99 [[ 9.99968539e-01 -1.45350457e-03 7.79794404e-03 5.68296656e+01] [ 1.43923145e-03 9.99997279e-01 1.83566927e-03 -1.84393957e+01] [-7.80059098e-03 -1.82438847e-03 9.99967911e-01 8.99282123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.194839173 meters 0.09777292314851588 Centerline is valid? [True, True] Translation: X:56.86, Y:-18.45, Z:8.99 [[ 9.99959697e-01 -7.00202898e-03 5.61930295e-03 5.68603917e+01] [ 6.99930251e-03 9.99975377e-01 5.04717354e-04 -1.84461149e+01] [-5.62269863e-03 -4.65365811e-04 9.99984084e-01 8.99056942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.224839173 meters 0.09297464343444463 Centerline is valid? [True, True] Translation: X:56.89, Y:-18.46, Z:8.99 [[ 9.99895020e-01 -1.35039970e-02 5.25272694e-03 5.68917923e+01] [ 1.35017034e-02 9.99908737e-01 4.71863948e-04 -1.84553745e+01] [-5.25861961e-03 -4.00893651e-04 9.99986093e-01 8.98878915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25483917300001 meters 0.09455372732124098 Centerline is valid? [True, True] Translation: X:56.92, Y:-18.45, Z:8.99 [[ 9.99859835e-01 -1.58607175e-02 5.36173142e-03 5.69203259e+01] [ 1.58583676e-02 9.99874133e-01 4.80504945e-04 -1.84527616e+01] [-5.36867771e-03 -3.95409287e-04 9.99985510e-01 8.98802403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.284839173 meters 0.09756927524703762 Centerline is valid? [True, True] Translation: X:56.95, Y:-18.45, Z:8.99 [[ 9.99765145e-01 -2.03852584e-02 7.35497400e-03 5.69493945e+01] [ 2.03809499e-02 9.99792069e-01 6.60279299e-04 -1.84534821e+01] [-7.36690463e-03 -5.10222873e-04 9.99972734e-01 8.99066431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.314839173 meters 0.08797090909612652 Centerline is valid? [True, True] Translation: X:56.98, Y:-18.47, Z:9.00 [[ 9.99729613e-01 -2.13113076e-02 9.30213881e-03 5.69809501e+01] [ 2.13044629e-02 9.99772686e-01 8.34305440e-04 -1.84739297e+01] [-9.31780445e-03 -6.35902783e-04 9.99956386e-01 8.99861526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.344839173 meters 0.09183237341369133 Centerline is valid? [True, True] Translation: X:57.01, Y:-18.47, Z:9.00 [[ 9.99703942e-01 -2.15634680e-02 1.12714015e-02 5.70078253e+01] [ 2.15534014e-02 9.99767184e-01 1.01383339e-03 -1.84652350e+01] [-1.12906392e-02 -7.70596198e-04 9.99935962e-01 8.99938301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.374839173 meters 0.08982215965867417 Centerline is valid? [True, True] Translation: X:57.04, Y:-18.46, Z:9.00 [[ 9.99717021e-01 -1.96161189e-02 1.34567959e-02 5.70369302e+01] [ 1.96015644e-02 9.99807136e-01 1.21262409e-03 -1.84631039e+01] [-1.34779875e-02 -9.48506689e-04 9.99908718e-01 8.99838609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.404839173 meters 0.09032557330222125 Centerline is valid? [True, True] Translation: X:57.07, Y:-18.45, Z:8.99 [[ 9.99792693e-01 -1.81021104e-02 9.32116128e-03 5.70653028e+01] [ 1.80950650e-02 9.99835918e-01 8.39642857e-04 -1.84540015e+01] [-9.33483116e-03 -6.70801774e-04 9.99956205e-01 8.98849752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.434839173 meters 0.0909166816403404 Centerline is valid? [True, True] Translation: X:57.09, Y:-18.45, Z:8.99 [[ 9.99789723e-01 -1.90387803e-02 7.61802383e-03 5.70930796e+01] [ 1.90341012e-02 9.99818600e-01 6.86251146e-04 -1.84497488e+01] [-7.62970731e-03 -5.41104606e-04 9.99970747e-01 8.98518192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.464839173 meters 0.09769402248260523 Centerline is valid? [True, True] Translation: X:57.12, Y:-18.43, Z:8.98 [[ 9.99866421e-01 -1.47354040e-02 7.07164426e-03 5.71209281e+01] [ 1.47312518e-02 9.99891285e-01 6.38892969e-04 -1.84342246e+01] [-7.08028981e-03 -5.34633455e-04 9.99974792e-01 8.98393641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.494839173 meters 0.09379952692262701 Centerline is valid? [True, True] Translation: X:57.15, Y:-18.44, Z:8.99 [[ 9.99920149e-01 -1.11969867e-02 5.85850876e-03 5.71520771e+01] [ 1.11940745e-02 9.99937204e-01 5.29638761e-04 -1.84376838e+01] [-5.86407123e-03 -4.64015886e-04 9.99982699e-01 8.98628384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.524839173 meters 0.09635456825705274 Centerline is valid? [True, True] Translation: X:57.18, Y:-18.43, Z:8.98 [[ 9.99963149e-01 -7.80001589e-03 3.58622871e-03 5.71812736e+01] [ 7.79890429e-03 9.99969536e-01 3.23846154e-04 -1.84279672e+01] [-3.58864546e-03 -2.95865566e-04 9.99993517e-01 8.98475685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.554839173 meters 0.10050935979103146 Centerline is valid? [True, False] Translation: X:57.18, Y:-18.42, Z:8.98 [[ 9.99984586e-01 -4.31607412e-03 3.49271034e-03 5.71811239e+01] [ 4.30635981e-03 9.99986852e-01 2.78406661e-03 -1.84225673e+01] [-3.50468065e-03 -2.76898283e-03 9.99990025e-01 8.98495714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.584839173 meters 0.10421692783764837 Centerline is valid? [False, False] Translation: X:57.18, Y:-18.42, Z:8.99 [[ 9.99982287e-01 -4.39099847e-03 4.01797694e-03 5.71797734e+01] [ 4.38258281e-03 9.99988189e-01 2.10091622e-03 -1.84192979e+01] [-4.02715460e-03 -2.08326989e-03 9.99989721e-01 8.98549190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61483917300001 meters 0.1012653020863356 Centerline is valid? [False, False] Translation: X:57.18, Y:-18.42, Z:8.99 [[ 9.99980908e-01 -3.76859114e-03 4.89705016e-03 5.71767863e+01] [ 3.75743398e-03 9.99990329e-01 2.28554792e-03 -1.84168559e+01] [-4.90561609e-03 -2.26710395e-03 9.99985397e-01 8.98764285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.644839173 meters 0.09855027825223453 Centerline is valid? [False, True] Translation: X:57.18, Y:-18.42, Z:8.99 [[ 9.99982430e-01 -3.37382185e-03 4.87408909e-03 5.71759510e+01] [ 3.35810614e-03 9.99989149e-01 3.22893084e-03 -1.84184277e+01] [-4.88493004e-03 -3.21250640e-03 9.99982908e-01 8.98920018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.674839173 meters 0.09593906041122323 Centerline is valid? [True, True] Translation: X:57.21, Y:-18.42, Z:8.99 [[ 9.99944988e-01 -7.01304650e-03 7.79994304e-03 5.72070522e+01] [ 7.00737718e-03 9.99975164e-01 7.53932545e-04 -1.84202071e+01] [-7.80503669e-03 -6.99233927e-04 9.99969296e-01 8.98976504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.704839173 meters 0.0944017746030249 Centerline is valid? [True, True] Translation: X:57.24, Y:-18.43, Z:8.99 [[ 9.99886440e-01 -1.41663586e-02 5.14015611e-03 5.72375635e+01] [ 1.41639911e-02 9.99899562e-01 4.96698163e-04 -1.84266785e+01] [-5.14667625e-03 -4.23836632e-04 9.99986666e-01 8.98714125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.734839173 meters 0.0918819316655819 Centerline is valid? [True, True] Translation: X:57.27, Y:-18.43, Z:8.99 [[ 9.99843834e-01 -1.70343378e-02 4.70515651e-03 5.72686483e+01] [ 1.70323863e-02 9.99854835e-01 4.54535166e-04 -1.84331876e+01] [-4.71221619e-03 -3.74324140e-04 9.99988827e-01 8.98565044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.764839173 meters 0.08936433262585418 Centerline is valid? [True, True] Translation: X:57.30, Y:-18.44, Z:8.99 [[ 9.99772296e-01 -2.10999861e-02 3.18552510e-03 5.73002382e+01] [ 2.10991110e-02 9.99777342e-01 3.08056352e-04 -1.84420613e+01] [-3.19131580e-03 -2.40774459e-04 9.99994879e-01 8.98505716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.794839173 meters 0.09521059545300094 Centerline is valid? [True, True] Translation: X:57.33, Y:-18.43, Z:8.98 [[ 9.99767423e-01 -2.13937103e-02 2.72209644e-03 5.73265648e+01] [ 2.13930786e-02 9.99771108e-01 2.60980156e-04 -1.84311424e+01] [-2.72705670e-03 -2.02685435e-04 9.99996261e-01 8.98280333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.824839173 meters 0.09402530063064506 Centerline is valid? [True, True] Translation: X:57.36, Y:-18.44, Z:8.98 [[ 9.99782337e-01 -2.08254851e-02 -1.25644990e-03 5.73568347e+01] [ 2.08253477e-02 9.99783121e-01 -1.22320747e-04 -1.84366961e+01] [ 1.25872479e-03 9.61281162e-05 9.99999203e-01 8.97674751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.854839173 meters 0.09228566683683252 Centerline is valid? [True, True] Translation: X:57.39, Y:-18.44, Z:8.97 [[ 9.99779377e-01 -2.00979261e-02 -6.10490175e-03 5.73867007e+01] [ 2.00946795e-02 9.99797906e-01 -5.92685427e-04 -1.84385042e+01] [ 6.11557973e-03 4.69878623e-04 9.99981189e-01 8.97115110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.884839173 meters 0.09475282971437406 Centerline is valid? [True, True] Translation: X:57.42, Y:-18.42, Z:8.96 [[ 9.99786855e-01 -1.65056257e-02 -1.24019611e-02 5.74156285e+01] [ 1.64919651e-02 9.99863275e-01 -1.20295502e-03 -1.84242180e+01] [ 1.24201210e-02 9.98165906e-04 9.99922369e-01 8.95542774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.914839173 meters 0.09712576493016156 Centerline is valid? [True, True] Translation: X:57.44, Y:-18.42, Z:8.95 [[ 9.99743237e-01 -1.41359671e-02 -1.77097419e-02 5.74444769e+01] [ 1.41077294e-02 9.99899004e-01 -1.71839613e-03 -1.84151596e+01] [ 1.77322445e-02 1.46811066e-03 9.99841694e-01 8.94684209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.944839173 meters 0.09763549598988494 Centerline is valid? [True, True] Translation: X:57.47, Y:-18.42, Z:8.94 [[ 9.99613223e-01 -1.08222794e-02 -2.56180249e-02 5.74749036e+01] [ 1.07621040e-02 9.99938997e-01 -2.48566168e-03 -1.84187275e+01] [ 2.56433627e-02 2.20899644e-03 9.99668714e-01 8.94336796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.974839173 meters 0.09745446594539474 Centerline is valid? [True, True] Translation: X:57.50, Y:-18.42, Z:8.95 [[ 9.99569746e-01 -1.06011484e-02 -2.73484800e-02 5.75048435e+01] [ 1.05324442e-02 9.99941008e-01 -2.65500669e-03 -1.84220485e+01] [ 2.73750128e-02 2.36581802e-03 9.99622435e-01 8.94550356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00483917300001 meters 0.09408175804541438 Centerline is valid? [True, True] Translation: X:57.54, Y:-18.42, Z:8.95 [[ 9.99660743e-01 -1.23433439e-02 -2.29355842e-02 5.75356132e+01] [ 1.22954898e-02 9.99921929e-01 -2.22630993e-03 -1.84243577e+01] [ 2.29612737e-02 1.94355040e-03 9.99734466e-01 8.95287327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.034839173 meters 0.09402908077187115 Centerline is valid? [True, True] Translation: X:57.56, Y:-18.41, Z:8.95 [[ 9.99781077e-01 -1.12500297e-02 -1.76418556e-02 5.75630427e+01] [ 1.12214015e-02 9.99935557e-01 -1.72089602e-03 -1.84106188e+01] [ 1.76600788e-02 1.52255293e-03 9.99842889e-01 8.95327275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.064839173 meters 0.10361370624119441 Centerline is valid? [True, False] Translation: X:57.56, Y:-18.41, Z:8.95 [[ 9.99816230e-01 -6.65636292e-03 -1.79777655e-02 5.75634100e+01] [ 6.71244020e-03 9.99972787e-01 3.06071843e-03 -1.84120139e+01] [ 1.79569030e-02 -3.18083064e-03 9.99833702e-01 8.95362227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.094839173 meters 0.0979172155377758 Centerline is valid? [False, True] Translation: X:57.57, Y:-18.41, Z:8.95 [[ 9.99943641e-01 -2.99484318e-03 -1.01855417e-02 5.75684163e+01] [ 2.92450895e-03 9.99971827e-01 -6.91319907e-03 -1.84107240e+01] [ 1.02059587e-02 6.88302175e-03 9.99924228e-01 8.94972799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.124839173 meters 0.10615641235233823 Centerline is valid? [True, False] Translation: X:57.57, Y:-18.41, Z:8.95 [[ 9.99989158e-01 4.17056739e-03 -2.07138477e-03 5.75725587e+01] [-4.19660174e-03 9.99910197e-01 -1.27274184e-02 -1.84103825e+01] [ 2.01811820e-03 1.27359732e-02 9.99916858e-01 8.94766611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.154839173 meters 0.10615641235233823 Centerline is valid? [False, False] Translation: X:57.57, Y:-18.41, Z:8.95 [[ 9.99989158e-01 4.17056739e-03 -2.07138477e-03 5.75725587e+01] [-4.19660174e-03 9.99910197e-01 -1.27274184e-02 -1.84103825e+01] [ 2.01811820e-03 1.27359732e-02 9.99916858e-01 8.94766611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.184839173 meters 0.10461360396538719 Centerline is valid? [False, False] Translation: X:57.57, Y:-18.41, Z:8.95 [[ 9.99960150e-01 8.63248215e-03 -2.27576048e-03 5.75723470e+01] [-8.65073891e-03 9.99929464e-01 -8.13834701e-03 -1.84105648e+01] [ 2.20534582e-03 8.15770971e-03 9.99964293e-01 8.94862668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.214839173 meters 0.10181389182564068 Centerline is valid? [False, False] Translation: X:57.57, Y:-18.41, Z:8.95 [[ 9.99957409e-01 8.93075783e-03 -2.32855394e-03 5.75712164e+01] [-8.94784529e-03 9.99932333e-01 -7.43409055e-03 -1.84107337e+01] [ 2.26200431e-03 7.45460946e-03 9.99969656e-01 8.95058090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.244839173 meters 0.09505982276386343 Centerline is valid? [False, True] Translation: X:57.57, Y:-18.42, Z:8.96 [[ 9.99979185e-01 6.02291151e-03 -2.31391284e-03 5.75689881e+01] [-6.03858622e-03 9.99958457e-01 -6.82792649e-03 -1.84180443e+01] [ 2.27269271e-03 6.84175713e-03 9.99974012e-01 8.95695042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.274839173 meters 0.094789995687766 Centerline is valid? [True, True] Translation: X:57.60, Y:-18.42, Z:8.96 [[ 9.99994812e-01 3.18173507e-03 5.03025112e-04 5.75992289e+01] [-3.18175584e-03 9.99994937e-01 4.04778411e-05 -1.84223310e+01] [-5.02893776e-04 -4.20781341e-05 9.99999873e-01 8.96408688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.304839173 meters 0.09341808280533365 Centerline is valid? [True, True] Translation: X:57.63, Y:-18.43, Z:8.97 [[ 9.99987715e-01 -1.73350862e-03 4.64382622e-03 5.76297322e+01] [ 1.73177768e-03 9.99998430e-01 3.76734357e-04 -1.84270198e+01] [-4.64447200e-03 -3.68687654e-04 9.99989146e-01 8.97281457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.334839173 meters 0.08913456522840278 Centerline is valid? [True, True] Translation: X:57.66, Y:-18.43, Z:8.97 [[ 9.99991921e-01 -2.70157607e-03 2.97662585e-03 5.76613672e+01] [ 2.70086724e-03 9.99996323e-01 2.42127684e-04 -1.84339427e+01] [-2.97726904e-03 -2.34086256e-04 9.99995541e-01 8.97425364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36483917300001 meters 0.09342997706422441 Centerline is valid? [True, True] Translation: X:57.69, Y:-18.43, Z:8.97 [[ 9.99994952e-01 -2.79567310e-03 -1.50998064e-03 5.76914376e+01] [ 2.79549196e-03 9.99996085e-01 -1.22059873e-04 -1.84272498e+01] [ 1.51031597e-03 1.17838118e-04 9.99998853e-01 8.96885453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.394839173 meters 0.09679186086785274 Centerline is valid? [True, True] Translation: X:57.72, Y:-18.43, Z:8.96 [[ 9.99931888e-01 -1.24246772e-03 -1.16049545e-02 5.77212734e+01] [ 1.23162738e-03 9.99998799e-01 -9.41213397e-04 -1.84291807e+01] [ 1.16061100e-02 9.26856310e-04 9.99932217e-01 8.96171461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.424839173 meters 0.09739936469664097 Centerline is valid? [True, True] Translation: X:57.75, Y:-18.43, Z:8.97 [[ 9.99980681e-01 -1.08846514e-03 -6.11981446e-03 5.77503098e+01] [ 1.08544267e-03 9.99999287e-01 -4.97183479e-04 -1.84328336e+01] [ 6.12035127e-03 4.90531166e-04 9.99981150e-01 8.96738129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.454839173 meters 0.08996787153564685 Centerline is valid? [True, True] Translation: X:57.78, Y:-18.44, Z:8.97 [[ 9.99993585e-01 -3.16082858e-03 1.68479092e-03 5.77813592e+01] [ 3.16060285e-03 9.99994996e-01 1.36625184e-04 -1.84399703e+01] [-1.68521434e-03 -1.31299353e-04 9.99998571e-01 8.97226562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.484839173 meters 0.08570302206946792 Centerline is valid? [True, True] Translation: X:57.81, Y:-18.44, Z:8.97 [[ 9.99946807e-01 -5.70214627e-03 8.59466527e-03 5.78120175e+01] [ 5.69636295e-03 9.99983533e-01 6.97226053e-04 -1.84392158e+01] [-8.59849942e-03 -6.48230633e-04 9.99962822e-01 8.97036059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.514839173 meters 0.08611160248173803 Centerline is valid? [True, True] Translation: X:57.84, Y:-18.44, Z:8.97 [[ 9.99956344e-01 -6.23303859e-03 6.96127290e-03 5.78431586e+01] [ 6.22925374e-03 9.99980438e-01 5.65250575e-04 -1.84380321e+01] [-6.96465996e-03 -5.21862363e-04 9.99975610e-01 8.96892941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.544839173 meters 0.09080960381626713 Centerline is valid? [True, True] Translation: X:57.87, Y:-18.43, Z:8.97 [[ 9.99968397e-01 -6.29802950e-03 4.85186028e-03 5.78733454e+01] [ 6.29619284e-03 9.99980101e-01 3.93727791e-04 -1.84318159e+01] [-4.85424344e-03 -3.63167100e-04 9.99988152e-01 8.96794438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.574839173 meters 0.09170041096903837 Centerline is valid? [True, True] Translation: X:57.90, Y:-18.44, Z:8.97 [[ 9.99981766e-01 -4.34226371e-03 -4.19659630e-03 5.79040414e+01] [ 4.34087384e-03 9.99990520e-01 -3.40240118e-04 -1.84376187e+01] [ 4.19803394e-03 3.22017019e-04 9.99991136e-01 8.96707565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.604839173 meters 0.08833535315137715 Centerline is valid? [True, True] Translation: X:57.94, Y:-18.44, Z:8.97 [[ 9.99957179e-01 -2.14424213e-03 -9.00232272e-03 5.79353106e+01] [ 2.13775702e-03 9.99997449e-01 -7.29942570e-04 -1.84447875e+01] [ 9.00386493e-03 7.10666534e-04 9.99959212e-01 8.96920946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.634839173 meters 0.09054706211871374 Centerline is valid? [True, True] Translation: X:57.96, Y:-18.44, Z:8.97 [[ 9.99968482e-01 -1.50631638e-03 -7.79524223e-03 5.79620985e+01] [ 1.50140077e-03 9.99998670e-01 -6.36404599e-04 -1.84367962e+01] [ 7.79619049e-03 6.24680758e-04 9.99969414e-01 8.96755794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.664839173 meters 0.08983955870536876 Centerline is valid? [True, True] Translation: X:57.99, Y:-18.43, Z:8.97 [[ 9.99996438e-01 -8.09290962e-04 -2.54360148e-03 5.79906731e+01] [ 8.08753002e-04 9.99999650e-01 -2.12517214e-04 -1.84289308e+01] [ 2.54377258e-03 2.10459312e-04 9.99996742e-01 8.96574597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.694839173 meters 0.09291840506726215 Centerline is valid? [True, True] Translation: X:58.02, Y:-18.42, Z:8.96 [[ 9.99998127e-01 -1.03131313e-03 -1.63802282e-03 5.80183852e+01] [ 1.03109386e-03 9.99999459e-01 -1.34703578e-04 -1.84197861e+01] [ 1.63816086e-03 1.33014370e-04 9.99998649e-01 8.96102934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.724839173 meters 0.09455592845778568 Centerline is valid? [True, True] Translation: X:58.05, Y:-18.42, Z:8.95 [[ 9.99975138e-01 1.35063014e-03 -6.92085684e-03 5.80489679e+01] [-1.35457004e-03 9.99998923e-01 -5.64624139e-04 -1.84174604e+01] [ 6.92008679e-03 5.73984887e-04 9.99975891e-01 8.95400142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75483917300001 meters 0.09619095263313648 Centerline is valid? [True, True] Translation: X:58.08, Y:-18.41, Z:8.95 [[ 9.99949272e-01 2.24690603e-03 -9.81855295e-03 5.80773956e+01] [-2.25489322e-03 9.99997136e-01 -8.02485242e-04 -1.84144414e+01] [ 9.81672172e-03 8.24584323e-04 9.99951475e-01 8.95091690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.784839173 meters 0.09685278138065867 Centerline is valid? [True, True] Translation: X:58.11, Y:-18.41, Z:8.95 [[ 9.99894008e-01 2.99205694e-03 -1.42485160e-02 5.81071238e+01] [-3.00894023e-03 9.99994796e-01 -1.16362522e-03 -1.84136777e+01] [ 1.42449603e-02 1.20637482e-03 9.99897808e-01 8.94960055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.814839173 meters 0.09636640933425125 Centerline is valid? [True, True] Translation: X:58.13, Y:-18.41, Z:8.95 [[ 9.99812137e-01 -3.40949321e-04 -1.93797416e-02 5.81349887e+01] [ 3.10278834e-04 9.99998695e-01 -1.58559038e-03 -1.84139587e+01] [ 1.93802569e-02 1.57927938e-03 9.99810938e-01 8.94567583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.844839173 meters 0.09346305923205905 Centerline is valid? [True, True] Translation: X:58.17, Y:-18.41, Z:8.95 [[ 9.99916935e-01 -2.44282345e-03 -1.26552645e-02 5.81651682e+01] [ 2.42992239e-03 9.99996512e-01 -1.03469849e-03 -1.84123313e+01] [ 1.26577479e-02 1.00386123e-03 9.99919384e-01 8.95135377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.874839173 meters 0.0897921821610931 Centerline is valid? [True, True] Translation: X:58.20, Y:-18.41, Z:8.96 [[ 9.99957016e-01 -3.38901594e-03 -8.63025364e-03 5.81955599e+01] [ 3.38304223e-03 9.99994028e-01 -7.06686910e-04 -1.84134025e+01] [ 8.63259707e-03 6.77460021e-04 9.99962509e-01 8.95599689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.904839173 meters 0.08971934509734715 Centerline is valid? [True, True] Translation: X:58.22, Y:-18.41, Z:8.96 [[ 9.99991389e-01 -3.68835709e-03 -1.90188436e-03 5.82249836e+01] [ 3.68806638e-03 9.99993187e-01 -1.56336465e-04 -1.84071692e+01] [ 1.90244803e-03 1.49320843e-04 9.99998179e-01 8.95939815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.934839173 meters 0.09027264566229584 Centerline is valid? [True, True] Translation: X:58.25, Y:-18.40, Z:8.96 [[ 9.99986177e-01 -3.60365216e-03 -3.82875794e-03 5.82535439e+01] [ 3.60245599e-03 9.99993460e-01 -3.19266584e-04 -1.84043523e+01] [ 3.82988342e-03 3.05469238e-04 9.99992619e-01 8.95960778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.964839173 meters 0.08920567081093665 Centerline is valid? [True, True] Translation: X:58.28, Y:-18.41, Z:8.96 [[ 9.99929704e-01 -3.26909989e-03 -1.13973995e-02 5.82843955e+01] [ 3.25864780e-03 9.99994253e-01 -9.35509837e-04 -1.84060385e+01] [ 1.14003923e-02 8.98303963e-04 9.99934610e-01 8.95949168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.994839173 meters 0.09227170208884773 Centerline is valid? [True, True] Translation: X:58.31, Y:-18.40, Z:8.96 [[ 9.99904561e-01 -3.92739603e-03 -1.32455563e-02 5.83118960e+01] [ 3.91322531e-03 9.99991743e-01 -1.09559503e-03 -1.83978849e+01] [ 1.32497498e-02 1.04365762e-03 9.99911674e-01 8.95523278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.024839173 meters 0.09197505613061258 Centerline is valid? [True, True] Translation: X:58.34, Y:-18.39, Z:8.95 [[ 9.99923125e-01 -4.36782384e-03 -1.16045659e-02 5.83393647e+01] [ 4.35697964e-03 9.99990048e-01 -9.59593789e-04 -1.83931824e+01] [ 1.16086418e-02 9.08959163e-04 9.99932204e-01 8.95316281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.054839173 meters 0.09133796663545704 Centerline is valid? [True, True] Translation: X:58.37, Y:-18.39, Z:8.95 [[ 9.99948623e-01 -6.03644281e-03 -8.14328613e-03 5.83694828e+01] [ 6.03117066e-03 9.99981587e-01 -6.71824641e-04 -1.83895378e+01] [ 8.14719161e-03 6.22676576e-04 9.99966617e-01 8.95314440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.084839173 meters 0.08920689270540079 Centerline is valid? [True, True] Translation: X:58.40, Y:-18.39, Z:8.95 [[ 9.99930481e-01 -1.05762153e-02 -5.21309500e-03 5.83986727e+01] [ 1.05741128e-02 9.99944000e-01 -4.30714113e-04 -1.83901884e+01] [ 5.21735839e-03 3.75560316e-04 9.99986319e-01 8.95351213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11483917300001 meters 0.08218002632944188 Centerline is valid? [True, True] Translation: X:58.43, Y:-18.40, Z:8.96 [[ 9.99891849e-01 -1.35923961e-02 -5.61573715e-03 5.84294683e+01] [ 1.35900017e-02 9.99907544e-01 -4.64304888e-04 -1.84031412e+01] [ 5.62152896e-03 3.87936796e-04 9.99984124e-01 8.95767670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.144839173 meters 0.08726556128000593 Centerline is valid? [True, True] Translation: X:58.46, Y:-18.40, Z:8.96 [[ 9.99800178e-01 -1.79873048e-02 -8.72131730e-03 5.84580099e+01] [ 1.79817007e-02 9.99838056e-01 -7.20571241e-04 -1.84027835e+01] [ 8.73286608e-03 5.63603137e-04 9.99961709e-01 8.95511850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.174839173 meters 0.08071228520349465 Centerline is valid? [True, True] Translation: X:58.49, Y:-18.42, Z:8.96 [[ 9.99760185e-01 -1.96047319e-02 -9.75847260e-03 5.84887380e+01] [ 1.95977587e-02 9.99807618e-01 -8.09694336e-04 -1.84171999e+01] [ 9.77246909e-03 6.18255967e-04 9.99952057e-01 8.96118073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.204839173 meters 0.08638023974955426 Centerline is valid? [True, True] Translation: X:58.52, Y:-18.40, Z:8.96 [[ 9.99765789e-01 -2.06085986e-02 -6.60710185e-03 5.85163502e+01] [ 2.06054293e-02 9.99787536e-01 -5.47410182e-04 -1.84008425e+01] [ 6.61697944e-03 4.11139802e-04 9.99978023e-01 8.95508878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.234839173 meters 0.08081925004219748 Centerline is valid? [True, True] Translation: X:58.55, Y:-18.40, Z:8.96 [[ 9.99834302e-01 -1.78308751e-02 -3.66439650e-03 5.85459573e+01] [ 1.78298767e-02 9.99840989e-01 -3.04951202e-04 -1.84020322e+01] [ 3.66925136e-03 2.39564935e-04 9.99993240e-01 8.95539107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.264839173 meters 0.08191781410196713 Centerline is valid? [True, True] Translation: X:58.57, Y:-18.40, Z:8.96 [[ 9.99870866e-01 -1.60340450e-02 -1.07749523e-03 5.85743100e+01] [ 1.60339560e-02 9.99871444e-01 -9.11818768e-05 -1.84005749e+01] [ 1.07881873e-03 7.38935909e-05 9.99999415e-01 8.95804702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.294839173 meters 0.08481410597168065 Centerline is valid? [True, True] Translation: X:58.60, Y:-18.41, Z:8.97 [[ 9.99902081e-01 -1.38334437e-02 -2.11271805e-03 5.86046088e+01] [ 1.38331034e-02 9.99904303e-01 -1.75622625e-04 -1.84054956e+01] [ 2.11494533e-03 1.46379981e-04 9.99997753e-01 8.96678562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.324839173 meters 0.08429485710186396 Centerline is valid? [True, True] Translation: X:58.63, Y:-18.41, Z:8.97 [[ 9.99878669e-01 -1.51528078e-02 -3.61097762e-03 5.86341357e+01] [ 1.51518048e-02 9.99885158e-01 -3.04969538e-04 -1.84058320e+01] [ 3.61518408e-03 2.50219708e-04 9.99993434e-01 8.96682203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.354839173 meters 0.0832971172458393 Centerline is valid? [True, True] Translation: X:58.66, Y:-18.40, Z:8.96 [[ 9.99819039e-01 -1.80032438e-02 -6.14599396e-03 5.86632621e+01] [ 1.80004029e-02 9.99837846e-01 -5.17251182e-04 -1.84021147e+01] [ 6.15430956e-03 4.06527212e-04 9.99980979e-01 8.95831527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.384839173 meters 0.08397187499517923 Centerline is valid? [True, True] Translation: X:58.69, Y:-18.40, Z:8.95 [[ 9.99794559e-01 -1.98228565e-02 -4.23023453e-03 5.86921219e+01] [ 1.98215366e-02 9.99803471e-01 -3.53707368e-04 -1.83965115e+01] [ 4.23641466e-03 2.69784953e-04 9.99990990e-01 8.95494975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.414839173 meters 0.08042264431609328 Centerline is valid? [True, True] Translation: X:58.72, Y:-18.40, Z:8.96 [[ 9.99747858e-01 -2.24381928e-02 8.64841616e-04 5.87231715e+01] [ 2.24381388e-02 9.99748231e-01 7.21032883e-05 -1.83984932e+01] [-8.66241743e-04 -5.26796718e-05 9.99999623e-01 8.95761791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.444839173 meters 0.08105034318457909 Centerline is valid? [True, True] Translation: X:58.75, Y:-18.40, Z:8.96 [[ 9.99705525e-01 -2.42362491e-02 1.21106817e-03 5.87510788e+01] [ 2.42361464e-02 9.99706257e-01 9.94129424e-05 -1.83959087e+01] [-1.21312182e-03 -7.00320424e-05 9.99999262e-01 8.95774848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.474839173 meters 0.07821872677598608 Centerline is valid? [True, True] Translation: X:58.78, Y:-18.40, Z:8.95 [[ 9.99510289e-01 -3.03870191e-02 -7.47075645e-03 5.87811422e+01] [ 3.03831934e-02 9.99538129e-01 -6.25086540e-04 -1.84032920e+01] [ 7.48630044e-03 3.97794990e-04 9.99971898e-01 8.95253246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50483917300001 meters 0.0745407879405072 Centerline is valid? [True, True] Translation: X:58.81, Y:-18.40, Z:8.94 [[ 9.99177095e-01 -3.70550843e-02 -1.64940241e-02 5.88104055e+01] [ 3.70372206e-02 9.99312924e-01 -1.38729837e-03 -1.84037693e+01] [ 1.65340979e-02 7.75263949e-04 9.99863002e-01 8.93901561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.534839173 meters 0.07580059450624603 Centerline is valid? [True, True] Translation: X:58.84, Y:-18.39, Z:8.93 [[ 9.99113093e-01 -3.76642113e-02 -1.88264580e-02 5.88374470e+01] [ 3.76410800e-02 9.99290072e-01 -1.58163166e-03 -1.83921236e+01] [ 1.88726635e-02 8.71580684e-04 9.99821516e-01 8.92964612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.564839173 meters 0.07503349061822603 Centerline is valid? [True, True] Translation: X:58.87, Y:-18.39, Z:8.93 [[ 9.99200412e-01 -3.63908423e-02 -1.65602885e-02 5.88662297e+01] [ 3.63726392e-02 9.99337317e-01 -1.39916689e-03 -1.83851893e+01] [ 1.66002311e-02 7.95706732e-04 9.99861890e-01 8.93135717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.594839173 meters 0.07483737843233099 Centerline is valid? [True, True] Translation: X:58.90, Y:-18.38, Z:8.95 [[ 9.99329819e-01 -3.52996243e-02 -9.68755384e-03 5.88960984e+01] [ 3.52933628e-02 9.99376662e-01 -8.16594658e-04 -1.83847781e+01] [ 9.71034070e-03 4.74141040e-04 9.99952741e-01 8.94976994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.624839173 meters 0.07397778524168191 Centerline is valid? [True, True] Translation: X:58.93, Y:-18.39, Z:8.96 [[ 9.99324581e-01 -3.57828332e-02 -8.36484182e-03 5.89256554e+01] [ 3.57781250e-02 9.99359504e-01 -7.11868782e-04 -1.83889487e+01] [ 8.38495685e-03 4.12109617e-04 9.99964761e-01 8.96071676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.654839173 meters 0.07427982577436261 Centerline is valid? [True, True] Translation: X:58.95, Y:-18.39, Z:8.96 [[ 9.99276633e-01 -3.64534102e-02 -1.08332571e-02 5.89538571e+01] [ 3.64455942e-02 9.99335217e-01 -9.18094706e-04 -1.83902968e+01] [ 1.08595230e-02 5.22606095e-04 9.99940897e-01 8.96408432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.684839173 meters 0.07712631923012936 Centerline is valid? [True, True] Translation: X:58.98, Y:-18.38, Z:8.95 [[ 9.99332430e-01 -3.60610809e-02 -5.85592504e-03 5.89812990e+01] [ 3.60587853e-02 9.99349547e-01 -4.97147570e-04 -1.83792417e+01] [ 5.87004372e-03 2.85658145e-04 9.99982730e-01 8.95452240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.714839173 meters 0.0718838278142894 Centerline is valid? [True, True] Translation: X:59.01, Y:-18.39, Z:8.95 [[ 9.99239949e-01 -3.89802954e-02 -2.47270825e-04 5.90126614e+01] [ 3.89802913e-02 9.99239979e-01 -2.10877791e-05 -1.83879353e+01] [ 2.47904902e-04 1.14330625e-05 9.99999969e-01 8.95449377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.744839173 meters 0.07177756576253938 Centerline is valid? [True, True] Translation: X:59.04, Y:-18.39, Z:8.95 [[ 9.99074620e-01 -4.30067453e-02 -5.68839651e-04 5.90414653e+01] [ 4.30067244e-02 9.99074782e-01 -4.89155737e-05 -1.83865261e+01] [ 5.70417049e-04 2.44063781e-05 9.99999837e-01 8.95106495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.774839173 meters 0.06862692962999427 Centerline is valid? [True, True] Translation: X:59.07, Y:-18.40, Z:8.96 [[ 9.98778948e-01 -4.93820807e-02 1.42247865e-03 5.90733502e+01] [ 4.93819594e-02 9.98779960e-01 1.20301927e-04 -1.83970303e+01] [-1.42668393e-03 -4.99102485e-05 9.99998981e-01 8.95698371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.804839173 meters 0.06846899176396187 Centerline is valid? [True, True] Translation: X:59.10, Y:-18.40, Z:8.96 [[ 9.98729174e-01 -5.03694438e-02 1.71956854e-03 5.91030156e+01] [ 5.03692757e-02 9.98730652e-01 1.40947119e-04 -1.84012524e+01] [-1.72448524e-03 -5.41545778e-05 9.99998512e-01 8.96435434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.834839173 meters 0.06975675912962888 Centerline is valid? [True, True] Translation: X:59.13, Y:-18.41, Z:8.98 [[ 9.98830237e-01 -4.82976639e-02 2.34376002e-03 5.91318467e+01] [ 4.82973331e-02 9.98832983e-01 1.97555936e-04 -1.84081494e+01] [-2.35056631e-03 -8.41274838e-05 9.99997234e-01 8.97961082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86483917300001 meters 0.07190865799248185 Centerline is valid? [True, True] Translation: X:59.16, Y:-18.40, Z:8.98 [[ 9.98948087e-01 -4.58080218e-02 2.08413881e-03 5.91595743e+01] [ 4.58077535e-02 9.98950258e-01 1.76343350e-04 -1.83978770e+01] [-2.09002894e-03 -8.06881357e-05 9.99997813e-01 8.97590663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.894839173 meters 0.0745790740685886 Centerline is valid? [True, True] Translation: X:59.19, Y:-18.38, Z:8.96 [[ 9.99270397e-01 -3.81887745e-02 -5.38905753e-04 5.91882394e+01] [ 3.81887553e-02 9.99270542e-01 -4.58507083e-05 -1.83753037e+01] [ 5.40263627e-04 2.52371156e-05 9.99999854e-01 8.95656641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.924839173 meters 0.07665008938232272 Centerline is valid? [True, True] Translation: X:59.22, Y:-18.36, Z:8.95 [[ 9.99461542e-01 -3.26328419e-02 -3.42388512e-03 5.92176467e+01] [ 3.26320344e-02 9.99467391e-01 -2.91456404e-04 -1.83643348e+01] [ 3.43157258e-03 1.79571130e-04 9.99994096e-01 8.94633519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.954839173 meters 