+ python -m lidar_slam --no-model /working/5153ddea-9b42-49bd-aee0-96d92173aaca Lidar SLAM 0.0.12 ===================================================== The recording path: /working/5153ddea-9b42-49bd-aee0-96d92173aaca 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 0.029649246 Adjusted end_distance from 9.223372036854776e+18 to 120.849649246 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029649246 meters 0.07870780770409752 Centerline is valid? [0, True] SLAMing on 0.059649246 meters 0.07758766548818287 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 9.99999298e-01 7.17247130e-04 9.43076234e-04 3.09338847e-02] [-7.17191296e-04 9.99999741e-01 -5.95406257e-05 -2.34561252e-03] [-9.43118695e-04 5.88642179e-05 9.99999554e-01 -1.55753979e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.089649246 meters 0.07902372523942791 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:0.00 [[ 9.99997487e-01 -1.01035480e-03 2.00130897e-03 6.13240927e-02] [ 1.01060896e-03 9.99999481e-01 -1.25988588e-04 -6.94285615e-03] [-2.00118064e-03 1.28010812e-04 9.99997989e-01 9.13556922e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11964924600000001 meters 0.08174220529368836 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.01, Z:0.00 [[ 9.99992004e-01 -2.66546608e-03 2.98116676e-03 9.03068187e-02] [ 2.66603582e-03 9.99996429e-01 -1.87155947e-04 -1.32205745e-02] [-2.98065726e-03 1.95102348e-04 9.99995539e-01 1.53958562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.149649246 meters 0.07934708003255551 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:0.00 [[ 9.99986054e-01 -4.61547532e-03 2.56679243e-03 1.20543138e-01] [ 4.61590303e-03 9.99989334e-01 -1.60729941e-04 -1.10747238e-02] [-2.56602320e-03 1.72575764e-04 9.99996693e-01 4.52423478e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.179649246 meters 0.07851590469219416 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.01, Z:-0.00 [[ 9.99910899e-01 -1.31959274e-02 2.01540564e-03 1.50875550e-01] [ 1.31962088e-02 9.99912918e-01 -1.26367559e-04 -1.08241202e-02] [-2.01356260e-03 1.52952013e-04 9.99997961e-01 -2.63281806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.209649246 meters 0.08094789148901768 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.02, Z:-0.00 [[ 9.99862916e-01 -1.65414494e-02 7.28141862e-04 1.80511883e-01] [ 1.65414868e-02 9.99863179e-01 -4.53201167e-05 -1.72204011e-02] [-7.27292576e-04 5.73584530e-05 9.99999734e-01 -2.31191442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.239649246 meters 0.08785086912539992 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.03, Z:-0.00 [[ 9.99574900e-01 -2.91279394e-02 1.25767393e-03 2.10202707e-01] [ 2.91280613e-02 9.99575685e-01 -7.87618912e-05 -2.71588470e-02] [-1.25484611e-03 1.15362013e-04 9.99999206e-01 -6.06545570e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.269649246 meters 0.09388582651104091 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.04, Z:0.00 [[ 9.99398808e-01 -3.45392240e-02 3.01089425e-03 2.39456180e-01] [ 3.45399467e-02 9.99403300e-01 -1.88352562e-04 -3.61585491e-02] [-3.00259210e-03 2.92235453e-04 9.99995450e-01 1.99073731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29964924600000004 meters 0.1065148693475939 Centerline is valid? [True, False] Translation: X:0.24, Y:-0.04, Z:0.01 [[ 0.99915752 -0.04079852 -0.00444267 0.23576336] [ 0.0408432 0.99911063 0.01047773 -0.03842397] [ 0.00401125 -0.01065036 0.99993524 0.00976581] [ 0. 0. 0. 1. ]] SLAMing on 0.32964924600000006 meters 0.11030786390760022 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.01 [[ 0.9991389 -0.04119467 -0.00494484 0.23721611] [ 0.04124513 0.99909307 0.01057689 -0.03929514] [ 0.00450464 -0.01077173 0.99993184 0.00950894] [ 0. 0. 0. 1. ]] SLAMing on 0.35964924600000003 meters 0.11918231520903479 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.04, Z:0.02 [[ 0.99929707 -0.03385567 -0.01609847 0.24928294] [ 0.03405687 0.99934306 0.01239287 -0.04482516] [ 0.01566833 -0.01293242 0.99979361 0.01618582] [ 0. 0. 0. 1. ]] SLAMing on 0.38964924600000006 meters 0.13479780164425692 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:0.02 [[ 0.99939891 -0.0300504 -0.01728576 0.25143249] [ 0.03034582 0.99939335 0.01709004 -0.04701672] [ 0.01676171 -0.01760432 0.99970452 0.01662452] [ 0. 0. 0. 1. ]] SLAMing on 0.41964924600000003 meters 0.17297267877064346 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:0.01 [[ 0.99963556 -0.02374512 -0.01284222 0.2639588 ] [ 0.02390913 0.99963255 0.01277198 -0.0473301 ] [ 0.01253423 -0.01307437 0.99983596 0.01293981] [ 0. 0. 0. 1. ]] SLAMing on 0.44964924600000006 meters 0.17769563689059464 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.01 [[ 0.9997907 -0.01868642 -0.00832963 0.27660288] [ 0.01873971 0.99980413 0.00636635 -0.04667773] [ 0.00820903 -0.00652111 0.99994504 0.00773094] [ 0. 0. 0. 1. ]] SLAMing on 0.47964924600000003 meters 0.16588711022692998 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:0.01 [[ 0.99983757 -0.01540663 -0.00935258 0.2795339 ] [ 0.01549505 0.99983523 0.00945654 -0.04393097] [ 0.00920535 -0.00959992 0.99991155 0.00635504] [ 0. 0. 0. 1. ]] SLAMing on 0.5096492460000001 meters 0.1796076550429305 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:0.01 [[ 0.99988352 -0.01139908 -0.01014974 0.28086207] [ 0.01153975 0.99983665 0.01391101 -0.04454638] [ 0.00998951 -0.01402651 0.99985172 0.00686469] [ 0. 0. 0. 1. ]] SLAMing on 0.539649246 meters 0.19196326520890208 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:0.01 [[ 0.99990443 -0.00824418 -0.01109762 0.28362546] [ 0.00842821 0.99982603 0.01663982 -0.04178582] [ 0.01095851 -0.01673176 0.99979996 0.00537251] [ 0. 0. 0. 1. ]] SLAMing on 0.569649246 meters 0.20469802484940233 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:0.00 [[ 9.99880435e-01 -9.91857760e-03 -1.18632697e-02 2.87438725e-01] [ 1.00713640e-02 9.99866208e-01 1.28893008e-02 -3.46696137e-02] [ 1.17338390e-02 -1.30072390e-02 9.99846553e-01 2.96787202e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.599649246 meters 0.20745222757150913 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.03, Z:-0.01 [[ 0.99995095 -0.00662123 -0.00736548 0.30132652] [ 0.00665759 0.99996571 0.00492406 -0.03266955] [ 0.00733262 -0.00497286 0.99996075 -0.00560311] [ 0. 0. 0. 1. ]] SLAMing on 0.629649246 meters 0.21741882344852526 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.03, Z:-0.01 [[ 0.9999541 -0.00405972 -0.00867904 0.30594932] [ 0.0041251 0.99996315 0.00752877 -0.03058705] [ 0.00864815 -0.00756422 0.99993399 -0.00808333] [ 0. 0. 0. 1. ]] SLAMing on 0.659649246 meters 0.25348991408848254 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.03, Z:-0.01 [[ 0.99997463 -0.00239951 -0.0067071 0.32926315] [ 0.00241663 0.99999384 0.00254662 -0.02865048] [ 0.00670095 -0.00256276 0.99997426 -0.01333712] [ 0. 0. 0. 1. ]] SLAMing on 0.689649246 meters 0.23615660408286804 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.03, Z:-0.01 [[ 0.99996965 -0.00324245 -0.00708358 0.33127337] [ 0.00325295 0.99999363 0.00147026 -0.02650285] [ 0.00707876 -0.00149326 0.99997383 -0.0149334 ] [ 0. 0. 0. 1. ]] SLAMing on 0.719649246 meters 0.26673469832454394 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.03, Z:-0.02 [[ 9.99991577e-01 7.83023943e-04 -4.02899443e-03 3.48661764e-01] [-7.95634381e-04 9.99994787e-01 -3.12927156e-03 -2.73160325e-02] [ 4.02652314e-03 3.13245081e-03 9.99986987e-01 -1.93920101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.749649246 meters 0.2533922505342707 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.03, Z:-0.02 [[ 0.99998949 0.00137475 -0.00437358 0.35334388] [-0.00138067 0.99999813 -0.00135061 -0.02685056] [ 0.00437171 0.00135664 0.99998952 -0.02241093] [ 0. 0. 0. 1. ]] SLAMing on 0.7796492460000001 meters 0.2621171457364967 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.02 [[ 9.99987977e-01 4.90869483e-04 -4.87898135e-03 3.55808054e-01] [-5.01959817e-04 9.99997293e-01 -2.27211943e-03 -2.53499424e-02] [ 4.87785283e-03 2.27454116e-03 9.99985516e-01 -2.40972235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.809649246 meters 0.27348643827378744 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.02, Z:-0.03 [[ 0.99998438 0.0020278 -0.00520912 0.38803474] [-0.00204228 0.99999406 -0.00277625 -0.02441693] [ 0.00520346 0.00278685 0.99998258 -0.02898727] [ 0. 0. 0. 1. ]] SLAMing on 0.839649246 meters 0.2825393076997197 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.02, Z:-0.03 [[ 9.99968222e-01 4.84232406e-03 -6.33302617e-03 3.92094250e-01] [-4.83947652e-03 9.99988182e-01 4.64881155e-04 -2.30096610e-02] [ 6.33520243e-03 -4.34217850e-04 9.99979838e-01 -3.04360944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.869649246 meters 0.28291090403325875 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.01, Z:-0.04 [[ 9.99945263e-01 7.22886624e-03 -7.56408276e-03 3.97003300e-01] [-7.22299275e-03 9.99973591e-01 8.03527094e-04 -1.44757272e-02] [ 7.56969159e-03 -7.48847796e-04 9.99971069e-01 -3.50179797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8996492460000001 meters 0.287157767099921 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.01, Z:-0.04 [[ 0.99994731 0.00563033 -0.00858326 0.40137053] [-0.00564419 0.99998281 -0.0015912 -0.00756616] [ 0.00857416 0.00163956 0.9999619 -0.0379205 ] [ 0. 0. 0. 1. ]] SLAMing on 0.929649246 meters 0.28743202597888057 Centerline is valid? [False, False] Translation: X:0.40, Y:0.00, Z:-0.04 [[ 9.99870695e-01 1.31122248e-02 -9.30933871e-03 4.03977171e-01] [-1.30821415e-02 9.99909029e-01 3.28509681e-03 7.49310974e-04] [ 9.35156675e-03 -3.16288594e-03 9.99951271e-01 -4.12241080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.959649246 meters 0.29426287350538755 Centerline is valid? [False, False] Translation: X:0.40, Y:0.01, Z:-0.04 [[ 0.99971281 0.02180993 -0.00993149 0.40473526] [-0.02171267 0.99971624 0.00979819 0.00907769] [ 0.01014237 -0.00957973 0.99990268 -0.04142646] [ 0. 0. 0. 1. ]] SLAMing on 0.989649246 meters 0.2987278580419682 Centerline is valid? [False, False] Translation: X:0.41, Y:0.01, Z:-0.04 [[ 0.9996307 0.02516239 -0.01026217 0.40616967] [-0.02503503 0.99961021 0.0123559 0.01401779] [ 0.01056908 -0.01209442 0.999871 -0.04210509] [ 0. 0. 0. 1. ]] SLAMing on 1.0196492460000002 meters 0.298742637934353 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.04 [[ 0.99953894 0.02851053 -0.01044263 0.40760231] [-0.02835694 0.99949163 0.01457263 0.01959871] [ 0.01085279 -0.01426979 0.99983928 -0.04342161] [ 0. 0. 0. 1. ]] SLAMing on 1.049649246 meters 0.30439449237461247 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.04 [[ 0.99909029 0.0414242 -0.01013099 0.40632147] [-0.04115453 0.99882691 0.0255168 0.02622986] [ 0.01117612 -0.02507665 0.99962306 -0.0424087 ] [ 0. 0. 0. 1. ]] SLAMing on 1.079649246 meters 0.3092859825753661 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:-0.05 [[ 0.99863438 0.05206897 -0.00426611 0.42156295] [-0.05194815 0.99834349 0.02473188 0.03648564] [ 0.0055468 -0.02447649 0.99968502 -0.047692 ] [ 0. 0. 0. 1. ]] SLAMing on 1.109649246 meters 0.3075794278842996 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:-0.05 [[ 0.99844562 0.05556597 -0.00433308 0.42307989] [-0.05542968 0.99809866 0.02695595 0.04178082] [ 0.00582268 -0.02667387 0.99962723 -0.04934014] [ 0. 0. 0. 1. ]] SLAMing on 1.139649246 meters 0.2938167821986819 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:-0.05 [[ 0.99827895 0.05846852 -0.00453615 0.42452459] [-0.05831677 0.99789335 0.0284255 0.0475407 ] [ 0.00618859 -0.02811204 0.99958562 -0.05079107] [ 0. 0. 0. 1. ]] SLAMing on 1.169649246 meters 0.2938167821986819 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:-0.05 [[ 0.9984733 0.05507491 -0.00422062 0.42262845] [-0.05495726 0.9981953 0.02420407 0.0499313 ] [ 0.00554604 -0.02393516 0.99969813 -0.05001318] [ 0. 0. 0. 1. ]] SLAMing on 1.1996492460000001 meters 0.31506704886772274 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:-0.06 [[ 9.97914992e-01 6.45334944e-02 1.04736539e-03 4.39727360e-01] [-6.45404018e-02 9.97645034e-01 2.32147146e-02 5.83951388e-02] [ 4.53227779e-04 -2.32339091e-02 9.99729954e-01 -5.54687064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2296492460000001 meters 0.31088607583584266 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:-0.06 [[ 9.97955844e-01 6.39058467e-02 4.20772397e-04 4.42128513e-01] [-6.39006538e-02 9.97737027e-01 2.09172519e-02 6.42290586e-02] [ 9.16914492e-04 -2.09013814e-02 9.99781122e-01 -5.80751235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2596492460000002 meters 0.3199179830895254 Centerline is valid? [False, False] Translation: X:0.46, Y:0.07, Z:-0.06 [[ 0.99745693 0.07105305 0.00558 0.46054308] [-0.07114554 0.99729185 0.01863547 0.07168718] [-0.00424078 -0.01898508 0.99981077 -0.06357781] [ 0. 0. 0. 1. ]] SLAMing on 1.289649246 meters 0.3203138139176743 Centerline is valid? [False, False] Translation: X:0.46, Y:0.08, Z:-0.06 [[ 0.99745776 0.07106034 0.00533425 0.4614454 ] [-0.07114423 0.99730971 0.01765897 0.07543065] [-0.00406505 -0.01799357 0.99982984 -0.06447137] [ 0. 0. 0. 1. ]] SLAMing on 1.319649246 meters 0.31027823903247165 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:-0.07 [[ 0.99746862 0.06976431 0.01375853 0.49283946] [-0.06999551 0.99740062 0.01710645 0.0813932 ] [-0.01252935 -0.01802618 0.99975901 -0.06976718] [ 0. 0. 0. 1. ]] SLAMing on 1.349649246 meters 0.30513029524477675 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:-0.07 [[ 0.99750128 0.06936483 0.01340564 0.49442787] [-0.06958135 0.99744109 0.01642249 0.08356668] [-0.0122322 -0.01731424 0.99977527 -0.07078285] [ 0. 0. 0. 1. ]] SLAMing on 1.379649246 meters 0.26835654344951887 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.08 [[ 0.99764294 0.06411835 0.02444169 0.52732976] [-0.0645066 0.99779781 0.01544139 0.08839181] [-0.02339779 -0.01698165 0.999582 -0.07783873] [ 0. 0. 0. 1. ]] SLAMing on 1.409649246 meters 0.2505720448768132 Centerline is valid? [False, False] Translation: X:0.54, Y:0.09, Z:-0.08 [[ 0.99802013 0.05789744 0.0245705 0.54122627] [-0.05837447 0.99811083 0.01916235 0.08888588] [-0.02341463 -0.0205587 0.99951443 -0.0770222 ] [ 0. 0. 0. 1. ]] SLAMing on 1.439649246 meters 0.23127313698882682 Centerline is valid? [False, False] Translation: X:0.54, Y:0.09, Z:-0.08 [[ 0.99848277 0.04963665 0.02384029 0.54236758] [-0.04992332 0.99868588 0.01158379 0.08747168] [-0.02323398 -0.0127564 0.99964867 -0.07678854] [ 0. 0. 0. 1. ]] SLAMing on 1.4696492460000001 meters 0.22853855746637464 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:-0.08 [[ 0.99883571 0.03952807 0.02765418 0.55899447] [-0.03992862 0.99910326 0.01408481 0.08654361] [-0.02707264 -0.01517261 0.99951832 -0.07770604] [ 0. 0. 0. 1. ]] SLAMing on 1.4996492460000002 meters 0.21694733359886786 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:-0.08 [[ 0.99928138 0.02756603 0.02601628 0.56605172] [-0.0277693 0.99958634 0.00748481 0.08111614] [-0.02579919 -0.00820188 0.9996335 -0.07676825] [ 0. 0. 0. 1. ]] SLAMing on 1.5296492460000002 meters 0.20761534537950352 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.07 [[ 0.999738 0.01289357 0.01891265 0.56270093] [-0.01310964 0.9998497 0.01134545 0.06986847] [-0.01876353 -0.01159042 0.99975677 -0.07012827] [ 0. 0. 0. 1. ]] SLAMing on 1.559649246 meters 0.2023037312065238 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:-0.07 [[ 0.99982751 0.00396302 0.01814531 0.56599344] [-0.00402563 0.99998607 0.00341488 0.06757438] [-0.01813152 -0.00348734 0.99982953 -0.0716349 ] [ 0. 0. 0. 1. ]] SLAMing on 1.589649246 meters 0.2015660508239638 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:-0.07 [[ 9.99858631e-01 -1.25932201e-03 1.67669726e-02 5.70769150e-01] [ 1.25297160e-03 9.99999139e-01 3.89244669e-04 6.29207939e-02] [-1.67674484e-02 -3.68181102e-04 9.99859349e-01 -7.26684510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.619649246 meters 0.1953699362382226 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:-0.07 [[ 0.99978276 -0.01691746 0.01217485 0.61536963] [ 0.01696194 0.9998498 -0.00355955 0.05165716] [-0.0121128 0.00376529 0.99991955 -0.07262333] [ 0. 0. 0. 1. ]] SLAMing on 1.649649246 meters 0.194673730859514 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:-0.07 [[ 0.99969776 -0.02194843 0.01107474 0.61966188] [ 0.0220223 0.99973574 -0.00659302 0.046783 ] [-0.01092711 0.00683492 0.99991694 -0.07370979] [ 0. 0. 0. 1. ]] SLAMing on 1.679649246 meters 0.18885220250204018 Centerline is valid? [False, False] Translation: X:0.66, Y:0.03, Z:-0.07 [[ 0.99931451 -0.03621144 0.00769693 0.6614823 ] [ 0.03628141 0.99929969 -0.00915343 0.03349079] [-0.00736008 0.00942641 0.99992848 -0.07212524] [ 0. 0. 0. 1. ]] SLAMing on 1.7096492460000001 meters 0.18728975727143915 Centerline is valid? [False, False] Translation: X:0.68, Y:0.02, Z:-0.06 [[ 0.99939964 -0.03446662 -0.00352264 0.67916498] [ 0.03443913 0.999378 -0.00758688 0.02125548] [ 0.00378194 0.007461 0.99996501 -0.06445985] [ 0. 0. 0. 1. ]] SLAMing on 1.7396492460000001 meters 0.18430524253593916 Centerline is valid? [False, False] Translation: X:0.71, Y:0.00, Z:-0.06 [[ 0.9990709 -0.04151761 -0.01155984 0.71131874] [ 0.04138596 0.99907816 -0.01140351 0.00416182] [ 0.01202263 0.0109145 0.99986816 -0.06238054] [ 0. 0. 0. 1. ]] SLAMing on 1.7696492460000002 meters 0.17965764541226412 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.01, Z:-0.05 [[ 0.99901125 -0.03849046 -0.02224887 0.72818955] [ 0.03831057 0.9992301 -0.00845566 -0.00721241] [ 0.0225572 0.00759493 0.9997167 -0.05450243] [ 0. 0. 0. 1. ]] SLAMing on 1.7996492460000002 meters 0.17850677545792756 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.02, Z:-0.05 [[ 0.99879966 -0.03914313 -0.0294458 0.75680827] [ 0.03889425 0.999203 -0.00897801 -0.02278125] [ 0.02977376 0.00782196 0.99952606 -0.05323319] [ 0. 0. 0. 1. ]] SLAMing on 1.829649246 meters 0.17315485854813245 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.05 [[ 0.99916368 -0.03405233 -0.02263572 0.76616027] [ 0.03381359 0.99936929 -0.01084746 -0.03178031] [ 0.02299082 0.01007299 0.99968493 -0.05256995] [ 0. 0. 0. 1. ]] SLAMing on 1.859649246 meters 0.1732748778248678 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.05 [[ 0.99924587 -0.03173464 -0.02237423 0.76429272] [ 0.03162741 0.99948656 -0.00513026 -0.04578751] [ 0.02252555 0.00441875 0.9997365 -0.04796808] [ 0. 0. 0. 1. ]] SLAMing on 1.889649246 meters 0.16785930768502505 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:-0.05 [[ 0.99956622 -0.02497215 -0.01561321 0.77281543] [ 0.02488242 0.99967288 -0.00591524 -0.05359203] [ 0.01575582 0.00552418 0.99986061 -0.04645436] [ 0. 0. 0. 1. ]] SLAMing on 1.919649246 meters 0.16245621320659054 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:-0.04 [[ 0.99972315 -0.0181334 -0.01499361 0.76918364] [ 0.018181 0.99983008 0.00304408 -0.06441983] [ 0.01493586 -0.00331584 0.99988296 -0.04179293] [ 0. 0. 0. 1. ]] SLAMing on 1.9496492460000001 meters 0.1578456287064416 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:-0.04 [[ 0.99992125 -0.01037719 -0.00705774 0.77323377] [ 0.01036627 0.99994502 -0.00158139 -0.06323929] [ 0.00707376 0.0015081 0.99997384 -0.04245044] [ 0. 0. 0. 1. ]] SLAMing on 1.9796492460000001 meters 0.15434373486919287 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.04 [[ 9.99985684e-01 -8.69526892e-04 -5.27974163e-03 7.64514201e-01] [ 8.90213042e-04 9.99991933e-01 3.91693795e-03 -6.16714090e-02] [ 5.27629316e-03 -3.92158197e-03 9.99978391e-01 -4.04418637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0096492460000004 meters 0.15305803891113512 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:-0.04 [[ 0.99998685 -0.00132554 -0.00495318 0.76523602] [ 0.00133594 0.99999691 0.00209703 -0.05763355] [ 0.00495039 -0.00210362 0.99998553 -0.04320917] [ 0. 0. 0. 1. ]] SLAMing on 2.039649246 meters 0.15003390353637575 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.05 [[ 0.99998143 0.00468606 -0.00389527 0.762159 ] [-0.00466835 0.99997878 0.00454293 -0.05174592] [ 0.00391647 -0.00452466 0.99998209 -0.04529681] [ 0. 0. 0. 1. ]] SLAMing on 2.069649246 meters 0.1488676700586475 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.05 [[ 0.99998417 0.00387642 -0.00407948 0.7634774 ] [-0.00386401 0.99998789 0.00304624 -0.04828207] [ 0.00409124 -0.00303043 0.99998704 -0.04680758] [ 0. 0. 0. 1. ]] SLAMing on 2.0996492460000002 meters 0.14375575366639953 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.05 [[ 0.9999842 0.00386161 -0.00408462 0.7636785 ] [-0.00385393 0.99999079 0.00188654 -0.04564777] [ 0.00409186 -0.00187077 0.99998988 -0.04811813] [ 0. 0. 0. 1. ]] SLAMing on 2.129649246 meters 0.146853083753609 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.05 [[ 0.99998403 0.00305217 -0.00475635 0.7656163 ] [-0.00304662 0.99999467 0.00117402 -0.04411187] [ 0.00475991 -0.00115952 0.999988 -0.04859553] [ 0. 0. 0. 1. ]] SLAMing on 2.1596492460000003 meters 0.13973224903408984 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.05 [[ 9.99983539e-01 2.80398074e-03 -5.00597698e-03 7.66212403e-01] [-2.79931041e-03 9.99995640e-01 9.39714468e-04 -4.32384449e-02] [ 5.00859009e-03 -9.25685716e-04 9.99987028e-01 -4.85090680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.189649246 meters 0.13868896784133894 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.05 [[ 9.99982421e-01 2.32175402e-03 -5.45601888e-03 7.67563484e-01] [-2.31844383e-03 9.99997125e-01 6.12951357e-04 -4.27605144e-02] [ 5.45742631e-03 -6.00291108e-04 9.99984928e-01 -4.89137510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2196492460000004 meters 0.13486462726388937 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.05 [[ 9.99980597e-01 1.77459841e-03 -5.97137291e-03 7.69162466e-01] [-1.77251837e-03 9.99998367e-01 3.53608353e-04 -4.25127539e-02] [ 5.97199067e-03 -3.43017123e-04 9.99982109e-01 -4.93853767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.249649246 meters 0.1323708680466497 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.05 [[ 9.99976845e-01 4.37750235e-04 -6.79105873e-03 7.72492910e-01] [-4.44260280e-04 9.99999443e-01 -9.57141189e-04 -4.04587347e-02] [ 6.79063596e-03 9.60136024e-04 9.99976482e-01 -5.16309898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.279649246 meters 0.12918825309865764 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.05 [[ 9.99972358e-01 -2.26330874e-04 -7.43177868e-03 7.74432317e-01] [ 2.16079486e-04 9.99999024e-01 -1.38017289e-03 -3.99795758e-02] [ 7.43208380e-03 1.37852888e-03 9.99971431e-01 -5.24013961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.309649246 meters 0.12850884336627724 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.04, Z:-0.05 [[ 9.99968766e-01 -5.54974082e-04 -7.88408085e-03 7.75420103e-01] [ 5.43803469e-04 9.99998845e-01 -1.41892977e-03 -3.98293099e-02] [ 7.88485922e-03 1.41459806e-03 9.99967913e-01 -5.21853746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.339649246 meters 0.12546466376129456 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.04, Z:-0.05 [[ 9.99965427e-01 -8.67463293e-04 -8.26993491e-03 7.76170850e-01] [ 8.54491287e-04 9.99998399e-01 -1.57197841e-03 -3.91789196e-02] [ 8.27128531e-03 1.56485747e-03 9.99964568e-01 -5.19253069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3696492460000003 meters 0.1203910988454627 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.04, Z:-0.05 [[ 0.99996545 -0.00111243 -0.00823818 0.77597135] [ 0.00109573 0.99999734 -0.00203101 -0.03642678] [ 0.00824042 0.00202192 0.999964 -0.05139422] [ 0. 0. 0. 1. ]] SLAMing on 2.399649246 meters 0.11383582491876507 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.03, Z:-0.05 [[ 0.99996317 -0.00156039 -0.00843964 0.77653585] [ 0.00153847 0.99999543 -0.0026037 -0.03443973] [ 0.00844366 0.00259062 0.999961 -0.05144734] [ 0. 0. 0. 1. ]] SLAMing on 2.4296492460000003 meters 0.1158703551499198 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.03, Z:-0.05 [[ 0.99995835 -0.00241824 -0.00880012 0.77786819] [ 0.0023848 0.9999899 -0.00380915 -0.0310431 ] [ 0.00880925 0.003788 0.99995402 -0.05221848] [ 0. 0. 0. 1. ]] SLAMing on 2.459649246 meters 0.11344551477305781 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.03, Z:-0.05 [[ 0.99995273 -0.00308346 -0.0092211 0.77913918] [ 0.00304322 0.9999858 -0.00437518 -0.02938454] [ 0.00923446 0.00434691 0.99994791 -0.05254122] [ 0. 0. 0. 1. ]] SLAMing on 2.4896492460000004 meters 0.10532671829742633 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.03, Z:-0.05 [[ 0.99994933 -0.00327548 -0.00951919 0.7796887 ] [ 0.00323412 0.99998528 -0.00435733 -0.02918274] [ 0.00953332 0.00432632 0.9999452 -0.0522511 ] [ 0. 0. 0. 1. ]] SLAMing on 2.519649246 meters 0.09946038883550684 Centerline is valid? [False, True] Translation: X:0.78, Y:-0.03, Z:-0.05 [[ 0.99994051 -0.0040814 -0.01011509 0.78134989] [ 0.00403053 0.99997916 -0.00504376 -0.02737686] [ 0.01013547 0.00500269 0.99993612 -0.05260538] [ 0. 0. 0. 1. ]] SLAMing on 2.549649246 meters 0.09813241807528876 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.03, Z:-0.05 [[ 9.99929405e-01 -7.39355615e-03 -9.30167616e-03 8.11799214e-01] [ 7.39221994e-03 9.99972661e-01 -1.78025677e-04 -2.90021554e-02] [ 9.30273811e-03 1.09253073e-04 9.99956723e-01 -5.31716658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5796492460000002 meters 0.09491736585068117 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.03, Z:-0.06 [[ 9.99912387e-01 -1.27395812e-02 -3.59470043e-03 8.41450750e-01] [ 1.27394137e-02 9.99918848e-01 -6.94972189e-05 -2.84996802e-02] [ 3.59529408e-03 2.36967542e-05 9.99993537e-01 -5.64230945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.609649246 meters 0.0916096621586065 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.03, Z:-0.06 [[ 9.99873234e-01 -1.58602497e-02 1.40298332e-03 8.71667558e-01] [ 1.58602285e-02 9.99874218e-01 2.62145141e-05 -2.85452591e-02] [-1.40322262e-03 -3.95955494e-06 9.99999015e-01 -5.58138549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6396492460000003 meters 0.0918352327753669 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.03, Z:-0.06 [[ 9.99842444e-01 -1.77149379e-02 1.12607344e-03 8.99505932e-01] [ 1.77149354e-02 9.99843078e-01 1.22217761e-05 -2.83336737e-02] [-1.12611324e-03 7.72846767e-06 9.99999366e-01 -6.08850568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.669649246 meters 0.08719360356090157 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.03, Z:-0.06 [[ 9.99650493e-01 -2.43660575e-02 1.02560317e-02 9.30226117e-01] [ 2.43653398e-02 9.99703102e-01 1.94935965e-04 -2.98708258e-02] [-1.02577365e-02 5.50238633e-05 9.99947387e-01 -5.99664871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6996492460000003 meters 0.08541742813217161 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.03, Z:-0.06 [[ 9.99447005e-01 -2.99466360e-02 1.44528160e-02 9.58714322e-01] [ 2.99458453e-02 9.99551486e-01 2.71164704e-04 -3.22838474e-02] [-1.44544541e-02 1.61787040e-04 9.99895516e-01 -6.38734120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.729649246 meters 0.08422817218669734 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.03, Z:-0.07 [[ 9.99293739e-01 -3.33714801e-02 1.72732968e-02 9.87908008e-01] [ 3.33708047e-02 9.99442986e-01 3.27417908e-04 -3.46655100e-02] [-1.72746018e-02 2.49237147e-04 9.99850752e-01 -6.71305156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7596492460000004 meters 0.08116307744662811 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.04, Z:-0.06 [[ 9.98998638e-01 -3.99397708e-02 2.01627600e-02 1.01894520e+00] [ 3.99401542e-02 9.99202000e-01 3.83837374e-04 -3.82516626e-02] [-2.01620005e-02 4.21850732e-04 9.99796637e-01 -6.00367263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.789649246 meters 0.08236609787598012 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.04, Z:-0.07 [[ 9.98798317e-01 -4.32309864e-02 2.30868761e-02 1.04684677e+00] [ 4.32323855e-02 9.99064947e-01 4.38746445e-04 -4.24904684e-02] [-2.30842561e-02 5.59881517e-04 9.99733366e-01 -7.14562743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.819649246 meters 0.081798165929096 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.05, Z:-0.08 [[ 9.98473434e-01 -4.81402825e-02 2.70797927e-02 1.07533003e+00] [ 4.81439999e-02 9.98840273e-01 5.15067901e-04 -4.64864599e-02] [-2.70731830e-02 7.89447921e-04 9.99633142e-01 -7.52430996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8496492460000002 meters 0.07968084503345271 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.04, Z:-0.07 [[ 9.98445312e-01 -4.82453611e-02 2.79167245e-02 1.10535405e+00] [ 4.82496870e-02 9.98835171e-01 5.19031532e-04 -4.28291542e-02] [-2.79092472e-02 8.28748622e-04 9.99610118e-01 -7.09983900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.879649246 meters 0.0777250457616305 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.04, Z:-0.07 [[ 9.98368487e-01 -4.88431673e-02 2.95754804e-02 1.13489799e+00] [ 4.88480683e-02 9.98806065e-01 5.57207810e-04 -4.00394151e-02] [-2.95673850e-02 8.88406368e-04 9.99562394e-01 -6.91395968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9096492460000003 meters 0.07586804995339425 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.04, Z:-0.07 [[ 9.98108109e-01 -4.91944680e-02 3.68796261e-02 1.16476274e+00] [ 4.92012433e-02 9.98788623e-01 7.24385299e-04 -4.08337596e-02] [-3.68705867e-02 1.09150862e-03 9.99319453e-01 -7.09286841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.939649246 meters 0.07472960929281668 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.04, Z:-0.07 [[ 9.97945826e-01 -4.95416561e-02 4.06171465e-02 1.19498634e+00] [ 4.95501589e-02 9.98771318e-01 7.97961949e-04 -4.08694239e-02] [-4.06067733e-02 1.21626327e-03 9.99174465e-01 -7.24549608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9696492460000004 meters 0.0731985160482786 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.04, Z:-0.07 [[ 9.97713001e-01 -4.96898937e-02 4.58222788e-02 1.22477117e+00] [ 4.97009009e-02 9.98763741e-01 8.99760443e-04 -4.08301653e-02] [-4.58103396e-02 1.37970584e-03 9.98949203e-01 -7.35306358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.999649246 meters 0.0709764951502888 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.04, Z:-0.07 [[ 9.97611864e-01 -4.66170705e-02 5.09648749e-02 1.25523766e+00] [ 4.66266428e-02 9.98911884e-01 1.00174312e-03 -3.74168669e-02] [-5.09561176e-02 1.37697019e-03 9.98699944e-01 -7.45280340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0296492460000004 meters 0.0712548471709484 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.04, Z:-0.08 [[ 9.97723161e-01 -4.50403106e-02 5.01982419e-02 1.28323973e+00] [ 4.50481925e-02 9.98984339e-01 9.74931330e-04 -3.57745205e-02] [-5.01911688e-02 1.28862850e-03 9.98738798e-01 -7.80829167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.059649246 meters 0.06954523604707614 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.03, Z:-0.08 [[ 9.97648728e-01 -4.15872304e-02 5.44749227e-02 1.31290564e+00] [ 4.15896721e-02 9.99134181e-01 1.08930670e-03 -3.39069985e-02] [-5.44730586e-02 1.17884873e-03 9.98514545e-01 -8.22001512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.089649246 meters 0.06954523604707614 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.03, Z:-0.09 [[ 9.97637768e-01 -4.18489672e-02 5.44751963e-02 1.34044363e+00] [ 4.18525402e-02 9.99123219e-01 1.07572005e-03 -3.31730843e-02] [-5.44724513e-02 1.20674639e-03 9.98514545e-01 -8.51805300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1196492460000003 meters 0.06826336464933147 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.03, Z:-0.09 [[ 9.97488652e-01 -4.01616983e-02 5.83388937e-02 1.37065011e+00] [ 4.01611506e-02 9.99192516e-01 1.18233996e-03 -3.11997683e-02] [-5.83392708e-02 1.16358640e-03 9.98296136e-01 -8.77048314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.149649246 meters 0.06695765487741269 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.03, Z:-0.09 [[ 9.97226047e-01 -3.91713487e-02 6.32915163e-02 1.39960401e+00] [ 3.91687534e-02 9.99231787e-01 1.28225123e-03 -3.03478343e-02] [-6.32931224e-02 1.20035546e-03 9.97994258e-01 -9.13538558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1796492460000003 meters 0.066974102235316 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.03, Z:-0.09 [[ 9.97058633e-01 -4.14438710e-02 6.44708226e-02 1.42830448e+00] [ 4.14464187e-02 9.99139884e-01 1.29849342e-03 -3.47375634e-02] [-6.44691848e-02 1.37741063e-03 9.97918748e-01 -9.45951925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.209649246 meters 0.06913856667894412 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.06, Z:-0.10 [[ 9.96043688e-01 -5.52959366e-02 6.95653039e-02 1.45828466e+00] [ 5.53308594e-02 9.98467056e-01 1.42625502e-03 -5.87529899e-02] [-6.95375303e-02 2.42849574e-03 9.97576380e-01 -9.58104710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2396492460000004 meters 0.06994100092575428 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.07, Z:-0.09 [[ 0.9952311 -0.064887 0.07283357 1.48910725] [ 0.06495064 0.99788736 0.00149682 -0.06979354] [-0.07277682 0.0032409 0.99734299 -0.0923436 ] [ 0. 0. 0. 1. ]] SLAMing on 3.269649246 meters 0.07459444007249984 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.10, Z:-0.09 [[ 0.99394056 -0.07915886 0.07626299 1.51937567] [ 0.07927049 0.99685191 0.00156707 -0.09711395] [-0.07614696 0.00448784 0.99708651 -0.09144168] [ 0. 0. 0. 1. ]] SLAMing on 3.2996492460000004 meters 0.07379119093400863 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.10, Z:-0.09 [[ 0.9937936 -0.07789941 0.07941015 1.5498303 ] [ 0.07801641 0.99695074 0.00163288 -0.09882514] [-0.0792952 0.00457255 0.99684069 -0.09075409] [ 0. 0. 0. 1. ]] SLAMing on 3.3296492460000002 meters 0.07255010979630358 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.10, Z:-0.09 [[ 0.99365434 -0.07483412 0.08396971 1.57937232] [ 0.07495404 0.99718549 0.00172788 -0.09879055] [-0.08386268 0.00457696 0.99646681 -0.09077959] [ 0. 0. 0. 1. ]] SLAMing on 3.359649246 meters 0.07185353328765623 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.09, Z:-0.10 [[ 0.99385069 -0.07198076 0.08414027 1.6082231 ] [ 0.07209081 0.99739657 0.00173351 -0.09488697] [-0.084046 0.00434289 0.99645241 -0.09580827] [ 0. 0. 0. 1. ]] SLAMing on 3.3896492460000003 meters 0.07105785117057863 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.09, Z:-0.10 [[ 0.99367341 -0.06968626 0.08807369 1.63791885] [ 0.06979767 0.99755951 0.00181788 -0.08820202] [-0.08798543 0.00434096 0.9961123 -0.10303175] [ 0. 0. 0. 1. ]] SLAMing on 3.419649246 meters 0.07119605739106816 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.09, Z:-0.11 [[ 0.99367595 -0.06939558 0.08827436 1.66532761] [ 0.06950635 0.99757985 0.00182217 -0.08703345] [-0.08818717 0.00432499 0.99609453 -0.10645151] [ 0. 0. 0. 1. ]] SLAMing on 3.4496492460000003 meters 0.07292049939095503 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.09, Z:-0.11 [[ 0.99320126 -0.07311519 0.09058385 1.69434191] [ 0.07324653 0.9973121 0.00187807 -0.09195544] [-0.09047769 0.00476965 0.99588706 -0.10733132] [ 0. 0. 0. 1. ]] SLAMing on 3.479649246 meters 0.07382426646296024 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.09, Z:-0.11 [[ 0.99318334 -0.074628 0.08954053 1.72419579] [ 0.07476217 0.99719966 0.00185923 -0.09449822] [-0.08942854 0.00484769 0.99598144 -0.10966246] [ 0. 0. 0. 1. ]] SLAMing on 3.5096492460000004 meters 0.07684765637023776 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.10, Z:-0.11 [[ 0.99268487 -0.08014856 0.09029377 1.75322725] [ 0.08030737 0.99676838 0.00187872 -0.10147701] [-0.09015255 0.00538628 0.9959134 -0.1117668 ] [ 0. 0. 0. 1. ]] SLAMing on 3.539649246 meters 0.07774373190330788 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.10, Z:-0.12 [[ 0.99261334 -0.08164304 0.08973945 1.78300686] [ 0.08180626 0.99664651 0.00186384 -0.10232131] [-0.08959067 0.00549118 0.99596353 -0.1155016 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5696492460000004 meters 0.07973931151161266 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.10, Z:-0.12 [[ 0.99227728 -0.08479906 0.09052577 1.81220451] [ 0.08497795 0.99638105 0.00188327 -0.10453834] [-0.09035786 0.00582397 0.99589233 -0.12025516] [ 0. 0. 0. 1. ]] SLAMing on 3.5996492460000002 meters 0.0802396233014088 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.10, Z:-0.12 [[ 0.99216136 -0.08572566 0.09092277 1.84102713] [ 0.08591018 0.99630109 0.00188962 -0.10368156] [-0.09074844 0.00593638 0.99585615 -0.1237936 ] [ 0. 0. 0. 1. ]] SLAMing on 3.629649246 meters 0.0802446686203511 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.10, Z:-0.13 [[ 0.99232412 -0.08460825 0.09019023 1.86997605] [ 0.08478343 0.9963976 0.00189389 -0.10164013] [-0.09002557 0.00576728 0.99592276 -0.1308571 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6596492460000003 meters 0.07838777237371698 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.10, Z:-0.14 [[ 0.99275069 -0.08014225 0.08957283 1.89885211] [ 0.08029508 0.99676932 0.00190162 -0.09684107] [-0.08943585 0.00530442 0.99597846 -0.135975 ] [ 0. 0. 0. 1. ]] SLAMing on 3.689649246 meters 0.07653933620460901 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.09, Z:-0.14 [[ 9.93081141e-01 -7.61743684e-02 8.93717664e-02 1.92865513e+00] [ 7.63102937e-02 9.97082308e-01 1.89994538e-03 -9.19375764e-02] [-8.92557342e-02 4.93318582e-03 9.95996525e-01 -1.39572326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7196492460000004 meters 0.07290976567157059 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.08, Z:-0.14 [[ 9.93627565e-01 -6.81940903e-02 8.97431242e-02 1.95756233e+00] [ 6.82987111e-02 9.97663092e-01 1.90816854e-03 -8.43410284e-02] [-8.96635286e-02 4.23333086e-03 9.95963117e-01 -1.42466105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.749649246 meters 0.07075506864072618 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.08, Z:-0.15 [[ 9.93890863e-01 -6.35469801e-02 9.02370993e-02 1.98790202e+00] [ 6.36334910e-02 9.97971487e-01 1.92081717e-03 -7.91040845e-02] [-9.01761144e-02 3.83301901e-03 9.95918459e-01 -1.45793310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7796492460000004 meters 0.06936232874099209 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.08, Z:-0.15 [[ 9.94071925e-01 -6.03819926e-02 9.04158321e-02 2.01786335e+00] [ 6.04557816e-02 9.98169020e-01 1.92487552e-03 -7.50414953e-02] [-9.03665104e-02 3.55269509e-03 9.95902240e-01 -1.48897554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.809649246 meters 0.066644107689124 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.07, Z:-0.15 [[ 9.94621120e-01 -5.30160286e-02 8.89838611e-02 2.04687328e+00] [ 5.30579673e-02 9.98589635e-01 1.89564499e-03 -6.90395851e-02] [-8.89588609e-02 2.83585425e-03 9.96031264e-01 -1.53988257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8396492460000005 meters 0.06573751982112559 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.07, Z:-0.16 [[ 9.94721790e-01 -5.06063290e-02 8.92611911e-02 2.07579070e+00] [ 5.06387870e-02 9.98715222e-01 1.90235221e-03 -6.70210202e-02] [-8.92427813e-02 2.62776724e-03 9.96006436e-01 -1.56947345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8696492460000003 meters 0.06370590103175915 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.06, Z:-0.16 [[ 9.94942037e-01 -4.44746998e-02 9.00685479e-02 2.10438254e+00] [ 4.44821874e-02 9.99008323e-01 1.92516857e-03 -6.08554206e-02] [-9.00648503e-02 2.09101489e-03 9.95933708e-01 -1.58397289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.899649246 meters 0.06353090697455921 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.06, Z:-0.16 [[ 9.94892381e-01 -4.39746976e-02 9.08591019e-02 2.13308826e+00] [ 4.39801226e-02 9.99030516e-01 1.94340420e-03 -5.91797166e-02] [-9.08564761e-02 2.06251642e-03 9.95861861e-01 -1.60199393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9296492460000003 meters 0.06421094476823859 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.06, Z:-0.16 [[ 9.94558328e-01 -4.59949378e-02 9.34783238e-02 2.16138658e+00] [ 4.60075529e-02 9.98939047e-01 2.02126451e-03 -6.06662446e-02] [-9.34721157e-02 2.29044348e-03 9.95619263e-01 -1.61235804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.959649246 meters 0.06476105941167681 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.06, Z:-0.16 [[ 9.94429233e-01 -4.75428266e-02 9.40753959e-02 2.19061933e+00] [ 4.75621817e-02 9.98866201e-01 2.03771367e-03 -6.05398835e-02] [-9.40656120e-02 2.44806903e-03 9.95562990e-01 -1.63655179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9896492460000004 meters 0.06609715350194605 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.06, Z:-0.17 [[ 9.94239071e-01 -5.06189630e-02 9.44795776e-02 2.21922434e+00] [ 5.06503406e-02 9.98714308e-01 2.06748389e-03 -6.29675633e-02] [-9.44627598e-02 2.72984953e-03 9.95524653e-01 -1.67889827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.019649246 meters 0.06903975667073307 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.07, Z:-0.17 [[ 9.93920056e-01 -5.63769094e-02 9.45757162e-02 2.24800347e+00] [ 5.64337337e-02 9.98404189e-01 2.07582543e-03 -6.89890374e-02] [-9.45418198e-02 3.27405626e-03 9.95515507e-01 -1.70261911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.049649246 meters 0.07130852608554025 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.07, Z:-0.17 [[ 9.93662737e-01 -6.03713317e-02 9.48138516e-02 2.27852363e+00] [ 6.04462702e-02 9.98169277e-01 2.08410704e-03 -7.38097173e-02] [-9.47660940e-02 3.66024418e-03 9.95492838e-01 -1.73343514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.079649246000001 meters 0.07370299237012098 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.08, Z:-0.18 [[ 9.93366074e-01 -6.46751372e-02 9.50840119e-02 2.30898883e+00] [ 6.47701418e-02 9.97898021e-01 2.09004545e-03 -7.85945056e-02] [-9.50193213e-02 4.08242470e-03 9.95467057e-01 -1.76440343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109649246 meters 0.07993448625073675 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.09, Z:-0.18 [[ 9.92738535e-01 -7.37987201e-02 9.49944780e-02 2.33832657e+00] [ 7.39351159e-02 9.97260868e-01 2.08788048e-03 -9.04993377e-02] [-9.48883585e-02 4.95070833e-03 9.95475610e-01 -1.79001128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.139649246 meters 0.08297960098372464 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.09, Z:-0.18 [[ 9.92473556e-01 -7.80493268e-02 9.43638835e-02 2.36893424e+00] [ 7.82028499e-02 9.96935307e-01 2.07567758e-03 -9.48000290e-02] [-9.42366924e-02 5.31946951e-03 9.95535609e-01 -1.82740071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1696492460000005 meters 0.0770018502286423 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.08, Z:-0.18 [[ 9.92023061e-01 -8.47876334e-02 9.32807744e-02 2.39895928e+00] [ 8.49672247e-02 9.96381634e-01 2.05180970e-03 -8.07494100e-02] [-9.31172185e-02 5.89036598e-03 9.95637729e-01 -1.83011091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.199649246 meters 0.09068754550489602 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.10, Z:-0.19 [[ 9.91857408e-01 -8.72405546e-02 9.27791299e-02 2.42796921e+00] [ 8.74287653e-02 9.96168681e-01 2.04183502e-03 -1.03696566e-01] [-9.26017944e-02 6.08635558e-03 9.95684621e-01 -1.92245052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.229649246 meters 0.08148549010371635 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.08, Z:-0.19 [[ 9.91552797e-01 -9.14191556e-02 9.20086302e-02 2.45803735e+00] [ 9.16217802e-02 9.95791813e-01 2.02822571e-03 -8.32596632e-02] [-9.18068594e-02 6.41890161e-03 9.95756144e-01 -1.91676268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.259649246 meters 0.08272333331054588 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.08, Z:-0.20 [[ 9.91446800e-01 -9.31679297e-02 9.13946333e-02 2.48676303e+00] [ 9.33752680e-02 9.95628948e-01 2.01409195e-03 -8.36045756e-02] [-9.11827914e-02 6.53713335e-03 9.95812716e-01 -1.95670463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.289649246000001 meters 0.08398158158278098 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.08, Z:-0.20 [[ 9.91300872e-01 -9.49365386e-02 9.11571950e-02 2.51593335e+00] [ 9.51498269e-02 9.95460927e-01 2.01309682e-03 -8.36825946e-02] [-9.09345423e-02 6.67800670e-03 9.95834481e-01 -1.99414738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.319649246 meters 0.08460154669420339 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.08, Z:-0.20 [[ 9.91202207e-01 -9.47272048e-02 9.24388540e-02 2.54344343e+00] [ 9.49453184e-02 9.95480388e-01 