0.0813871313647123 Centerline is valid? [True, True] Translation: X:59.25, Y:-18.35, Z:8.93 [[ 9.99591959e-01 -2.71261361e-02 -8.94916043e-03 5.92453633e+01] [ 2.71203997e-02 9.99631884e-01 -7.61748060e-04 -1.83512464e+01] [ 8.96652939e-03 5.18732428e-04 9.99959665e-01 8.93323855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.984839173 meters 0.08574619926784811 Centerline is valid? [True, True] Translation: X:59.27, Y:-18.34, Z:8.92 [[ 9.99690663e-01 -1.99056864e-02 -1.49111270e-02 5.92748957e+01] [ 1.98889596e-02 9.99801389e-01 -1.26923211e-03 -1.83413482e+01] [ 1.49334304e-02 9.72272690e-04 9.99888017e-01 8.92261636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.014839173 meters 0.08634909443324489 Centerline is valid? [True, True] Translation: X:59.30, Y:-18.34, Z:8.92 [[ 9.99709407e-01 -1.83733571e-02 -1.56051566e-02 5.93040270e+01] [ 1.83548206e-02 9.99830651e-01 -1.33025098e-03 -1.83387062e+01] [ 1.56269550e-02 1.04343457e-03 9.99877347e-01 8.92337678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.044839173 meters 0.08634909443324489 Centerline is valid? [True, True] Translation: X:59.33, Y:-18.34, Z:8.92 [[ 9.99704031e-01 -1.86642382e-02 -1.56043782e-02 5.93316055e+01] [ 1.86455952e-02 9.99825259e-01 -1.33937193e-03 -1.83361454e+01] [ 1.56266498e-02 1.04802260e-03 9.99877347e-01 8.92283890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.074839173 meters 0.08848813990252331 Centerline is valid? [True, True] Translation: X:59.36, Y:-18.33, Z:8.93 [[ 9.99790002e-01 -1.54731873e-02 -1.34362456e-02 5.93604070e+01] [ 1.54591097e-02 9.99879838e-01 -1.15096508e-03 -1.83323118e+01] [ 1.34524402e-02 9.43010980e-04 9.99909067e-01 8.93070730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.104839173 meters 0.09334985483950714 Centerline is valid? [True, True] Translation: X:59.39, Y:-18.33, Z:8.94 [[ 9.99945071e-01 -8.08093402e-03 -6.67485983e-03 5.93900645e+01] [ 8.07729829e-03 9.99967215e-01 -5.71469406e-04 -1.83295136e+01] [ 6.67925900e-03 5.17523181e-04 9.99977560e-01 8.94419071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.134839173 meters 0.09637100172856786 Centerline is valid? [True, True] Translation: X:59.42, Y:-18.32, Z:8.95 [[ 9.99988632e-01 -4.11742299e-03 -2.40462391e-03 5.94187870e+01] [ 4.11693822e-03 9.99991504e-01 -2.06513226e-04 -1.83240032e+01] [ 2.40545378e-03 1.96611191e-04 9.99997088e-01 8.94741235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.164839173 meters 0.09883177040353026 Centerline is valid? [True, True] Translation: X:59.45, Y:-18.32, Z:8.94 [[ 9.99999531e-01 1.12037527e-04 9.62358991e-04 5.94490936e+01] [-1.12116830e-04 9.99999990e-01 8.23519531e-05 -1.83169322e+01] [-9.62349755e-04 -8.24598111e-05 9.99999534e-01 8.94485747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.194839173 meters 0.1012610926535542 Centerline is valid? [True, False] Translation: X:59.45, Y:-18.31, Z:8.94 [[ 9.99993508e-01 3.18696562e-03 1.68170312e-03 5.94523316e+01] [-3.19162480e-03 9.99991056e-01 2.77514221e-03 -1.83149091e+01] [-1.67284380e-03 -2.78049156e-03 9.99994735e-01 8.93880278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.224839173 meters 0.10141717044622967 Centerline is valid? [False, False] Translation: X:59.45, Y:-18.31, Z:8.94 [[ 9.99995726e-01 2.40018820e-03 1.66922704e-03 5.94545467e+01] [-2.40343492e-03 9.99995219e-01 1.94576491e-03 -1.83146736e+01] [-1.66454886e-03 -1.94976848e-03 9.99996714e-01 8.93573922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25483917300001 meters 0.0998755805905512 Centerline is valid? [False, True] Translation: X:59.46, Y:-18.32, Z:8.94 [[ 9.99998947e-01 -6.95462772e-04 1.27348267e-03 5.94550713e+01] [ 6.95040690e-04 9.99999703e-01 3.31851174e-04 -1.83241960e+01] [-1.27371308e-03 -3.30965702e-04 9.99999134e-01 8.93632429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.284839173 meters 0.09593601377283055 Centerline is valid? [True, True] Translation: X:59.49, Y:-18.35, Z:8.95 [[ 9.99955013e-01 -7.44882022e-03 5.87251896e-03 5.94870967e+01] [ 7.44602185e-03 9.99972154e-01 4.98239009e-04 -1.83472087e+01] [-5.87606672e-03 -4.54489691e-04 9.99982632e-01 8.95220535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.314839173 meters 0.09562873714953943 Centerline is valid? [True, True] Translation: X:59.52, Y:-18.35, Z:8.96 [[ 9.99906485e-01 -1.00171973e-02 9.31003970e-03 5.95168922e+01] [ 1.00102722e-02 9.99949584e-01 7.90142055e-04 -1.83515308e+01] [-9.31748533e-03 -6.96872134e-04 9.99956348e-01 8.95947372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.344839173 meters 0.08961054763857725 Centerline is valid? [True, True] Translation: X:59.55, Y:-18.36, Z:8.96 [[ 9.99829774e-01 -1.24116910e-02 1.36518300e-02 5.95479385e+01] [ 1.23970134e-02 9.99922482e-01 1.15923568e-03 -1.83599943e+01] [-1.36651598e-02 -9.89796430e-04 9.99906137e-01 8.95702023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.374839173 meters 0.09170853781327812 Centerline is valid? [True, True] Translation: X:59.58, Y:-18.35, Z:8.95 [[ 9.99808770e-01 -1.40189715e-02 1.36342157e-02 5.95764004e+01] [ 1.40044772e-02 9.99901262e-01 1.15797954e-03 -1.83507350e+01] [-1.36491032e-02 -9.66818038e-04 9.99906379e-01 8.94979492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.404839173 meters 0.09393068988014586 Centerline is valid? [True, True] Translation: X:59.60, Y:-18.34, Z:8.94 [[ 9.99803249e-01 -1.54691034e-02 1.24165178e-02 5.96048737e+01] [ 1.54571916e-02 9.99879974e-01 1.05475703e-03 -1.83418356e+01] [-1.24313436e-02 -8.62625010e-04 9.99922356e-01 8.93940700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.434839173 meters 0.08753766112863051 Centerline is valid? [True, True] Translation: X:59.63, Y:-18.35, Z:8.92 [[ 9.99870651e-01 -1.60307384e-02 1.30245937e-03 5.96345195e+01] [ 1.60306112e-02 9.99871496e-01 1.07995290e-04 -1.83519452e+01] [-1.30402324e-03 -8.71021008e-05 9.99999146e-01 8.91950208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.464839173 meters 0.08756179789596726 Centerline is valid? [True, True] Translation: X:59.66, Y:-18.35, Z:8.92 [[ 9.99847852e-01 -1.70521115e-02 -3.67402359e-03 5.96634615e+01] [ 1.70510612e-02 9.99854570e-01 -3.17017410e-04 -1.83535435e+01] [ 3.67889509e-03 2.54323175e-04 9.99993201e-01 8.91508482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.494839173 meters 0.0937162222501967 Centerline is valid? [True, True] Translation: X:59.69, Y:-18.36, Z:8.92 [[ 9.99782369e-01 -1.96361119e-02 -7.04547458e-03 5.96919158e+01] [ 1.96323419e-02 9.99807085e-01 -6.03855893e-04 -1.83553278e+01] [ 7.05597278e-03 4.65405309e-04 9.99974998e-01 8.92150389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.524839173 meters 0.08423617787998475 Centerline is valid? [True, True] Translation: X:59.72, Y:-18.38, Z:8.95 [[ 9.99712242e-01 -2.35362160e-02 4.63460406e-03 5.97245718e+01] [ 2.35346308e-02 9.99722944e-01 3.96287044e-04 -1.83817055e+01] [-4.64264711e-03 -2.87099314e-04 9.99989182e-01 8.94567764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.554839173 meters 0.08431988756440573 Centerline is valid? [True, True] Translation: X:59.75, Y:-18.38, Z:8.95 [[ 9.99681978e-01 -2.37084295e-02 8.59379869e-03 5.97521071e+01] [ 2.37029816e-02 9.99718774e-01 7.35240656e-04 -1.83815142e+01] [-8.60881329e-03 -5.31308181e-04 9.99962802e-01 8.94641910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.584839173 meters 0.09196522596069329 Centerline is valid? [True, True] Translation: X:59.78, Y:-18.36, Z:8.93 [[ 9.99590714e-01 -2.46590816e-02 1.45029116e-02 5.97783075e+01] [ 2.46436300e-02 9.99695527e-01 1.24319336e-03 -1.83563333e+01] [-1.45291519e-02 -8.85280153e-04 9.99894054e-01 8.93194997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61483917300001 meters 0.09121972813599259 Centerline is valid? [True, True] Translation: X:59.81, Y:-18.35, Z:8.93 [[ 9.99500070e-01 -2.67806989e-02 1.68048866e-02 5.98065206e+01] [ 2.67601914e-02 9.99640839e-01 1.44404824e-03 -1.83519100e+01] [-1.68375236e-02 -9.93624335e-04 9.99857745e-01 8.92757058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.644839173 meters 0.08834802937120122 Centerline is valid? [True, True] Translation: X:59.84, Y:-18.36, Z:8.93 [[ 9.99378938e-01 -3.06136981e-02 1.74510480e-02 5.98377690e+01] [ 3.05921570e-02 9.99530825e-01 1.50005220e-03 -1.83557179e+01] [-1.74887825e-02 -9.65255376e-04 9.99846594e-01 8.92703038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.674839173 meters 0.08269764966750083 Centerline is valid? [True, True] Translation: X:59.87, Y:-18.38, Z:8.93 [[ 9.99425387e-01 -3.16750358e-02 1.20659627e-02 5.98693887e+01] [ 3.16648151e-02 9.99498006e-01 1.03721137e-03 -1.83787577e+01] [-1.20927594e-02 -6.54548893e-04 9.99926666e-01 8.93299122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.704839173 meters 0.08389428207441305 Centerline is valid? [True, True] Translation: X:59.90, Y:-18.39, Z:8.95 [[ 9.99484734e-01 -2.98109154e-02 1.18985580e-02 5.99004156e+01] [ 2.98008279e-02 9.99555332e-01 1.02423614e-03 -1.83890037e+01] [-1.19238005e-02 -6.69121507e-04 9.99928685e-01 8.94601473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.734839173 meters 0.0848763749332286 Centerline is valid? [True, True] Translation: X:59.93, Y:-18.39, Z:8.95 [[ 9.99468557e-01 -2.87875674e-02 1.52931269e-02 5.99283599e+01] [ 2.87707706e-02 9.99585168e-01 1.31724641e-03 -1.83854011e+01] [-1.53247031e-02 -8.76551329e-04 9.99882186e-01 8.95169997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.764839173 meters 0.08549238174009259 Centerline is valid? [True, True] Translation: X:59.96, Y:-18.38, Z:8.95 [[ 9.99417768e-01 -2.80597313e-02 1.94107181e-02 5.99558719e+01] [ 2.80324901e-02 9.99605611e-01 1.67413253e-03 -1.83776958e+01] [-1.94500385e-02 -1.12902703e-03 9.99810193e-01 8.95222629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.794839173 meters 0.08662636420172261 Centerline is valid? [True, True] Translation: X:59.98, Y:-18.37, Z:8.94 [[ 9.99489105e-01 -2.71792489e-02 1.68171615e-02 5.99824172e+01] [ 2.71586488e-02 9.99630081e-01 1.45216110e-03 -1.83652029e+01] [-1.68504091e-02 -9.94687820e-04 9.99857527e-01 8.93779819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.824839173 meters 0.08700770999900806 Centerline is valid? [True, True] Translation: X:60.01, Y:-18.36, Z:8.93 [[ 9.99541879e-01 -2.72278838e-02 1.32164176e-02 6.00106122e+01] [ 2.72151507e-02 9.99628946e-01 1.14235514e-03 -1.83632525e+01] [-1.32426175e-02 -7.82145002e-04 9.99912007e-01 8.92902249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.854839173 meters 0.08634236509562117 Centerline is valid? [True, True] Translation: X:60.04, Y:-18.37, Z:8.92 [[ 9.99528183e-01 -3.04003315e-02 4.38534283e-03 6.00408185e+01] [ 3.03989566e-02 9.99537773e-01 3.79846070e-04 -1.83735943e+01] [-4.39486326e-03 -2.46357006e-04 9.99990312e-01 8.91955873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.884839173 meters 0.08557374371799867 Centerline is valid? [True, True] Translation: X:60.07, Y:-18.38, Z:8.92 [[ 9.99472149e-01 -3.18303447e-02 6.50014596e-03 6.00696665e+01] [ 3.18273533e-02 9.99493223e-01 5.63163540e-04 -1.83802200e+01] [-6.51477752e-03 -3.55983832e-04 9.99978715e-01 8.92442195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.914839173 meters 0.08552154705660209 Centerline is valid? [True, True] Translation: X:60.10, Y:-18.38, Z:8.93 [[ 9.99440924e-01 -3.22527784e-02 8.80901198e-03 6.00988692e+01] [ 3.22472953e-02 9.99479629e-01 7.63811886e-04 -1.83768189e+01] [-8.82906308e-03 -4.79318047e-04 9.99960908e-01 8.92522448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.944839173 meters 0.085679473194217 Centerline is valid? [True, True] Translation: X:60.13, Y:-18.37, Z:8.92 [[ 9.99387045e-01 -3.33561311e-02 1.06255506e-02 6.01260764e+01] [ 3.33481823e-02 9.99443367e-01 9.24430046e-04 -1.83703313e+01] [-1.06504715e-02 -5.69520613e-04 9.99943120e-01 8.92136861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.974839173 meters 0.08661397266624338 Centerline is valid? [True, True] Translation: X:60.15, Y:-18.37, Z:8.92 [[ 9.99441412e-01 -3.22465684e-02 8.77622497e-03 6.01543265e+01] [ 3.22410952e-02 9.99479828e-01 7.64446740e-04 -1.83663042e+01] [-8.79631061e-03 -4.81064625e-04 9.99961196e-01 8.91909540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00483917300001 meters 0.08578918523506286 Centerline is valid? [True, True] Translation: X:60.18, Y:-18.37, Z:8.93 [[ 9.99356711e-01 -3.43267739e-02 1.03844755e-02 6.01839295e+01] [ 3.43192116e-02 9.99410512e-01 9.05608658e-04 -1.83707281e+01] [-1.04094406e-02 -5.48639076e-04 9.99945670e-01 8.92572349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.034839173 meters 0.08495361700177362 Centerline is valid? [True, True] Translation: X:60.21, Y:-18.37, Z:8.93 [[ 9.99287015e-01 -3.61665451e-02 1.08370809e-02 6.02133108e+01] [ 3.61584136e-02 9.99345624e-01 9.45404125e-04 -1.83734391e+01] [-1.08641814e-02 -5.52878412e-04 9.99940830e-01 8.92811181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.064839173 meters 0.08475712219248677 Centerline is valid? [True, True] Translation: X:60.24, Y:-18.37, Z:8.93 [[ 9.99250587e-01 -3.69436740e-02 1.15511753e-02 6.02408752e+01] [ 3.69344783e-02 9.99317181e-01 1.00847361e-03 -1.83731711e+01] [-1.15805447e-02 -5.81081209e-04 9.99932774e-01 8.92598840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.094839173 meters 0.08423554958636285 Centerline is valid? [True, True] Translation: X:60.27, Y:-18.37, Z:8.92 [[ 9.99181850e-01 -3.81920756e-02 1.33040156e-02 6.02693331e+01] [ 3.81799690e-02 9.99270203e-01 1.16288532e-03 -1.83675825e+01] [-1.33387193e-02 -6.53987005e-04 9.99910821e-01 8.92150285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.124839173 meters 0.08626917360301059 Centerline is valid? [True, True] Translation: X:60.30, Y:-18.35, Z:8.92 [[ 9.99195066e-01 -3.69106965e-02 1.57105211e-02 6.02968258e+01] [ 3.68936035e-02 9.99318251e-01 1.37653692e-03 -1.83497806e+01] [-1.57506194e-02 -7.95811158e-04 9.99875635e-01 8.91647741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.154839173 meters 0.08861147747843186 Centerline is valid? [True, True] Translation: X:60.33, Y:-18.34, Z:8.92 [[ 9.99301745e-01 -3.37539408e-02 1.60216513e-02 6.03259384e+01] [ 3.37357464e-02 9.99429801e-01 1.40460310e-03 -1.83413840e+01] [-1.60599266e-02 -8.63119964e-04 9.99870659e-01 8.91793655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.184839173 meters 0.09118422881265834 Centerline is valid? [True, True] Translation: X:60.36, Y:-18.34, Z:8.91 [[ 9.99513007e-01 -3.05225423e-02 6.49029156e-03 6.03561047e+01] [ 3.05194889e-02 9.99534010e-01 5.68988693e-04 -1.83420278e+01] [-6.50463413e-03 -3.70631218e-04 9.99978776e-01 8.91483095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.214839173 meters 0.09173905774664795 Centerline is valid? [True, True] Translation: X:60.38, Y:-18.34, Z:8.91 [[ 9.99522751e-01 -3.07620853e-02 2.82223249e-03 6.03842196e+01] [ 3.07615117e-02 9.99526722e-01 2.46459902e-04 -1.83433157e+01] [-2.82847841e-03 -1.59526141e-04 9.99995987e-01 8.91169579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.244839173 meters 0.09055432308323637 Centerline is valid? [True, True] Translation: X:60.41, Y:-18.34, Z:8.91 [[ 9.99453899e-01 -3.30195731e-02 1.26913721e-03 6.04141711e+01] [ 3.30194585e-02 9.99454703e-01 1.11119568e-04 -1.83438791e+01] [-1.27211427e-03 -6.91526625e-05 9.99999188e-01 8.90924090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.274839173 meters 0.08765439430079998 Centerline is valid? [True, True] Translation: X:60.44, Y:-18.34, Z:8.90 [[ 9.99268836e-01 -3.76495672e-02 6.65608591e-03 6.04430386e+01] [ 3.76465066e-02 9.99290948e-01 5.84555417e-04 -1.83389361e+01] [-6.67337466e-03 -3.33549629e-04 9.99977677e-01 8.90266707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.304839173 meters 0.08511218761372495 Centerline is valid? [True, True] Translation: X:60.47, Y:-18.34, Z:8.90 [[ 9.99075973e-01 -4.17039287e-02 1.03914628e-02 6.04739921e+01] [ 4.16966835e-02 9.99129898e-01 9.13003469e-04 -1.83403972e+01] [-1.04204969e-02 -4.78870296e-04 9.99945590e-01 8.90336194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.334839173 meters 0.08525150187429727 Centerline is valid? [True, True] Translation: X:60.50, Y:-18.34, Z:8.91 [[ 9.99024723e-01 -4.25034125e-02 1.19608931e-02 6.05020372e+01] [ 4.24938687e-02 