2.04530394e-03 -8.33639459e-02] [-9.22148122e-02 6.74932664e-03 9.95716262e-01 -2.00851425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.349649246 meters 0.08365520331159507 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.08, Z:-0.20 [[ 9.91352947e-01 -9.20187367e-02 9.35515217e-02 2.57237941e+00] [ 9.22294515e-02 9.95735613e-01 2.07794249e-03 -8.13608456e-02] [-9.33437914e-02 6.56823112e-03 9.95612271e-01 -2.02428845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3796492460000005 meters 0.08302777661596908 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.08, Z:-0.21 [[ 9.91641023e-01 -8.90609379e-02 9.33607588e-02 2.60139356e+00] [ 8.92575517e-02 9.96006416e-01 2.07598650e-03 -8.01694482e-02] [-9.31728040e-02 6.27451938e-03 9.95630182e-01 -2.05452468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.409649246000001 meters 0.07999020797336763 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.08, Z:-0.21 [[ 9.92025802e-01 -8.27101065e-02 9.50991360e-02 2.63007490e+00] [ 8.28849509e-02 9.96556874e-01 2.11689864e-03 -7.64780853e-02] [-9.49467866e-02 5.78226915e-03 9.95465556e-01 -2.07876498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.439649246 meters 0.07835880670382298 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.07, Z:-0.21 [[ 9.92352116e-01 -7.93523694e-02 9.45541052e-02 2.65881273e+00] [ 7.95096916e-02 9.96831863e-01 2.10841748e-03 -7.46385766e-02] [-9.44218528e-02 5.42567520e-03 9.95517491e-01 -2.11838386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.469649246 meters 0.07691560353266212 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.07, Z:-0.22 [[ 9.92529605e-01 -7.58918927e-02 9.55269823e-02 2.68854917e+00] [ 7.60363138e-02 9.97102768e-01 2.13263135e-03 -7.32940471e-02] [-9.54120679e-02 5.14681984e-03 9.95424556e-01 -2.15192914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.499649246000001 meters 0.07058485508572442 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.06, Z:-0.22 [[ 9.93488665e-01 -6.32361801e-02 9.47705497e-02 2.71758193e+00] [ 6.33208139e-02 9.97990978e-01 2.11696994e-03 -6.13955204e-02] [-9.47140227e-02 3.89776269e-03 9.95496892e-01 -2.18134100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.529649246 meters 0.06836915149224815 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.06, Z:-0.22 [[ 9.93729042e-01 -5.86064620e-02 9.52253868e-02 2.74745263e+00] [ 5.86706267e-02 9.98275126e-01 2.12829430e-03 -5.68286448e-02] [-9.51858668e-02 3.47198526e-03 9.95453463e-01 -2.21495239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.559649246 meters 0.06366415663022096 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.05, Z:-0.22 [[ 9.94396117e-01 -4.66652408e-02 9.48615671e-02 2.77655313e+00] [ 4.66744947e-02 9.98907897e-01 2.12247333e-03 -4.50253018e-02] [-9.48570142e-02 2.31703648e-03 9.95488211e-01 -2.24744412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5896492460000005 meters 0.061029951329518155 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.03, Z:-0.23 [[ 9.94774655e-01 -3.79532317e-02 9.47783660e-02 2.80620654e+00] [ 3.79228839e-02 9.99278416e-01 2.12201948e-03 -3.43366610e-02] [-9.47905130e-02 1.48333777e-03 9.95496137e-01 -2.28872784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.619649246000001 meters 0.06033339663851526 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.03, Z:-0.23 [[ 9.94870986e-01 -3.43649500e-02 9.51355432e-02 2.83753016e+00] [ 3.43176547e-02 9.99408698e-01 2.13370328e-03 -2.91635506e-02] [-9.51526140e-02 1.14206923e-03 9.95462041e-01 -2.31143151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.649649246 meters 0.06018912085177004 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.02, Z:-0.24 [[ 9.95095637e-01 -3.24519791e-02 9.34427177e-02 2.86762074e+00] [ 3.23980883e-02 9.99472850e-01 2.09407141e-03 -2.47247608e-02] [-9.34614161e-02 9.43564100e-04 9.95622455e-01 -2.38535829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.679649246 meters 0.060274487881527096 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.02, Z:-0.24 [[ 9.95175093e-01 -3.16544155e-02 9.28683637e-02 2.90001937e+00] [ 3.15985670e-02 9.99498493e-01 2.07211365e-03 -2.26330280e-02] [-9.28873810e-02 8.72391316e-04 9.95676239e-01 -2.43952393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.709649246000001 meters 0.060675670343692645 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.02, Z:-0.25 [[ 9.95242676e-01 -3.37107636e-02 9.14089696e-02 2.93192473e+00] [ 3.36660555e-02 9.99431073e-01 2.03141415e-03 -2.37236820e-02] [-9.14254451e-02 1.05562939e-03 9.95811364e-01 -2.50047483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.739649246 meters 0.061092212109041664 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.03, Z:-0.25 [[ 9.95137877e-01 -3.55706321e-02 9.18440864e-02 2.96399991e+00] [ 3.55338833e-02 9.99366398e-01 2.03585545e-03 -2.53204413e-02] [-9.18583106e-02 1.23762018e-03 9.95771319e-01 -2.53294688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.769649246 meters 0.061956720534637265 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.03, Z:-0.26 [[ 9.95067825e-01 -3.85396277e-02 9.14041610e-02 2.99565774e+00] [ 3.85162142e-02 9.99255932e-01 2.02076218e-03 -2.99714842e-02] [-9.14140295e-02 1.50974681e-03 9.95811828e-01 -2.56053614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.799649246 meters 0.06275437525962752 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.03, Z:-0.26 [[ 9.95081589e-01 -4.08318470e-02 9.02518212e-02 3.02637593e+00] [ 4.08188010e-02 9.99164582e-01 1.99107351e-03 -3.27618922e-02] [-9.02577224e-02 1.70269054e-03 9.95916987e-01 -2.59551499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.829649246000001 meters 0.06317102188287231 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.03, Z:-0.26 [[ 9.95077180e-01 -4.21877232e-02 8.96749766e-02 3.05664027e+00] [ 4.21804650e-02 9.99108052e-01 1.97687104e-03 -3.40188568e-02] [-8.96783910e-02 1.81539295e-03 9.95969121e-01 -2.63868008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.859649246 meters 0.06374132405435884 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.03, Z:-0.27 [[ 9.95111163e-01 -4.32915630e-02 8.87671846e-02 3.08706763e+00] [ 4.32888256e-02 9.99060683e-01 1.95685891e-03 -3.44623052e-02] [-8.87685196e-02 1.89533504e-03 9.96050479e-01 -2.68909691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.889649246 meters 0.06398557035769425 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.03, Z:-0.27 [[ 9.95139158e-01 -4.40882154e-02 8.80584245e-02 3.11694342e+00] [ 4.40886747e-02 9.99025737e-01 1.94070294e-03 -3.44010772e-02] [-8.80581946e-02 1.95110974e-03 9.96113421e-01 -2.72296101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9196492460000005 meters 0.063811344316986 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.03, Z:-0.27 [[ 9.95076882e-01 -4.38708147e-02 8.88670388e-02 3.14486310e+00] [ 4.38703285e-02 9.99035312e-01 1.95959432e-03 -3.30056271e-02] [-8.88672788e-02 1.94867918e-03 9.96041570e-01 -2.74445624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.949649246000001 meters 0.0639992891331297 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.03, Z:-0.28 [[ 9.95026412e-01 -4.40738876e-02 8.93304594e-02 3.17326284e+00] [ 4.40735411e-02 9.99026333e-01 1.97734108e-03 -3.23027038e-02] [-8.93306303e-02 1.96960307e-03 9.96000080e-01 -2.78018547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.979649246 meters 0.06389473139143105 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.03, Z:-0.28 [[ 9.95074596e-01 -4.39854884e-02 8.88359416e-02 3.20057908e+00] [ 4.39831058e-02 9.99030302e-01 1.98528435e-03 -3.14425448e-02] [-8.88371213e-02 1.93177459e-03 9.96044293e-01 -2.81435757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.009649246 meters 0.06389473139143105 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.03, Z:-0.28 [[ 9.95066396e-01 -4.41707824e-02 8.88358587e-02 3.22886707e+00] [ 4.41688054e-02 9.99022102e-01 1.98899207e-03 -3.06286446e-02] [-8.88368417e-02 1.94459459e-03 9.96044293e-01 -2.84492589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.039649246000001 meters 0.06427551046187562 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.03, Z:-0.29 [[ 9.95073767e-01 -4.50747508e-02 8.82975978e-02 3.25802983e+00] [ 4.50748900e-02 9.98981622e-01 1.99333971e-03 -3.20951612e-02] [-8.82975267e-02 1.99648445e-03 9.96092145e-01 -2.88291057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.069649246 meters 0.06510643312510354 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.03, Z:-0.29 [[ 9.95036658e-01 -4.64661388e-02 8.79940185e-02 3.28586050e+00] [ 4.64700522e-02 9.98917671e-01 2.00515543e-03 -3.40461906e-02] [-8.79919518e-02 2.09388347e-03 9.96118985e-01 -2.91874069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.099649246 meters 0.06498711232896996 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.03, Z:-0.29 [[ 9.95002548e-01 -4.65236566e-02 8.83486156e-02 3.31508263e+00] [ 4.65275104e-02 9.98914973e-01 2.01684838e-03 -3.48252176e-02] [-8.83465861e-02 2.10387185e-03 9.96087574e-01 -2.94481366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1296492460000005 meters 0.06450865170320755 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.03, Z:-0.30 [[ 9.94981951e-01 -4.58695716e-02 8.89207504e-02 3.34422231e+00] [ 4.58693967e-02 9.98945349e-01 2.04646750e-03 -3.38791102e-02] [-8.89208406e-02 2.04254294e-03 9.96036602e-01 -2.96384659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.159649246000001 meters 0.06409476770868396 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.03, Z:-0.30 [[ 9.94971610e-01 -4.51594782e-02 8.93986365e-02 3.37307268e+00] [ 4.51549590e-02 9.98977842e-01 2.07403379e-03 -3.21816970e-02] [-8.94009192e-02 1.97318703e-03 9.95993766e-01 -2.98230423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.189649246 meters 0.059985375942836934 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.02, Z:-0.29 [[ 9.95019958e-01 -4.32650873e-02 8.97965253e-02 3.40367457e+00] [ 4.32511102e-02 9.99062021e-01 2.10239457e-03 -1.59232339e-02] [-8.98032583e-02 1.79187486e-03 9.95957913e-01 -2.88875309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.219649246 meters 0.059727687670289194 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.01, Z:-0.29 [[ 9.95039769e-01 -4.15632209e-02 9.03789632e-02 3.43355472e+00] [ 4.15416174e-02 9.99134523e-01 2.12093073e-03 -1.30602349e-02] [-9.03888950e-02 1.64407788e-03 9.95905189e-01 -2.91685103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.249649246000001 meters 0.05932116152984834 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.01, Z:-0.30 [[ 9.95117273e-01 -3.89088692e-02 9.07067410e-02 3.46510920e+00] [ 3.88766791e-02 9.99241762e-01 2.12235709e-03 -8.86188625e-03] [-9.07205422e-02 1.41438266e-03 9.95875385e-01 -2.95364927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.279649246 meters 0.05922443064196395 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.01, Z:-0.30 [[ 9.95131630e-01 -3.84496008e-02 9.07450635e-02 3.49742701e+00] [ 3.84158877e-02 9.99259591e-01 2.11876504e-03 -7.47578709e-03] [-9.07593408e-02 1.37760205e-03 9.95871902e-01 -2.99087158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.309649246 meters 0.05922230915322869 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.01, Z:-0.30 [[ 9.95098393e-01 -3.81714558e-02 9.12256983e-02 3.52976064e+00] [ 3.81368191e-02 9.99270271e-01 2.12345412e-03 -7.39666864e-03] [-9.12401836e-02 1.36601217e-03 9.95827979e-01 -3.01658150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3396492460000005 meters 0.0589712979642458 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.01, Z:-0.30 [[ 9.95284208e-01 -3.76745601e-02 8.93866500e-02 3.56181608e+00] [ 3.76398572e-02 9.99289216e-01 2.07442841e-03 -7.50573871e-03] [-8.94012686e-02 1.29985490e-03 9.95994841e-01 -3.03926582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.369649246000001 meters 0.059026650737284615 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.01, Z:-0.31 [[ 9.95242226e-01 -3.77419048e-02 8.98246075e-02 3.59250716e+00] [ 3.77077518e-02 9.99286650e-01 2.07776849e-03 -6.89519507e-03] [-8.98389500e-02 1.31920107e-03 9.95955432e-01 -3.07961992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.399649246 meters 0.059049044747852976 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.01, Z:-0.31 [[ 9.95221832e-01 -3.80091478e-02 8.99378073e-02 3.62482584e+00] [ 3.79764102e-02 9.99276480e-01 2.07582168e-03 -5.91940155e-03] [-8.99516357e-02 1.34961201e-03 9.95945220e-01 -3.11762226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.429649246 meters 0.05916832813452106 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.01, Z:-0.32 [[ 9.95267651e-01 -3.82667781e-02 8.93194099e-02 3.65586190e+00] [ 3.82360105e-02 9.99266621e-01 2.05610005e-03 -5.71365242e-03] [-8.93325852e-02 1.36884803e-03 9.96000911e-01 -3.16175312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.459649246000001 meters 0.05896450153653057 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.00, Z:-0.32 [[ 9.95126784e-01 -3.91787383e-02 9.04859706e-02 3.68834816e+00] [ 3.91518788e-02 9.99231122e-01 2.07249111e-03 -3.77706678e-03] [-9.04975955e-02 1.48030434e-03 9.95895574e-01 -3.18471227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.489649246000001 meters 0.05912890528726638 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.00, Z:-0.32 [[ 9.95148767e-01 -3.91908661e-02 9.02386106e-02 3.71921729e+00] [ 3.91648117e-02 9.99230641e-01 2.06009460e-03 -3.64959145e-03] [-9.02499216e-02 1.48407759e-03 9.95918043e-01 -3.22250267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.519649246 meters 0.05907366795046288 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.01, Z:-0.32 [[ 9.94958897e-01 -4.14545498e-02 9.13143652e-02 3.75117864e+00] [ 4.14378128e-02 9.99138920e-01 2.07999679e-03 -5.47956857e-03] [-9.13219616e-02 1.71435626e-03 9.95819944e-01 -3.23958581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.549649246 meters 0.059585304258961795 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.01, Z:-0.33 [[ 9.94645940e-01 -4.48006773e-02 9.31254714e-02 3.78137830e+00] [ 4.47986130e-02 9.98993802e-01 2.11371117e-03 -9.45691920e-03] [-9.31264644e-02 2.06949773e-03 9.95652137e-01 -3.25406145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.579649246000001 meters 0.05952596986491759 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.01, Z:-0.33 [[ 9.94571217e-01 -4.62077700e-02 9.32359125e-02 3.81200069e+00] [ 4.62120438e-02 9.98929415e-01 2.11433588e-03 -8.07075056e-03] [-9.32337943e-02 2.20576446e-03 9.95641800e-01 -3.27682678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.609649246 meters 0.05968423324235297 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.01, Z:-0.33 [[ 9.94440560e-01 -4.71190851e-02 9.41688033e-02 3.84162435e+00] [ 4.71275510e-02 9.98886597e-01 2.13525410e-03 -8.79375666e-03] [-9.41645667e-02 2.31456180e-03 9.95553955e-01 -3.31049428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.639649246 meters 0.060200696316470875 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.01, Z:-0.34 [[ 9.94532552e-01 -4.93077130e-02 9.20529866e-02 3.87082577e+00] [ 4.93250074e-02 9.98780597e-01 2.08859652e-03 -9.12533595e-03] [-9.20437209e-02 2.46333702e-03 9.95751920e-01 -3.35681849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6696492460000005 meters 0.06030030698104687 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.01, Z:-0.34 [[ 9.94500246e-01 -5.08671002e-02 9.15521693e-02 3.89973471e+00] [ 5.08908042e-02 9.98702064e-01 2.07707498e-03 -9.08858349e-03] [-9.15389952e-02 2.59351195e-03 9.95798115e-01 -3.40056467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.699649246000001 meters 0.06056328988490534 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.01, Z:-0.34 [[ 9.94408269e-01 -5.33296905e-02 9.11489947e-02 3.92849511e+00] [ 5.33614525e-02 9.98573075e-01 2.09024243e-03 -1.00548818e-02] [-9.11304039e-02 2.78528840e-03 9.95835073e-01 -3.43143323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.729649246 meters 0.060572433474180065 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.01, Z:-0.35 [[ 9.94448373e-01 -5.35489364e-02 9.05811510e-02 3.95700690e+00] [ 5.35792253e-02 9.98561396e-01 2.09897132e-03 -9.79186482e-03] [-9.05632382e-02 2.76594929e-03 9.95886866e-01 -3.45665989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.759649246 meters 0.06066158617670857 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.01, Z:-0.35 [[ 9.94477877e-01 -5.35293739e-02 9.02682602e-02 3.98513449e+00] [ 5.35570732e-02 9.98562546e-01 2.11706086e-03 -8.85905523e-03] [-9.02518286e-02 2.72913363e-03 9.95915237e-01 -3.49373083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.789649246000001 meters 0.060458898316849904 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.01, Z:-0.35 [[ 9.94574752e-01 -5.29509254e-02 8.95391675e-02 4.01383001e+00] [ 5.29735274e-02 9.98593655e-01 2.12560858e-03 -6.13066092e-03] [-8.95257974e-02 2.62912892e-03 9.95981034e-01 -3.54700568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.819649246 meters 0.06050679899691455 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.00, Z:-0.36 [[ 9.94667212e-01 -5.18823189e-02 8.91367607e-02 4.04252756e+00] [ 5.18984868e-02 9.98650077e-01 2.13782236e-03 -4.70161557e-03] [-8.91273481e-02 2.49964119e-03 9.96017102e-01 -3.58690311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.849649246 meters 0.06001258481543149 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.00, Z:-0.36 [[ 9.94927863e-01 -4.93909356e-02 8.76303742e-02 4.07091749e+00] [ 4.93950698e-02 9.98777063e-01 2.12257779e-03 -1.23467575e-03] [-8.76280439e-02 2.21669667e-03 9.96150798e-01 -3.64212071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8796492460000005 meters 0.059479808423522185 Centerline is valid? [True, True] Translation: X:4.10, Y:0.00, Z:-0.37 [[ 9.95082172e-01 -4.77584485e-02 8.67790380e-02 4.09953725e+00] [ 4.77544984e-02 9.98856848e-01 2.12267134e-03 1.23595770e-03] [-8.67812118e-02 2.03185702e-03 9.96225322e-01 -3.68087889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.909649246000001 meters 0.05920907783573622 Centerline is valid? [True, True] Translation: X:4.13, Y:0.00, Z:-0.37 [[ 9.95066453e-01 -4.66742983e-02 8.75457786e-02 4.12789616e+00] [ 4.66641829e-02 9.98908291e-01 2.16321681e-03 2.26788323e-03] [-8.75511708e-02 1.93270775e-03 9.96158149e-01 -3.71212301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.939649246 meters 0.059055545512910965 Centerline is valid? [True, True] Translation: X:4.16, Y:0.00, Z:-0.37 [[ 9.95346669e-01 -4.37984729e-02 8.58294943e-02 4.15614243e+00] [ 4.37763021e-02 9.99039063e-01 2.14132537e-03 2.20117882e-03] [-8.58408044e-02 1.62593679e-03 9.96307539e-01 -3.74685262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.969649246 meters 0.05864908879100116 Centerline is valid? [True, True] Translation: X:4.19, Y:0.00, Z:-0.38 [[ 9.95439130e-01 -4.16782125e-02 8.58129673e-02 4.18532988e+00] [ 4.16460129e-02 9.99130080e-01 2.16616351e-03 3.39933366e-03] [-8.58285987e-02 1.41748403e-03 9.96308909e-01 -3.77418386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.999649246000001 meters 0.05814811166896517 Centerline is valid? [True, True] Translation: X:4.21, Y:0.01, Z:-0.38 [[ 9.95578523e-01 -3.65483333e-02 8.65310607e-02 4.21451976e+00] [ 3.64958964e-02 9.99331407e-01 2.18842461e-03 7.66919805e-03] [-8.65531899e-02 9.79280081e-04 9.96246750e-01 -3.80303992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029649246000001 meters 0.057785956685044416 Centerline is valid? [True, True] Translation: X:4.25, Y:0.01, Z:-0.38 [[ 9.95548410e-01 -3.44863874e-02 8.77157504e-02 4.24645664e+00] [ 3.44246077e-02 9.99404838e-01 2.21737783e-03 1.10557652e-02] [-8.77400147e-02 8.12073330e-04 9.96143077e-01 -3.82615500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.059649246 meters 0.05756676270376657 Centerline is valid? [True, True] Translation: X:4.28, Y:0.02, Z:-0.39 [[ 9.95645856e-01 -3.16748008e-02 8.76700398e-02 4.27690126e+00] [ 3.16027522e-02 9.99498065e-01 2.21002249e-03 1.52811762e-02] [-8.76960372e-02 5.70214811e-04 9.96147118e-01 -3.86733097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0896492460000005 meters 0.0573852142195557 Centerline is valid? [True, True] Translation: X:4.31, Y:0.02, Z:-0.39 [[ 9.95698159e-01 -3.05314282e-02 8.74814727e-02 4.30972465e+00] [ 3.04555779e-02 9.99533696e-01 2.20193390e-03 1.75531700e-02] [-8.75079079e-02 4.71837284e-04 9.96163713e-01 -3.89887634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.119649246000001 meters 0.05731957830434286 Centerline is valid? [True, True] Translation: X:4.34, Y:0.02, Z:-0.39 [[ 9.95574446e-01 -3.17403750e-02 8.84537806e-02 4.34142334e+00] [ 3.16684515e-02 9.99495971e-01 2.21670343e-03 1.77075178e-02] [-8.84795563e-02 5.94300975e-04 9.96077816e-01 -3.91790584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.149649246 meters 0.05732480641673706 Centerline is valid? [True, True] Translation: X:4.37, Y:0.02, Z:-0.39 [[ 9.95599329e-01 -3.15854059e-02 8.82288996e-02 4.37400376e+00] [ 3.15137202e-02 9.99500886e-01 2.20565492e-03 1.77098510e-02] [-8.82545298e-02 5.84472297e-04 9.96097785e-01 -3.94439167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.179649246 meters 0.05748345157544327 Centerline is valid? [True, True] Translation: X:4.41, Y:0.02, Z:-0.40 [[ 9.95463140e-01 -3.23260060e-02 8.94883621e-02 4.40505613e+00] [ 3.22561961e-02 9.99477153e-01 2.22654982e-03 1.55191465e-02] [-8.95135489e-02 6.70105879e-04 9.95985379e-01 -3.98666133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.209649246000001 meters 0.05708674583939326 Centerline is valid? [True, True] Translation: X:4.44, Y:0.02, Z:-0.40 [[ 9.95378894e-01 -3.28102854e-02 9.02460060e-02 4.43730722e+00] [ 3.27416795e-02 9.99461335e-01 2.24092882e-03 1.62779962e-02] [-9.02709191e-02 7.24232554e-04 9.95916983e-01 -3.98619127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.239649246000001 meters 0.05715619908937585 Centerline is valid? [True, True] Translation: X:4.47, Y:0.02, Z:-0.40 [[ 9.95382000e-01 -3.26269770e-02 9.02782093e-02 4.46886427e+00] [ 3.25581071e-02 9.99467344e-01 2.23580344e-03 1.64573210e-02] [-9.03030696e-02 7.13809107e-04 9.95914076e-01 -4.02292562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.269649246 meters 0.057167032151018905 Centerline is valid? [True, True] Translation: X:4.50, Y:0.02, Z:-0.41 [[ 9.95435210e-01 -3.22651684e-02 8.98203859e-02 4.50042060e+00] [ 3.21962488e-02 9.99479109e-01 2.21644616e-03 1.71900558e-02] [-8.98451132e-02 6.85550943e-04 9.95955514e-01 -4.06119646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.299649246 meters 0.05713296381000634 Centerline is valid? [True, True] Translation: X:4.53, Y:0.02, Z:-0.41 [[ 9.95503375e-01 -3.16536799e-02 8.92808769e-02 4.53211107e+00] [ 3.15836624e-02 9.99498697e-01 2.19721434e-03 1.88850885e-02] [-8.93056700e-02 6.32482783e-04 9.96004065e-01 -4.08941129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.329649246000001 meters 0.05726142285570069 Centerline is valid? [True, True] Translation: X:4.56, Y:0.02, Z:-0.41 [[ 9.95612585e-01 -3.15106025e-02 8.81059727e-02 4.56294758e+00] [ 3.14424278e-02 9.99503227e-01 2.16185104e-03 1.87567278e-02] [-8.81303252e-02 6.17899582e-04 9.96108761e-01 -4.14819536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.359649246 meters 0.057319673836122444 Centerline is valid? [True, True] Translation: X:4.59, Y:0.02, Z:-0.42 [[ 9.95680704e-01 -3.21411091e-02 8.71027213e-02 4.59419371e+00] [ 3.20772846e-02 9.99483116e-01 2.13268408e-03 1.84833047e-02] [-8.71262461e-02 6.70546387e-04 9.96197053e-01 -4.19269058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.389649246 meters 0.05713212081035126 Centerline is valid? [True, True] Translation: X:4.63, Y:0.02, Z:-0.42 [[ 9.95741773e-01 -3.22955653e-02 8.63441884e-02 4.62606639e+00] [ 3.22337547e-02 9.99478130e-01 2.11033494e-03 2.02984480e-02] [-8.63672824e-02 6.81848736e-04 9.96263132e-01 -4.19178695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4196492460000005 meters 0.05743824727839309 Centerline is valid? [True, True] Translation: X:4.66, Y:0.02, Z:-0.43 [[ 9.95818861e-01 -3.24123814e-02 8.54062845e-02 4.65639572e+00] [ 3.23528890e-02 9.99474342e-01 2.08095249e-03 2.03371737e-02] [-8.54288387e-02 6.90888306e-04 9.96344035e-01 -4.28207231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.449649246000001 meters 0.05738147109938417 Centerline is valid? [True, True] Translation: X:4.69, Y:0.02, Z:-0.43 [[ 9.95790466e-01 -3.23649799e-02 8.57546298e-02 4.68850386e+00] [ 3.23051976e-02 9.99475876e-01 2.08512171e-03 2.21495937e-02] [-8.57771687e-02 6.93975946e-04 9.96314105e-01 -4.30163985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.479649246 meters 0.05730890755414405 Centerline is valid? [True, True] Translation: X:4.72, Y:0.02, Z:-0.43 [[ 9.95696536e-01 -3.27477084e-02 8.66948443e-02 4.72053906e+00] [ 3.26885745e-02 9.99463375e-01 2.10202520e-03 2.30892924e-02] [-8.67171582e-02 7.40951674e-04 9.96232696e-01 -4.33112123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.509649246 meters 0.05727750176924815 Centerline is valid? [True, True] Translation: X:4.75, Y:0.02, Z:-0.44 [[ 9.95623738e-01 -3.29545697e-02 8.74492350e-02 4.75260627e+00] [ 3.28957226e-02 9.99456553e-01 2.11435093e-03 2.35653577e-02] [-8.74713885e-02 7.71607792e-04 9.96166733e-01 -4.35971854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.539649246000001 meters 0.05711532674949177 Centerline is valid? [True, True] Translation: X:4.79, Y:0.02, Z:-0.44 [[ 9.95664271e-01 -3.31435359e-02 8.69147070e-02 4.78519776e+00] [ 3.30866273e-02 9.99450291e-01 2.09566389e-03 2.42616338e-02] [-8.69363869e-02 7.89136858e-04 9.96213552e-01 -4.37243128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569649246000001 meters 0.057077028481813064 Centerline is valid? [True, True] Translation: X:4.82, Y:0.02, Z:-0.44 [[ 9.95620640e-01 -3.31856960e-02 8.73970812e-02 4.81769388e+00] [ 3.31288232e-02 9.99448880e-01 2.10151845e-03 2.42755972e-02] [-8.74186554e-02 8.03047309e-04 9.96171338e-01 -4.40209552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.599649246 meters 0.05711408782396916 Centerline is valid? [True, True] Translation: X:4.85, Y:0.02, Z:-0.44 [[ 9.95593483e-01 -3.39381221e-02 8.74175058e-02 4.84943793e+00] [ 3.38848168e-02 9.99423551e-01 2.09403940e-03 2.35932668e-02] [-8.74381818e-02 8.77314188e-04 9.96169561e-01 -4.42293926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6296492460000005 meters 0.056998359291014176 Centerline is valid? [True, True] Translation: X:4.88, Y:0.02, Z:-0.45 [[ 9.95511097e-01 -3.36899796e-02 8.84456938e-02 4.88178313e+00] [ 3.36349982e-02 9.99431951e-01 2.11234855e-03 2.42984724e-02] [-8.84666173e-02 8.72004322e-04 9.96078761e-01 -4.45052797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.659649246000001 meters 0.05689257499130793 Centerline is valid? [True, True] Translation: X:4.91, Y:0.03, Z:-0.45 [[ 9.95550132e-01 -3.29191866e-02 8.82964404e-02 4.91373900e+00] [ 3.28619157e-02 9.99457690e-01 2.10257289e-03 2.56250018e-02] [-8.83177713e-02 8.08373459e-04 9.96092023e-01 -4.47694124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.689649246 meters 0.056804072855512644 Centerline is valid? [True, True] Translation: X:4.95, Y:0.03, Z:-0.45 [[ 9.95479787e-01 -3.32563202e-02 8.89607237e-02 4.94502637e+00] [ 3.32001288e-02 9.99446493e-01 2.11166756e-03 2.60032370e-02] [-8.89817096e-02 8.51385108e-04 9.96032896e-01 -4.51427749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.719649246 meters 0.05700615865608666 Centerline is valid? [True, True] Translation: X:4.98, Y:0.03, Z:-0.46 [[ 9.95524567e-01 -3.29866506e-02 8.85591197e-02 4.97538532e+00] [ 3.29303165e-02 9.99455449e-01 2.09745367e-03 2.61821889e-02] [-8.85800827e-02 8.28213184e-04 9.96068714e-01 -4.57719888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.749649246000001 meters 0.05705302400092967 Centerline is valid? [True, True] Translation: X:5.01, Y:0.03, Z:-0.46 [[ 9.95562340e-01 -3.26844904e-02 8.82459668e-02 5.00844266e+00] [ 3.26276870e-02 9.99465397e-01 2.08644896e-03 2.77357610e-02] [-8.82669848e-02 8.02071782e-04 9.96096529e-01 -4.60015398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.779649246000001 meters 0.057153806289870324 Centerline is valid? [True, True] Translation: X:5.04, Y:0.03, Z:-0.46 [[ 9.95520669e-01 -3.28315862e-02 8.86605060e-02 5.03931966e+00] [ 3.27757516e-02 9.99460554e-01 2.08590224e-03 2.64902422e-02] [-8.86811619e-02 8.29355931e-04 9.96059719e-01 -4.64281050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.809649246 meters 0.05691408680070352 Centerline is valid? [True, True] Translation: X:5.07, Y:0.03, Z:-0.47 [[ 9.95553019e-01 -3.25798923e-02 8.83896848e-02 5.07238539e+00] [ 3.25237271e-02 9.99468808e-01 2.07593586e-03 2.63324835e-02] [-8.84103666e-02 8.08057781e-04 9.96083809e-01 -4.65376897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8396492460000005 meters 0.05685677034912113 Centerline is valid? [True, True] Translation: X:5.10, Y:0.03, Z:-0.47 [[ 9.95535448e-01 -3.25617753e-02 8.85940279e-02 5.10430980e+00] [ 3.25061505e-02 9.99469390e-01 2.07093574e-03 2.77620443e-02] [-8.86144523e-02 8.18160862e-04 9.96065665e-01 -4.69376425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.869649246000001 meters 0.056903483466064386 Centerline is valid? [True, True] Translation: X:5.14, Y:0.03, Z:-0.47 [[ 9.95603966e-01 -3.17237784e-02 8.81268723e-02 5.13601568e+00] [ 3.16659691e-02 9.99496396e-01 2.05428597e-03 2.89820206e-02] [-8.81476610e-02 7.45367560e-04 9.96107140e-01 -4.73756094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.899649246 meters 0.05687259234851557 Centerline is valid? [True, True] Translation: X:5.17, Y:0.03, Z:-0.48 [[ 9.95699847e-01 -3.14620121e-02 8.71318335e-02 5.16823707e+00] [ 3.14051769e-02 9.99504688e-01 2.02335628e-03 3.11691482e-02] [-8.71523349e-02 7.21735107e-04 9.96194735e-01 -4.77315852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.929649246 meters 0.05687259234851557 Centerline is valid? [True, True] Translation: X:5.20, Y:0.03, Z:-0.48 [[ 9.95703119e-01 -3.13579468e-02 8.71319573e-02 5.20048458e+00] [ 3.13011818e-02 9.99507961e-01 2.01800954e-03 3.17889556e-02] [-8.71523656e-02 7.17994846e-04 9.96194735e-01 -4.80811020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.959649246000001 meters 0.05696395074044126 Centerline is valid? [True, True] Translation: X:5.23, Y:0.03, Z:-0.49 [[ 9.95697457e-01 -3.17038511e-02 8.70714658e-02 5.23130173e+00] [ 3.16493745e-02 9.99497019e-01 2.00643133e-03 3.17038433e-02] [-8.70912822e-02 7.57958855e-04 9.96200047e-01 -4.86162504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989649246000001 meters 0.05678999660434941 Centerline is valid? [True, True] Translation: X:5.26, Y:0.03, Z:-0.49 [[ 9.95736280e-01 -3.09154133e-02 8.69108608e-02 5.26446923e+00] [ 3.08584385e-02 9.99521765e-01 1.99930901e-03 3.28750478e-02] [-8.69311064e-02 6.91148934e-04 9.96214086e-01 -4.88469924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.019649246 meters 0.05673571793160209 Centerline is valid? [True, True] Translation: X:5.30, Y:0.03, Z:-0.49 [[ 9.95777662e-01 -3.05768902e-02 8.65557700e-02 5.29631683e+00] [ 3.05197584e-02 9.99532195e-01 1.98360568e-03 3.34984910e-02] [-8.65759313e-02 6.66430965e-04 9.96245032e-01 -4.91462769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.049649246 meters 0.056851102892052904 Centerline is valid? [True, True] Translation: X:5.33, Y:0.03, Z:-0.49 [[ 9.95766280e-01 -3.11074910e-02 8.64976315e-02 5.32851971e+00] [ 3.10538995e-02 9.99515779e-01 1.96539622e-03 3.45105319e-02] [-8.65168861e-02 7.29013474e-04 9.96250118e-01 -4.94752086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.079649246000001 meters 0.05681261650491733 Centerline is valid? [True, True] Translation: X:5.36, Y:0.03, Z:-0.50 [[ 9.95681267e-01 -3.15211999e-02 8.73225506e-02 5.35971681e+00] [ 3.14687310e-02 9.99502780e-01 1.97773557e-03 3.35234445e-02] [-8.73414727e-02 7.78735598e-04 9.96178127e-01 -4.99709088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.109649246000001 meters 0.05704572557027974 Centerline is valid? [True, True] Translation: X:5.39, Y:0.03, Z:-0.50 [[ 9.95549912e-01 -3.39844635e-02 8.78944144e-02 5.39117018e+00] [ 3.39412860e-02 9.99421855e-01 1.98614765e-03 3.01792525e-02] [-8.79110968e-02 1.00594034e-03 9.96127817e-01 -5.01263084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.139649246 meters 0.05715254205325335 Centerline is valid? [True, True] Translation: X:5.42, Y:0.03, Z:-0.50 [[ 9.95451738e-01 -3.50399620e-02 8.85891564e-02 5.42332895e+00] [ 3.50006402e-02 9.99385293e-01 1.99770045e-03 2.95363918e-02] [-8.86046993e-02 1.11206280e-03 9.96066248e-01 -5.04081175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1696492460000005 meters 0.05725457227606528 Centerline is valid? [True, True] Translation: X:5.45, Y:0.03, Z:-0.51 [[ 9.95282062e-01 -3.68330713e-02 8.97604682e-02 5.45477783e+00] [ 3.68005551e-02 9.99320593e-01 2.01775136e-03 2.83361346e-02] [-8.97738043e-02 1.29500332e-03 9.95961338e-01 -5.05297881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.199649246000001 meters 0.05723525671277323 Centerline is valid? [True, True] Translation: X:5.49, Y:0.03, Z:-0.51 [[ 9.95273260e-01 -3.69053865e-02 8.98283334e-02 5.48559061e+00] [ 3.68735194e-02 9.99317909e-01 2.01479646e-03 2.89004578e-02] [-8.98414192e-02 1.30701375e-03 9.95955225e-01 -5.08611907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.229649246 meters 0.05730826280255743 Centerline is valid? [True, True] Translation: X:5.52, Y:0.03, Z:-0.51 [[ 9.95292813e-01 -3.64476668e-02 8.97985753e-02 5.51726944e+00] [ 3.64143352e-02 9.99334757e-01 2.00998957e-03 3.17404710e-02] [-8.98120968e-02 1.26942724e-03 9.95957919e-01 -5.13764477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.259649246 meters 0.0570061719688581 Centerline is valid? [True, True] Translation: X:5.55, Y:0.03, Z:-0.52 [[ 9.95326057e-01 -3.55063587e-02 8.98072288e-02 5.54876642e+00] [ 3.54697216e-02 9.99368741e-01 2.00436885e-03 3.40383724e-02] [-8.98217051e-02 1.19043687e-03 9.95957150e-01 -5.16905411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.289649246000001 meters 0.05689674130169355 Centerline is valid? [True, True] Translation: X:5.58, Y:0.03, Z:-0.52 [[ 9.95411734e-01 -3.46699256e-02 8.91822660e-02 5.57940863e+00] [ 3.46310007e-02 9.99398197e-01 1.98421314e-03 3.37712993e-02] [-8.91973884e-02 1.11336207e-03 9.96013346e-01 -5.19606976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.319649246000001 meters 0.05675699123591728 Centerline is valid? [True, True] Translation: X:5.61, Y:0.03, Z:-0.52 [[ 9.95452249e-01 -3.40461104e-02 8.89701248e-02 5.61176426e+00] [ 3.40052514e-02 9.99419702e-01 1.97537739e-03 3.45835269e-02] [-8.89857495e-02 1.05905760e-03 9.96032336e-01 -5.22919640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.349649246 meters 0.056644979150136804 Centerline is valid? [True, True] Translation: X:5.64, Y:0.04, Z:-0.53 [[ 9.95544390e-01 -3.35429335e-02 8.81262684e-02 5.64394509e+00] [ 3.35013811e-02 9.99436767e-01 1.95093899e-03 3.61788047e-02] [-8.81420730e-02 1.01010534e-03 9.96107401e-01 -5.26279549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3796492460000005 meters 0.056594210699165294 Centerline is valid? [True, True] Translation: X:5.67, Y:0.04, Z:-0.53 [[ 9.95647124e-01 -3.18342374e-02 8.75978663e-02 5.67451476e+00] [ 3.17871208e-02 9.99492792e-01 1.93310011e-03 3.79915993e-02] [-8.76149748e-02 8.59798401e-04 9.96154043e-01 -5.32103837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.409649246000001 meters 0.056433174774199665 Centerline is valid? [True, True] Translation: X:5.71, Y:0.04, Z:-0.53 [[ 9.95766687e-01 -3.06157816e-02 8.66682177e-02 5.70630890e+00] [ 3.05653942e-02 9.99530947e-01 1.90865711e-03 3.99025905e-02] [-8.66860007e-02 7.48471070e-04 9.96235402e-01 -5.34378887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.439649246 meters 0.05659351512077793 Centerline is valid? [True, True] Translation: X:5.74, Y:0.04, Z:-0.54 [[ 9.95777779e-01 -2.96074749e-02 8.68908085e-02 5.73714194e+00] [ 2.95535358e-02 9.99561379e-01 1.90738489e-03 3.98215299e-02] [-8.69091693e-02 6.68599134e-04 9.96216015e-01 -5.40193121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.469649246 meters 0.05631053341817448 Centerline is valid? [True, True] Translation: X:5.77, Y:0.04, Z:-0.54 [[ 9.95822160e-01 -2.83630326e-02 8.67972601e-02 5.76914182e+00] [ 2.83048410e-02 9.99597529e-01 1.90132017e-03 4.18970090e-02] [-8.68162540e-02 5.63405889e-04 9.96224182e-01 -5.42679873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.499649246000001 meters 0.05626785427282205 Centerline is valid? [True, True] Translation: X:5.80, Y:0.04, Z:-0.55 [[ 9.95767076e-01 -2.82600927e-02 8.74602637e-02 5.80134413e+00] [ 2.82010986e-02 9.99600445e-01 1.91030460e-03 4.33914995e-02] [-8.74793038e-02 5.64257092e-04 9.96166177e-01 -5.45516226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529649246000001 meters 0.05642291206650544 Centerline is valid? [True, True] Translation: X:5.83, Y:0.04, Z:-0.55 [[ 9.95825028e-01 -2.84946607e-02 8.67212047e-02 5.83236391e+00] [ 2.84380605e-02 9.99593773e-01 1.88826959e-03 4.29271608e-02] [-8.67397818e-02 5.85796743e-04 9.96230830e-01 -5.50607638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.559649246 meters 0.056280222883269115 Centerline is valid? [True, True] Translation: X:5.86, Y:0.04, Z:-0.55 [[ 9.95877913e-01 -2.89321490e-02 8.59657621e-02 5.86459811e+00] [ 2.88784787e-02 9.99581184e-01 1.86810027e-03 4.40362574e-02] [-8.59838064e-02 6.22160629e-04 9.96296340e-01 -5.51691726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5896492460000005 meters 0.0563549635464271 Centerline is valid? [True, True] Translation: X:5.90, Y:0.04, Z:-0.56 [[ 9.95936057e-01 -2.94286459e-02 8.51194788e-02 5.89664227e+00] [ 2.93783157e-02 9.99566663e-01 1.84410792e-03 4.38177226e-02] [-8.51368630e-02 6.64053349e-04 9.96369045e-01 -5.55341214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.619649246000001 meters 0.05631511836441127 Centerline is valid? [True, True] Translation: X:5.93, Y:0.04, Z:-0.56 [[ 9.95956850e-01 -2.98809710e-02 8.47176563e-02 5.92856313e+00] [ 2.98332235e-02 9.99553215e-01 1.82981143e-03 4.42228341e-02] [-8.47344823e-02 7.04987544e-04 9.96403317e-01 -5.57531872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.649649246000001 meters 0.05633276668161009 Centerline is valid? [True, True] Translation: X:5.96, Y:0.04, Z:-0.56 [[ 9.95960500e-01 -3.02772603e-02 8.45338391e-02 5.96057376e+00] [ 3.02316378e-02 9.99541263e-01 1.82002657e-03 4.44986656e-02] [-8.45501657e-02 7.42921837e-04 9.96418947e-01 -5.60809830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.679649246 meters 0.056395046702833775 Centerline is valid? [True, True] Translation: X:5.99, Y:0.05, Z:-0.57 [[ 9.96074761e-01 -3.02418511e-02 8.31895427e-02 5.99197813e+00] [ 3.01980099e-02 9.99542341e-01 1.78550253e-03 4.57503895e-02] [-8.32054672e-02 7.33664627e-04 9.96532143e-01 -5.65730807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.709649246000001 meters 0.05674439816385713 Centerline is valid? [True, True] Translation: X:6.02, Y:0.05, Z:-0.57 [[ 9.96099304e-01 -3.05464426e-02 8.27834024e-02 6.02286862e+00] [ 3.05045874e-02 9.99533058e-01 1.77065590e-03 4.54325074e-02] [-8.27988347e-02 7.61524425e-04 9.96565990e-01 -5.73213977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739649246000001 meters 0.05671313409611843 Centerline is valid? [True, True] Translation: X:6.06, Y:0.05, Z:-0.57 [[ 9.95970283e-01 -3.20845117e-02 8.37483112e-02 6.05552273e+00] [ 3.20474086e-02 9.99484751e-01 1.78766059e-03 4.60390199e-02] [-8.37625162e-02 9.03459532e-04 9.96485336e-01 -5.74514782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.769649246 meters 0.0568882775306308 Centerline is valid? [True, True] Translation: X:6.09, Y:0.04, Z:-0.58 [[ 9.95945315e-01 -3.37394607e-02 8.33941164e-02 6.08743957e+00] [ 3.37090749e-02 9.99430115e-01 1.77276164e-03 4.44741987e-02] [-8.34064034e-02 1.04556487e-03 9.96515067e-01 -5.76598983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.799649246 meters 0.05715709835077299 Centerline is valid? [True, True] Translation: X:6.12, Y:0.04, Z:-0.58 [[ 9.95919861e-01 -3.48378934e-02 8.32463303e-02 6.11887226e+00] [ 3.48119470e-02 9.99392324e-01 1.76360769e-03 4.31970745e-02] [-8.32571839e-02 1.14155491e-03 9.96527440e-01 -5.80018851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.829649246000001 meters 0.05755524829663877 Centerline is valid? [True, True] Translation: X:6.15, Y:0.04, Z:-0.58 [[ 9.95683771e-01 -3.79757432e-02 8.46857211e-02 6.15033818e+00] [ 3.79605929e-02 9.99277634e-01 1.78973013e-03 3.83851726e-02] [-8.46925133e-02 1.43271494e-03 9.96406105e-01 -5.80898593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859649246000001 meters 0.05750927166123732 Centerline is valid? [True, True] Translation: X:6.18, Y:0.04, Z:-0.58 [[ 9.95675451e-01 -3.82988915e-02 8.46380011e-02 6.18037894e+00] [ 3.82853402e-02 9.99265255e-01 1.78381189e-03 3.77222955e-02] [-8.46441318e-02 1.46429696e-03 9.96410170e-01 -5.83773409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.889649246 meters 0.057496327631168416 Centerline is valid? [True, True] Translation: X:6.21, Y:0.04, Z:-0.59 [[ 9.95705851e-01 -3.77680727e-02 8.45188200e-02 6.21113248e+00] [ 3.77527331e-02 9.99285526e-01 1.78032675e-03 4.02508030e-02] [-8.45256729e-02 1.41813469e-03 9.96420293e-01 -5.87473656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9196492460000005 meters 0.0575936370269505 Centerline is valid? [True, True] Translation: X:6.24, Y:0.04, Z:-0.59 [[ 9.95707835e-01 -3.77132945e-02 8.45199033e-02 6.24093980e+00] [ 3.76980216e-02 9.99287597e-01 1.77723739e-03 4.12933277e-02] [-8.45267165e-02 1.41662394e-03 9.96420206e-01 -5.91971948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949649246000001 meters 0.05717223081335791 Centerline is valid? [True, True] Translation: X:6.27, Y:0.05, Z:-0.59 [[ 9.95779164e-01 -3.69546330e-02 8.40131638e-02 6.27250326e+00] [ 3.69369233e-02 9.99316039e-01 1.76566215e-03 4.50796282e-02] [-8.40209514e-02 1.34497821e-03 9.96463080e-01 -5.94459278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.979649246000001 meters 0.05731779164342982 Centerline is valid? [True, True] Translation: X:6.30, Y:0.05, Z:-0.60 [[ 9.95926242e-01 -3.66151993e-02 8.24029612e-02 6.30310155e+00] [ 3.65971858e-02 9.99328602e-01 1.72952778e-03 4.60601067e-02] [-8.24109630e-02 1.29323437e-03 9.96597592e-01 -5.99779571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.009649246 meters 0.057164837123252175 Centerline is valid? [True, True] Translation: X:6.33, Y:0.05, Z:-0.60 [[ 9.96108892e-01 -3.61386415e-02 8.03808092e-02 6.33465990e+00] [ 3.61202605e-02 9.99346033e-01 1.68318040e-03 4.77998844e-02] [-8.03890706e-02 1.22674480e-03 9.96762806e-01 -6.02631199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.039649246 meters 0.05754619934300003 Centerline is valid? [True, True] Translation: X:6.37, Y:0.05, Z:-0.61 [[ 9.96159884e-01 -3.60222611e-02 7.97990056e-02 6.36563758e+00] [ 3.60039786e-02 9.99350254e-01 1.66839990e-03 4.63240311e-02] [-7.98072561e-02 1.21108863e-03 9.96809578e-01 -6.08786429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069649246 meters 0.057089457001232406 Centerline is valid? [True, True] Translation: X:6.40, Y:0.05, Z:-0.61 [[ 9.96242729e-01 -3.52811270e-02 7.90927792e-02 6.39701879e+00] [ 3.52616461e-02 9.99376764e-01 1.64338619e-03 4.79463472e-02] [-7.91014662e-02 1.15173005e-03 9.96865905e-01 -6.09807960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.099649246 meters 0.05715065610228588 Centerline is valid? [True, True] Translation: X:6.43, Y:0.05, Z:-0.61 [[ 9.96215947e-01 -3.53218638e-02 7.94112912e-02 6.42833726e+00] [ 3.53025729e-02 9.99375312e-01 1.64727891e-03 4.82929714e-02] [-7.94198689e-02 1.16237738e-03 9.96840576e-01 -6.13195955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129649246000001 meters 0.057117790578996734 Centerline is valid? [True, True] Translation: X:6.46, Y:0.05, Z:-0.62 [[ 9.96126597e-01 -3.52215938e-02 8.05682392e-02 6.45950386e+00] [ 3.52016012e-02 9.99378838e-01 1.66894832e-03 4.83815879e-02] [-8.05769763e-02 1.17364722e-03 9.96747698e-01 -6.15613077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.159649246 meters 0.05644554128125446 Centerline is valid? [True, True] Translation: X:6.49, Y:0.05, Z:-0.62 [[ 9.95911543e-01 -3.34499591e-02 8.39124439e-02 6.49048121e+00] [ 3.34224155e-02 9.99439812e-01 1.73337185e-03 5.06937620e-02] [-8.39234183e-02 1.07827153e-03 9.96471624e-01 -6.15610821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.189649246 meters 0.05648823042794261 Centerline is valid? [True, True] Translation: X:6.52, Y:0.05, Z:-0.62 [[ 9.95809532e-01 -3.12954809e-02 8.59300285e-02 6.52023938e+00] [ 3.12588825e-02 9.99509751e-01 1.77173418e-03 5.16022144e-02] [-8.59433487e-02 9.21766879e-04 9.96299599e-01 -6.19748888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219649246000001 meters 0.05594310494259518 Centerline is valid? [True, True] Translation: X:6.55, Y:0.05, Z:-0.62 [[ 9.95766403e-01 -3.10491219e-02 8.65171798e-02 6.55205963e+00] [ 3.10111298e-02 9.99517448e-01 1.78343640e-03 5.45341731e-02] [-8.65308050e-02 9.07109448e-04 9.96248763e-01 -6.19518650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249649246 meters 0.056023996389451686 Centerline is valid? [True, True] Translation: X:6.58, Y:0.05, Z:-0.62 [[ 9.95849204e-01 -3.06575946e-02 8.56999138e-02 6.58396776e+00] [ 3.06193437e-02 9.99529567e-01 1.76106678e-03 5.48782691e-02] [-8.57135878e-02 8.70318160e-04 9.96319438e-01 -6.22510998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.279649246 meters 0.056489034441167894 Centerline is valid? [True, True] Translation: X:6.61, Y:0.05, Z:-0.63 [[ 9.95893303e-01 -3.23882322e-02 8.45430759e-02 6.61438283e+00] [ 3.23577260e-02 9.99474852e-01 1.73143711e-03 5.23444782e-02] [-8.45547565e-02 1.01129507e-03 9.96418321e-01 -6.28158073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309649246000001 meters 0.05623086807266215 Centerline is valid? [True, True] Translation: X:6.65, Y:0.05, Z:-0.63 [[ 9.95861431e-01 -3.29855581e-02 8.46874412e-02 6.64646884e+00] [ 3.29574216e-02 9.99455258e-01 1.73065159e-03 5.31345411e-02] [-8.46983950e-02 1.06759054e-03 9.96406063e-01 -6.29507246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.339649246 meters 0.05635888927604652 Centerline is valid? [True, True] Translation: X:6.68, Y:0.05, Z:-0.63 [[ 9.95905540e-01 -3.34767070e-02 8.39730066e-02 6.67695586e+00] [ 3.34511812e-02 9.99438887e-01 1.71133704e-03 5.25845555e-02] [-8.39831782e-02 1.10466622e-03 9.96466560e-01 -6.33516708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.369649246 meters 0.05650772083131513 Centerline is valid? [True, True] Translation: X:6.71, Y:0.06, Z:-0.64 [[ 9.96104324e-01 -3.27285274e-02 8.18841869e-02 6.70869562e+00] [ 3.27024861e-02 9.99463753e-01 1.65952676e-03 5.52763040e-02] [-8.18945906e-02 1.02475470e-03 9.96640470e-01 -6.40048467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.399649246000001 meters 0.056715334350043375 Centerline is valid? [True, True] Translation: X:6.74, Y:0.06, Z:-0.64 [[ 9.96168172e-01 -3.23692615e-02 8.12477999e-02 6.73894630e+00] [ 3.23427616e-02 9.99475486e-01 1.64255131e-03 5.63692126e-02] [-8.12583525e-02 9.91520887e-04 9.96692579e-01 -6.44810253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.429649246 meters 0.05672535869596194 Centerline is valid? [True, True] Translation: X:6.77, Y:0.06, Z:-0.65 [[ 9.96230907e-01 -3.22654721e-02 8.05165728e-02 6.76998419e+00] [ 3.22399950e-02 9.99478849e-01 1.61677804e-03 5.73914406e-02] [-8.05267775e-02 9.85169644e-04 9.96751959e-01 -6.49406048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459649246000001 meters 0.056574803579691406 Centerline is valid? [True, True] Translation: X:6.80, Y:0.06, Z:-0.65 [[ 9.96286557e-01 -3.20324380e-02 7.99188275e-02 6.80263436e+00] [ 3.20068567e-02 9.99486366e-01 1.60142537e-03 5.85765513e-02] [-7.99290760e-02 9.62471885e-04 9.96800089e-01 -6.50174788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489649246 meters 0.05638088025076045 Centerline is valid? [True, True] Translation: X:6.83, Y:0.06, Z:-0.65 [[ 9.96323252e-01 -3.15274626e-02 7.96617593e-02 6.83450149e+00] [ 3.15008624e-02 9.99502459e-01 1.59091021e-03 5.93489735e-02] [-7.96722816e-02 9.24353280e-04 9.96820683e-01 -6.52946419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.519649246 meters 0.05673096045044691 Centerline is valid? [True, True] Translation: X:6.86, Y:0.06, Z:-0.66 [[ 9.96379215e-01 -3.11364892e-02 7.91137131e-02 6.86478932e+00] [ 3.11094791e-02 9.99514743e-01 1.57421013e-03 5.95045345e-02] [-7.91243381e-02 8.92676151e-04 9.96864355e-01 -6.59612927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549649246000001 meters 0.05682123915765358 Centerline is valid? [True, True] Translation: X:6.90, Y:0.06, Z:-0.66 [[ 9.96352125e-01 -3.09304379e-02 7.95345851e-02 6.89554121e+00] [ 3.09028108e-02 9.99521148e-01 1.57850305e-03 6.08244685e-02] [-7.95453236e-02 8.85097359e-04 9.96830857e-01 -6.63173366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.579649246 meters 0.05652669187852065 Centerline is valid? [True, True] Translation: X:6.93, Y:0.06, Z:-0.66 [[ 9.96412234e-01 -2.97407183e-02 7.92347690e-02 6.92764707e+00] [ 2.97098025e-02 9.99557335e-01 1.56929143e-03 6.33718552e-02] [-7.92463663e-02 7.90388153e-04 9.96854748e-01 -6.64484222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.609649246 meters 0.056155398639318774 Centerline is valid? [True, True] Translation: X:6.96, Y:0.07, Z:-0.67 [[ 9.96433602e-01 -2.73792419e-02 7.98151233e-02 6.95992324e+00] [ 2.73407257e-02 9.99624931e-01 1.57557932e-03 6.74642253e-02] [-7.98283252e-02 6.12243216e-04 9.96808439e-01 -6.65190993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.639649246000001 meters 0.05594420468447663 Centerline is valid? [True, True] Translation: X:6.99, Y:0.07, Z:-0.67 [[ 9.96341109e-01 -2.76579248e-02 8.08667670e-02 6.99224917e+00] [ 2.76197616e-02 9.99617236e-01 1.59069579e-03 6.67645446e-02] [-8.08798095e-02 6.48645224e-04 9.96723651e-01 -6.67261919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.669649246 meters 0.05581657686878725 Centerline is valid? [True, True] Translation: X:7.02, Y:0.07, Z:-0.67 [[ 9.96252888e-01 -2.79586083e-02 8.18443552e-02 7.02422833e+00] [ 2.79209913e-02 9.99608846e-01 1.60431301e-03 6.75355154e-02] [-8.18571958e-02 6.86874056e-04 9.96643832e-01 -6.67955946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.699649246 meters 0.05568422803013759 Centerline is valid? [True, True] Translation: X:7.06, Y:0.07, Z:-0.67 [[ 9.96164016e-01 -2.82779450e-02 8.28106910e-02 7.05565501e+00] [ 2.82410293e-02 9.99599834e-01 1.61732664e-03 6.84319553e-02] [-8.28232877e-02 7.27536557e-04 9.96563984e-01 -6.70967465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.729649246000001 meters 0.05597470435970539 Centerline is valid? [True, True] Translation: X:7.09, Y:0.07, Z:-0.68 [[ 9.96198396e-01 -2.79501781e-02 8.25078346e-02 7.08589690e+00] [ 2.79129226e-02 9.99609070e-01 1.60521445e-03 6.89786240e-02] [-8.25204459e-02 7.03922740e-04 9.96589123e-01 -6.77652447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.759649246 meters 0.056032344633204945 Centerline is valid? [True, True] Translation: X:7.12, Y:0.07, Z:-0.68 [[ 9.96259363e-01 -2.78492431e-02 8.18028247e-02 7.11771108e+00] [ 2.78125983e-02 9.99611894e-01 1.58763713e-03 6.93852058e-02] [-8.18152910e-02 6.93450743e-04 9.96647268e-01 -6.82288538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.789649246000002 meters 0.05602771762235652 Centerline is valid? [True, True] Translation: X:7.15, Y:0.07, Z:-0.68 [[ 9.96229631e-01 -2.87737157e-02 8.18449487e-02 7.15013906e+00] [ 2.87405877e-02 9.99585650e-01 1.58309391e-03 6.92645003e-02] [-8.18565878e-02 7.75146869e-04 9.96643817e-01 -6.83508781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.819649246 meters 0.05602771762235652 Centerline is valid? [True, True] Translation: X:7.18, Y:0.07, Z:-0.69 [[ 9.96232599e-01 -2.86705171e-02 8.18450399e-02 7.18239361e+00] [ 2.86374300e-02 9.99588619e-01 1.57836495e-03 6.97582154e-02] [-8.18566229e-02 7.71412984e-04 9.96643817e-01 -6.87004403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.849649246 meters 0.0559862277538925 Centerline is valid? [True, True] Translation: X:7.21, Y:0.07, Z:-0.69 [[ 9.96203150e-01 -2.85401850e-02 8.22480548e-02 7.21316674e+00] [ 2.85071458e-02 9.99592346e-01 1.57623228e-03 6.96135404e-02] [-8.22595120e-02 7.74409733e-04 9.96610643e-01 -6.89290186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.879649246000001 meters 0.05599790240550033 Centerline is valid? [True, True] Translation: X:7.25, Y:0.07, Z:-0.69 [[ 9.96145045e-01 -2.87624177e-02 8.28720212e-02 7.24502615e+00] [ 2.87299680e-02 9.99585954e-01 1.58429049e-03 7.02131872e-02] [-8.28832764e-02 8.02727395e-04 9.96558939e-01 -6.93376330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.909649246 meters 0.056096466758268515 Centerline is valid? [True, True] Translation: X:7.28, Y:0.07, Z:-0.70 [[ 9.96104188e-01 -2.90105865e-02 8.32756370e-02 7.27569001e+00] [ 2.89791934e-02 9.99578757e-01 1.58593884e-03 7.16773671e-02] [-8.32865668e-02 8.33500465e-04 9.96525290e-01 -6.98021947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.939649246 meters 0.056294762770353134 Centerline is valid? [True, True] Translation: X:7.31, Y:0.07, Z:-0.70 [[ 9.96174440e-01 -2.96857354e-02 8.21902850e-02 7.30761432e+00] [ 2.96577520e-02 9.99558892e-01 1.56157588e-03 7.17505050e-02] [-8.22003868e-02 8.81977109e-04 9.96615432e-01 -7.02749374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969649246000001 meters 0.05632469455789758 Centerline is valid? [True, True] Translation: X:7.34, Y:0.07, Z:-0.71 [[ 9.96188365e-01 -3.03030108e-02 8.17952840e-02 7.33956686e+00] [ 3.02778186e-02 9.99540322e-01 1.54862941e-03 6.89704420e-02] [-8.18046126e-02 9.33856163e-04 9.96647949e-01 -7.06088482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.999649246 meters 0.05634467743310788 Centerline is valid? [True, True] Translation: X:7.37, Y:0.07, Z:-0.71 [[ 9.96156684e-01 -3.09457405e-02 8.19403528e-02 7.37211474e+00] [ 3.09230765e-02 9.99520572e-01 1.54594065e-03 6.81021276e-02] [-8.19489085e-02 9.93848691e-04 9.96636036e-01 -7.08528608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.029649246 meters 0.056364069125679844 Centerline is valid? [True, True] Translation: X:7.40, Y:0.07, Z:-0.71 [[ 9.96217873e-01 -3.03548089e-02 8.14158209e-02 7.40345365e+00] [ 3.03309294e-02 9.99538740e-01 1.53033435e-03 6.85252953e-02] [-8.14247200e-02 9.44871087e-04 9.96679047e-01 -7.11986036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.059649246000001 meters 0.0564664893192851 Centerline is valid? [True, True] Translation: X:7.43, Y:0.07, Z:-0.72 [[ 9.96299645e-01 -2.93934345e-02 8.07653629e-02 7.43443711e+00] [ 2.93670985e-02 9.99567547e-01 1.51418156e-03 6.93345086e-02] [-8.07749427e-02 8.63265815e-04 9.96731992e-01 -7.16844354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.089649246 meters 0.05613630817391614 Centerline is valid? [True, True] Translation: X:7.47, Y:0.07, Z:-0.72 [[ 9.96334443e-01 -2.89941269e-02 8.04799285e-02 7.46711407e+00] [ 2.89669471e-02 9.99579236e-01 1.50547102e-03 7.11438336e-02] [-8.04897152e-02 8.31305198e-04 9.96755093e-01 -7.17699335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.119649246 meters 0.056395861413906095 Centerline is valid? [True, True] Translation: X:7.50, Y:0.07, Z:-0.72 [[ 9.96249750e-01 -2.94024694e-02 8.13752392e-02 7.49729836e+00] [ 2.93763588e-02 9.99567268e-01 1.51834755e-03 7.08762963e-02] [-8.13846687e-02 8.77854848e-04 9.96682379e-01 -7.23858325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.149649246000001 meters 0.05597022788854127 Centerline is valid? [True, True] Translation: X:7.53, Y:0.07, Z:-0.72 [[ 9.96012314e-01 -2.91290814e-02 8.43265468e-02 7.53025417e+00] [ 2.91011227e-02 9.99575254e-01 1.56098439e-03 7.30021013e-02] [-8.43361995e-02 8.99237503e-04 9.96436951e-01 -7.23133648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.179649246 meters 0.055915291901428944 Centerline is valid? [True, True] Translation: X:7.56, Y:0.07, Z:-0.72 [[ 9.95910069e-01 -2.92465330e-02 8.54855282e-02 7.56213495e+00] [ 2.92188684e-02 9.99571797e-01 1.57505334e-03 7.25558371e-02] [-8.54949879e-02 9.29178918e-04 9.96338167e-01 -7.24649164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209649246000001 meters 0.055664169148996814 Centerline is valid? [True, True] Translation: X:7.59, Y:0.07, Z:-0.72 [[ 9.95717476e-01 -2.91607715e-02 8.77288829e-02 7.59357890e+00] [ 2.91318568e-02 9.99574281e-01 1.61016777e-03 7.18967587e-02] [-8.77384887e-02 9.52433067e-04 9.96143087e-01 -7.24927324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.239649246 meters 0.05551914304250885 Centerline is valid? [True, True] Translation: X:7.63, Y:0.07, Z:-0.73 [[ 9.95681733e-01 -2.91506082e-02 8.81369922e-02 7.62582501e+00] [ 2.91217337e-02 9.99574570e-01 1.61371905e-03 7.38661925e-02] [-8.81465369e-02 9.59951436e-04 9.96107056e-01 -7.25696944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.269649246 meters 0.05576823611185254 Centerline is valid? [True, True] Translation: X:7.66, Y:0.07, Z:-0.73 [[ 9.95813706e-01 -2.95753602e-02 8.64890824e-02 7.65750122e+00] [ 2.95496514e-02 9.99562068e-01 1.57777555e-03 7.49567043e-02] [-8.64978694e-02 9.84551718e-04 9.96251549e-01 -7.32154162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299649246000001 meters 0.05602063030033723 Centerline is valid? [True, True] Translation: X:7.69, Y:0.07, Z:-0.74 [[ 9.95885127e-01 -3.00208313e-02 8.55076846e-02 7.68774285e+00] [ 2.99978976e-02 9.99548755e-01 1.55336315e-03 7.46158244e-02] [-8.55157329e-02 1.01807951e-03 9.96336300e-01 -7.37418299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.329649246 meters 0.05646335238505116 Centerline is valid? [True, True] Translation: X:7.72, Y:0.07, Z:-0.75 [[ 9.96009648e-01 -3.00580841e-02 8.40314989e-02 7.71818045e+00] [ 3.00362682e-02 9.99547648e-01 1.52412378e-03 7.33693556e-02] [-8.40392992e-02 1.00595065e-03 9.96461933e-01 -7.45756464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.359649246 meters 0.05636557911172777 Centerline is valid? [True, True] Translation: X:7.75, Y:0.07, Z:-0.75 [[ 9.96023727e-01 -3.00898143e-02 8.38530769e-02 7.75004865e+00] [ 3.00685228e-02 9.99546688e-01 1.51708309e-03 7.41269610e-02] [-8.38607141e-02 1.01028740e-03 9.96476974e-01 -7.46827177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389649246000001 meters 0.056378332842776525 Centerline is valid? [True, True] Translation: X:7.78, Y:0.07, Z:-0.75 [[ 9.96033099e-01 -2.97952074e-02 8.38469552e-02 7.78217455e+00] [ 2.97733383e-02 9.99555533e-01 1.51149241e-03 7.47081124e-02] [-8.38547232e-02 9.90907291e-04 9.96477498e-01 -7.49664032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.419649246 meters 0.056220037819081775 Centerline is valid? [True, True] Translation: X:7.81, Y:0.08, Z:-0.75 [[ 9.96035326e-01 -3.00039230e-02 8.37460039e-02 7.81407136e+00] [ 2.99832995e-02 9.99549268e-01 1.50423650e-03 7.60898684e-02] [-8.37533899e-02 1.01270882e-03 9.96485998e-01 -7.51158152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.449649246 meters 0.05618078333529212 Centerline is valid? [True, True] Translation: X:7.85, Y:0.08, Z:-0.75 [[ 9.96028765e-01 -3.02329306e-02 8.37416798e-02 7.84635359e+00] [ 3.02135938e-02 9.99542342e-01 1.49848679e-03 7.61497803e-02] [-8.37486584e-02 1.03760114e-03 9.96486370e-01 -7.54598731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.479649246000001 meters 0.0564902428091863 Centerline is valid? [True, True] Translation: X:7.88, Y:0.08, Z:-0.76 [[ 9.96059285e-01 -2.99969935e-02 8.34630527e-02 7.87718792e+00] [ 2.99774637e-02 9.99549468e-01 1.48745919e-03 7.54979805e-02] [-8.34700692e-02 1.02041309e-03 9.96509762e-01 -7.59601452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.509649246 meters 0.056444784522822346 Centerline is valid? [True, True] Translation: X:7.91, Y:0.08, Z:-0.76 [[ 9.96119982e-01 -2.96815258e-02 8.28491966e-02 7.90920391e+00] [ 2.96615008e-02 9.99558916e-01 1.47279849e-03 7.60036272e-02] [-8.28563680e-02 9.90347503e-04 9.96561007e-01 -7.62850353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.539649246000002 meters 0.05648021138759217 Centerline is valid? [True, True] Translation: X:7.94, Y:0.08, Z:-0.77 [[ 9.96146212e-01 -2.97875608e-02 8.24950007e-02 7.94154206e+00] [ 2.97685208e-02 9.99555752e-01 1.46103981e-03 7.62904615e-02] [-8.25018732e-02 1.00034486e-03 9.96590407e-01 -7.65869035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.569649246 meters 0.056455409552911465 Centerline is valid? [True, True] Translation: X:7.97, Y:0.08, Z:-0.77 [[ 9.96094047e-01 -2.97379611e-02 8.31402588e-02 7.97218061e+00] [ 2.97189524e-02 9.99557219e-01 1.46646198e-03 7.65102501e-02] [-8.31470554e-02 1.01010735e-03 9.96536776e-01 -7.69370245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.599649246 meters 0.0560804093157808 Centerline is valid? [True, True] Translation: X:8.00, Y:0.08, Z:-0.77 [[ 9.96010441e-01 -2.92114086e-02 8.43201946e-02 8.00412182e+00] [ 2.91902988e-02 9.99572772e-01 1.48346802e-03 7.86090452e-02] [-8.43275048e-02 9.83782035e-04 9.96437607e-01 -7.69432670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629649246000001 meters 0.056126237800755 Centerline is valid? [True, True] Translation: X:8.03, Y:0.08, Z:-0.77 [[ 9.96043921e-01 -2.82140424e-02 8.42643146e-02 8.03464057e+00] [ 2.81899221e-02 9.99601495e-01 1.47628826e-03 8.03457037e-02] [-8.42723869e-02 9.04956514e-04 9.96442344e-01 -7.73503850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.659649246 meters 0.0562581099118039 Centerline is valid? [True, True] Translation: X:8.07, Y:0.08, Z:-0.78 [[ 9.96007122e-01 -2.87190299e-02 8.45282826e-02 8.06702869e+00] [ 2.86968476e-02 9.99587068e-01 1.47768624e-03 8.08897895e-02] [-8.45358160e-02 9.53909223e-04 9.96419985e-01 -7.76967004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.689649246 meters 0.05626471078901705 Centerline is valid? [True, True] Translation: X:8.10, Y:0.08, Z:-0.78 [[ 9.95982561e-01 -2.86285058e-02 8.48477820e-02 8.09935390e+00] [ 2.86066375e-02 9.99589660e-01 1.47377206e-03 8.20156928e-02] [-8.48551574e-02 9.59358469e-04 9.96392835e-01 -7.80393760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719649246000001 meters 0.056309060855839956 Centerline is valid? [True, True] Translation: X:8.13, Y:0.08, Z:-0.78 [[ 9.96026594e-01 -2.82036204e-02 8.44723632e-02 8.13082408e+00] [ 2.81807062e-02 9.99601773e-01 1.46386549e-03 8.23211108e-02] [-8.44800103e-02 9.22441889e-04 9.96424747e-01 -7.84242464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.749649246 meters 0.056382742484118696 Centerline is valid? [True, True] Translation: X:8.16, Y:0.08, Z:-0.79 [[ 9.96018644e-01 -2.84640112e-02 8.44787636e-02 8.16311225e+00] [ 2.84433946e-02 9.99594356e-01 1.44786172e-03 8.17777427e-02] [-8.44857072e-02 9.60765547e-04 9.96424228e-01 -7.87246744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.779649246 meters 0.05644934472057562 Centerline is valid? [True, True] Translation: X:8.19, Y:0.08, Z:-0.79 [[ 9.96081390e-01 -2.82492505e-02 8.38083791e-02 8.19428405e+00] [ 2.82288528e-02 9.99600466e-01 1.42860363e-03 8.20868354e-02] [-8.38152518e-02 9.42808910e-04 9.96480865e-01 -7.91382525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.809649246000001 meters 0.056603771575145505 Centerline is valid? [True, True] Translation: X:8.23, Y:0.08, Z:-0.80 [[ 9.96068201e-01 -2.74854166e-02 8.42181194e-02 8.22632627e+00] [ 2.74624186e-02 9.99621811e-01 1.43175790e-03 8.36620650e-02] [-8.42256215e-02 8.86704733e-04 9.96446315e-01 -7.96577674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.839649246 meters 0.05672085055966385 Centerline is valid? [True, True] Translation: X:8.26, Y:0.08, Z:-0.80 [[ 9.96117013e-01 -2.74639443e-02 8.36458448e-02 8.25844220e+00] [ 2.74416392e-02 9.99622404e-01 1.41657215e-03 8.41712832e-02] [-8.36531651e-02 8.84307474e-04 9.96494539e-01 -8.01006803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.869649246000002 meters 0.05665686839568552 Centerline is valid? [True, True] Translation: X:8.29, Y:0.08, Z:-0.81 [[ 9.96162886e-01 -2.70483620e-02 8.32339545e-02 8.29038855e+00] [ 2.70252786e-02 9.99633764e-01 1.40419212e-03 8.48774249e-02] [-8.32414524e-02 8.50616733e-04 9.96529045e-01 -8.05145502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.899649246000001 meters 0.05663571800397072 Centerline is valid? [True, True] Translation: X:8.32, Y:0.09, Z:-0.81 [[ 9.96241688e-01 -2.61799772e-02 8.25657850e-02 8.32221204e+00] [ 2.61547253e-02 9.99656944e-01 1.38760023e-03 8.55224380e-02] [-8.25737876e-02 7.77100226e-04 9.96584651e-01 -8.08993217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.929649246 meters 0.056622879767780174 Centerline is valid? [True, True] Translation: X:8.35, Y:0.08, Z:-0.81 [[ 9.96190020e-01 -2.62074073e-02 8.31782165e-02 8.35318841e+00] [ 2.61822023e-02 9.99656215e-01 1.39398219e-03 8.44778306e-02] [-8.31861538e-02 7.89117749e-04 9.96533713e-01 -8.12858132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.959649246000001 meters 0.0564365367339236 Centerline is valid? [True, True] Translation: X:8.39, Y:0.08, Z:-0.81 [[ 9.96156104e-01 -2.57838197e-02 8.37150587e-02 8.38500823e+00] [ 2.57578297e-02 9.99667245e-01 1.39067752e-03 8.49026775e-02] [-8.37230590e-02 7.70986326e-04 9.96488763e-01 -8.14950925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.989649246 meters 0.056182457060577944 Centerline is valid? [True, True] Translation: X:8.42, Y:0.09, Z:-0.82 [[ 9.96046570e-01 -2.56878942e-02 8.50374173e-02 8.41719109e+00] [ 2.56612014e-02 9.99669707e-01 1.40712303e-03 8.60339396e-02] [-8.50454761e-02 7.80602219e-04 9.96376765e-01 -8.15462589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.019649246 meters 0.05626163002935262 Centerline is valid? [True, True] Translation: X:8.45, Y:0.09, Z:-0.82 [[ 9.95994091e-01 -2.53922374e-02 8.57380011e-02 8.44860468e+00] [ 2.53645355e-02 9.99677270e-01 1.41261868e-03 8.71317591e-02] [-8.57462005e-02 7.67744710e-04 9.96316717e-01 -8.18628432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049649246000001 meters 0.05615774481834528 Centerline is valid? [True, True] Translation: X:8.48, Y:0.09, Z:-0.82 [[ 9.96003661e-01 -2.53292299e-02 8.56454144e-02 8.48112759e+00] [ 2.53016246e-02 9.99678871e-01 1.40795935e-03 8.79326718e-02] [-8.56535738e-02 7.64635461e-04 9.96324686e-01 -8.22346181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.079649246 meters 0.055983704849209864 Centerline is valid? [True, True] Translation: X:8.51, Y:0.09, Z:-0.82 [[ 9.95955274e-01 -2.57141924e-02 8.60922340e-02 8.51332378e+00] [ 2.56885224e-02 9.99669006e-01 1.40618715e-03 8.97975296e-02] [-8.60998970e-02 8.11082780e-04 