9.99096175e-01 1.05104488e-03 -1.83400207e+01] [-1.19947555e-02 -5.41755198e-04 9.99927914e-01 8.90774089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36483917300001 meters 0.08523344806771213 Centerline is valid? [True, True] Translation: X:60.53, Y:-18.35, Z:8.92 [[ 9.99034989e-01 -4.27031376e-02 1.02729527e-02 6.05312157e+01] [ 4.26961043e-02 9.99087697e-01 9.03088643e-04 -1.83461912e+01] [-1.03021454e-02 -4.63602093e-04 9.99946824e-01 8.91610278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.394839173 meters 0.0862839271953284 Centerline is valid? [True, True] Translation: X:60.56, Y:-18.35, Z:8.91 [[ 9.99108425e-01 -4.17829814e-02 6.04468204e-03 6.05595755e+01] [ 4.17805220e-02 9.99126671e-01 5.32622422e-04 -1.83453555e+01] [-6.06165760e-03 -2.79597578e-04 9.99981589e-01 8.91484147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.424839173 meters 0.08933176472834017 Centerline is valid? [True, True] Translation: X:60.59, Y:-18.34, Z:8.91 [[ 9.99273820e-01 -3.76206665e-02 6.04295448e-03 6.05892971e+01] [ 3.76181276e-02 9.99292045e-01 5.33292520e-04 -1.83359329e+01] [-6.05873916e-03 -3.05580621e-04 9.99981599e-01 8.91217047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.454839173 meters 0.0809690022695454 Centerline is valid? [True, True] Translation: X:60.62, Y:-18.35, Z:8.91 [[ 9.99201711e-01 -3.91846556e-02 7.77843641e-03 6.06199609e+01] [ 3.91805023e-02 9.99231914e-01 6.85679544e-04 -1.83476503e+01] [-7.79933002e-03 -3.80369128e-04 9.99969512e-01 8.91085952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.484839173 meters 0.08037350307452011 Centerline is valid? [True, True] Translation: X:60.65, Y:-18.34, Z:8.91 [[ 9.99103909e-01 -4.09435200e-02 1.07241527e-02 6.06478738e+01] [ 4.09356880e-02 9.99161333e-01 9.48900500e-04 -1.83370136e+01] [-1.07540101e-02 -5.09049629e-04 9.99942044e-01 8.90582736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.514839173 meters 0.07806796649064315 Centerline is valid? [True, True] Translation: X:60.68, Y:-18.34, Z:8.90 [[ 9.99048063e-01 -4.22831608e-02 1.07285657e-02 6.06775859e+01] [ 4.22753937e-02 9.99105544e-01 9.49819514e-04 -1.83395688e+01] [-1.07591309e-02 -4.95361005e-04 9.99941996e-01 8.90476360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.544839173 meters 0.08579504372905335 Centerline is valid? [True, True] Translation: X:60.71, Y:-18.33, Z:8.91 [[ 9.98966984e-01 -4.46641579e-02 8.37126060e-03 6.07050798e+01] [ 4.46594969e-02 9.99001991e-01 7.42986310e-04 -1.83308884e+01] [-8.39609086e-03 -3.68362507e-04 9.99964684e-01 8.91121866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.574839173 meters 0.0769598444931237 Centerline is valid? [True, True] Translation: X:60.74, Y:-18.36, Z:8.92 [[ 9.98885815e-01 -4.64356088e-02 8.41796789e-03 6.07368373e+01] [ 4.64309561e-02 9.98921222e-01 7.47404224e-04 -1.83554637e+01] [-8.44359294e-03 -3.55717180e-04 9.99964289e-01 8.91703037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.604839173 meters 0.07786068796541921 Centerline is valid? [True, True] Translation: X:60.76, Y:-18.35, Z:8.92 [[ 9.98754727e-01 -4.88060764e-02 1.03422805e-02 6.07643339e+01] [ 4.87991469e-02 9.98808187e-01 9.21462250e-04 -1.83516163e+01] [-1.03749274e-02 -4.15620313e-04 9.99946093e-01 8.91658602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.634839173 meters 0.08445940997186199 Centerline is valid? [True, True] Translation: X:60.79, Y:-18.33, Z:8.91 [[ 9.98805788e-01 -4.77794112e-02 1.02042068e-02 6.07896086e+01] [ 4.77726040e-02 9.98857823e-01 9.09940341e-04 -1.83270744e+01] [-1.02360282e-02 -4.21372150e-04 9.99947522e-01 8.90668817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.664839173 meters 0.07801876741761463 Centerline is valid? [True, True] Translation: X:60.82, Y:-18.33, Z:8.90 [[ 9.98892701e-01 -4.58691587e-02 1.04590461e-02 6.08185855e+01] [ 4.58618854e-02 9.98947353e-01 9.34322047e-04 -1.83255563e+01] [-1.04908930e-02 -4.53615899e-04 9.99944866e-01 8.89519978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.694839173 meters 0.08005040740167084 Centerline is valid? [True, True] Translation: X:60.85, Y:-18.31, Z:8.89 [[ 9.99075221e-01 -4.22413620e-02 8.02306983e-03 6.08478978e+01] [ 4.22369622e-02 9.99107364e-01 7.17120998e-04 -1.83139783e+01] [-8.04620031e-03 -3.77587722e-04 9.99967558e-01 8.89081029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.724839173 meters 0.0848323821528077 Centerline is valid? [True, True] Translation: X:60.88, Y:-18.31, Z:8.90 [[ 9.99403952e-01 -3.45186393e-02 4.51313769e-04 6.08765943e+01] [ 3.45186248e-02 9.99404054e-01 3.99769157e-05 -1.83103797e+01] [-4.52424759e-04 -2.43743569e-05 9.99999897e-01 8.89678514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75483917300001 meters 0.08720271690003406 Centerline is valid? [True, True] Translation: X:60.91, Y:-18.31, Z:8.90 [[ 9.99531029e-01 -3.05863510e-02 -1.48200713e-03 6.09067738e+01] [ 3.05861879e-02 9.99532124e-01 -1.32630536e-04 -1.83110892e+01] [ 1.48537042e-03 8.72393877e-05 9.99998893e-01 8.90425749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.784839173 meters 0.0865502292192647 Centerline is valid? [True, True] Translation: X:60.94, Y:-18.31, Z:8.91 [[ 9.99501242e-01 -3.15043896e-02 -2.17715951e-03 6.09362647e+01] [ 3.15040327e-02 9.99503605e-01 -1.98054074e-04 -1.83131408e+01] [ 2.18231836e-03 1.29365989e-04 9.99997610e-01 8.90745881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.814839173 meters 0.08487880489195165 Centerline is valid? [True, True] Translation: X:60.97, Y:-18.31, Z:8.90 [[ 9.99411124e-01 -3.42866959e-02 1.35222719e-03 6.09660730e+01] [ 3.42865633e-02 9.99412036e-01 1.21093841e-04 -1.83065695e+01] [-1.35558404e-03 -7.46593084e-05 9.99999078e-01 8.90265347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.844839173 meters 0.08005017267209387 Centerline is valid? [True, True] Translation: X:61.00, Y:-18.30, Z:8.89 [[ 9.98974788e-01 -4.48831422e-02 5.90570209e-03 6.09951368e+01] [ 4.48807941e-02 9.98992209e-01 5.29596348e-04 -1.83003956e+01] [-5.92352033e-03 -2.64000799e-04 9.99982421e-01 8.88778851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.874839173 meters 0.07788825632197123 Centerline is valid? [True, True] Translation: X:61.02, Y:-18.30, Z:8.88 [[ 9.98679117e-01 -5.12809314e-02 3.20730589e-03 6.10243243e+01] [ 5.12802719e-02 9.98684260e-01 2.87571115e-04 -1.83018641e+01] [-3.21783283e-03 -1.22719749e-04 9.99994815e-01 8.87942619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.904839173 meters 0.07644207870591861 Centerline is valid? [True, True] Translation: X:61.05, Y:-18.31, Z:8.88 [[ 9.98520146e-01 -5.43517454e-02 1.84532207e-03 6.10541949e+01] [ 5.43515333e-02 9.98521849e-01 1.64939312e-04 -1.83099251e+01] [-1.85155915e-03 -6.43991420e-05 9.99998284e-01 8.88334256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.934839173 meters 0.07231368047641332 Centerline is valid? [True, True] Translation: X:61.09, Y:-18.34, Z:8.91 [[ 9.98142863e-01 -6.08625947e-02 2.56303346e-03 6.10868060e+01] [ 6.08622045e-02 9.98146151e-01 2.30019820e-04 -1.83377304e+01] [-2.57228159e-03 -7.36007752e-05 9.99996689e-01 8.90505810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.964839173 meters 0.07231368047641332 Centerline is valid? [True, True] Translation: X:61.11, Y:-18.34, Z:8.90 [[ 9.98125814e-01 -6.11415480e-02 2.56325040e-03 6.11143479e+01] [ 6.11411650e-02 9.98129103e-01 2.27608843e-04 -1.83350421e+01] [-2.57237117e-03 -7.04621469e-05 9.99996689e-01 8.90472696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.994839173 meters 0.07252086042515125 Centerline is valid? [True, True] Translation: X:61.14, Y:-18.34, Z:8.91 [[ 9.97968863e-01 -6.34541745e-02 5.63167766e-03 6.11423509e+01] [ 6.34523236e-02 9.97984742e-01 5.06908028e-04 -1.83375151e+01] [-5.65249381e-03 -1.48535396e-04 9.99984013e-01 8.91329192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.024839173 meters 0.07047318118935329 Centerline is valid? [True, True] Translation: X:61.17, Y:-18.34, Z:8.92 [[ 9.97766208e-01 -6.61069858e-02 9.61566979e-03 6.11723089e+01] [ 6.61017007e-02 9.97812514e-01 8.66764040e-04 -1.83397895e+01] [-9.65193481e-03 -2.29215743e-04 9.99953393e-01 8.91851111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.054839173 meters 0.07148684979095932 Centerline is valid? [True, True] Translation: X:61.20, Y:-18.33, Z:8.91 [[ 9.97806087e-01 -6.58360464e-02 6.97332020e-03 6.11995390e+01] [ 6.58332496e-02 9.97830440e-01 6.30102836e-04 -1.83291165e+01] [-6.99967464e-03 -1.69644117e-04 9.99975488e-01 8.90805427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.084839173 meters 0.07233261644581299 Centerline is valid? [True, True] Translation: X:61.23, Y:-18.32, Z:8.88 [[ 9.97918828e-01 -6.43549485e-02 -4.05624344e-03 6.12279176e+01] [ 6.43539843e-02 9.97927066e-01 -3.67917140e-04 -1.83202583e+01] [ 4.07151240e-03 1.06116015e-04 9.99991706e-01 8.88488442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11483917300001 meters 0.07542304466755577 Centerline is valid? [True, True] Translation: X:61.25, Y:-18.31, Z:8.88 [[ 9.98094433e-01 -6.12969231e-02 -7.08450529e-03 6.12549946e+01] [ 6.12939013e-02 9.98119554e-01 -6.43075739e-04 -1.83097811e+01] [ 7.11060183e-03 2.07613346e-04 9.99974698e-01 8.87627580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.144839173 meters 0.07735376159133933 Centerline is valid? [True, True] Translation: X:61.29, Y:-18.31, Z:8.88 [[ 9.98461438e-01 -5.41593261e-02 -1.18963556e-02 6.12851473e+01] [ 5.41503178e-02 9.98532213e-01 -1.07827826e-03 -1.83055013e+01] [ 1.19372932e-02 4.32427828e-04 9.99928654e-01 8.88024693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.174839173 meters 0.07821715270677618 Centerline is valid? [True, True] Translation: X:61.31, Y:-18.30, Z:8.88 [[ 9.98560652e-01 -5.20006050e-02 -1.31362505e-02 6.13144781e+01] [ 5.19894108e-02 9.98646924e-01 -1.19244586e-03 -1.83023032e+01] [ 1.31804840e-02 5.07783592e-04 9.99913005e-01 8.88464188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.204839173 meters 0.08107590202122873 Centerline is valid? [True, True] Translation: X:61.34, Y:-18.29, Z:8.89 [[ 9.98817812e-01 -4.66580448e-02 -1.36383527e-02 6.13427932e+01] [ 4.66454832e-02 9.98910740e-01 -1.23787556e-03 -1.82902085e+01] [ 1.36812539e-02 6.00244601e-04 9.99906227e-01 8.88728430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.234839173 meters 0.07938186166118634 Centerline is valid? [True, True] Translation: X:61.37, Y:-18.29, Z:8.89 [[ 9.98859693e-01 -4.50404653e-02 -1.58325625e-02 6.13722930e+01] [ 4.50233240e-02 9.98984902e-01 -1.43762037e-03 -1.82886757e+01] [ 1.58812420e-02 7.23146453e-04 9.99873624e-01 8.88629671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.264839173 meters 0.08216067698148177 Centerline is valid? [True, True] Translation: X:61.40, Y:-18.28, Z:8.88 [[ 9.98764541e-01 -4.69625227e-02 -1.62454178e-02 6.14000134e+01] [ 4.69446226e-02 9.98896395e-01 -1.48165751e-03 -1.82811543e+01] [ 1.62970716e-02 7.17191976e-04 9.99866937e-01 8.88065940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.294839173 meters 0.07663964935912711 Centerline is valid? [True, True] Translation: X:61.43, Y:-18.30, Z:8.89 [[ 9.98449253e-01 -5.53317854e-02 -6.12227305e-03 6.14313577e+01] [ 5.53294054e-02 9.98468000e-01 -5.57555213e-04 -1.82975227e+01] [ 6.14374425e-03 2.17948859e-04 9.99981103e-01 8.89411788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.324839173 meters 0.07390272728051704 Centerline is valid? [True, True] Translation: X:61.46, Y:-18.30, Z:8.90 [[ 9.98183860e-01 -6.02393749e-02 -4.46353050e-04 6.14621565e+01] [ 6.02393627e-02 9.98183960e-01 -4.07834862e-05 -1.83026070e+01] [ 4.47999226e-04 1.38213945e-05 9.99999900e-01 8.89850576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.354839173 meters 0.07107550584262404 Centerline is valid? [True, True] Translation: X:61.49, Y:-18.31, Z:8.90 [[ 9.97740571e-01 -6.70137107e-02 4.78705597e-03 6.14926433e+01] [ 6.70123907e-02 9.97752048e-01 4.35803665e-04 -1.83058373e+01] [-4.80549972e-03 -1.14026933e-04 9.99988447e-01 8.89506693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.384839173 meters 0.07071131138276772 Centerline is valid? [True, True] Translation: X:61.52, Y:-18.31, Z:8.89 [[ 9.97600070e-01 -6.91989867e-02 2.36661001e-03 6.15217062e+01] [ 6.91986751e-02 9.97602876e-01 2.13367135e-04 -1.83061426e+01] [-2.37570174e-03 -4.90887919e-05 9.99997177e-01 8.89116827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.414839173 meters 0.06988526973420953 Centerline is valid? [True, True] Translation: X:61.55, Y:-18.32, Z:8.90 [[ 9.97522689e-01 -7.03096296e-02 2.24501945e-03 6.15523871e+01] [ 7.03093515e-02 9.97525215e-01 2.02640807e-04 -1.83194273e+01] [-2.25371111e-03 -4.42929411e-05 9.99997459e-01 8.89772592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.444839173 meters 0.06936298769431566 Centerline is valid? [True, True] Translation: X:61.58, Y:-18.33, Z:8.90 [[ 9.97397029e-01 -7.21037318e-02 4.66767522e-04 6.15817616e+01] [ 7.21037210e-02 9.97397138e-01 4.00118751e-05 -1.83250801e+01] [-4.68437596e-04 -6.25205018e-06 9.99999890e-01 8.90240176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.474839173 meters 0.06953379498216695 Centerline is valid? [True, True] Translation: X:61.61, Y:-18.33, Z:8.90 [[ 9.97324077e-01 -7.31022931e-02 -8.60826078e-04 6.16091100e+01] [ 7.31022509e-02 9.97324448e-01 -8.04787513e-05 -1.83251014e+01] [ 8.64406074e-04 1.73350725e-05 9.99999626e-01 8.90135039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50483917300001 meters 0.0677038345459397 Centerline is valid? [True, True] Translation: X:61.64, Y:-18.33, Z:8.89 [[ 9.96896998e-01 -7.86061198e-02 -4.17781166e-03 6.16385252e+01] [ 7.86051858e-02 9.96905750e-01 -3.87557058e-04 -1.83259171e+01] [ 4.19534882e-03 5.79568058e-05 9.99991198e-01 8.89020357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.534839173 meters 0.06793422624585449 Centerline is valid? [True, True] Translation: X:61.67, Y:-18.32, Z:8.87 [[ 9.96379543e-01 -8.41190578e-02 -1.23203079e-02 6.16676737e+01] [ 8.41114464e-02 9.96455707e-01 -1.13557701e-03 -1.83219004e+01] [ 1.23721648e-02 9.51867833e-05 9.99923457e-01 8.86869635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.564839173 meters 0.0686823491078437 Centerline is valid? [True, True] Translation: X:61.70, Y:-18.32, Z:8.86 [[ 9.96227817e-01 -8.51393569e-02 -1.67757620e-02 6.16976020e+01] [ 8.51253818e-02 9.96369047e-01 -1.54666586e-03 -1.83206421e+01] [ 1.68465321e-02 1.12788410e-04 9.99858081e-01 8.86323364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.594839173 meters 0.06933516110334613 Centerline is valid? [True, True] Translation: X:61.73, Y:-18.32, Z:8.86 [[ 9.96055806e-01 -8.63519917e-02 -2.04001233e-02 6.17262606e+01] [ 8.63315377e-02 9.96264684e-01 -1.88284542e-03 -1.83224166e+01] [ 2.04865098e-02 1.14245103e-04 9.99790123e-01 8.85984498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.624839173 meters 0.06964062719671496 Centerline is valid? [True, True] Translation: X:61.76, Y:-18.32, Z:8.87 [[ 9.96459742e-01 -8.11863560e-02 -2.18347842e-02 6.17562235e+01] [ 8.11616799e-02 9.96698911e-01 -2.01540679e-03 -1.83222660e+01] [ 2.19263291e-02 2.36123964e-04 9.99759561e-01 8.87263997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.654839173 meters 0.07124091827362693 Centerline is valid? [True, True] Translation: X:61.78, Y:-18.31, Z:8.88 [[ 9.97122866e-01 -7.36056901e-02 -1.81160697e-02 6.17827218e+01] [ 7.35874130e-02 9.97287365e-01 -1.67434827e-03 -1.83102204e+01] [ 1.81901690e-02 3.36416242e-04 9.99834489e-01 8.88042635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.684839173 meters 0.07124885181012036 Centerline is valid? [True, True] Translation: X:61.81, Y:-18.30, Z:8.89 [[ 9.97320241e-01 -7.10457102e-02 -1.74598071e-02 6.18115567e+01] [ 7.10282374e-02 9.97472990e-01 -1.61961324e-03 -1.83039612e+01] [ 1.75307526e-02 3.75133744e-04 9.99846254e-01 8.88504471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.714839173 meters 0.07180951513515288 Centerline is valid? [True, True] Translation: X:61.84, Y:-18.29, Z:8.88 [[ 9.97607293e-01 -6.74871392e-02 -1.50058159e-02 6.18376278e+01] [ 6.74738167e-02 9.97720073e-01 -1.39291048e-03 -1.82852084e+01] [ 1.50656072e-02 3.77077985e-04 9.99886436e-01 8.88072438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.744839173 meters 0.07282826652239918 Centerline is valid? [True, True] Translation: X:61.87, Y:-18.27, Z:8.87 [[ 9.97725572e-01 -6.55675223e-02 -1.56391682e-02 6.18651010e+01] [ 6.55527402e-02 9.97848043e-01 -1.45650776e-03 -1.82719212e+01] [ 1.57010130e-02 4.28004701e-04 9.99876640e-01 8.87296235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.774839173 meters 0.07434551174336806 Centerline is valid? [True, True] Translation: X:61.89, Y:-18.25, Z:8.87 [[ 9.98028085e-01 -6.16895705e-02 -1.15904195e-02 6.18924146e+01] [ 6.16811514e-02 9.98095318e-01 -1.08278788e-03 -1.82505967e+01] [ 1.16351402e-02 3.65742289e-04 9.99932243e-01 8.86931010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.804839173 meters 0.07460620187420934 Centerline is valid? [True, True] Translation: X:61.92, Y:-18.24, Z:8.88 [[ 9.98162420e-01 -6.01952538e-02 -6.95081954e-03 6.19206198e+01] [ 6.01921713e-02 9.98186594e-01 -6.52009330e-04 -1.82437827e+01] [ 6.97746276e-03 2.32426290e-04 9.99975630e-01 8.87610456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.834839173 meters 0.07332130501528501 Centerline is valid? [True, True] Translation: X:61.95, Y:-18.25, Z:8.90 [[ 9.98214022e-01 -5.94154765e-02 6.21020192e-03 6.19511525e+01] [ 5.94130171e-02 9.98233318e-01 5.79925731e-04 -1.82478156e+01] [-6.23368703e-03 -2.09923163e-04 9.99980548e-01 8.90327654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86483917300001 meters 0.07255469613450734 Centerline is valid? [True, True] Translation: X:61.98, Y:-18.25, Z:8.91 [[ 9.98184235e-01 -5.99811263e-02 5.52242854e-03 6.19798240e+01] [ 5.99791976e-02 9.98199495e-01 5.14341196e-04 -1.82514510e+01] [-5.54333614e-03 -1.82176440e-04 9.99984619e-01 8.90977111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.894839173 meters 0.07280290225834955 Centerline is valid? [True, True] Translation: X:62.01, Y:-18.25, Z:8.90 [[ 9.98313433e-01 -5.79170948e-02 -3.98751771e-03 6.20098539e+01] [ 5.79160625e-02 9.98321386e-01 -3.73963795e-04 -1.82494670e+01] [ 4.00248310e-03 1.42391755e-04 9.99991980e-01 8.89931797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.924839173 meters 0.07319221185194535 Centerline is valid? [True, True] Translation: X:62.04, Y:-18.24, Z:8.89 [[ 9.98287256e-01 -5.79575097e-02 -7.96751721e-03 6.20380844e+01] [ 5.79533533e-02 9.98319009e-01 -7.51753033e-04 -1.82400960e+01] [ 7.99769361e-03 2.88721133e-04 9.99967976e-01 8.88609211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.954839173 meters 0.0752873484550749 Centerline is valid? [True, True] Translation: X:62.07, Y:-18.22, Z:8.87 [[ 9.98182026e-01 -5.87502506e-02 -1.34554921e-02 6.20651031e+01] [ 5.87385173e-02 9.98272600e-01 -1.26588785e-03 -1.82243679e+01] [ 1.35066203e-02 4.73230842e-04 9.99908669e-01 8.86671778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.984839173 meters 0.07565135397500955 Centerline is valid? [True, True] Translation: X:62.09, Y:-18.22, Z:8.87 [[ 9.98218177e-01 -5.72996023e-02 -1.66501477e-02 6.20941358e+01] [ 5.72814218e-02 9.98356841e-01 -1.56716117e-03 -1.82221907e+01] [ 1.67125866e-02 6.10624630e-04 9.99860149e-01 8.86619417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.014839173 meters 0.08017898221971971 Centerline is valid? [True, True] Translation: X:62.12, Y:-18.21, Z:8.87 [[ 9.98422517e-01 -5.11030144e-02 -2.32585454e-02 6.21220696e+01] [ 5.10658491e-02 9.98692888e-01 -2.18945239e-03 -1.82114276e+01] [ 2.33400315e-02 9.98281193e-04 9.99727086e-01 8.86667514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.044839173 meters 0.08166875280206527 Centerline is valid? [True, True] Translation: X:62.15, Y:-18.20, Z:8.87 [[ 9.98654606e-01 -4.48596803e-02 -2.60113012e-02 6.21521723e+01] [ 4.48110930e-02 9.98992479e-01 -2.44812367e-03 -1.82018519e+01] [ 2.60949163e-02 1.27923515e-03 9.99658651e-01 8.87129451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.074839173 meters 0.08478631453357817 Centerline is valid? [True, True] Translation: X:62.18, Y:-18.19, Z:8.87 [[ 9.98784402e-01 -4.34791619e-02 -2.32224051e-02 6.21785197e+01] [ 4.34399589e-02 9.99053639e-01 -2.19019519e-03 -1.81892745e+01] [ 2.32956561e-02 1.17875247e-03 9.99727924e-01 8.86847750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.104839173 meters 0.08311275525058338 Centerline is valid? [True, True] Translation: X:62.21, Y:-18.18, Z:8.87 [[ 9.98806555e-01 -4.43425434e-02 -2.04744678e-02 6.22080079e+01] [ 4.43122573e-02 9.99015864e-01 -1.93075824e-03 -1.81844382e+01] [ 2.05399329e-02 1.02118410e-03 9.99788512e-01 8.86782172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.134839173 meters 0.08234828611471023 Centerline is valid? [True, True] Translation: X:62.24, Y:-18.17, Z:8.86 [[ 9.98860773e-01 -4.54052324e-02 -1.46806430e-02 6.22357577e+01] [ 4.53897711e-02 9.98968393e-01 -1.38482879e-03 -1.81688017e+01] [ 1.47283768e-02 7.16900133e-04 9.99891275e-01 8.86009598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.164839173 meters 0.0824281922940644 Centerline is valid? [True, True] Translation: X:62.26, Y:-18.16, Z:8.86 [[ 9.98881871e-01 -4.56095141e-02 -1.24410330e-02 6.22644154e+01] [ 4.55983640e-02 9.98959158e-01 -1.17857319e-03 -1.81606871e+01] [ 1.24818380e-02 6.09964642e-04 9.99921913e-01 8.85787892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.194839173 meters 0.08158253833004597 Centerline is valid? [True, True] Translation: X:62.29, Y:-18.16, Z:8.87 [[ 9.98986004e-01 -4.43425492e-02 -7.79121771e-03 6.22935353e+01] [ 4.43381137e-02 9.99016307e-01 -7.41186234e-04 -1.81630543e+01] [ 7.81641964e-03 3.94986777e-04 9.99969373e-01 8.86824121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.224839173 meters 0.08110319771567683 Centerline is valid? [True, True] Translation: X:62.32, Y:-18.17, Z:8.88 [[ 9.99004683e-01 -4.43993986e-02 -4.28212276e-03 6.23236242e+01] [ 4.43980576e-02 9.99013837e-01 -4.07777615e-04 -1.81680162e+01] [ 4.29600497e-03 2.17253814e-04 9.99990749e-01 8.87871210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25483917300001 meters 0.08091328704725186 Centerline is valid? [True, True] Translation: X:62.35, Y:-18.17, Z:8.89 [[ 9.98973906e-01 -4.52545987e-02 -1.77672908e-03 6.23528424e+01] [ 4.52543686e-02 9.98975482e-01 -1.69521226e-04 -1.81717654e+01] [ 1.78258040e-03 8.89425290e-05 9.99998407e-01 8.88732369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.284839173 meters 0.07991296887832723 Centerline is valid? [True, True] Translation: X:62.38, Y:-18.18, Z:8.89 [[ 9.98876003e-01 -4.73284686e-02 -2.59759747e-03 6.23819951e+01] [ 4.73279843e-02 9.98879372e-01 -2.47641722e-04 -1.81756371e+01] [ 2.60640703e-03 1.24424322e-04 9.99996596e-01 8.88941043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.314839173 meters 0.07992644805493551 Centerline is valid? [True, True] Translation: X:62.41, Y:-18.18, Z:8.88 [[ 9.98740011e-01 -4.94764132e-02 -8.39492556e-03 6.24108779e+01] [ 4.94714119e-02 9.98775218e-01 -8.02504583e-04 -1.81790284e+01] [ 8.42434865e-03 3.86184616e-04 9.99964440e-01 8.87990134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.344839173 meters 0.07958907888135529 Centerline is valid? [True, True] Translation: X:62.44, Y:-18.18, Z:8.87 [[ 9.98622119e-01 -5.14789480e-02 -1.01872966e-02 6.24399381e+01] [ 5.14716688e-02 9.98673979e-01 -9.75615031e-04 -1.81796132e+01] [ 1.02240116e-02 4.49913595e-04 9.99947632e-01 8.87246382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.374839173 meters 0.07566020370895536 Centerline is valid? [True, True] Translation: X:62.47, Y:-18.19, Z:8.86 [[ 9.97951045e-01 -6.16607355e-02 -1.70782194e-02 6.24713503e+01] [ 6.16418329e-02 9.98097001e-01 -1.63152997e-03 -1.81945602e+01] [ 1.71463209e-02 5.75454289e-04 9.99852825e-01 8.85853108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.404839173 meters 0.07393978599244938 Centerline is valid? [True, True] Translation: X:62.50, Y:-18.20, Z:8.86 [[ 9.97518711e-01 -6.79918136e-02 -1.82629441e-02 6.25010921e+01] [ 6.79712346e-02 9.97685754e-01 -1.74591549e-03 -1.82040829e+01] [ 1.83393871e-02 5.00228515e-04 9.99831694e-01 8.85587287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.434839173 meters 0.07040638457974244 Centerline is valid? [True, True] Translation: X:62.53, Y:-18.23, Z:8.86 [[ 9.96799083e-01 -7.79036529e-02 -1.79613319e-02 6.25344347e+01] [ 7.78853589e-02 9.96960843e-01 -1.71686294e-03 -1.82303327e+01] [ 1.80404945e-02 3.12442622e-04 9.99837208e-01 8.86326149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.464839173 meters 0.06826440210658329 Centerline is valid? [True, True] Translation: X:62.56, Y:-18.25, Z:8.87 [[ 9.96386225e-01 -8.35809672e-02 -1.51232186e-02 6.25646073e+01] [ 8.35686336e-02 9.96500974e-01 -1.44676649e-03 -1.82450913e+01] [ 1.51912242e-02 1.77711489e-04 9.99884591e-01 8.87213563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.494839173 meters 0.0675277657038998 Centerline is valid? [True, True] Translation: X:62.59, Y:-18.25, Z:8.87 [[ 9.96204077e-01 -8.59558224e-02 -1.37489179e-02 6.25938380e+01] [ 8.59457818e-02 9.96298940e-01 -1.32058049e-03 -1.82451078e+01] [ 1.38115439e-02 1.33906170e-04 9.99904607e-01 8.87229135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.524839173 meters 0.06721338547826705 Centerline is valid? [True, True] Translation: X:62.62, Y:-18.24, Z:8.87 [[ 9.95983651e-01 -8.86164745e-02 -1.27940159e-02 6.26224150e+01] [ 8.86079603e-02 9.96065817e-01 -1.23192158e-03 -1.82418095e+01] [ 1.28528504e-02 9.33221047e-05 9.99917394e-01 8.86838293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.554839173 meters 0.06751630997644956 Centerline is valid? [True, True] Translation: X:62.65, Y:-18.24, Z:8.87 [[ 9.96027712e-01 -8.81323233e-02 -1.27079026e-02 6.26488183e+01] [ 8.81238829e-02 9.96108771e-01 -1.22371528e-03 -1.82356878e+01] [ 1.27663022e-02 9.89846039e-05 9.99918503e-01 8.86560038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.584839173 meters 0.06801034307814124 Centerline is valid? [True, True] Translation: X:62.68, Y:-18.23, Z:8.86 [[ 9.96174760e-01 -8.64327223e-02 -1.28542718e-02 6.26774089e+01] [ 8.64238908e-02 9.96257682e-01 -1.24198581e-03 -1.82278829e+01] [ 1.29135153e-02 1.26318728e-04 9.99916609e-01 8.86452950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61483917300001 meters 0.06914218012821101 Centerline is valid? [True, True] Translation: X:62.70, Y:-18.22, Z:8.87 [[ 9.96607088e-01 -8.15428606e-02 -1.11836692e-02 6.27043247e+01] [ 8.15358731e-02 9.96669822e-01 -1.08008515e-03 -1.82177949e+01] [ 1.12344989e-02 1.64550281e-04 9.99936877e-01 8.86928549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.644839173 meters 0.06966189816770509 Centerline is valid? [True, True] Translation: X:62.73, Y:-18.21, Z:8.88 [[ 9.96835086e-01 -7.88420936e-02 -1.01850683e-02 6.27326917e+01] [ 7.88361162e-02 9.96887101e-01 -9.87666234e-04 -1.82137231e+01] [ 1.02312329e-02 1.81589126e-04 9.99947643e-01 8.87503917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.674839173 meters 0.07002783560094561 Centerline is valid? [True, True] Translation: X:62.76, Y:-18.21, Z:8.88 [[ 9.96865647e-01 -7.82423234e-02 -1.17055713e-02 6.27607609e+01] [ 7.82343895e-02 9.96934347e-01 -1.13486623e-03 -1.82117102e+01] [ 1.17584806e-02 2.15530935e-04 9.99930843e-01 8.87866538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.704839173 meters 0.06880721862612776 Centerline is valid? [True, True] Translation: X:62.79, Y:-18.21, Z:8.87 [[ 9.96595659e-01 -8.17728220e-02 -1.05023000e-02 6.27883687e+01] [ 8.17666300e-02 9.96650983e-01 -1.01833767e-03 -1.82053124e+01] [ 1.05503999e-02 1.56133228e-04 9.99944331e-01 8.86748480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.734839173 meters 0.06767033950303156 Centerline is valid? [True, True] Translation: X:62.82, Y:-18.19, Z:8.87 [[ 9.96507363e-01 -8.34481768e-02 -3.07859605e-03 6.28169887e+01] [ 8.34476527e-02 9.96512117e-01 -2.98523762e-04 -1.81918379e+01] [ 3.09276954e-03 4.05795128e-05 9.99995217e-01 8.86539518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.764839173 meters 0.06780875509316013 Centerline is valid? [True, True] Translation: X:62.85, Y:-18.19, Z:8.87 [[ 9.96578178e-01 -8.26409899e-02 -1.55008516e-03 6.28450980e+01] [ 8.26408511e-02 9.96579383e-01 -1.53505735e-04 -1.81854845e+01] [ 1.55746878e-03 2.48801081e-05 9.99998787e-01 8.86775144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.794839173 meters 0.06905727160507273 Centerline is valid? [True, True] Translation: X:62.87, Y:-18.18, Z:8.87 [[ 9.96819372e-01 -7.96268654e-02 -3.27130740e-03 6.28735042e+01] [ 7.96262479e-02 9.96824738e-01 -3.18771287e-04 -1.81808848e+01] [ 3.28630290e-03 5.72754604e-05 9.99994598e-01 8.86919855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.824839173 meters 0.07339657531677034 Centerline is valid? [True, True] Translation: X:62.90, Y:-18.17, Z:8.87 [[ 9.97330934e-01 -7.19652313e-02 -1.23293462e-02 6.29035223e+01] [ 7.19559089e-02 9.97407094e-01 -1.19863532e-03 -1.81748554e+01] [ 1.23836375e-02 3.08266773e-04 9.99923272e-01 8.87052726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.854839173 meters 0.07339657531677034 Centerline is valid? [True, True] Translation: X:62.93, Y:-18.17, Z:8.87 [[ 9.97313750e-01 -7.22030853e-02 -1.23287849e-02 6.29310218e+01] [ 7.21937098e-02 9.97389903e-01 -1.20440195e-03 -1.81719332e+01] [ 1.23835671e-02 3.11105906e-04 9.99923272e-01 8.87019622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.884839173 meters 0.07537748542838785 Centerline is valid? [True, True] Translation: X:62.96, Y:-18.17, Z:8.87 [[ 9.97517094e-01 -6.90783715e-02 -1.37049181e-02 6.29586900e+01] [ 6.90665141e-02 9.97611161e-01 -1.33717866e-03 -1.81660437e+01] [ 1.37645494e-02 3.87307653e-04 9.99905189e-01 8.87152053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.914839173 meters 0.07731145635168234 Centerline is valid? [True, True] Translation: X:62.99, Y:-18.16, Z:8.87 [[ 9.97743348e-01 -6.56553050e-02 -1.40567335e-02 6.29874739e+01] [ 6.56424855e-02 9.97842263e-01 -1.37193069e-03 -1.81580506e+01] [ 1.41164773e-02 4.46115800e-04 9.99900258e-01 8.87380000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.944839173 meters 0.07699574442753519 Centerline is valid? [True, True] Translation: X:63.02, Y:-18.16, Z:8.87 [[ 9.97636332e-01 -6.70428959e-02 -1.50664970e-02 6.30151171e+01] [ 6.70282383e-02 9.97749987e-01 -1.47630364e-03 -1.81552624e+01] [ 1.51315729e-02 4.62933397e-04 9.99885404e-01 8.86857293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.974839173 meters 0.07425981968821659 Centerline is valid? [True, True] Translation: X:63.04, Y:-18.16, Z:8.85 [[ 9.97077117e-01 -7.40457483e-02 -1.88268312e-02 6.30448087e+01] [ 7.40241160e-02 9.97254746e-01 -1.84426576e-03 -1.81576075e+01] [ 1.89117068e-02 4.45235645e-04 9.99821059e-01 8.85114905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00483917300001 meters 0.06997873800280464 Centerline is valid? [True, True] Translation: X:63.08, Y:-18.16, Z:8.85 [[ 9.96714697e-01 -7.95029960e-02 -1.54624153e-02 6.30756429e+01] [ 7.94890702e-02 9.96834588e-01 -1.51410804e-03 -1.81608174e+01] [ 1.55338465e-02 2.80040722e-04 9.99879303e-01 8.85187443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.034839173 meters 0.07010426822349887 Centerline is valid? [True, True] Translation: X:63.10, Y:-18.16, Z:8.85 [[ 9.96581551e-01 -8.18492153e-02 -1.12213671e-02 6.31047919e+01] [ 8.18420228e-02 9.96644708e-01 -1.09944420e-03 -1.81577845e+01] [ 1.12737048e-02 1.77306430e-04 9.99936434e-01 8.85163094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.064839173 meters 0.06744406947105885 Centerline is valid? [True, True] Translation: X:63.14, Y:-18.17, Z:8.87 [[ 9.96554050e-01 -8.25254874e-02 -8.34088258e-03 6.31352826e+01] [ 8.25214972e-02 9.96588946e-01 -8.22004790e-04 -1.81662463e+01] [ 8.38026772e-03 1.30870083e-04 9.99964876e-01 8.86865757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.094839173 meters 0.06800465317931546 Centerline is valid? [True, True] Translation: X:63.16, Y:-18.17, Z:8.88 [[ 9.96592698e-01 -8.20589370e-02 -8.32617660e-03 6.31632560e+01] [ 8.20549469e-02 9.96627469e-01 -8.20279788e-04 -1.81694139e+01] [ 8.36540760e-03 1.34280869e-04 9.99965000e-01 8.87535533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.124839173 meters 0.06884223789404664 Centerline is valid? [True, True] Translation: X:63.19, Y:-18.16, Z:8.88 [[ 9.96888417e-01 -7.85913624e-02 -6.07296339e-03 6.31902228e+01] [ 7.85891734e-02 9.96906908e-01 -5.98607948e-04 -1.81601449e+01] [ 6.10122457e-03 1.19476156e-04 9.99981380e-01 8.87728242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.154839173 meters 0.0686289168424152 Centerline is valid? [True, True] Translation: X:63.22, Y:-18.15, Z:8.88 [[ 9.96938697e-01 -7.80787376e-02 -4.11646172e-03 6.32183307e+01] [ 7.80777146e-02 9.96947192e-01 -4.08877156e-04 -1.81546109e+01] [ 4.13581957e-03 8.62215356e-05 9.99991444e-01 8.87803745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.184839173 meters 0.06935591690622031 Centerline is valid? [True, True] Translation: X:63.25, Y:-18.14, Z:8.87 [[ 9.97119744e-01 -7.57003841e-02 -4.65497911e-03 6.32463277e+01] [ 7.56990462e-02 9.97130603e-01 -4.63188879e-04 -1.81420152e+01] [ 4.67668570e-03 1.09477298e-04 9.99989058e-01 8.87286919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.214839173 meters 0.07038158384074515 Centerline is valid? [True, True] Translation: X:63.27, Y:-18.13, Z:8.87 [[ 9.97199937e-01 -7.44692754e-02 -6.82733946e-03 6.32742796e+01] [ 7.44663666e-02 9.97223294e-01 -6.79633127e-04 -1.81320359e+01] [ 6.85899373e-03 1.69322948e-04 9.99976462e-01 8.86609200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.244839173 meters 0.07272381373720903 Centerline is valid? [True, True] Translation: X:63.30, Y:-18.12, Z:8.86 [[ 9.97428598e-01 -7.10936485e-02 -9.04901839e-03 6.33009771e+01] [ 7.10884211e-02 9.97469613e-01 -8.98425072e-04 -1.81171183e+01] [ 9.08999319e-03 2.52834430e-04 9.99958653e-01 8.85848940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.274839173 meters 0.07197889261492858 Centerline is valid? [True, True] Translation: X:63.33, Y:-18.12, Z:8.86 [[ 9.97477976e-01 -7.01955838e-02 -1.05008235e-02 6.33305534e+01] [ 7.01884466e-02 9.97533200e-01 -1.04713063e-03 -1.81187628e+01] [ 1.05484240e-02 3.07453255e-04 9.99944317e-01 8.86334399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.304839173 meters 0.07269222962131934 Centerline is valid? [True, True] Translation: X:63.36, Y:-18.12, Z:8.86 [[ 9.97464764e-01 -6.97436230e-02 -1.41376195e-02 6.33589911e+01] [ 6.97306700e-02 9.97564861e-01 -1.40768206e-03 -1.81183642e+01] [ 1.42013693e-02 4.18287578e-04 9.99899068e-01 8.86319432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.334839173 meters 0.07421635226788358 Centerline is valid? [True, True] Translation: X:63.39, Y:-18.11, Z:8.85 [[ 9.97357432e-01 -6.90741074e-02 -2.25148743e-02 6.33887659e+01] [ 6.90411042e-02 9.97611299e-01 -2.24081368e-03 -1.81141053e+01] [ 2.26158753e-02 6.80440392e-04 9.99743997e-01 8.85377632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36483917300001 meters 0.07596090442823912 Centerline is valid? [True, True] Translation: X:63.42, Y:-18.10, Z:8.85 [[ 9.97604819e-01 -6.44184646e-02 -2.51969394e-02 6.34177638e+01] [ 6.43756338e-02 9.97922586e-01 -2.50816950e-03 -1.81010087e+01] [ 2.53061673e-02 8.80093036e-04 9.99679360e-01 8.84799307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.394839173 meters 0.07676997604052985 Centerline is valid? [True, True] Translation: X:63.45, Y:-18.10, Z:8.85 [[ 9.97640428e-01 -6.40098384e-02 -2.48257191e-02 6.34454903e+01] [ 6.39680579e-02 9.97948879e-01 -2.47428059e-03 -1.80961542e+01] [ 2.49331769e-02 8.80389312e-04 9.99688732e-01 8.84682572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.424839173 meters 0.07582799116406053 Centerline is valid? [True, True] Translation: X:63.48, Y:-18.10, Z:8.85 [[ 9.97676772e-01 -6.51961893e-02 -1.97614638e-02 6.34751177e+01] [ 6.51699459e-02 9.97872235e-01 -1.96979271e-03 -1.80980098e+01] [ 1.98478390e-02 6.77362907e-04 9.99802783e-01 8.85376944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.454839173 meters 0.07463908627235476 Centerline is valid? [True, True] Translation: X:63.50, Y:-18.10, Z:8.86 [[ 9.97657777e-01 -6.70080192e-02 -1.37435717e-02 6.35042323e+01] [ 6.69954920e-02 9.97752337e-01 -1.37040127e-03 -1.80975872e+01] [ 1.38045087e-02 4.46434133e-04 9.99904614e-01 8.85841517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.484839173 meters 0.0725506353949154 Centerline is valid? [True, True] Translation: X:63.53, Y:-18.10, Z:8.87 [[ 9.97479764e-01 -7.05441296e-02 -7.59250192e-03 6.35347602e+01] [ 7.05404088e-02 9.97508635e-01 -7.57080450e-04 -1.81026135e+01] [ 7.62699382e-03 2.19594239e-04 9.99970890e-01 8.86732181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.514839173 meters 0.0703139904222772 Centerline is valid? [True, True] Translation: X:63.57, Y:-18.11, Z:8.87 [[ 9.97276124e-01 -7.36735453e-02 -3.54132639e-03 6.35660564e+01] [ 7.36727548e-02 9.97282408e-01 -3.53328497e-04 -1.81132987e+01] [ 3.55773347e-03 9.14668036e-05 9.99993667e-01 8.87429929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.544839173 meters 0.0694504283566405 Centerline is valid? [True, True] Translation: X:63.60, Y:-18.12, Z:8.88 [[ 9.97045067e-01 -7.67565708e-02 -3.09240075e-03 6.35950367e+01] [ 7.67559802e-02 9.97049860e-01 -3.09387603e-04 -1.81184659e+01] [ 3.10702526e-03 7.11131328e-05 9.99995171e-01 8.87659589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.574839173 meters 0.06805475734204944 Centerline is valid? [True, True] Translation: X:63.62, Y:-18.13, Z:8.88 [[ 9.96688487e-01 -8.12503559e-02 -3.23117128e-03 6.36244767e+01] [ 8.12497341e-02 9.96693722e-01 -3.23469005e-04 -1.81255384e+01] [ 3.24677010e-03 5.98660256e-05 9.99994727e-01 8.87685199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.604839173 meters 0.06699285494254208 Centerline is valid? [True, True] Translation: X:63.65, Y:-18.14, Z:8.87 [[ 9.96002925e-01 -8.91849445e-02 -4.92122553e-03 6.36532631e+01] [ 8.91835979e-02 9.96015082e-01 -4.92847938e-04 -1.81350833e+01] [ 4.94556947e-03 5.19853892e-05 9.99987769e-01 8.87144852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.634839173 meters 0.06649088603474258 Centerline is valid? [True, True] Translation: X:63.68, Y:-18.14, Z:8.87 [[ 9.95582787e-01 -9.38273102e-02 -3.36890014e-03 6.36833037e+01] [ 9.38266964e-02 9.95588487e-01 -3.40118855e-04 -1.81385653e+01] [ 3.38595063e-03 2.25237070e-05 9.99994267e-01 8.87252949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.664839173 meters 0.06550462504085126 Centerline is valid? [True, True] Translation: X:63.71, Y:-18.15, Z:8.88 [[ 9.94861089e-01 -1.01202075e-01 3.09077240e-03 6.37122043e+01] [ 1.01201604e-01 9.94865890e-01 3.08828629e-04 -1.81488318e+01] [-3.10615814e-03 5.54953931e-06 9.99995176e-01 8.87768734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.694839173 meters 0.06560188287504369 Centerline is valid? [True, True] Translation: X:63.74, Y:-18.15, Z:8.88 [[ 9.94444245e-01 -1.05209392e-01 3.40979292e-03 6.37412099e+01] [ 1.05208845e-01 9.94450091e-01 3.39811987e-04 -1.81518133e+01] [-3.42662030e-03 2.08163015e-05 9.99994129e-01 8.87783947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.724839173 meters 0.06664802279300179 Centerline is valid? [True, True] Translation: X:63.77, Y:-18.14, Z:8.86 [[ 9.94292717e-01 -1.06499422e-01 -6.31394632e-03 6.37691039e+01] [ 1.06497532e-01 9.94312763e-01 -6.35793668e-04 -1.81421626e+01] [ 6.34574907e-03 -4.02546840e-05 9.99979865e-01 8.85964774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75483917300001 meters 0.06919334709105207 Centerline is valid? [True, True] Translation: X:63.80, Y:-18.12, Z:8.84 [[ 9.94532675e-01 -1.02682126e-01 -1.90036873e-02 6.37974082e+01] [ 1.02664344e-01 9.94714220e-01 -1.91155106e-03 -1.81237090e+01] [ 1.90995201e-02 -4.99010967e-05 9.99817586e-01 8.84288175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.784839173 meters 0.07008269249320705 Centerline is valid? [True, True] Translation: X:63.83, Y:-18.12, Z:8.84 [[ 9.94509913e-01 -1.01878093e-01 -2.38932325e-02 6.38274131e+01] [ 1.01849744e-01 9.94796890e-01 -2.40364186e-03 -1.81213893e+01] [ 2.40137918e-02 -4.30739432e-05 9.99711626e-01 8.84287276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.814839173 meters 0.07144011172233102 Centerline is valid? [True, True] Translation: X:63.86, Y:-18.13, Z:8.85 [[ 9.94556261e-01 -1.00317426e-01 -2.81825663e-02 6.38574519e+01] [ 1.00277329e-01 9.94955483e-01 -2.83604538e-03 -1.81251929e+01] [ 2.83249036e-02 -5.46578653e-06 9.99598769e-01 8.85035468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.844839173 meters 0.07181440102270799 Centerline is valid? [True, True] Translation: X:63.89, Y:-18.12, Z:8.85 [[ 9.94616425e-01 -9.93822755e-02 -2.93484259e-02 6.38857594e+01] [ 9.93381201e-02 9.95049327e-01 -2.96235217e-03 -1.81204349e+01] [ 2.94975367e-02 3.09866685e-05 9.99564853e-01 8.85354191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.874839173 meters 0.07146789545828222 Centerline is valid? [True, True] Translation: X:63.91, Y:-18.11, Z:8.85 [[ 9.94840518e-01 -9.77036094e-02 -2.73193824e-02 6.39137755e+01] [ 9.76647159e-02 9.95215554e-01 -2.75757179e-03 -1.81113250e+01] [ 2.74580990e-02 7.52044271e-05 9.99622952e-01 8.85459224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.904839173 meters 0.06938014441609783 Centerline is valid? [True, True] Translation: X:63.94, Y:-18.09, Z:8.85 [[ 9.94996262e-01 -9.81233653e-02 -1.88213548e-02 6.39417505e+01] [ 9.81049784e-02 9.95174258e-01 -1.89999259e-03 -1.80875866e+01] [ 1.89169614e-02 4.40169228e-05 9.99821057e-01 8.84651135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.934839173 meters 0.06943678233939456 Centerline is valid? [True, True] Translation: X:63.97, Y:-18.06, Z:8.83 [[ 9.94876335e-01 -9.95402239e-02 -1.76867616e-02 6.39685894e+01] [ 9.95240870e-02 9.95033539e-01 -1.79243051e-03 -1.80626535e+01] [ 1.77773399e-02 2.29878969e-05 9.99841970e-01 8.83265111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.964839173 meters 0.07015266508712456 Centerline is valid? [True, True] Translation: X:64.00, Y:-18.05, Z:8.83 [[ 9.94948750e-01 -9.85369505e-02 -1.91691010e-02 6.39955221e+01] [ 9.85178179e-02 9.95133392e-01 -1.94219076e-03 -1.80531850e+01] [ 1.92671900e-02 4.38822669e-05 9.99814370e-01 8.82910481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.994839173 meters 0.0720064573613386 Centerline is valid? [True, True] Translation: X:64.02, Y:-18.03, Z:8.83 [[ 9.95821699e-01 -8.82739190e-02 -2.33850103e-02 6.40235172e+01] [ 8.82426271e-02 9.96096194e-01 -2.36868914e-03 -1.80310653e+01] [ 2.35028132e-02 2.95237297e-04 9.99723727e-01 8.83444658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.024839173 meters 0.07346372060518891 Centerline is valid? [True, True] Translation: X:64.05, Y:-18.02, Z:8.84 [[ 9.96426022e-01 -8.14616533e-02 -2.23423618e-02 6.40506994e+01] [ 8.14313158e-02 9.96676380e-01 -2.26581490e-03 -1.80160300e+01] [ 2.24526813e-02 4.38349014e-04 9.99747811e-01 8.84077864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.054839173 meters 0.07435005476021045 Centerline is valid? [True, True] Translation: X:64.08, Y:-18.00, Z:8.86 [[ 9.97064604e-01 -7.32094775e-02 -2.24175695e-02 6.40801465e+01] [ 7.31768585e-02 9.97316389e-01 -2.27305197e-03 -1.80029107e+01] [ 2.25238184e-02 6.25932354e-04 9.99746111e-01 8.85884339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.084839173 meters 0.07576902423995685 Centerline is valid? [True, True] Translation: X:64.11, Y:-18.00, Z:8.86 [[ 9.97169107e-01 -7.15956721e-02 -2.29745690e-02 6.41073764e+01] [ 7.15609153e-02 9.97433504e-01 -2.33249582e-03 -1.79958728e+01] [ 2.30826015e-02 6.81811585e-04 9.99733329e-01 8.85918308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11483917300001 meters 0.07541588228908999 Centerline is valid? [True, True] Translation: X:64.14, Y:-18.00, Z:8.86 [[ 9.96978446e-01 -7.30327882e-02 -2.64611044e-02 6.41371756e+01] [ 7.29871812e-02 9.97329260e-01 -2.68658961e-03 -1.79955476e+01] [ 2.65866428e-02 7.47150519e-04 9.99646234e-01 8.85686163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.144839173 meters 0.07507763919350037 Centerline is valid? [True, True] Translation: X:64.16, Y:-17.99, Z:8.84 [[ 9.96348449e-01 -8.01564945e-02 -2.94058428e-02 6.41648731e+01] [ 8.01031721e-02 9.96782097e-01 -2.98877406e-03 -1.79928511e+01] [ 2.95507873e-02 6.22359114e-04 9.99563086e-01 8.83664074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.174839173 meters 0.07117752173632241 Centerline is valid? [True, True] Translation: X:64.20, Y:-18.00, Z:8.83 [[ 9.95470614e-01 -9.20709440e-02 -2.36896131e-02 6.41957385e+01] [ 9.20396995e-02 9.95752426e-01 -2.40821503e-03 -1.79959344e+01] [ 2.38107163e-02 2.16922427e-04 9.99716461e-01 8.83023723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.204839173 meters 0.07001393398754585 Centerline is valid? [True, True] Translation: X:64.23, Y:-18.00, Z:8.83 [[ 9.95021091e-01 -9.79567549e-02 -1.83712673e-02 6.42256392e+01] [ 9.79389554e-02 9.95190670e-01 -1.86826347e-03 -1.79984988e+01] [ 1.84659229e-02 5.96988265e-05 9.99829489e-01 8.83176752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.234839173 meters 0.06854676336098355 Centerline is valid? [True, True] Translation: X:64.26, Y:-18.02, Z:8.86 [[ 9.94230817e-01 -1.06573710e-01 -1.21295497e-02 6.42579926e+01] [ 1.06566584e-01 9.94304802e-01 -1.23409629e-03 -1.80193571e+01] [ 1.21919918e-02 -6.56281237e-05 9.99925673e-01 8.85608688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.264839173 meters 0.06861721662880127 Centerline is valid? [True, True] Translation: X:64.29, Y:-18.03, Z:8.87 [[ 9.94036390e-01 -1.08506957e-01 -1.08579930e-02 6.42877166e+01] [ 1.08501305e-01 9.94095687e-01 -1.10994574e-03 -1.80287253e+01] [ 1.09143208e-02 -7.47799567e-05 9.99940434e-01 8.86717938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.294839173 meters 0.06809492079259008 Centerline is valid? [True, True] Translation: X:64.32, Y:-18.02, Z:8.88 [[ 9.94438755e-01 -1.04911429e-01 -9.22789293e-03 6.43167769e+01] [ 1.04907170e-01 9.94481569e-01 -9.45813415e-04 -1.80234468e+01] [ 9.27619608e-03 -2.75186131e-05 9.99956975e-01 8.87698237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.324839173 meters 0.06784856601783935 Centerline is valid? [True, True] Translation: X:64.34, Y:-18.01, Z:8.87 [[ 9.94947897e-01 -9.99719796e-02 -9.18073966e-03 6.43436761e+01] [ 9.99675223e-02 9.94990253e-01 -9.44283611e-04 -1.80062849e+01] [ 9.22914837e-03 2.17371963e-05 9.99957410e-01 8.87297359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.354839173 meters 0.07071394706536029 Centerline is valid? [True, True] Translation: X:64.37, Y:-17.97, Z:8.85 [[ 9.96277312e-01 -8.52447061e-02 -1.28396735e-02 6.43693624e+01] [ 8.52348197e-02 9.96360022e-01 -1.31624877e-03 -1.79694512e+01] [ 1.29051406e-02 2.16961535e-04 9.99916702e-01 8.85232361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.384839173 meters 0.07646196858294114 Centerline is valid? [True, True] Translation: X:64.40, Y:-17.93, Z:8.84 [[ 9.97616313e-01 -6.67683833e-02 -1.74262887e-02 6.43960257e+01] [ 6.67473525e-02 9.97768310e-01 -1.78633531e-03 -1.79333703e+01] [ 1.75066694e-02 6.18918607e-04 9.99846555e-01 8.83888577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.414839173 meters 0.08026189643211944 Centerline is valid? [True, True] Translation: X:64.42, Y:-17.92, Z:8.84 [[ 9.98090155e-01 -5.82969815e-02 -2.04329378e-02 6.44243616e+01] [ 5.82662842e-02 9.98298879e-01 -2.09498415e-03 -1.79162900e+01] [ 2.05203102e-02 9.00431697e-04 9.99789031e-01 8.83514448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.444839173 meters 0.08675666478189044 Centerline is valid? [True, True] Translation: X:64.45, Y:-17.90, Z:8.83 [[ 9.98444273e-01 -4.83171858e-02 -2.78295435e-02 6.44520882e+01] [ 4.82563631e-02 9.98830907e-01 -2.85341517e-03 -1.78972136e+01] [ 2.79348772e-02 1.50602347e-03 9.99608611e-01 8.83488058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.474839173 meters 0.08877901693059159 Centerline is valid? [True, True] Translation: X:64.48, Y:-17.89, Z:8.84 [[ 9.98504037e-01 -4.54251005e-02 -3.04343427e-02 6.44821145e+01] [ 4.53510079e-02 9.98966239e-01 -3.12073049e-03 -1.78906855e+01] [ 3.05446404e-02 1.73583387e-03 9.99531896e-01 8.83632236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.504839173 meters 0.09087622359415655 Centerline is valid? [True, True] Translation: X:64.51, Y:-17.88, Z:8.84 [[ 9.98537420e-01 -4.28402533e-02 -3.29807924e-02 6.45106988e+01] [ 4.27517980e-02 9.99079997e-01 -3.38288116e-03 -1.78849603e+01] [ 3.30953734e-02 1.96794526e-03 9.99450261e-01 8.83753243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.534839173 meters 0.09169755735839959 Centerline is valid? [True, True] Translation: X:64.54, Y:-17.88, Z:8.85 [[ 9.98829180e-01 -4.00481168e-02 -2.71370252e-02 6.45398209e+01] [ 3.99869621e-02 9.99196299e-01 -2.79269913e-03 -1.78823291e+01] [ 2.72270575e-02 1.70430219e-03 9.99627822e-01 8.84674272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.564839173 meters 0.08870048291440162 Centerline is valid? [True, True] Translation: X:64.57, Y:-17.89, Z:8.85 [[ 9.98765558e-01 -4.47534190e-02 -2.15520646e-02 6.45700664e+01] [ 4.47159736e-02 9.98997282e-01 -2.21647432e-03 -1.78862539e+01] [ 2.16296487e-02 1.25001666e-03 9.99765270e-01 8.84614999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.594839173 meters 0.08518342835659182 Centerline is valid? [True, True] Translation: X:64.60, Y:-17.89, Z:8.84 [[ 9.98546157e-01 -5.08570922e-02 -1.78641562e-02 6.46000195e+01] [ 5.08323315e-02 9.98705511e-01 -1.83769775e-03 -1.78887966e+01] [ 1.79344912e-02 9.26949323e-04 9.99838734e-01 8.84181712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.624839173 meters 0.0765710531594301 Centerline is valid? [True, True] Translation: X:64.63, Y:-17.90, Z:8.84 [[ 9.97734001e-01 -6.65357620e-02 -9.99274357e-03 6.46319266e+01] [ 6.65287965e-02 9.97783976e-01 -1.02822754e-03 -1.79019080e+01] [ 1.00390133e-02 3.61092371e-04 9.99949543e-01 8.83580880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.654839173 meters 0.07334551110574955 Centerline is valid? [True, True] Translation: X:64.66, Y:-17.91, Z:8.83 [[ 9.97131362e-01 -7.50943377e-02 -9.48087922e-03 6.46625848e+01] [ 7.50884536e-02 9.97176400e-01 -9.75578733e-04 -1.79085995e+01] [ 9.52736944e-03 2.60875592e-04 9.99954580e-01 8.83191861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.684839173 meters 0.07158193275187613 Centerline is valid? [True, True] Translation: X:64.69, Y:-17.92, Z:8.83 [[ 9.96598824e-01 -8.17175866e-02 -1.06310552e-02 6.46938050e+01] [ 8.17105620e-02 9.96655501e-01 -1.09416147e-03 -1.79156640e+01] [ 1.06849119e-02 2.21770535e-04 9.99942890e-01 8.83079882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.714839173 meters 0.0734150113300908 Centerline is valid? [True, True] Translation: X:64.72, Y:-17.92, Z:8.84 [[ 9.96585807e-01 -8.11917744e-02 -1.49874840e-02 6.47238580e+01] [ 8.11777371e-02 9.96698446e-01 -1.54360401e-03 -1.79243691e+01] [ 1.50633299e-02 3.21683809e-04 9.99886490e-01 8.83737210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.744839173 meters 0.07416641304460884 Centerline is valid? [True, True] Translation: X:64.75, Y:-17.93, Z:8.85 [[ 9.96984637e-01 -7.54720356e-02 -1.80445238e-02 6.47546591e+01] [ 7.54507540e-02 9.97147798e-01 -1.85826613e-03 -1.79259382e+01] [ 1.81333043e-02 4.91189856e-04 9.99835457e-01 8.85076965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.774839173 meters 0.08406870601128758 Centerline is valid? [True, True] Translation: X:64.78, Y:-17.90, Z:8.86 [[ 9.98091722e-01 -5.77088227e-02 -2.19682999e-02 6.47819192e+01] [ 5.76729717e-02 9.98332965e-01 -2.26255377e-03 -1.79040238e+01] [ 2.20622472e-02 9.91259054e-04 9.99756108e-01 8.85927336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.804839173 meters 0.08406870601128758 Centerline is valid? [True, True] Translation: X:64.81, Y:-17.90, Z:8.86 [[ 9.98076720e-01 -5.79680454e-02 -2.19674096e-02 6.48094236e+01] [ 5.79320674e-02 9.98317944e-01 -2.27118716e-03 -1.79009557e+01] [ 2.20621155e-02 9.94201576e-04 9.99756108e-01 8.85894216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.834839173 meters 0.09049667583934394 Centerline is valid? [True, True] Translation: X:64.84, Y:-17.88, Z:8.87 [[ 9.98859809e-01 -4.46220074e-02 -1.69693491e-02 6.48386337e+01] [ 4.45986564e-02 9.99003448e-01 -1.75220530e-03 -1.78845150e+01] [ 1.70306252e-02 9.93397283e-04 9.99854475e-01 8.86550797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86483917300001 meters 0.08417312847976136 Centerline is valid? [True, True] Translation: X:64.87, Y:-17.89, Z:8.86 [[ 9.98907155e-01 -4.46604125e-02 -1.37820001e-02 6.48692542e+01] [ 4.46449307e-02 9.99001896e-01 -1.42911428e-03 -1.78938870e+01] [ 1.38320691e-02 8.12256036e-04 9.99904002e-01 8.86424991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.894839173 meters 0.07926240640658772 Centerline is valid? [True, True] Translation: X:64.90, Y:-17.90, Z:8.83 [[ 9.97931904e-01 -6.23225589e-02 -1.57421120e-02 6.48992614e+01] [ 6.23045938e-02 9.98055851e-01 -1.62955749e-03 -1.79020501e+01] [ 1.58130651e-02 6.45381515e-04 9.99874757e-01 8.83111918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.924839173 meters 0.0730468263306896 Centerline is valid? [True, True] Translation: X:64.93, Y:-17.92, Z:8.82 [[ 9.96986068e-01 -7.56118494e-02 -1.73674460e-02 6.49310560e+01] [ 7.55919825e-02 9.97137211e-01 -1.79849291e-03 -1.79183099e+01] [ 1.74537140e-02 4.80232700e-04 9.99847557e-01 8.82240944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.954839173 meters 0.06947646198550717 Centerline is valid? [True, True] Translation: X:64.96, Y:-17.94, Z:8.82 [[ 9.94877876e-01 -9.98744467e-02 -1.55918514e-02 6.49628224e+01] [ 9.98613984e-02 9.95000046e-01 -1.61514239e-03 -1.79435571e+01] [ 1.56752043e-02 4.98453412e-05 9.99877135e-01 8.81876553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.984839173 meters 0.0675564301437299 Centerline is valid? [True, True] Translation: X:65.00, Y:-17.97, Z:8.86 [[ 9.93901136e-01 -1.10241579e-01 -2.70665146e-03 6.49961287e+01] [ 1.10241224e-01 9.93904821e-01 -2.80552088e-04 -1.79676181e+01] [ 2.72108244e-03 -1.95435313e-05 9.99996298e-01 8.85822852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.014839173 meters 0.06751571576912796 Centerline is valid? [True, True] Translation: X:65.02, Y:-17.97, Z:8.88 [[ 9.94128627e-01 -1.08192789e-01 1.61037392e-03 6.50245623e+01] [ 1.08192662e-01 9.94129931e-01 1.65878970e-04 -1.79725418e+01] [-1.61886783e-03 9.32560883e-06 9.99998690e-01 8.87953438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.044839173 meters 0.06780621860317287 Centerline is valid? [True, True] Translation: X:65.05, Y:-17.97, Z:8.89 [[ 9.94577960e-01 -1.03950970e-01 2.97948047e-03 6.50527156e+01] [ 1.03950514e-01 9.94582423e-01 3.08122509e-04 -1.79713353e+01] [-2.99536854e-03 3.26666919e-06 9.99995514e-01 8.89479258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.074839173 meters 0.06846078709280365 Centerline is valid? [True, True] Translation: X:65.08, Y:-17.95, Z:8.88 [[ 9.95342051e-01 -9.59862570e-02 -8.99107847e-03 6.50809466e+01] [ 9.59817459e-02 9.95382657e-01 -9.32889795e-04 -1.79499909e+01] [ 9.03910818e-03 6.55650330e-05 9.99959144e-01 8.87574559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.104839173 meters 0.06925891796807562 Centerline is valid? [True, True] Translation: X:65.11, Y:-17.93, Z:8.85 [[ 9.95368654e-01 -9.48766055e-02 -1.54813510e-02 6.51089445e+01] [ 9.48630863e-02 9.95489032e-01 -1.60694033e-03 -1.79324677e+01] [ 1.55639762e-02 1.30889298e-04 9.99878865e-01 8.85011491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.134839173 meters 0.07024951065359933 Centerline is valid? [True, True] Translation: X:65.14, Y:-17.91, Z:8.82 [[ 9.95236879e-01 -9.53848065e-02 -2.01318993e-02 6.51358195e+01] [ 9.53620216e-02 9.95440462e-01 -2.09096388e-03 -1.79109924e+01] [ 2.02395533e-02 1.61185750e-04 9.99795146e-01 8.82026563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.164839173 meters 0.07023556052129572 Centerline is valid? [True, True] Translation: X:65.16, Y:-17.91, Z:8.82 [[ 9.94903930e-01 -9.86277027e-02 -2.09462742e-02 6.51645580e+01] [ 9.86035752e-02 9.95124397e-01 -2.18409625e-03 -1.79114840e+01] [ 2.10595609e-02 1.07588415e-04 9.99778217e-01 8.81747850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.194839173 meters 0.07075564443052908 Centerline is valid? [True, True] Translation: X:65.20, Y:-17.93, Z:8.82 [[ 9.93736338e-01 -1.08771446e-01 -2.56293420e-02 6.51960003e+01] [ 1.08738772e-01 9.94066776e-01 -2.66925685e-03 -1.79279721e+01] [ 2.57676163e-02 -1.34365656e-04 9.99667951e-01 8.82249089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.224839173 meters 0.0710203998207474 Centerline is valid? [True, True] Translation: X:65.23, Y:-17.93, Z:8.83 [[ 9.93370841e-01 -1.11607357e-01 -2.75348956e-02 6.52258886e+01] [ 1.11570683e-01 9.93752358e-01 -2.86948522e-03 -1.79319467e+01] [ 2.76831231e-02 -2.21624165e-04 9.99616724e-01 8.82878406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.254839173 meters 0.07057183119765893 Centerline is valid? [True, True] Translation: X:65.26, Y:-17.93, Z:8.84 [[ 9.93980027e-01 -1.06768452e-01 -2.45805514e-02 6.52552649e+01] [ 1.06737729e-01 9.94283909e-01 -2.56231852e-03 -1.79292819e+01] [ 2.47136215e-02 -7.67788019e-05 9.99694569e-01 8.84174450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.284839173 meters 0.06991951831814178 Centerline is valid? [True, True] Translation: X:65.28, Y:-17.92, Z:8.85 [[ 9.94762795e-01 -9.99644507e-02 -2.13093878e-02 6.52839280e+01] [ 9.99397831e-02 9.94991006e-01 -2.22208823e-03 -1.79165921e+01] [ 2.14247790e-02 8.07951012e-05 9.99770460e-01 8.84526336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.314839173 meters 0.06983810116815894 Centerline is valid? [True, True] Translation: X:65.31, Y:-17.90, Z:8.85 [[ 9.95865278e-01 -8.99321699e-02 -1.28277927e-02 6.53119875e+01] [ 8.99223904e-02 9.95947876e-01 -1.33828797e-03 -1.78988196e+01] [ 1.28961680e-02 1.79248743e-04 9.99916825e-01 8.85165918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.344839173 meters 0.06981240849617715 Centerline is valid? [True, True] Translation: X:65.34, Y:-17.90, Z:8.85 [[ 9.95845965e-01 -9.04140167e-02 -1.07758340e-02 6.53395326e+01] [ 9.04071261e-02 9.95904254e-01 -1.12586256e-03 -1.78977045e+01] [ 1.08334927e-02 1.46973506e-04 9.99941305e-01 8.84902067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.374839173 meters 0.06878445406612187 Centerline is valid? [True, True] Translation: X:65.37, Y:-17.91, Z:8.84 [[ 9.95072743e-01 -9.83656809e-02 -1.24269274e-02 6.53698746e+01] [ 9.83570753e-02 9.95150334e-01 -1.30325549e-03 -1.79103681e+01] [ 1.24948566e-02 7.45577796e-05 9.99921933e-01 8.84461946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.404839173 meters 0.06836525809896839 Centerline is valid? [True, True] Translation: X:65.40, Y:-17.91, Z:8.84 [[ 9.94442032e-01 -1.04521852e-01 -1.26581120e-02 6.53979864e+01] [ 1.04513371e-01 9.94522590e-01 -1.33150434e-03 -1.79123099e+01] [ 1.27279496e-02 1.16193882e-06 9.99918996e-01 8.83606941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.434839173 meters 0.06828703972412975 Centerline is valid? [True, True] Translation: X:65.43, Y:-17.91, Z:8.83 [[ 9.94391965e-01 -1.05249242e-01 -1.03545840e-02 6.54252917e+01] [ 1.05243605e-01 9.94445874e-01 -1.08930518e-03 -1.79088550e+01] [ 1.04117219e-02 -6.55743446e-06 9.99945797e-01 8.83424236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.464839173 meters 0.06802859586650391 Centerline is valid? [True, True] Translation: X:65.45, Y:-17.90, Z:8.84 [[ 9.94702000e-01 -1.02343757e-01 -9.67922282e-03 6.54532913e+01] [ 1.02338657e-01 9.94749091e-01 -1.02205900e-03 -1.79020634e+01] [ 9.73299947e-03 2.60854737e-05 9.99952633e-01 8.83794995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.494839173 meters 0.06992326581277508 Centerline is valid? [True, True] Translation: X:65.48, Y:-17.89, Z:8.84 [[ 9.95942532e-01 -8.92037957e-02 -1.18808925e-02 6.54822643e+01] [ 8.91952160e-02 9.96013377e-01 -1.25112850e-03 -1.78851284e+01] [ 1.19451333e-02 1.86333319e-04 9.99928637e-01 8.84037826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.524839173 meters 0.07201738791662254 Centerline is valid? [True, True] Translation: X:65.51, Y:-17.87, Z:8.84 [[ 9.96510571e-01 -8.18808104e-02 -1.61930377e-02 6.55106838e+01] [ 8.18638920e-02 9.96642058e-01 -1.70601977e-03 -1.78722708e+01] [ 1.62783527e-02 3.74441646e-04 9.99867429e-01 8.83789016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.554839173 meters 0.07431815686027217 Centerline is valid? [True, True] Translation: X:65.54, Y:-17.86, Z:8.84 [[ 9.96873025e-01 -7.58861637e-02 -2.20331920e-02 6.55403305e+01] [ 7.58533803e-02 9.97116281e-01 -2.32107115e-03 -1.78634633e+01] [ 2.21457917e-02 6.42521130e-04 9.99754545e-01 8.83698470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.584839173 meters 0.0730049543662457 Centerline is valid? [True, True] Translation: X:65.57, Y:-17.87, Z:8.83 [[ 9.95992684e-01 -8.57505270e-02 -2.54051439e-02 6.55695052e+01] [ 8.57100618e-02 9.96316519e-01 -2.67946184e-03 -1.78749515e+01] [ 2.55413298e-02 4.91247934e-04 9.99673646e-01 8.82792015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61483917300001 meters 0.07145102471942269 Centerline is valid? [True, True] Translation: X:65.60, Y:-17.88, Z:8.82 [[ 9.95283284e-01 -9.35098615e-02 -2.58281083e-02 6.55980449e+01] [ 9.34705581e-02 9.95618308e-01 -2.72749875e-03 -1.78809606e+01] [ 2.59699855e-02 3.00466219e-04 9.99662678e-01 8.82001348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.644839173 meters 0.06969052392179188 Centerline is valid? [True, True] Translation: X:65.63, Y:-17.89, Z:8.82 [[ 9.93217465e-01 -1.14395424e-01 -2.08027407e-02 6.56292570e+01] [ 1.14374499e-01 9.93435276e-01 -2.19681227e-03 -1.78946583e+01] [ 2.09174817e-02 -1.97390735e-04 9.99781186e-01 8.81727682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.674839173 meters 0.06993031578489704 Centerline is valid? [True, True] Translation: X:65.66, Y:-17.90, Z:8.82 [[ 9.92516735e-01 -1.20917288e-01 -1.70159027e-02 6.56585338e+01] [ 1.20904132e-01 9.92662550e-01 -1.80358405e-03 -1.79002085e+01] [ 1.71091339e-02 -2.67205589e-04 9.99853592e-01 8.82063597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.704839173 meters 0.06982502001335367 Centerline is valid? [True, True] Translation: X:65.69, Y:-17.92, Z:8.84 [[ 9.92036149e-01 -1.25482904e-01 -1.08774726e-02 6.56901569e+01] [ 1.25477767e-01 9.92095758e-01 -1.15615451e-03 -1.79165404e+01] [ 1.09365720e-02 -2.17933903e-04 9.99940170e-01 8.84342694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.734839173 meters 0.06937309922368967 Centerline is valid? [True, True] Translation: X:65.72, Y:-17.91, Z:8.85 [[ 9.92456854e-01 -1.21938924e-01 -1.26606335e-02 6.57180307e+01] [ 1.21931676e-01 9.92537584e-01 -1.34569933e-03 -1.79147981e+01] [ 1.27302477e-02 -2.08183729e-04 9.99918945e-01 8.84865343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.764839173 meters 0.06853691303111553 Centerline is valid? [True, True] Translation: X:65.74, Y:-17.89, Z:8.84 [[ 9.94066154e-01 -1.07392698e-01 -1.73000042e-02 6.57428804e+01] [ 1.07376848e-01 9.94216681e-01 -1.84518969e-03 -1.78869318e+01] [ 1.73981126e-02 -2.33792906e-05 9.99848641e-01 8.84456474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.794839173 meters 0.0697385845022667 Centerline is valid? [True, True] Translation: X:65.77, Y:-17.87, Z:8.83 [[ 9.95011854e-01 -9.78641348e-02 -1.93396143e-02 6.57693199e+01] [ 9.78425669e-02 9.95199772e-01 -2.06057103e-03 -1.78666780e+01] [ 1.94484357e-02 1.58055101e-04 9.99810849e-01 8.83185725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.824839173 meters 0.07326641917486461 Centerline is valid? [True, True] Translation: X:65.80, Y:-17.84, Z:8.83 [[ 9.96614985e-01 -8.00700560e-02 -1.86375286e-02 6.57962089e+01] [ 8.00469131e-02 9.96789120e-01 -1.98564736e-03 -1.78387788e+01] [ 1.87366767e-02 4.87049278e-04 9.99824334e-01 8.82789864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.854839173 meters 0.07519382451600148 Centerline is valid? [True, True] Translation: X:65.83, Y:-17.83, Z:8.83 [[ 9.97206268e-01 -7.17553709e-02 -2.07563545e-02 6.58258538e+01] [ 7.17248633e-02 9.97422004e-01 -2.21149895e-03 -1.78278406e+01] [ 2.08615317e-02 7.16573920e-04 9.99782118e-01 8.82624965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.884839173 meters 0.07713282189780173 Centerline is valid? [True, True] Translation: X:65.85, Y:-17.82, Z:8.82 [[ 9.97106632e-01 -7.31603319e-02 -2.06380893e-02 6.58532418e+01] [ 7.31304135e-02 9.97319956e-01 -2.20169281e-03 -1.78211510e+01] [ 2.07438549e-02 6.86050496e-04 9.99784588e-01 8.81982678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.914839173 