9.96286179e-01 -8.21962734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.109649246 meters 0.056145344413872894 Centerline is valid? [True, True] Translation: X:8.54, Y:0.09, Z:-0.83 [[ 9.95943542e-01 -2.51590134e-02 8.63914602e-02 8.54401437e+00] [ 2.51316425e-02 9.99683164e-01 1.40459565e-03 8.90730320e-02] [-8.63994265e-02 7.72261330e-04 9.96260279e-01 -8.26893718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.139649246000001 meters 0.055951064229951226 Centerline is valid? [True, True] Translation: X:8.58, Y:0.09, Z:-0.83 [[ 9.95847904e-01 -2.50071467e-02 8.75305410e-02 8.57535714e+00] [ 2.49788803e-02 9.99686973e-01 1.41839776e-03 8.93210390e-02] [-8.75386117e-02 7.73906480e-04 9.96160827e-01 -8.28021288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.169649246 meters 0.05585947801280999 Centerline is valid? [True, True] Translation: X:8.61, Y:0.09, Z:-0.83 [[ 9.95864560e-01 -2.48318963e-02 8.73908190e-02 8.60842516e+00] [ 2.48033309e-02 9.99691352e-01 1.41289166e-03 9.05108771e-02] [-8.73989307e-02 7.60534672e-04 9.96173102e-01 -8.30038241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.199649246 meters 0.05577856182182051 Centerline is valid? [True, True] Translation: X:8.64, Y:0.09, Z:-0.83 [[ 9.95897083e-01 -2.42523861e-02 8.71826966e-02 8.64064475e+00] [ 2.42225276e-02 9.99705611e-01 1.40052863e-03 9.11240256e-02] [-8.71909971e-02 7.17002906e-04 9.96191355e-01 -8.33889994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.229649246000001 meters 0.05597548990052419 Centerline is valid? [True, True] Translation: X:8.67, Y:0.09, Z:-0.84 [[ 9.95949670e-01 -2.44767116e-02 8.65167361e-02 8.67286582e+00] [ 2.44489807e-02 9.99700126e-01 1.38028208e-03 9.19630707e-02] [-8.65245767e-02 7.40554529e-04 9.96249441e-01 -8.37762278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.259649246 meters 0.05603491717427254 Centerline is valid? [True, True] Translation: X:8.71, Y:0.09, Z:-0.84 [[ 9.95961712e-01 -2.44306718e-02 8.63910358e-02 8.70585699e+00] [ 2.44032892e-02 9.99701252e-01 1.37319270e-03 9.30269471e-02] [-8.63987747e-02 7.40578080e-04 9.96260359e-01 -8.41139082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.289649246000002 meters 0.056049603156169775 Centerline is valid? [True, True] Translation: X:8.74, Y:0.09, Z:-0.85 [[ 9.96102023e-01 -2.42816622e-02 8.48007155e-02 8.73674395e+00] [ 2.42555881e-02 9.99704895e-01 1.33791623e-03 9.44696489e-02] [-8.48081772e-02 7.24190155e-04 9.96397034e-01 -8.46195992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.319649246 meters 0.05613725990484771 Centerline is valid? [True, True] Translation: X:8.77, Y:0.09, Z:-0.85 [[ 9.96075153e-01 -2.39464689e-02 8.52106556e-02 8.76870591e+00] [ 2.39192732e-02 9.99712995e-01 1.34023683e-03 9.49368991e-02] [-8.52182936e-02 7.03200342e-04 9.96362057e-01 -8.49471464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.349649246 meters 0.05626239508499538 Centerline is valid? [True, True] Translation: X:8.80, Y:0.10, Z:-0.85 [[ 9.96208987e-01 -2.38439622e-02 8.36607469e-02 8.79899902e+00] [ 2.38177590e-02 9.99715457e-01 1.31139212e-03 9.51091847e-02] [-8.36682106e-02 6.86190887e-04 9.96493432e-01 -8.54105001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.379649246000001 meters 0.05620449835823729 Centerline is valid? [True, True] Translation: X:8.83, Y:0.10, Z:-0.86 [[ 9.96152378e-01 -2.38186060e-02 8.43392753e-02 8.83151026e+00] [ 2.37928252e-02 9.99716051e-01 1.31093455e-03 9.52672319e-02] [-8.43465519e-02 7.00779064e-04 9.96436234e-01 -8.56589629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.409649246 meters 0.05630183381787197 Centerline is valid? [True, True] Translation: X:8.86, Y:0.10, Z:-0.86 [[ 9.96105548e-01 -2.38335642e-02 8.48863914e-02 8.86219651e+00] [ 2.38081933e-02 9.99715685e-01 1.31133598e-03 9.56984927e-02] [-8.48935108e-02 7.14762566e-04 9.96389774e-01 -8.59591428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.439649246 meters 0.0563209199520628 Centerline is valid? [True, True] Translation: X:8.90, Y:0.10, Z:-0.86 [[ 9.96098648e-01 -2.37243739e-02 8.49978730e-02 8.89525332e+00] [ 2.36988110e-02 9.99718286e-01 1.30987762e-03 9.67821625e-02] [-8.50050039e-02 7.09581202e-04 9.96380272e-01 -8.62375338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469649246000001 meters 0.056141733122167616 Centerline is valid? [True, True] Translation: X:8.93, Y:0.10, Z:-0.87 [[ 9.96022666e-01 -2.34457012e-02 8.59601487e-02 8.92637062e+00] [ 2.34193995e-02 9.99724864e-01 1.31453677e-03 9.82537418e-02] [-8.59673182e-02 7.03826646e-04 9.96297709e-01 -8.66231255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.499649246 meters 0.0560401914129866 Centerline is valid? [True, True] Translation: X:8.96, Y:0.10, Z:-0.87 [[ 9.96042300e-01 -2.24054987e-02 8.60100558e-02 8.95827183e+00] [ 2.23756445e-02 9.99748774e-01 1.31125984e-03 9.91725303e-02] [-8.60178272e-02 6.18460158e-04 9.96293406e-01 -8.68530819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.529649246 meters 0.05607451278727193 Centerline is valid? [True, True] Translation: X:8.99, Y:0.10, Z:-0.87 [[ 9.95946856e-01 -2.30179321e-02 8.69484575e-02 8.98914260e+00] [ 2.29900090e-02 9.99734820e-01 1.32263353e-03 9.87198185e-02] [-8.69558448e-02 6.81673119e-04 9.96211933e-01 -8.73722688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.559649246000001 meters 0.056021080146246426 Centerline is valid? [True, True] Translation: X:9.02, Y:0.10, Z:-0.88 [[ 9.95990607e-01 -2.27459424e-02 8.65178184e-02 9.02130212e+00] [ 2.27192112e-02 9.99741048e-01 1.29373767e-03 9.96054506e-02] [-8.65248417e-02 6.77066018e-04 9.96249463e-01 -8.75889255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.589649246 meters 0.056180155474564765 Centerline is valid? [True, True] Translation: X:9.05, Y:0.10, Z:-0.88 [[ 9.96022430e-01 -2.26203733e-02 8.61837457e-02 9.05312351e+00] [ 2.25935466e-02 9.99743905e-01 1.28679863e-03 9.93336094e-02] [-8.61907823e-02 6.65516177e-04 9.96278428e-01 -8.80615816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.619649246000002 meters 0.05616340702727387 Centerline is valid? [True, True] Translation: X:9.09, Y:0.10, Z:-0.88 [[ 9.96100822e-01 -2.20935489e-02 8.54109332e-02 9.08553258e+00] [ 2.20675019e-02 9.99755703e-01 1.24919313e-03 1.00483898e-01] [-8.54176667e-02 6.40483624e-04 9.96345027e-01 -8.83308471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.649649246000001 meters 0.056167854176080216 Centerline is valid? [True, True] Translation: X:9.12, Y:0.10, Z:-0.89 [[ 9.96189647e-01 -2.15234313e-02 8.45158512e-02 9.11644874e+00] [ 2.14964205e-02 9.99768169e-01 1.22971041e-03 1.00568014e-01] [-8.45227254e-02 5.91763494e-04 9.96421376e-01 -8.88925162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.679649246 meters 0.05628199487987091 Centerline is valid? [True, True] Translation: X:9.15, Y:0.10, Z:-0.89 [[ 9.96320007e-01 -2.15312432e-02 8.29629447e-02 9.14784767e+00] [ 2.15056034e-02 9.99768004e-01 1.20276734e-03 1.00732801e-01] [-8.29695947e-02 5.85827026e-04 9.96551907e-01 -8.92932352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709649246000001 meters 0.05632631709633488 Centerline is valid? [True, True] Translation: X:9.18, Y:0.10, Z:-0.90 [[ 9.96384498e-01 -2.12239951e-02 8.22646641e-02 9.17949858e+00] [ 2.11980469e-02 9.99774589e-01 1.18891506e-03 1.02192762e-01] [-8.22713543e-02 5.59233672e-04 9.96609809e-01 -8.95682208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.739649246 meters 0.05632631709633488 Centerline is valid? [True, True] Translation: X:9.21, Y:0.10, Z:-0.90 [[ 9.96386711e-01 -2.11195410e-02 8.22647339e-02 9.21175366e+00] [ 2.10936381e-02 9.99776803e-01 1.18406049e-03 1.02531245e-01] [-8.22713795e-02 5.55480390e-04 9.96609809e-01 -8.99177718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.769649246 meters 0.056144218701923584 Centerline is valid? [True, True] Translation: X:9.24, Y:0.10, Z:-0.90 [[ 9.96326489e-01 -2.11496005e-02 8.29832609e-02 9.24356904e+00] [ 2.11241507e-02 9.99776158e-01 1.18476246e-03 1.03319697e-01] [-8.29897430e-02 5.72540692e-04 9.96550237e-01 -9.01989139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799649246000001 meters 0.05609722940397289 Centerline is valid? [True, True] Translation: X:9.27, Y:0.10, Z:-0.90 [[ 9.96160223e-01 -2.10409152e-02 8.49828819e-02 9.27453915e+00] [ 2.10142246e-02 9.99778446e-01 1.20870053e-03 1.03995036e-01] [-8.49894858e-02 5.81789984e-04 9.96381678e-01 -9.04169474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.829649246 meters 0.056056695935219565 Centerline is valid? [True, True] Translation: X:9.31, Y:0.10, Z:-0.91 [[ 9.96048417e-01 -2.13364640e-02 8.62108224e-02 9.30610295e+00] [ 2.13113089e-02 9.99772153e-01 1.21222693e-03 1.04251286e-01] [-8.62170442e-02 6.29828749e-04 9.96276179e-01 -9.07667517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.859649246 meters 0.05584299315410235 Centerline is valid? [True, True] Translation: X:9.34, Y:0.10, Z:-0.91 [[ 9.95881643e-01 -2.11112503e-02 8.81706809e-02 9.33681966e+00] [ 2.10843538e-02 9.99776936e-01 1.23646855e-03 1.04727397e-01] [-8.81771166e-02 6.27645493e-04 9.96104614e-01 -9.09040099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889649246000001 meters 0.05597382031521036 Centerline is valid? [True, True] Translation: X:9.37, Y:0.10, Z:-0.91 [[ 9.95835269e-01 -2.12479877e-02 8.86602551e-02 9.36864477e+00] [ 2.12230729e-02 9.99774016e-01 1.22378954e-03 1.04461589e-01] [-8.86662224e-02 6.62950272e-04 9.96061174e-01 -9.11613935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.919649246 meters 0.055878144658210435 Centerline is valid? [True, True] Translation: X:9.40, Y:0.10, Z:-0.92 [[ 9.95838773e-01 -2.06932544e-02 8.87520531e-02 9.40106240e+00] [ 2.06684412e-02 9.99785666e-01 1.19866541e-03 1.04973749e-01] [-8.87578349e-02 6.40689098e-04 9.96053029e-01 -9.15132966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.949649246000002 meters 0.055860331182558905 Centerline is valid? [True, True] Translation: X:9.43, Y:0.10, Z:-0.92 [[ 9.95854625e-01 -2.04732539e-02 8.86251243e-02 9.43226967e+00] [ 2.04480105e-02 9.99790206e-01 1.19281005e-03 1.04586265e-01] [-8.86309520e-02 6.24342061e-04 9.96064338e-01 -9.19600403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.979649246000001 meters 0.05579839836382444 Centerline is valid? [True, True] Translation: X:9.47, Y:0.11, Z:-0.92 [[ 9.95815044e-01 -2.03010780e-02 8.91081602e-02 9.46553349e+00] [ 2.02760404e-02 9.99793716e-01 1.18624576e-03 1.06106331e-01] [-8.91138607e-02 6.25479276e-04 9.96021249e-01 -9.21144793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.009649246 meters 0.055700919995630004 Centerline is valid? [True, True] Translation: X:9.50, Y:0.11, Z:-0.92 [[ 9.95817799e-01 -1.97302381e-02 8.92055461e-02 9.49735657e+00] [ 1.97051551e-02 9.99805159e-01 1.16192037e-03 1.06121145e-01] [-8.92110902e-02 6.00748132e-04 9.96012560e-01 -9.24636737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.039649246000002 meters 0.055686440821374465 Centerline is valid? [True, True] Translation: X:9.53, Y:0.11, Z:-0.93 [[ 9.95774365e-01 -1.96261034e-02 8.97119280e-02 9.53009553e+00] [ 1.96024457e-02 9.99807198e-01 1.14484806e-03 1.05955111e-01] [-8.97171002e-02 6.18562842e-04 9.95967098e-01 -9.27399313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.069649246 meters 0.05564089653239568 Centerline is valid? [True, True] Translation: X:9.56, Y:0.11, Z:-0.93 [[ 9.95840890e-01 -1.93981021e-02 8.90204166e-02 9.56191217e+00] [ 1.93761337e-02 9.99811648e-01 1.11100536e-03 1.05746644e-01] [-8.90252008e-02 6.18486928e-04 9.96029182e-01 -9.28906941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.099649246 meters 0.05573319075605553 Centerline is valid? [True, True] Translation: X:9.59, Y:0.11, Z:-0.93 [[ 9.95953775e-01 -1.91718040e-02 8.77981827e-02 9.59220564e+00] [ 1.91515122e-02 9.99816017e-01 1.07355145e-03 1.06011669e-01] [-8.78026112e-02 6.12260350e-04 9.96137705e-01 -9.34648130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129649246000001 meters 0.05567546312691009 Centerline is valid? [True, True] Translation: X:9.62, Y:0.11, Z:-0.94 [[ 9.95999809e-01 -1.89479388e-02 8.73232892e-02 9.62385276e+00] [ 1.89287004e-02 9.99820286e-01 1.04842086e-03 1.05811818e-01] [-8.73274614e-02 6.08689407e-04 9.96179474e-01 -9.39775394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.159649246 meters 0.0558031517837002 Centerline is valid? [True, True] Translation: X:9.66, Y:0.11, Z:-0.94 [[ 9.96034198e-01 -1.92160498e-02 8.68712828e-02 9.65562782e+00] [ 1.92000469e-02 9.99815142e-01 1.01983391e-03 1.06308650e-01] [-8.68748211e-02 6.52143255e-04 9.96219022e-01 -9.44511271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.189649246 meters 0.05571110302463519 Centerline is valid? [True, True] Translation: X:9.69, Y:0.11, Z:-0.95 [[ 9.96089822e-01 -1.85812444e-02 8.63701566e-02 9.68837468e+00] [ 1.85647791e-02 9.99827166e-01 9.93924966e-04 1.06635446e-01] [-8.63736972e-02 6.13404335e-04 9.96262620e-01 -9.47530218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219649246000001 meters 0.055689668390833266 Centerline is valid? [True, True] Translation: X:9.72, Y:0.11, Z:-0.95 [[ 9.96033700e-01 -1.79770604e-02 8.71418015e-02 9.71953163e+00] [ 1.79602783e-02 9.99838224e-01 9.76680986e-04 1.07029342e-01] [-8.71452620e-02 5.92283831e-04 9.96195439e-01 -9.50694563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.249649246 meters 0.05568879230623453 Centerline is valid? [True, True] Translation: X:9.75, Y:0.11, Z:-0.95 [[ 9.95950740e-01 -1.86068583e-02 8.79540174e-02 9.75179787e+00] [ 1.85939806e-02 9.99826651e-01 9.65778439e-04 1.06977748e-01] [-8.79567407e-02 6.73547544e-04 9.96124068e-01 -9.53672860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.279649246 meters 0.05559091886044908 Centerline is valid? [True, True] Translation: X:9.78, Y:0.11, Z:-0.96 [[ 9.95774305e-01 -1.90378278e-02 8.98392765e-02 9.78315000e+00] [ 1.90282175e-02 9.99818483e-01 9.63521714e-04 1.05090332e-01] [-8.98413125e-02 7.50031129e-04 9.95955810e-01 -9.56380389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309649246000001 meters 0.05558995203412777 Centerline is valid? [True, True] Translation: X:9.82, Y:0.11, Z:-0.96 [[ 9.95805460e-01 -1.88132548e-02 8.95407525e-02 9.81623421e+00] [ 1.88045348e-02 9.99822736e-01 9.41041126e-04 1.05677908e-01] [-8.95425842e-02 7.46678301e-04 9.95982715e-01 -9.60126175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.339649246 meters 0.05571499038040236 Centerline is valid? [True, True] Translation: X:9.85, Y:0.10, Z:-0.96 [[ 9.95828136e-01 -2.02269623e-02 8.89786169e-02 9.84710548e+00] [ 2.02264215e-02 9.99795013e-01 9.07819036e-04 1.04456194e-01] [-8.89787398e-02 8.95687267e-04 9.96033123e-01 -9.64294275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.369649246000002 meters 0.05573031849682553 Centerline is valid? [True, True] Translation: X:9.88, Y:0.10, Z:-0.97 [[ 9.95866334e-01 -1.95132360e-02 8.87100756e-02 9.87934073e+00] [ 1.95109582e-02 9.99809244e-01 8.92878142e-04 1.04537250e-01] [-8.87105766e-02 8.41631296e-04 9.96057089e-01 -9.68114163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.399649246000001 meters 0.05582013207074743 Centerline is valid? [True, True] Translation: X:9.91, Y:0.10, Z:-0.97 [[ 9.95740999e-01 -2.08952058e-02 8.97956174e-02 9.91116637e+00] [ 2.08990894e-02 9.99781188e-01 8.97075859e-04 1.03463332e-01] [-8.97947136e-02 9.83391425e-04 9.95959810e-01 -9.72172069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.429649246 meters 0.05587495250682063 Centerline is valid? [True, True] Translation: X:9.94, Y:0.10, Z:-0.98 [[ 9.95695341e-01 -2.10898937e-02 9.02552197e-02 9.94293333e+00] [ 2.10970063e-02 9.99777050e-01 8.75304454e-04 1.02908224e-01] [-9.02535574e-02 1.03257838e-03 9.95918284e-01 -9.75586869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459649246000001 meters 0.0559884833278377 Centerline is valid? [True, True] Translation: X:9.97, Y:0.10, Z:-0.98 [[ 9.95687182e-01 -2.17907879e-02 9.01786926e-02 9.97482054e+00] [ 2.18010430e-02 9.99761949e-01 8.71397477e-04 1.02832386e-01] [-9.01762139e-02 1.09835026e-03 9.95925220e-01 -9.80029988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.489649246 meters 0.05604099621532527 Centerline is valid? [True, True] Translation: X:10.01, Y:0.10, Z:-0.99 [[ 9.95801278e-01 -2.18776586e-02 8.88885928e-02 1.00056873e+01] [ 2.18898296e-02 9.99760038e-01 8.37998256e-04 1.02660882e-01] [-8.88855964e-02 1.11127641e-03 9.96041222e-01 -9.85221828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.519649246 meters 0.05615107179545254 Centerline is valid? [True, True] Translation: X:10.04, Y:0.10, Z:-0.99 [[ 9.95819409e-01 -2.19765651e-02 8.86607874e-02 1.00377664e+01] [ 2.19910150e-02 9.99757837e-01 8.13929209e-04 1.02903595e-01] [-8.86572044e-02 1.13921420e-03 9.96061545e-01 -9.89824444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549649246000001 meters 0.05610042514324066 Centerline is valid? [True, True] Translation: X:10.07, Y:0.10, Z:-0.99 [[ 9.95889923e-01 -2.08833702e-02 8.81314147e-02 1.00694089e+01] [ 2.08935770e-02 9.99781380e-01 8.06771560e-04 1.03344647e-01] [-8.81289955e-02 1.03792483e-03 9.96108530e-01 -9.93599159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.579649246 meters 0.056060096306491065 Centerline is valid? [True, True] Translation: X:10.10, Y:0.11, Z:-1.00 [[ 9.96033672e-01 -1.89099836e-02 8.69444450e-02 1.01018297e+01] [ 1.89145246e-02 9.99820807e-01 7.71660243e-04 1.05311587e-01] [-8.69434572e-02 8.75913263e-04 9.96212863e-01 -9.97972125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.609649246 meters 0.055947236255129054 Centerline is valid? [True, True] Translation: X:10.13, Y:0.11, Z:-1.00 [[ 9.96057875e-01 -1.75520776e-02 8.69519053e-02 1.01334095e+01] [ 1.75522632e-02 9.99845656e-01 7.62474526e-04 1.07033759e-01] [-8.69518678e-02 7.66733966e-04 9.96212219e-01 -1.00212143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639649246000001 meters 0.055862599071650705 Centerline is valid? [True, True] Translation: X:10.17, Y:0.11, Z:-1.00 [[ 9.96090295e-01 -1.61642550e-02 8.68495354e-02 1.01654423e+01] [ 1.61593470e-02 9.99869141e-01 7.59601120e-04 1.07023018e-01] [-8.68504487e-02 6.46800476e-04 9.96221151e-01 -1.00444260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669649246 meters 0.055877220743488346 Centerline is valid? [True, True] Translation: X:10.20, Y:0.11, Z:-1.01 [[ 9.96164616e-01 -1.55958899e-02 8.60977742e-02 1.01969850e+01] [ 1.55907691e-02 9.99878189e-01 7.31930408e-04 1.07367123e-01] [-8.60987016e-02 6.13207347e-04 9.96286423e-01 -1.00792059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.699649246000002 meters 0.055720037469278665 Centerline is valid? [True, True] Translation: X:10.23, Y:0.11, Z:-1.01 [[ 9.96196052e-01 -1.56690166e-02 8.57199394e-02 1.02298952e+01] [ 1.56657673e-02 9.99877032e-01 7.10619566e-04 1.08459653e-01] [-8.57205333e-02 6.34952220e-04 9.96319019e-01 -1.00893272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729649246000001 meters 0.05577730343761837 Centerline is valid? [True, True] Translation: X:10.26, Y:0.11, Z:-1.01 [[ 9.96126925e-01 -1.64971654e-02 8.63654590e-02 1.02610952e+01] [ 1.64993672e-02 9.99863639e-01 6.88376133e-04 1.07323150e-01] [-8.63650384e-02 7.39265423e-04 9.96263285e-01 -1.01311428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.759649246 meters 0.05550510523649445 Centerline is valid? [True, True] Translation: X:10.29, Y:0.11, Z:-1.01 [[ 9.96037385e-01 -1.68172622e-02 8.73310193e-02 1.02932499e+01] [ 1.68216306e-02 9.99858271e-01 6.85962007e-04 1.07340102e-01] [-8.73301779e-02 7.85806339e-04 9.96179112e-01 -1.01345972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789649246000002 meters 0.05561388128922388 Centerline is valid? [True, True] Translation: X:10.32, Y:0.11, Z:-1.02 [[ 9.96027854e-01 -1.66324818e-02 8.74749919e-02 1.03246025e+01] [ 1.66381719e-02 9.99861355e-01 6.64111695e-04 1.07309885e-01] [-8.74739098e-02 7.93950206e-04 9.96166494e-01 -1.01633497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.819649246 meters 0.05561066324963505 Centerline is valid? [True, True] Translation: X:10.36, Y:0.11, Z:-1.02 [[ 9.96067687e-01 -1.59625750e-02 8.71456149e-02 1.03561097e+01] [ 1.59669803e-02 9.99872311e-01 6.46545877e-04 1.08065251e-01] [-8.71448078e-02 7.47448856e-04 9.96195374e-01 -1.02217072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.849649246 meters 0.05571365644380396 Centerline is valid? [True, True] Translation: X:10.39, Y:0.11, Z:-1.03 [[ 9.95968714e-01 -1.62871494e-02 8.82102578e-02 1.03880113e+01] [ 1.62941865e-02 9.99867036e-01 6.40331914e-04 1.08417622e-01] [-8.82089582e-02 7.99563836e-04 9.96101672e-01 -1.02528687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879649246000001 meters 0.05547804464330627 Centerline is valid? [True, True] Translation: X:10.42, Y:0.11, Z:-1.03 [[ 9.95941090e-01 -1.63087057e-02 8.85176343e-02 1.04204403e+01] [ 1.63176727e-02 9.99866664e-01 6.22367037e-04 1.08979438e-01] [-8.85159817e-02 8.24560875e-04 9.96074415e-01 -1.02676820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909649246 meters 0.055316108146055004 Centerline is valid? [True, True] Translation: X:10.45, Y:0.11, Z:-1.03 [[ 9.95843783e-01 -1.55747564e-02 8.97362097e-02 1.04517817e+01] [ 1.55834104e-02 9.99878389e-01 6.04214740e-04 1.08759537e-01] [-8.97347072e-02 7.96692692e-04 9.95965385e-01 -1.02954386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.939649246 meters 0.05533303375104092 Centerline is valid? [True, True] Translation: X:10.48, Y:0.11, Z:-1.03 [[ 9.95790755e-01 -1.51533678e-02 9.03944046e-02 1.04838821e+01] [ 1.51622717e-02 9.99884873e-01 5.88236177e-04 1.08776752e-01] [-9.03929115e-02 7.84824375e-04 9.95905872e-01 -1.03279654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969649246000001 meters 0.05544509505696733 Centerline is valid? [True, True] Translation: X:10.52, Y:0.11, Z:-1.04 [[ 9.95832250e-01 -1.50970411e-02 8.99455867e-02 1.05164781e+01] [ 1.51075350e-02 9.99885716e-01 5.64176625e-04 1.08523543e-01] [-8.99438247e-02 7.97030817e-04 9.95946521e-01 -1.03670926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.999649246 meters 0.05554988535375259 Centerline is valid? [True, True] Translation: X:10.55, Y:0.11, Z:-1.04 [[ 9.95965020e-01 -1.51160014e-02 8.84600776e-02 1.05478721e+01] [ 1.51284100e-02 9.99885418e-01 5.30207782e-04 