meters 0.07258009208826567 Centerline is valid? [True, True] Translation: X:65.88, Y:-17.83, Z:8.83 [[ 9.96780385e-01 -7.92160630e-02 -1.23967703e-02 6.58849110e+01] [ 7.92057414e-02 9.96857413e-01 -1.32214124e-03 -1.78339152e+01] [ 1.24625472e-02 3.35989078e-04 9.99922283e-01 8.83465158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.944839173 meters 0.07072014623520236 Centerline is valid? [True, True] Translation: X:65.92, Y:-17.84, Z:8.85 [[ 9.96637061e-01 -8.16506854e-02 -6.90895144e-03 6.59154798e+01] [ 8.16475339e-02 9.96660994e-01 -7.37443072e-04 -1.78408159e+01] [ 6.94609514e-03 1.70864249e-04 9.99975861e-01 8.84570049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.974839173 meters 0.0687482130825211 Centerline is valid? [True, True] Translation: X:65.95, Y:-17.85, Z:8.85 [[ 9.96168292e-01 -8.72513285e-02 -5.99489521e-03 6.59463115e+01] [ 8.72490555e-02 9.96186324e-01 -6.40148212e-04 -1.78510655e+01] [ 6.02788640e-03 1.14646407e-04 9.99981826e-01 8.85168395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.004839173 meters 0.06866625364514037 Centerline is valid? [True, True] Translation: X:65.97, Y:-17.85, Z:8.85 [[ 9.96039303e-01 -8.85646196e-02 -7.87499330e-03 6.59740152e+01] [ 8.85607289e-02 9.96070423e-01 -8.42092533e-04 -1.78507585e+01] [ 7.91862752e-03 1.41342113e-04 9.99968637e-01 8.84729393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.034839173 meters 0.06839674892347772 Centerline is valid? [True, True] Translation: X:66.00, Y:-17.85, Z:8.84 [[ 9.95966269e-01 -8.94110158e-02 -7.54060216e-03 6.60032858e+01] [ 8.94074441e-02 9.95994806e-01 -8.10112979e-04 -1.78508679e+01] [ 7.58283361e-03 1.32659236e-04 9.99971241e-01 8.84014917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.064839173 meters 0.0686904878528038 Centerline is valid? [True, True] Translation: X:66.03, Y:-17.85, Z:8.84 [[ 9.95973091e-01 -8.93528560e-02 -7.32594022e-03 6.60299811e+01] [ 8.93494869e-02 9.96000025e-01 -7.86547578e-04 -1.78469131e+01] [ 7.36691691e-03 1.28811223e-04 9.99972856e-01 8.83586500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.094839173 meters 0.07730710614802422 Centerline is valid? [True, True] Translation: X:66.06, Y:-17.85, Z:8.83 [[ 9.96732842e-01 -8.07315164e-02 -2.46263219e-03 6.60596538e+01] [ 8.07311087e-02 9.96735882e-01 -2.64654138e-04 -1.78486396e+01] [ 2.47595980e-03 6.49784434e-05 9.99996933e-01 8.83459135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.124839173 meters 0.08434475498886676 Centerline is valid? [True, True] Translation: X:66.09, Y:-17.85, Z:8.84 [[ 9.97286604e-01 -7.35488261e-02 3.16235681e-03 6.60900017e+01] [ 7.35481213e-02 9.97291612e-01 3.38766659e-04 -1.78511661e+01] [-3.17870781e-03 -1.05262048e-04 9.99994942e-01 8.83981982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.154839173 meters 0.10929388872504779 Centerline is valid? [True, False] Translation: X:66.10, Y:-17.86, Z:8.85 [[ 9.97579007e-01 -6.93485387e-02 -5.18697404e-03 6.60964635e+01] [ 6.93206217e-02 9.97579918e-01 -5.38130024e-03 -1.78601219e+01] [ 5.54760645e-03 5.00870789e-03 9.99972068e-01 8.85041454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.184839173 meters 0.11547871609302061 Centerline is valid? [False, False] Translation: X:66.10, Y:-17.86, Z:8.85 [[ 9.97822069e-01 -6.56547408e-02 -6.36968716e-03 6.60990054e+01] [ 6.56499050e-02 9.97842251e-01 -9.65553119e-04 -1.78616737e+01] [ 6.41933611e-03 5.45280854e-04 9.99979247e-01 8.84989603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.214839173 meters 0.12451751911702563 Centerline is valid? [False, False] Translation: X:66.10, Y:-17.86, Z:8.84 [[ 9.97945423e-01 -6.22399656e-02 -1.52026380e-02 6.61019176e+01] [ 6.24261328e-02 9.97976308e-01 1.20941122e-02 -1.78552282e+01] [ 1.44191354e-02 -1.30183059e-02 9.99811288e-01 8.83949297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.244839173 meters 0.1296281879618502 Centerline is valid? [False, False] Translation: X:66.11, Y:-17.85, Z:8.83 [[ 9.98075154e-01 -6.00701598e-02 -1.54131020e-02 6.61056835e+01] [ 6.02330933e-02 9.98130848e-01 1.03336976e-02 -1.78471173e+01] [ 1.47635457e-02 -1.12421856e-02 9.99827811e-01 8.82957223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.274839173 meters 0.14200046057088558 Centerline is valid? [False, False] Translation: X:66.11, Y:-17.84, Z:8.83 [[ 9.98407460e-01 -4.92836354e-02 -2.74530121e-02 6.61073164e+01] [ 4.93144688e-02 9.98783201e-01 4.46811675e-04 -1.78391489e+01] [ 2.73975868e-02 -1.79993082e-03 9.99622995e-01 8.82713901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.304839173 meters 0.15313879182869025 Centerline is valid? [False, False] Translation: X:66.11, Y:-17.84, Z:8.82 [[ 9.98921383e-01 -4.16181997e-02 -2.05911524e-02 6.61081891e+01] [ 4.14576183e-02 9.99106900e-01 -8.16511449e-03 -1.78392334e+01] [ 2.09125798e-02 7.30264732e-03 9.99754638e-01 8.82486232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.334839173 meters 0.16724626027163556 Centerline is valid? [False, False] Translation: X:66.11, Y:-17.84, Z:8.83 [[ 9.99182688e-01 -3.81855801e-02 -1.32596298e-02 6.61110325e+01] [ 3.79936287e-02 9.99173665e-01 -1.44385577e-02 -1.78395761e+01] [ 1.38000176e-02 1.39229755e-02 9.99807837e-01 8.83131418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36483917300001 meters 0.1638724785200083 Centerline is valid? [False, False] Translation: X:66.11, Y:-17.84, Z:8.83 [[ 9.99360208e-01 -3.28164018e-02 -1.42217604e-02 6.61105040e+01] [ 3.27059206e-02 9.99433537e-01 -7.93269843e-03 -1.78445495e+01] [ 1.44740269e-02 7.46248738e-03 9.99867398e-01 8.83482400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.394839173 meters 0.168221037175728 Centerline is valid? [False, False] Translation: X:66.11, Y:-17.85, Z:8.83 [[ 9.99452973e-01 -2.95360363e-02 -1.48787325e-02 6.61138761e+01] [ 2.94938883e-02 9.99560325e-01 -3.04432107e-03 -1.78489256e+01] [ 1.49621078e-02 2.60382407e-03 9.99884671e-01 8.83256909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.424839173 meters 0.17594944139427815 Centerline is valid? [False, False] Translation: X:66.12, Y:-17.85, Z:8.83 [[ 9.99422703e-01 -3.02143508e-02 -1.55355826e-02 6.61218071e+01] [ 3.02063290e-02 9.99543403e-01 -7.50796611e-04 -1.78526819e+01] [ 1.55511739e-02 2.81090258e-04 9.99879034e-01 8.82698706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.454839173 meters 0.17823375199671096 Centerline is valid? [False, False] Translation: X:66.13, Y:-17.85, Z:8.83 [[ 9.99592783e-01 -2.71511078e-02 -8.77983534e-03 6.61326468e+01] [ 2.70985985e-02 9.99614486e-01 -6.04534786e-03 -1.78543996e+01] [ 8.94058847e-03 5.80496486e-03 9.99943183e-01 8.82532163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.484839173 meters 0.1810935750695092 Centerline is valid? [False, False] Translation: X:66.14, Y:-17.86, Z:8.83 [[ 9.99682955e-01 -2.51246309e-02 -1.65594822e-03 6.61364885e+01] [ 2.51036417e-02 9.99616772e-01 -1.16668487e-02 -1.78595466e+01] [ 1.94843888e-03 1.16215795e-02 9.99930569e-01 8.83344797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.514839173 meters 0.1942907464529119 Centerline is valid? [False, False] Translation: X:66.14, Y:-17.87, Z:8.84 [[ 9.99747671e-01 -1.93475393e-02 -1.14134576e-02 6.61447308e+01] [ 1.92167181e-02 9.99749634e-01 -1.14624474e-02 -1.78656700e+01] [ 1.16323702e-02 1.12402259e-02 9.99869164e-01 8.84439961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.544839173 meters 0.19988321227793712 Centerline is valid? [False, False] Translation: X:66.14, Y:-17.87, Z:8.84 [[ 9.99829077e-01 -1.41246437e-02 -1.19293961e-02 6.61448742e+01] [ 1.40477457e-02 9.99880163e-01 -6.50547944e-03 -1.78692954e+01] [ 1.20198541e-02 6.33678638e-03 9.99907680e-01 8.84486448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.574839173 meters 0.20611917433803426 Centerline is valid? [False, False] Translation: X:66.14, Y:-17.87, Z:8.85 [[ 9.99881619e-01 -9.36159472e-03 -1.22109781e-02 6.61446849e+01] [ 9.34227533e-03 9.99955018e-01 -1.63821759e-03 -1.78707203e+01] [ 1.22257651e-02 1.52394534e-03 9.99924101e-01 8.84577201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.604839173 meters 0.2118798232228561 Centerline is valid? [False, False] Translation: X:66.15, Y:-17.87, Z:8.84 [[ 9.99910335e-01 -5.39315809e-03 -1.22570720e-02 6.61455876e+01] [ 5.41943549e-03 9.99983085e-01 2.11165418e-03 -1.78696187e+01] [ 1.22454762e-02 -2.17789125e-03 9.99922650e-01 8.84458131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.634839173 meters 0.2228920738686741 Centerline is valid? [False, False] Translation: X:66.15, Y:-17.87, Z:8.84 [[ 9.99915208e-01 -2.79398548e-03 -1.27188960e-02 6.61499300e+01] [ 2.85180069e-03 9.99985674e-01 4.52975025e-03 -1.78674452e+01] [ 1.27060577e-02 -4.56563792e-03 9.99908851e-01 8.83998859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.664839173 meters 0.22633664476228732 Centerline is valid? [False, False] Translation: X:66.15, Y:-17.85, Z:8.83 [[ 9.99793298e-01 3.63183816e-03 -2.00042644e-02 6.61529521e+01] [-3.22572110e-03 9.99788801e-01 2.02965113e-02 -1.78545330e+01] [ 2.00737532e-02 -2.02277878e-02 9.99593858e-01 8.82760878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.694839173 meters 0.22633664476228732 Centerline is valid? [False, False] Translation: X:66.15, Y:-17.85, Z:8.82 [[ 9.99992819e-01 2.24564254e-03 -3.05286434e-03 6.61484503e+01] [-2.20726073e-03 9.99919209e-01 1.25181586e-02 -1.78515862e+01] [ 3.08072900e-03 -1.25113302e-02 9.99916984e-01 8.81673602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.724839173 meters 0.2295887215703038 Centerline is valid? [False, False] Translation: X:66.15, Y:-17.84, Z:8.81 [[ 9.99984450e-01 5.08029543e-03 -2.30019293e-03 6.61484484e+01] [-5.04695290e-03 9.99885349e-01 1.42764330e-02 -1.78430092e+01] [ 2.37245771e-03 -1.42646020e-02 9.99895441e-01 8.81449128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.754839173 meters 0.23632228044525416 Centerline is valid? [False, False] Translation: X:66.13, Y:-17.84, Z:8.83 [[ 9.99992306e-01 3.71269310e-03 -1.26607738e-03 6.61334721e+01] [-3.70030797e-03 9.99946608e-01 9.64820685e-03 -1.78415553e+01] [ 1.30183061e-03 -9.64344774e-03 9.99952653e-01 8.82653898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.784839173 meters 0.23967839542631716 Centerline is valid? [False, False] Translation: X:66.13, Y:-17.85, Z:8.83 [[ 9.99997658e-01 9.67832573e-04 -1.93566575e-03 6.61316679e+01] [-9.54905440e-04 9.99977311e-01 6.66820165e-03 -1.78472530e+01] [ 1.94207554e-03 -6.66633765e-03 9.99975894e-01 8.83011757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.814839173 meters 0.24569180993906753 Centerline is valid? [False, False] Translation: X:66.13, Y:-17.85, Z:8.83 [[ 9.99978576e-01 -6.25191877e-03 -1.93951292e-03 6.61295271e+01] [ 6.25078788e-03 9.99980290e-01 -5.88591953e-04 -1.78502931e+01] [ 1.94315452e-03 5.76455859e-04 9.99997946e-01 8.83264414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.844839173 meters 0.24899046489995655 Centerline is valid? [False, False] Translation: X:66.13, Y:-17.85, Z:8.83 [[ 9.99994082e-01 -2.58080551e-03 -2.27486785e-03 6.61309255e+01] [ 2.59022477e-03 9.99988045e-01 4.14739868e-03 -1.78525961e+01] [ 2.26413703e-03 -4.15326655e-03 9.99988812e-01 8.83269781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.874839173 meters 0.2539377328371436 Centerline is valid? [False, False] Translation: X:66.12, Y:-17.85, Z:8.82 [[ 9.99944391e-01 -7.42587069e-03 7.48806684e-03 6.61238929e+01] [ 7.32788306e-03 9.99888262e-01 1.30294471e-02 -1.78545608e+01] [-7.58398513e-03 -1.29738508e-02 9.99887075e-01 8.82343660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.904839173 meters 0.25630902955453205 Centerline is valid? [False, False] Translation: X:66.13, Y:-17.85, Z:8.82 [[ 9.99935411e-01 -8.82590046e-03 7.16078582e-03 6.61284075e+01] [ 8.73818939e-03 9.99887530e-01 1.21889995e-02 -1.78546532e+01] [-7.26755934e-03 -1.21256400e-02 9.99900071e-01 8.81932982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.934839173 meters 0.25919505006744953 Centerline is valid? [False, False] Translation: X:66.14, Y:-17.86, Z:8.81 [[ 9.99937223e-01 -9.08760292e-03 6.55487499e-03 6.61362283e+01] [ 8.99406162e-03 9.99859269e-01 1.41615240e-02 -1.78601126e+01] [-6.68264682e-03 -1.41016800e-02 9.99878235e-01 8.81350526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.964839173 meters 0.2597067921691759 Centerline is valid? [False, False] Translation: X:66.14, Y:-17.86, Z:8.81 [[ 9.99937092e-01 -9.49490732e-03 5.97142655e-03 6.61384865e+01] [ 9.40784845e-03 9.99851447e-01 1.44421431e-02 -1.78627163e+01] [-6.10766629e-03 -1.43850563e-02 9.99877876e-01 8.81277757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.994839173 meters 0.2648069262332681 Centerline is valid? [False, False] Translation: X:66.15, Y:-17.87, Z:8.82 [[ 9.99975992e-01 -6.18198534e-03 -3.13040515e-03 6.61480396e+01] [ 6.20709179e-03 9.99948132e-01 8.07501847e-03 -1.78703280e+01] [ 3.08032314e-03 -8.09425531e-03 9.99962497e-01 8.82131302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.024839173 meters 0.2594537461700026 Centerline is valid? [False, False] Translation: X:66.15, Y:-17.87, Z:8.82 [[ 9.99974729e-01 -6.22071562e-03 -3.44163724e-03 6.61494874e+01] [ 6.24970584e-03 9.99944533e-01 8.47774622e-03 -1.78743878e+01] [ 3.38870869e-03 -8.49904119e-03 9.99958141e-01 8.82100292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.054839173 meters 0.2556078905566424 Centerline is valid? [False, False] Translation: X:66.15, Y:-17.88, Z:8.82 [[ 9.99964645e-01 -7.33740392e-03 -4.10743956e-03 6.61543692e+01] [ 7.36477167e-03 9.99950514e-01 6.68797802e-03 -1.78776862e+01] [ 4.05816390e-03 -6.71799193e-03 9.99969199e-01 8.81603364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.084839173 meters 0.25472912904619793 Centerline is valid? [False, False] Translation: X:66.16, Y:-17.88, Z:8.81 [[ 9.99973747e-01 -4.81671169e-03 -5.41338527e-03 6.61613354e+01] [ 4.86401279e-03 9.99949810e-01 8.75887430e-03 -1.78789697e+01] [ 5.37092460e-03 -8.78497513e-03 9.99946987e-01 8.80990330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11483917300001 meters 0.25784728225082104 Centerline is valid? [False, False] Translation: X:66.17, Y:-17.88, Z:8.81 [[ 9.99960879e-01 -5.87827566e-03 -6.60962601e-03 6.61663365e+01] [ 5.93310245e-03 9.99947901e-01 8.30620749e-03 -1.78827887e+01] [ 6.56045547e-03 -8.34509813e-03 9.99943658e-01 8.80730420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.144839173 meters 0.25690050964758687 Centerline is valid? [False, False] Translation: X:66.17, Y:-17.89, Z:8.81 [[ 9.99804112e-01 -1.82577998e-02 -7.64141906e-03 6.61696170e+01] [ 1.82416537e-02 9.99831236e-01 -2.17737279e-03 -1.78919468e+01] [ 7.67988350e-03 2.03755415e-03 9.99968433e-01 8.80846050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.174839173 meters 0.2579588693718953 Centerline is valid? [False, False] Translation: X:66.17, Y:-17.90, Z:8.81 [[ 9.99702408e-01 -2.25905250e-02 -9.20668220e-03 6.61736514e+01] [ 2.25552265e-02 9.99737913e-01 -3.91999515e-03 -1.79009480e+01] [ 9.29282400e-03 3.71116979e-03 9.99949934e-01 8.81024929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.204839173 meters 0.25500822505711296 Centerline is valid? [False, False] Translation: X:66.19, Y:-17.91, Z:8.81 [[ 9.99609704e-01 -2.50018065e-02 -1.24639376e-02 6.61896152e+01] [ 2.50449426e-02 9.99680824e-01 3.31685602e-03 -1.79102376e+01] [ 1.23770320e-02 -3.62772006e-03 9.99916821e-01 8.81429234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.234839173 meters 0.25304410351760004 Centerline is valid? [False, False] Translation: X:66.21, Y:-17.91, Z:8.81 [[ 9.99666836e-01 -2.26250261e-02 -1.24227824e-02 6.62092336e+01] [ 2.28147002e-02 9.99621940e-01 1.53449269e-02 -1.79062758e+01] [ 1.20709065e-02 -1.56232366e-02 9.99805085e-01 8.81375450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.264839173 meters 0.2520621876176791 Centerline is valid? [False, False] Translation: X:66.25, Y:-17.88, Z:8.81 [[ 9.99767689e-01 -2.12047095e-02 -3.86365185e-03 6.62451895e+01] [ 2.13585081e-02 9.98738437e-01 4.54460968e-02 -1.78842499e+01] [ 2.89510633e-03 -4.55180610e-02 9.98959321e-01 8.80712348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1871.01 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%| | 0/2894 [00:00