1.08015218e-01] [-8.84579564e-02 8.10191917e-04 9.96079582e-01 -1.04206295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.029649246000002 meters 0.055672865079987414 Centerline is valid? [True, True] Translation: X:10.58, Y:0.11, Z:-1.05 [[ 9.96078714e-01 -1.51946810e-02 8.71568582e-02 1.05796292e+01] [ 1.52088318e-02 9.99884213e-01 5.01716360e-04 1.07676574e-01] [-8.71543900e-02 8.25805011e-04 9.96194474e-01 -1.04732375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059649246000001 meters 0.05611956184898399 Centerline is valid? [True, True] Translation: X:10.61, Y:0.11, Z:-1.05 [[ 9.96334835e-01 -1.50915684e-02 8.41970407e-02 1.06103142e+01] [ 1.51060613e-02 9.99885789e-01 4.64977599e-04 1.07116625e-01] [-8.41944417e-02 8.08612277e-04 9.96449016e-01 -1.05446042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089649246 meters 0.05611147836882585 Centerline is valid? [True, True] Translation: X:10.64, Y:0.11, Z:-1.06 [[ 9.96444061e-01 -1.45662582e-02 8.29882920e-02 1.06422503e+01] [ 1.45799861e-02 9.99893609e-01 4.40639451e-04 1.07441552e-01] [-8.29858813e-02 7.70895578e-04 9.96550425e-01 -1.05899739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.119649246000002 meters 0.056384051812060756 Centerline is valid? [True, True] Translation: X:10.67, Y:0.11, Z:-1.06 [[ 9.96551489e-01 -1.46562552e-02 8.16720505e-02 1.06727459e+01] [ 1.46714425e-02 9.99892283e-01 4.14200156e-04 1.07921049e-01] [-8.16693236e-02 7.85475014e-04 9.96659172e-01 -1.06446720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.149649246000001 meters 0.056452187897238264 Centerline is valid? [True, True] Translation: X:10.70, Y:0.11, Z:-1.07 [[ 9.96640533e-01 -1.39196540e-02 8.07086848e-02 1.07048274e+01] [ 1.39334390e-02 9.99902848e-01 3.92419029e-04 1.08698459e-01] [-8.07063061e-02 7.33448826e-04 9.96737656e-01 -1.06796938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.179649246 meters 0.056433947217602996 Centerline is valid? [True, True] Translation: X:10.74, Y:0.11, Z:-1.07 [[ 9.96599909e-01 -1.40037953e-02 8.11943029e-02 1.07351800e+01] [ 1.40196304e-02 9.99901650e-01 3.75095499e-04 1.09331081e-01] [-8.11915702e-02 7.64493979e-04 9.96698221e-01 -1.07280778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209649246000001 meters 0.056492159591755346 Centerline is valid? [True, True] Translation: X:10.77, Y:0.11, Z:-1.08 [[ 9.96498086e-01 -1.43776206e-02 8.23701890e-02 1.07667681e+01] [ 1.43966554e-02 9.99896297e-01 3.62875171e-04 1.08806875e-01] [-8.23668643e-02 8.24250811e-04 9.96601736e-01 -1.07509750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.239649246 meters 0.056201155739221985 Centerline is valid? [True, True] Translation: X:10.80, Y:0.11, Z:-1.07 [[ 9.96316807e-01 -1.42419542e-02 8.45575941e-02 1.07992271e+01] [ 1.42632346e-02 9.99898213e-01 3.52471581e-04 1.07559365e-01] [-8.45540071e-02 8.54891444e-04 9.96418531e-01 -1.07488565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.269649246 meters 0.05582153338347584 Centerline is valid? [True, True] Translation: X:10.83, Y:0.11, Z:-1.08 [[ 9.96258120e-01 -1.39285094e-02 8.52980365e-02 1.08318160e+01] [ 1.39506822e-02 9.99902628e-01 3.36147570e-04 1.08419957e-01] [-8.52944129e-02 8.55076057e-04 9.96355425e-01 -1.07536799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299649246000001 meters 0.0559697561412129 Centerline is valid? [True, True] Translation: X:10.86, Y:0.11, Z:-1.08 [[ 9.96273932e-01 -1.40968096e-02 8.50854406e-02 1.08633840e+01] [ 1.41211850e-02 9.99900241e-01 3.15386622e-04 1.08873806e-01] [-8.50813985e-02 8.87295781e-04 9.96373609e-01 -1.07992304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.329649246 meters 0.056009146994115175 Centerline is valid? [True, True] Translation: X:10.90, Y:0.11, Z:-1.08 [[ 9.96300567e-01 -1.39201645e-02 8.48021776e-02 1.08956776e+01] [ 1.39455261e-02 9.99902713e-01 2.93325739e-04 1.09256897e-01] [-8.47980106e-02 8.90370382e-04 9.96397764e-01 -1.08407304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.359649246000002 meters 0.055976711070535985 Centerline is valid? [True, True] Translation: X:10.93, Y:0.11, Z:-1.09 [[ 9.96363755e-01 -1.39509761e-02 8.40513951e-02 1.09273211e+01] [ 1.39779640e-02 9.99902268e-01 2.67407059e-04 1.09468611e-01] [-8.40469112e-02 9.08432677e-04 9.96461385e-01 -1.08723713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389649246000001 meters 0.05625449112772566 Centerline is valid? [True, True] Translation: X:10.96, Y:0.11, Z:-1.09 [[ 9.96369686e-01 -1.37211999e-02 8.40189114e-02 1.09592073e+01] [ 1.37491881e-02 9.99905445e-01 2.45519392e-04 1.08132295e-01] [-8.40143359e-02 9.10563737e-04 9.96464130e-01 -1.09239220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.419649246 meters 0.05634280861546687 Centerline is valid? [True, True] Translation: X:10.99, Y:0.11, Z:-1.10 [[ 9.96467352e-01 -1.31494897e-02 8.29452118e-02 1.09909106e+01] [ 1.31758283e-02 9.99913169e-01 2.29853634e-04 1.08056301e-01] [-8.29410320e-02 8.63830223e-04 9.96554082e-01 -1.09703570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.449649246000002 meters 0.05654911230469287 Centerline is valid? [True, True] Translation: X:11.02, Y:0.11, Z:-1.10 [[ 9.96516159e-01 -1.34076063e-02 8.23151292e-02 1.10217563e+01] [ 1.34360095e-02 9.99909711e-01 2.08894240e-04 1.07444848e-01] [-8.23104979e-02 8.97820375e-04 9.96606329e-01 -1.10139088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.479649246000001 meters 0.056159903818738026 Centerline is valid? [True, True] Translation: X:11.05, Y:0.11, Z:-1.10 [[ 9.96415217e-01 -1.28777616e-02 8.36114760e-02 1.10539614e+01] [ 1.29066695e-02 9.99916686e-01 1.94791418e-04 1.08995360e-01] [-8.36070185e-02 8.85052558e-04 9.96498411e-01 -1.10063259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.509649246 meters 0.0562131977827583 Centerline is valid? [True, True] Translation: X:11.09, Y:0.11, Z:-1.10 [[ 9.96442847e-01 -1.25482566e-02 8.33318326e-02 1.10857064e+01] [ 1.25774329e-02 9.99920886e-01 1.74852063e-04 1.09082030e-01] [-8.33274339e-02 8.73870447e-04 9.96521839e-01 -1.10496502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.539649246000002 meters 0.05619193902303907 Centerline is valid? [True, True] Translation: X:11.12, Y:0.11, Z:-1.11 [[ 9.96481588e-01 -1.20030273e-02 8.29480064e-02 1.11186553e+01] [ 1.20317466e-02 9.99927604e-01 1.53642804e-04 1.09665509e-01] [-8.29438454e-02 8.44907169e-04 9.96553864e-01 -1.10804498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.569649246 meters 0.056173749317672106 Centerline is valid? [True, True] Translation: X:11.15, Y:0.11, Z:-1.11 [[ 9.96472643e-01 -1.16716064e-02 8.31026140e-02 1.11505439e+01] [ 1.17011958e-02 9.99931530e-01 1.30991564e-04 1.08637324e-01] [-8.30984528e-02 8.41870450e-04 9.96540987e-01 -1.11177027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.599649246 meters 0.056173749317672106 Centerline is valid? [True, True] Translation: X:11.18, Y:0.11, Z:-1.12 [[ 9.96475717e-01 -1.14060171e-02 8.31026407e-02 1.11826998e+01] [ 1.14364106e-02 9.99934596e-01 1.10292936e-04 1.08500674e-01] [-8.30984635e-02 8.40491688e-04 9.96540987e-01 -1.11526870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629649246000001 meters 0.05617340751637448 Centerline is valid? [True, True] Translation: X:11.22, Y:0.11, Z:-1.12 [[ 9.96432374e-01 -1.17604672e-02 8.35716145e-02 1.12157354e+01] [ 1.17943051e-02 9.99930441e-01 8.88071707e-05 1.07991568e-01] [-8.35668457e-02 8.97178775e-04 9.96501770e-01 -1.11628292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.659649246 meters 0.05632231217200283 Centerline is valid? [True, True] Translation: X:11.25, Y:0.11, Z:-1.12 [[ 9.96388389e-01 -1.15316852e-02 8.41260922e-02 1.12467090e+01] [ 1.15672485e-02 9.99933095e-01 6.46834918e-05 1.06728869e-01] [-8.41212097e-02 9.08657538e-04 9.96455115e-01 -1.12166727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.689649246 meters 0.056100410809668745 Centerline is valid? [True, True] Translation: X:11.28, Y:0.11, Z:-1.12 [[ 9.96228721e-01 -1.13402109e-02 8.60217121e-02 1.12786228e+01] [ 1.13783799e-02 9.99935263e-01 4.65927700e-05 1.07831319e-01] [-8.60166717e-02 9.32370662e-04 9.96293261e-01 -1.12222018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.719649246000001 meters 0.056124711954556435 Centerline is valid? [True, True] Translation: X:11.31, Y:0.11, Z:-1.13 [[ 9.96169164e-01 -1.16501968e-02 8.66675859e-02 1.13113934e+01] [ 1.16918471e-02 9.99931648e-01 2.70334328e-05 1.07053970e-01] [-8.66619769e-02 9.86374289e-04 9.96237285e-01 -1.12567420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.749649246 meters 0.056059087056832 Centerline is valid? [True, True] Translation: X:11.34, Y:0.11, Z:-1.13 [[ 9.96202025e-01 -1.15276181e-02 8.63055007e-02 1.13444850e+01] [ 1.15704594e-02 9.99933060e-01 3.84009549e-06 1.06288540e-01] [-8.62997677e-02 9.94768779e-04 9.96268719e-01 -1.12950100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.779649246000002 meters 0.05621212719134871 Centerline is valid? [True, True] Translation: X:11.38, Y:0.11, Z:-1.13 [[ 9.96233305e-01 -1.12966324e-02 8.59743504e-02 1.13766072e+01] [ 1.13404432e-02 9.99935695e-01 -2.11833676e-05 1.06252373e-01] [-8.59685825e-02 9.96090812e-04 9.96297351e-01 -1.13322307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809649246000001 meters 0.056359213935830044 Centerline is valid? [True, True] Translation: X:11.41, Y:0.11, Z:-1.14 [[ 9.96358239e-01 -1.10069743e-02 8.45523877e-02 1.14067961e+01] [ 1.10495418e-02 9.99938951e-01 -3.54773472e-05 1.07273749e-01] [-8.45468354e-02 9.69613293e-04 9.96419035e-01 -1.13982519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.839649246 meters 0.05636759040279207 Centerline is valid? [True, True] Translation: X:11.44, Y:0.11, Z:-1.14 [[ 9.96402835e-01 -1.10675521e-02 8.40172527e-02 1.14389059e+01] [ 1.11104297e-02 9.99938276e-01 -4.27855741e-05 1.08149976e-01] [-8.40115933e-02 9.76099450e-04 9.96464299e-01 -1.14158609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.869649246000002 meters 0.05639995205243105 Centerline is valid? [True, True] Translation: X:11.47, Y:0.11, Z:-1.15 [[ 9.96523625e-01 -1.05722590e-02 8.26371132e-02 1.14695107e+01] [ 1.06138697e-02 9.99943669e-01 -6.42383625e-05 1.08002416e-01] [-8.26317791e-02 9.41114601e-04 9.96579702e-01 -1.14654118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.899649246000001 meters 0.056437904120687686 Centerline is valid? [True, True] Translation: X:11.50, Y:0.11, Z:-1.15 [[ 9.96628663e-01 -1.00190007e-02 8.14305032e-02 1.15014886e+01] [ 1.00581660e-02 9.99949413e-01 -7.07677710e-05 1.08068936e-01] [-8.14256748e-02 8.89570704e-04 9.96679020e-01 -1.15069873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.929649246 meters 0.05640554623638726 Centerline is valid? [True, True] Translation: X:11.53, Y:0.11, Z:-1.15 [[ 9.96603941e-01 -9.11482724e-03 8.18382839e-02 1.15336479e+01] [ 9.15293848e-03 9.99958107e-01 -9.05342254e-05 1.08652776e-01] [-8.18340302e-02 8.39287543e-04 9.96645618e-01 -1.15488854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.959649246000001 meters 0.05651546889781961 Centerline is valid? [True, True] Translation: X:11.57, Y:0.11, Z:-1.16 [[ 9.96622254e-01 -9.12179771e-03 8.16141878e-02 1.15656783e+01] [ 9.16125334e-03 9.99958029e-01 -1.08977319e-04 1.08723854e-01] [-8.16097683e-02 8.56297472e-04 9.96663992e-01 -1.15946541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.989649246 meters 0.05650855884372549 Centerline is valid? [True, True] Translation: X:11.60, Y:0.11, Z:-1.16 [[ 9.96726683e-01 -7.50192590e-03 8.04962110e-02 1.15972948e+01] [ 7.53666504e-03 9.99971591e-01 -1.27737444e-04 1.10476905e-01] [-8.04929659e-02 7.33992299e-04 9.96754907e-01 -1.16377164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.019649246 meters 0.056305755264826764 Centerline is valid? [True, True] Translation: X:11.63, Y:0.11, Z:-1.17 [[ 9.96737797e-01 -6.64540387e-03 8.04338387e-02 1.16304406e+01] [ 6.67872326e-03 9.99977687e-01 -1.45216582e-04 1.11151747e-01] [-8.04310789e-02 6.81938206e-04 9.96759939e-01 -1.16566934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049649246000001 meters 0.05640420523637125 Centerline is valid? [True, True] Translation: X:11.66, Y:0.11, Z:-1.17 [[ 9.96757309e-01 -3.93037767e-03 8.03705145e-02 1.16613271e+01] [ 3.95675941e-03 9.99992158e-01 -1.68992475e-04 1.11911045e-01] [-8.03692200e-02 4.86451274e-04 9.96765043e-01 -1.16879203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.079649246 meters 0.056086953983226766 Centerline is valid? [True, True] Translation: X:11.69, Y:0.11, Z:-1.17 [[ 9.96728613e-01 -1.57795046e-03 8.08058339e-02 1.16929612e+01] [ 1.59836283e-03 9.99998705e-01 -1.87926403e-04 1.13282397e-01] [-8.08054327e-02 3.16468665e-04 9.96729844e-01 -1.17202619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.109649246000002 meters 0.05624377729097952 Centerline is valid? [True, True] Translation: X:11.73, Y:0.12, Z:-1.18 [[ 9.96763041e-01 3.41911579e-03 8.03227787e-02 1.17253342e+01] [-3.41367988e-03 9.99994152e-01 -2.04996048e-04 1.17619419e-01] [-8.03230099e-02 -6.98637688e-05 9.96768885e-01 -1.17556340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.139649246000001 meters 0.056524870327756035 Centerline is valid? [True, True] Translation: X:11.76, Y:0.12, Z:-1.18 [[ 9.96746608e-01 6.19496225e-03 8.03605779e-02 1.17567332e+01] [-6.19672176e-03 9.99980774e-01 -2.27496570e-04 1.20588433e-01] [-8.03604423e-02 -2.71215708e-04 9.96765833e-01 -1.18116414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.169649246 meters 0.05695971971903977 Centerline is valid? [True, True] Translation: X:11.79, Y:0.13, Z:-1.18 [[ 9.96659840e-01 1.07261316e-02 8.09574738e-02 1.17892826e+01] [-1.07411842e-02 9.99942281e-01 -2.49582397e-04 1.25911673e-01] [-8.09554780e-02 -6.20830389e-04 9.96717525e-01 -1.18483139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.199649246000002 meters 0.056732632640667885 Centerline is valid? [True, True] Translation: X:11.82, Y:0.12, Z:-1.19 [[ 9.96494449e-01 1.01838541e-02 8.30367551e-02 1.18213596e+01] [-1.01958282e-02 9.99947982e-01 -2.79853466e-04 1.23925594e-01] [-8.30352857e-02 -5.67756062e-04 9.96546446e-01 -1.18640607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229649246000001 meters 0.056462832404671474 Centerline is valid? [True, True] Translation: X:11.85, Y:0.12, Z:-1.19 [[ 9.96455645e-01 9.85342378e-03 8.35407597e-02 1.18540500e+01] [-9.86244521e-03 9.99951318e-01 -3.04700495e-04 1.21990217e-01] [-8.35396952e-02 -5.20295637e-04 9.96504314e-01 -1.18720320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.259649246 meters 0.056381908532740964 Centerline is valid? [True, True] Translation: X:11.89, Y:0.12, Z:-1.19 [[ 9.96387796e-01 9.74955466e-03 8.43581972e-02 1.18863991e+01] [-9.75808210e-03 9.99952340e-01 -3.11245142e-04 1.20316964e-01] [-8.43572112e-02 -5.13053353e-04 9.96435446e-01 -1.18835809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.289649246000002 meters 0.056208576062569224 Centerline is valid? [True, True] Translation: X:11.92, Y:0.12, Z:-1.19 [[ 9.96321074e-01 8.62851176e-03 8.52635052e-02 1.19173518e+01] [-8.63106459e-03 9.99962694e-01 -3.38695013e-04 1.18029206e-01] [-8.52632468e-02 -3.98465841e-04 9.96358379e-01 -1.19137195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.319649246 meters 0.056297584159498065 Centerline is valid? [True, True] Translation: X:11.95, Y:0.12, Z:-1.19 [[ 9.96257347e-01 9.11387661e-03 8.59548477e-02 1.19489828e+01] [-9.11739057e-03 9.99958374e-01 -3.51695041e-04 1.17561546e-01] [-8.59544751e-02 -4.33305150e-04 9.96298971e-01 -1.19492537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.349649246 meters 0.05628834824647244 Centerline is valid? [True, True] Translation: X:11.98, Y:0.12, Z:-1.20 [[ 9.96137707e-01 9.17135692e-03 8.73244280e-02 1.19797562e+01] [-9.17323965e-03 9.99957853e-01 -3.79738735e-04 1.17287923e-01] [-8.73242302e-02 -4.22775833e-04 9.96179853e-01 -1.19736382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.379649246000001 meters 0.05633769697451864 Centerline is valid? [True, True] Translation: X:12.01, Y:0.12, Z:-1.20 [[ 9.96227286e-01 9.44780497e-03 8.62666457e-02 1.20110795e+01] [-9.44902116e-03 9.99955279e-01 -3.94239928e-04 1.17344805e-01] [-8.62665125e-02 -4.22382787e-04 9.96272006e-01 -1.20193677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.409649246 meters 0.056393262879833844 Centerline is valid? [True, True] Translation: X:12.04, Y:0.12, Z:-1.21 [[ 9.96307661e-01 9.25205671e-03 8.53548095e-02 1.20424511e+01] [-9.25076298e-03 9.99957126e-01 -4.10685860e-04 1.16957306e-01] [-8.53549497e-02 -3.80427643e-04 9.96350535e-01 -1.20676088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.439649246000002 meters 0.056597637748249746 Centerline is valid? [True, True] Translation: X:12.07, Y:0.12, Z:-1.21 [[ 9.96397980e-01 8.72860544e-03 8.43497352e-02 1.20734047e+01] [-8.72368467e-03 9.99961857e-01 -4.26921534e-04 1.15384715e-01] [-8.43502443e-02 -3.10456738e-04 9.96436119e-01 -1.21272428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469649246000001 meters 0.0566225776859056 Centerline is valid? [True, True] Translation: X:12.10, Y:0.11, Z:-1.22 [[ 9.96489709e-01 7.01041229e-03 8.34213015e-02 1.21036352e+01] [-6.99778631e-03 9.99975417e-01 -4.43746472e-04 1.11033987e-01] [-8.34223616e-02 -1.41575648e-04 9.96514270e-01 -1.21764571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.499649246 meters 0.05650016913067904 Centerline is valid? [True, True] Translation: X:12.14, Y:0.11, Z:-1.22 [[ 9.96547675e-01 5.80238687e-03 8.28194597e-02 1.21351582e+01] [-5.78499481e-03 9.99983166e-01 -4.49967377e-04 1.08246494e-01] [-8.28206764e-02 -3.06962014e-05 9.96564466e-01 -1.21961315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.529649246000002 meters 0.05654022110982724 Centerline is valid? [True, True] Translation: X:12.17, Y:0.10, Z:-1.22 [[ 9.96541526e-01 3.17434760e-03 8.30356031e-02 1.21662696e+01] [-3.14688186e-03 9.99994942e-01 -4.61646390e-04 1.02540217e-01] [-8.30366485e-02 1.98746565e-04 9.96546474e-01 -1.22382020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.559649246000001 meters 0.056547074527168825 Centerline is valid? [True, True] Translation: X:12.20, Y:0.10, Z:-1.23 [[ 9.96522948e-01 3.69701291e-03 8.32366852e-02 1.21980152e+01] [-3.67016207e-03 9.99993152e-01 -4.75594031e-04 1.01314888e-01] [-8.32378735e-02 1.68448241e-04 9.96529693e-01 -1.22790790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.589649246 meters 0.05653261409533281 Centerline is valid? [True, True] Translation: X:12.23, Y:0.10, Z:-1.23 [[ 9.96524975e-01 4.25769777e-03 8.31856121e-02 1.22297471e+01] [-4.23101158e-03 9.99990926e-01 -4.97086276e-04 1.00903111e-01] [-8.31869737e-02 1.43399601e-04 9.96533947e-01 -1.23088997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.619649246000002 meters 0.05638569990122693 Centerline is valid? [True, True] Translation: X:12.26, Y:0.10, Z:-1.23 [[ 9.96405274e-01 4.14867340e-03 8.46127591e-02 1.22625203e+01] [-4.11851078e-03 9.99991378e-01 -5.31028273e-04 1.01143212e-01] [-8.46142326e-02 1.80640810e-04 9.96413769e-01 -1.23151303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.649649246000001 meters 0.056477391323699506 Centerline is valid? [True, True] Translation: X:12.29, Y:0.10, Z:-1.24 [[ 9.96289792e-01 4.30066140e-03 8.59543749e-02 1.22931047e+01] [-4.26969830e-03 9.99990737e-01 -5.44064531e-04 1.01316179e-01] [-8.59559185e-02 1.75046690e-04 9.96298926e-01 -1.23517426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.679649246 meters 0.056436881609346436 Centerline is valid? [True, True] Translation: X:12.32, Y:0.10, Z:-1.24 [[ 9.96242536e-01 4.86973447e-03 8.64701926e-02 1.23239737e+01] [-4.83882981e-03 9.99988132e-01 -5.66999935e-04 1.01172940e-01] [-8.64719275e-02 1.46454908e-04 9.96254277e-01 -1.23901553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709649246000001 meters 0.05639010188528709 Centerline is valid? [True, True] Translation: X:12.36, Y:0.10, Z:-1.24 [[ 9.96191019e-01 5.12519132e-03 8.70470307e-02 1.23560714e+01] [-5.09317351e-03 9.99986856e-01 -5.89913786e-04 1.00532375e-01] [-8.70489099e-02 1.44321185e-04 9.96204029e-01 -1.24077981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.739649246 meters 0.05643298545702052 Centerline is valid? [True, True] Translation: X:12.39, Y:0.10, Z:-1.24 [[ 9.96148171e-01 4.82280692e-03 8.75531907e-02 1.23881912e+01] [-4.78741485e-03 9.99988352e-01 -6.14211713e-04 9.90976310e-02] [-8.75551330e-02 1.92692430e-04 9.96159657e-01 -1.24199887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.769649246 meters 0.05635652182866555 Centerline is valid? [True, True] Translation: X:12.42, Y:0.10, Z:-1.25 [[ 9.96124828e-01 4.58767465e-03 8.78309713e-02 1.24196280e+01] [-4.54924225e-03 9.99989449e-01 -6.37737326e-04 9.79326025e-02] [-8.78329703e-02 2.35701619e-04 9.96135189e-01 -1.24606952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.799649246000001 meters 0.056480598740984 Centerline is valid? [True, True] Translation: X:12.45, Y:0.10, Z:-1.25 [[ 9.96145378e-01 5.38763567e-03 8.75520362e-02 1.24524089e+01] [-5.35053716e-03 9.99985469e-01 -6.58402918e-04 9.80189624e-02] [-8.75543112e-02 1.87414600e-04 9.96159730e-01 -1.25095368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.829649246 meters 0.056564242258249305 Centerline is valid? [True, True] Translation: X:12.49, Y:0.10, Z:-1.25 [[ 9.96138225e-01 5.23267001e-03 8.76427706e-02 1.24853653e+01] [-5.19274428e-03 9.99986284e-01 -6.83538089e-04 9.77812422e-02] [-8.76451452e-02 2.25791923e-04 9.96151734e-01 -1.25499211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.859649246000002 meters 0.05670816941577258 Centerline is valid? [True, True] Translation: X:12.52, Y:0.10, Z:-1.26 [[ 9.96145714e-01 5.00278888e-03 8.75710439e-02 1.25179759e+01] [-4.95990973e-03 9.99987449e-01 -7.07234546e-04 9.69780132e-02] [-8.75734830e-02 2.70164190e-04 9.96158026e-01 -1.25854033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889649246000001 meters 0.056784732351156525 Centerline is valid? [True, True] Translation: X:12.55, Y:0.10, Z:-1.26 [[ 9.96143662e-01 5.17470004e-03 8.75844014e-02 1.25505365e+01] [-5.13036735e-03 9.99986572e-01 -7.31267696e-04 9.54612876e-02] [-8.75870094e-02 2.79107528e-04 9.96156834e-01 -1.26047378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.919649246 meters 0.0568773563529124 Centerline is valid? [True, True] Translation: X:12.58, Y:0.09, Z:-1.26 [[ 9.96111537e-01 5.57578874e-03 8.79244941e-02 1.25835050e+01] [-5.53050052e-03 9.99984419e-01 -7.58679233e-04 9.47442221e-02] [-8.79273543e-02 2.69462676e-04 9.96126853e-01 -1.26333527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.949649246000002 meters 0.0567828261655264 Centerline is valid? [True, True] Translation: X:12.62, Y:0.10, Z:-1.26 [[ 9.96077906e-01 6.77803255e-03 8.82205361e-02 1.26160665e+01] [-6.73499505e-03 9.99977011e-01 -7.85496966e-04 9.56635233e-02] [-8.82238322e-02 1.88251299e-04 9.96100658e-01 -1.26459481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.979649246000001 meters 0.0567373246100249 Centerline is valid? [True, True] Translation: X:12.65, Y:0.10, Z:-1.27 [[ 9.96036695e-01 8.07270422e-03 8.85761510e-02 1.26480994e+01] [-8.03212424e-03 9.99967410e-01 -8.14560786e-04 9.63348745e-02] [-8.85798401e-02 9.98777833e-05 9.96069075e-01 -1.26908677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.009649246 meters 0.056978676378332954 Centerline is valid? [True, True] Translation: X:12.68, Y:0.10, Z:-1.27 [[ 9.96124400e-01 9.90524376e-03 8.73960338e-02 1.26796287e+01] [-9.87052277e-03 9.99950941e-01 -8.29434099e-04 9.87841628e-02] [-8.73999620e-02 -3.64249977e-05 9.96173301e-01 -1.27480305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.039649246000002 meters 0.057081970401814654 Centerline is valid? [True, True] Translation: X:12.71, Y:0.10, Z:-1.28 [[ 9.96117473e-01 9.36982537e-03 8.75339137e-02 1.27124368e+01] [-9.33112202e-03 9.99956102e-01 -8.51331421e-04 9.89034825e-02] [-8.75380479e-02 3.12364746e-05 9.96161176e-01 -1.27827210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.069649246 meters 0.057219700168562156 Centerline is valid? [True, True] Translation: X:12.75, Y:0.10, Z:-1.28 [[ 9.96140173e-01 1.00588516e-02 8.71984852e-02 1.27454486e+01] [-1.00209136e-02 9.99949408e-01 -8.72814443e-04 9.80223670e-02] [-8.72028532e-02 -4.36295298e-06 9.96190575e-01 -1.28197130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.099649246 meters 0.05728836656773959 Centerline is valid? [True, True] Translation: X:12.78, Y:0.10, Z:-1.29 [[ 9.96055260e-01 1.00375134e-02 8.81655673e-02 1.27757988e+01] [-9.99629297e-03 9.99949623e-01 -9.09056623e-04 9.71174694e-02] [-8.81702504e-02 2.41417906e-05 9.96105419e-01 -1.28633605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129649246000001 meters 0.05731185761016931 Centerline is valid? [True, True] Translation: X:12.81, Y:0.10, Z:-1.29 [[ 9.96014310e-01 9.98310020e-03 8.86331340e-02 1.28076953e+01] [-9.93942732e-03 9.99950166e-01 -9.34084777e-04 9.51451740e-02] [-8.86380422e-02 4.93992106e-05 9.96063901e-01 -1.28711786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.159649246 meters 0.05727201241276107 Centerline is valid? [True, True] Translation: X:12.84, Y:0.09, Z:-1.29 [[ 9.95947886e-01 9.89296127e-03 8.93864522e-02 1.28394420e+01] [-9.84619414e-03 9.99951060e-01 -9.64137936e-04 9.43664486e-02] [-8.93916158e-02 8.01147771e-05 9.95996553e-01 -1.29015176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.189649246000002 meters 0.057230134013979736 Centerline is valid? [True, True] Translation: X:12.87, Y:0.09, Z:-1.29 [[ 9.95883781e-01 9.93634986e-03 9.00930838e-02 1.28716564e+01] [-9.88701846e-03 9.99950628e-01 -9.93838246e-04 9.35361716e-02] [-9.00985109e-02 9.89954070e-05 9.95932853e-01 -1.29298680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.219649246000001 meters 0.057236721030194754 Centerline is valid? [True, True] Translation: X:12.90, Y:0.09, Z:-1.30 [[ 9.95852912e-01 9.59855862e-03 9.04701371e-02 1.29034754e+01] [-9.54530324e-03 9.99953921e-01 -1.02131266e-03 9.33854300e-02] [-9.04757715e-02 1.53512293e-04 9.95898645e-01 -1.29815631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.249649246 meters 0.05743947300064765 Centerline is valid? [True, True] Translation: X:12.93, Y:0.09, Z:-1.30 [[ 9.95950864e-01 9.62203152e-03 8.93828406e-02 1.29337291e+01] [-9.56886049e-03 9.99953694e-01 -1.02336288e-03 9.32504928e-02] [-8.93885485e-02 1.63927212e-04 9.95996818e-01 -1.30386114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.279649246000002 meters 0.0574035626190967 Centerline is valid? [True, True] Translation: X:12.97, Y:0.09, Z:-1.31 [[ 9.95962469e-01 9.50830465e-03 8.92656234e-02 1.29668994e+01] [-9.45315516e-03 9.99954777e-01 -1.04056734e-03 9.23278337e-02] [-8.92714805e-02 1.92524230e-04 9.96007312e-01 -1.30690743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309649246000001 meters 0.057476927041694825 Centerline is valid? [True, True] Translation: X:13.00, Y:0.09, Z:-1.31 [[ 9.95928384e-01 1.03029586e-02 8.95572642e-02 1.29996895e+01] [-1.02483884e-02 9.99946912e-01 -1.06915659e-03 9.18025009e-02] [-8.95635253e-02 1.46985769e-04 9.95981101e-01 -1.30994240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.339649246 meters 0.05744646728523337 Centerline is valid? [True, True] Translation: X:13.03, Y:0.09, Z:-1.31 [[ 9.95821576e-01 9.88775917e-03 9.07833700e-02 1.30303141e+01] [-9.82751107e-03 9.99951092e-01 -1.11064410e-03 8.99198161e-02] [-9.07899118e-02 2.13828788e-04 9.95870045e-01 -1.31357344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.369649246000002 meters 0.057379672177029994 Centerline is valid? [True, True] Translation: X:13.06, Y:0.09, Z:-1.32 [[ 9.95712600e-01 1.01178012e-02 9.19459032e-02 1.30615406e+01] [-1.00550203e-02 9.99948790e-01 -1.14602926e-03 8.98701258e-02] [-9.19527900e-02 2.16597848e-04 9.95763344e-01 -1.31642981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.399649246000001 meters 0.05736579936833247 Centerline is valid? [True, True] Translation: X:13.09, Y:0.09, Z:-1.32 [[ 9.95684751e-01 9.97305331e-03 9.22627530e-02 1.30939387e+01] [-9.90744668e-03 9.99950237e-01 -1.16908974e-03 8.87357028e-02] [-9.22698211e-02 2.49956523e-04 9.95734009e-01 -1.31887938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.429649246 meters 0.05724007049794809 Centerline is valid? [True, True] Translation: X:13.13, Y:0.09, Z:-1.32 [[ 9.95698350e-01 1.02710394e-02 9.20831197e-02 1.31266951e+01] [-1.02046727e-02 9.99947221e-01 -1.19154866e-03 8.77124379e-02] [-9.20904981e-02 2.46744944e-04 9.95750611e-01 -1.32244278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.459649246000001 meters 0.05745559892209413 Centerline is valid? [True, True] Translation: X:13.16, Y:0.09, Z:-1.33 [[ 9.95756604e-01 1.06585948e-02 9.14066774e-02 1.31584181e+01] [-1.05925698e-02 9.99943168e-01 -1.20743540e-03 8.70444979e-02] [-9.14143521e-02 2.34080160e-04 9.95812915e-01 -1.32889177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.489649246 meters 0.057676491412505373 Centerline is valid? [True, True] Translation: X:13.19, Y:0.09, Z:-1.34 [[ 9.95955227e-01 1.09153053e-02 8.91854330e-02 1.31888310e+01] [-1.08514806e-02 9.99940400e-01 -1.20048656e-03 8.65805904e-02] [-8.91932212e-02 2.27836867e-04 9.96014316e-01 -1.33583870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.519649246000002 meters 0.05787253406500381 Centerline is valid? [True, True] Translation: X:13.22, Y:0.09, Z:-1.34 [[ 9.96084340e-01 1.08733515e-02 8.77368645e-02 1.32197438e+01] [-1.08098433e-02 9.99940853e-01 -1.19895753e-03 8.53492338e-02] [-8.77447118e-02 2.45841068e-04 9.96142964e-01 -1.34059021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549649246000001 meters 0.05787253406500381 Centerline is valid? [True, True] Translation: X:13.25, Y:0.08, Z:-1.34 [[ 9.96081565e-01 1.11265769e-02 8.77366266e-02 1.32518971e+01] [-1.10625391e-02 9.99938069e-01 -1.21610041e-03 8.47100828e-02] [-8.77447240e-02 2.40745340e-04 9.96142964e-01 -1.34408550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.579649246 meters 0.05769219629683536 Centerline is valid? [True, True] Translation: X:13.28, Y:0.08, Z:-1.35 [[ 9.96134181e-01 1.03967745e-02 8.72272904e-02 1.32842408e+01] [-1.03287418e-02 9.99945899e-01 -1.23125737e-03 8.28562302e-02] [-8.72353725e-02 3.25549386e-04 9.96187675e-01 -1.34560579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.609649246000002 meters 0.05776082592547735 Centerline is valid? [True, True] Translation: X:13.32, Y:0.08, Z:-1.35 [[ 9.96142912e-01 1.04448111e-02 8.71217826e-02 1.33152636e+01] [-1.03753114e-02 9.99945393e-01 -1.25052407e-03 8.12407538e-02] [-8.71300866e-02 3.41785061e-04 9.96196884e-01 -1.35220055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.639649246000001 meters 0.05760188285483203 Centerline is valid? [True, True] Translation: X:13.35, Y:0.08, Z:-1.35 [[ 9.96139829e-01 1.05405631e-02 8.71454913e-02 1.33479933e+01] [-1.04694509e-02 9.99944383e-01 -1.27304129e-03 8.11379811e-02] [-8.71540631e-02 3.55761688e-04 9.96194782e-01 -1.35239054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.669649246 meters 0.057524622367430875 Centerline is valid? [True, True] Translation: X:13.38, Y:0.08, Z:-1.36 [[ 9.96053091e-01 1.07132567e-02 8.81105356e-02 1.33791039e+01] [-1.06389580e-02 9.99942543e-01 -1.31282988e-03 7.94184157e-02] [-8.81195377e-02 3.70243979e-04 9.96109838e-01 -1.35525345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.699649246000002 meters 0.057552137859393115 Centerline is valid? [True, True] Translation: X:13.41, Y:0.08, Z:-1.36 [[ 9.95959217e-01 1.04991539e-02 8.91908450e-02 1.34101384e+01] [-1.04203561e-02 9.99944797e-01 -1.34906934e-03 7.80756583e-02] [-8.92000854e-02 4.14217681e-04 9.96013641e-01 -1.35702779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.729649246000001 meters 0.05753994911304355 Centerline is valid? [True, True] Translation: X:13.44, Y:0.08, Z:-1.36 [[ 9.95924061e-01 1.10936130e-02 8.95108687e-02 1.34414751e+01] [-1.10147230e-02 9.99938390e-01 -1.37527215e-03 7.76156037e-02] [-8.95206107e-02 3.83729202e-04 9.95984896e-01 -1.36004592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.759649246 meters 0.05755088152233735 Centerline is valid? [True, True] Translation: X:13.47, Y:0.08, Z:-1.36 [[ 9.95912417e-01 1.17954072e-02 8.95506923e-02 1.34736917e+01] [-1.17184350e-02 9.99930377e-01 -1.38526078e-03 7.82433064e-02] [-8.95607973e-02 3.30204448e-04 9.95981302e-01 -1.36472808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.789649246000002 meters 0.05748268010682986 Centerline is valid? [True, True] Translation: X:13.51, Y:0.08, Z:-1.37 [[ 9.95853073e-01 1.18394341e-02 9.02024634e-02 1.35059667e+01] [-1.17592808e-02 9.99929849e-01 -1.42000108e-03 7.82640397e-02] [-9.02129477e-02 3.53396343e-04 9.95922436e-01 -1.36589661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.819649246 meters 0.05748433844382148 Centerline is valid? [True, True] Translation: X:13.54, Y:0.08, Z:-1.37 [[ 9.95779501e-01 1.19845094e-02 9.09920676e-02 1.35371374e+01] [-1.19012736e-02 9.99928115e-01 -1.45730912e-03 7.81217153e-02] [-9.10029918e-02 3.68237053e-04 9.95850551e-01 -1.36907361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.849649246 meters 0.05731283049722662 Centerline is valid? [True, True] Translation: X:13.57, Y:0.08, Z:-1.37 [[ 9.95587634e-01 1.18930761e-02 9.30796297e-02 1.35691196e+01] [-1.18044481e-02 9.99929196e-01 -1.50270710e-03 7.71567303e-02] [-9.30909111e-02 3.97322947e-04 9.95657534e-01 -1.37136135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.879649246000001 meters 0.05728522839781748 Centerline is valid? [True, True] Translation: X:13.60, Y:0.08, Z:-1.37 [[ 9.95512541e-01 1.24515011e-02 9.38069348e-02 1.36013811e+01] [-1.23617528e-02 9.99922408e-01 -1.53778662e-03 7.66256225e-02] [-9.38188039e-02 3.71267731e-04 9.95589220e-01 -1.37471735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.909649246 meters 0.05717458320283188 Centerline is valid? [True, True] Translation: X:13.63, Y:0.08, Z:-1.38 [[ 9.95575257e-01 1.31126920e-02 9.30481847e-02 1.36344753e+01] [-1.30252222e-02 9.99913971e-01 -1.54731651e-03 7.60378216e-02] [-9.30604694e-02 3.28496750e-04 9.95660405e-01 -1.37831175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.939649246000002 meters 0.057230117501083956 Centerline is valid? [True, True] Translation: X:13.66, Y:0.08, Z:-1.38 [[ 9.95665659e-01 1.33101830e-02 9.20474556e-02 1.36646922e+01] [-1.32229847e-02 9.99911360e-01 -1.55714705e-03 7.63997244e-02] [-9.20600224e-02 3.33255741e-04 9.95753404e-01 -1.38428467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969649246000001 meters 0.05742938969881813 Centerline is valid? [True, True] Translation: X:13.70, Y:0.08, Z:-1.39 [[ 9.95717405e-01 1.38226745e-02 9.14099694e-02 1.36959410e+01] [-1.37368267e-02 9.99904415e-01 -1.56827345e-03 7.64335233e-02] [-9.14229097e-02 3.05874258e-04 9.95812110e-01 -1.38928146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.999649246 meters 0.05739722480558631 Centerline is valid? [True, True] Translation: X:13.73, Y:0.08, Z:-1.39 [[ 9.95732290e-01 1.47210092e-02 9.11070667e-02 1.37282724e+01] [-1.46385867e-02 9.99891613e-01 -1.57287701e-03 7.59679538e-02] [-9.11203463e-02 2.32485737e-04 9.95839861e-01 -1.39222007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.029649246000002 meters 0.05741747747296148 Centerline is valid? [True, True] Translation: X:13.76, Y:0.07, Z:-1.40 [[ 9.95833799e-01 1.41675707e-02 9.00795446e-02 1.37585646e+01] [-1.40823169e-02 9.99899588e-01 -1.58194509e-03 7.43134577e-02] [-9.00929119e-02 3.06825698e-04 9.95933318e-01 -1.39833032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059649246000001 meters 0.057309419006053804 Centerline is valid? [True, True] Translation: X:13.79, Y:0.07, Z:-1.40 [[ 9.95806475e-01 1.40350554e-02 9.04017790e-02 1.37914416e+01] [-1.39467841e-02 9.99901446e-01 -1.60809052e-03 7.28409746e-02] [-9.04154392e-02 3.40532860e-04 9.95904078e-01 -1.40159753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.089649246 meters 0.05722918990107021 Centerline is valid? [True, True] Translation: X:13.82, Y:0.07, Z:-1.40 [[ 9.95778279e-01 1.43113312e-02 9.06686585e-02 1.38245063e+01] [-1.42214147e-02 9.99897529e-01 -1.63770920e-03 7.18811391e-02] [-9.06828054e-02 3.41358659e-04 9.95879768e-01 -1.40383312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.119649246000002 meters 0.057284693841197706 Centerline is valid? [True, True] Translation: X:13.86, Y:0.07, Z:-1.41 [[ 9.95728154e-01 1.42687230e-02 9.12241541e-02 1.38570193e+01] [-1.41751388e-02 9.99898127e-01 -1.67373017e-03 7.17714378e-02] [-9.12387428e-02 3.73465205e-04 9.95828977e-01 -1.40657876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149649246000001 meters 0.05737480554682796 Centerline is valid? [True, True] Translation: X:13.89, Y:0.07, Z:-1.41 [[ 9.95732498e-01 1.42765908e-02 9.11754984e-02 1.38881096e+01] [-1.41806950e-02 9.99898005e-01 -1.69953259e-03 7.04179197e-02] [-9.11904624e-02 3.99347899e-04 9.95833390e-01 -1.41064342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.179649246 meters 0.057377895578790535 Centerline is valid? [True, True] Translation: X:13.92, Y:0.07, Z:-1.41 [[ 9.95717953e-01 1.43573488e-02 9.13215500e-02 1.39192139e+01] [-1.42592120e-02 9.99896841e-01 -1.72702191e-03 6.93634018e-02] [-9.13369248e-02 4.17453381e-04 9.95819960e-01 -1.41447854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209649246000001 meters 0.0573296293537787 Centerline is valid? [True, True] Translation: X:13.95, Y:0.07, Z:-1.42 [[ 9.95683884e-01 1.49968266e-02 9.15898389e-02 1.39523043e+01] [-1.48986293e-02 9.99887468e-01 -1.75580477e-03 6.89767618e-02] [-9.16058636e-02 3.83663449e-04 9.95795269e-01 -1.41779628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.239649246 meters 0.057246438556011144 Centerline is valid? [True, True] Translation: X:13.98, Y:0.07, Z:-1.42 [[ 9.95674569e-01 1.51957591e-02 9.16582882e-02 1.39848545e+01] [-1.50959471e-02 9.99884461e-01 -1.78219416e-03 6.84833971e-02] [-9.16747799e-02 3.90816731e-04 9.95788924e-01 -1.41959092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.269649246000002 meters 0.05735611771345608 Centerline is valid? [True, True] Translation: X:14.02, Y:0.07, Z:-1.43 [[ 9.95656775e-01 1.52900974e-02 9.18357154e-02 1.40164778e+01] [-1.51878676e-02 9.99883016e-01 -1.81199112e-03 6.70816833e-02] [-9.18526776e-02 4.09332558e-04 9.95772523e-01 -1.42500630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299649246000001 meters 0.05716730597561287 Centerline is valid? [True, True] Translation: X:14.05, Y:0.07, Z:-1.43 [[ 9.95654538e-01 1.60883886e-02 9.17235250e-02 1.40491148e+01] [-1.59876082e-02 9.99870509e-01 -1.83345184e-03 6.73715109e-02] [-9.17411449e-02 3.59044866e-04 9.95782824e-01 -1.42671592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329649246 meters 0.05720719201683334 Centerline is valid? [True, True] Translation: X:14.08, Y:0.06, Z:-1.43 [[ 9.95522833e-01 1.37030043e-02 9.35228103e-02 1.40804378e+01] [-1.35849697e-02 9.99905917e-01 -1.89865544e-03 6.35146371e-02] [-9.35400287e-02 6.19650301e-04 9.95615327e-01 -1.42918440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.359649246000002 meters 0.057153947184148866 Centerline is valid? [True, True] Translation: X:14.11, Y:0.06, Z:-1.43 [[ 9.95489320e-01 1.36323231e-02 9.38891528e-02 1.41133282e+01] [-1.35119830e-02 9.99906871e-01 -1.91735366e-03 6.18833378e-02] [-9.39065470e-02 6.40076452e-04 9.95580811e-01 -1.43151275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389649246000001 meters 0.05727004029710357 Centerline is valid? [True, True] Translation: X:14.14, Y:0.06, Z:-1.44 [[ 9.95599504e-01 1.52213743e-02 9.24658718e-02 1.41434759e+01] [-1.51089279e-02 9.99884018e-01 -1.91603397e-03 6.28745636e-02] [-9.24843121e-02 5.10542276e-04 9.95714011e-01 -1.43856394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.419649246 meters 0.05717835072055546 Centerline is valid? [True, True] Translation: X:14.18, Y:0.06, Z:-1.44 [[ 9.95717618e-01 1.39767234e-02 9.13842227e-02 1.41750369e+01] [-1.38607273e-02 9.99902123e-01 -1.90388481e-03 6.13932800e-02] [-9.14018884e-02 6.29079863e-04 9.95813888e-01 -1.44050519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.449649246000002 meters 0.057166875668983694 Centerline is valid? [True, True] Translation: X:14.21, Y:0.06, Z:-1.44 [[ 9.95728636e-01 1.42756854e-02 9.12178040e-02 1.42061706e+01] [-1.41591721e-02 9.99897902e-01 -1.92434801e-03 5.99217785e-02] [-9.12359622e-02 6.24559838e-04 9.95829106e-01 -1.44437301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479649246000001 meters 0.05716277004532106 Centerline is valid? [True, True] Translation: X:14.24, Y:0.06, Z:-1.45 [[ 9.95641357e-01 1.45216102e-02 9.21271477e-02 1.42383141e+01] [-1.44023757e-02 9.99894361e-01 -1.95898109e-03 5.99382984e-02] [-9.21458631e-02 6.23592799e-04 9.95745324e-01 -1.44674519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.509649246 meters 0.057219982664468025 Centerline is valid? [True, True] Translation: X:14.27, Y:0.06, Z:-1.45 [[ 9.95596082e-01 1.49230978e-02 9.25512984e-02 1.42703154e+01] [-1.48024018e-02 9.99888457e-01 -1.99046384e-03 5.91301497e-02] [-9.25706788e-02 6.11716502e-04 9.95705928e-01 -1.45046211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.539649246000002 meters 0.057226871183816426 Centerline is valid? [True, True] Translation: X:14.30, Y:0.06, Z:-1.45 [[ 9.95552244e-01 1.50870295e-02 9.29952200e-02 1.43031293e+01] [-1.49636340e-02 9.99885990e-01 -2.02408221e-03 5.75288193e-02] [-9.30151550e-02 6.23533152e-04 9.95664498e-01 -1.45318021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.569649246 meters 0.057264110321200705 Centerline is valid? [True, True] Translation: X:14.34, Y:0.06, Z:-1.46 [[ 9.95530638e-01 1.54628642e-02 9.31646349e-02 1.43353508e+01] [-1.53382560e-02 9.99880253e-01 -2.05344858e-03 5.64558737e-02] [-9.31852310e-02 6.15287958e-04 9.95648600e-01 -1.45613341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.599649246000002 meters 0.05739710490961957 Centerline is valid? [True, True] Translation: X:14.37, Y:0.06, Z:-1.46 [[ 9.95652868e-01 1.52679909e-02 9.18817426e-02 1.43655355e+01] [-1.51434933e-02 9.99883225e-01 -2.05204465e-03 5.55604285e-02] [-9.19023437e-02 6.51713589e-04 9.95767812e-01 -1.46077206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629649246000001 meters 0.0570896201274735 Centerline is valid? [True, True] Translation: X:14.40, Y:0.05, Z:-1.46 [[ 9.95454899e-01 1.51987517e-02 9.40135180e-02 1.43978120e+01] [-1.50663820e-02 9.99884253e-01 -2.11765981e-03 5.47748872e-02] [-9.40348221e-02 6.91591249e-04 9.95568669e-01 -1.46323672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.659649246 meters 0.057076162525105896 Centerline is valid? [True, True] Translation: X:14.43, Y:0.05, Z:-1.47 [[ 9.95475297e-01 1.57535754e-02 9.37056978e-02 1.44294248e+01] [-1.56223669e-02 9.99875687e-01 -2.13366658e-03 5.40479165e-02] [-9.37276619e-02 6.60107584e-04 9.95597655e-01 -1.46678535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.689649246000002 meters 0.05727171316202023 Centerline is valid? [True, True] Translation: X:14.46, Y:0.05, Z:-1.47 [[ 9.95546020e-01 1.65722797e-02 9.28088433e-02 1.44621247e+01] [-1.64448943e-02 9.99862489e-01 -2.13720691e-03 5.36470821e-02] [-9.28314995e-02 6.01456211e-04 9.95681651e-01 -1.47237531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.719649246000001 meters 0.05738429664335203 Centerline is valid? [True, True] Translation: X:14.50, Y:0.05, Z:-1.48 [[ 9.95581895e-01 1.65907434e-02 9.24199013e-02 1.44950895e+01] [-1.64621337e-02 9.99862170e-01 -2.15380466e-03 5.30674775e-02] [-9.24428963e-02 6.22860158e-04 9.95717793e-01 -1.47604939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.749649246 meters 0.057443577389516866 Centerline is valid? [True, True] Translation: X:14.53, Y:0.05, Z:-1.48 [[ 9.95616541e-01 1.68358229e-02 9.20014076e-02 1.45276572e+01] [-1.67069439e-02 9.99858073e-01 -2.17087690e-03 5.16339769e-02] [-9.20248986e-02 6.24298587e-04 9.95756511e-01 -1.48012343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.779649246000002 meters 0.057559697332128984 Centerline is valid? [True, True] Translation: X:14.56, Y:0.05, Z:-1.48 [[ 9.95680693e-01 1.68124483e-02 9.13088118e-02 1.45581600e+01] [-1.66829090e-02 9.99858450e-01 -2.18180515e-03 4.90289871e-02] [-9.13325686e-02 6.49084664e-04 9.95820235e-01 -1.48373366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809649246000001 meters 0.05748177541379582 Centerline is valid? [True, True] Translation: X:14.59, Y:0.05, Z:-1.49 [[ 9.95659505e-01 1.74430496e-02 9.14214958e-02 1.45900791e+01] [-1.73139251e-02 9.99847671e-01 -2.20537232e-03 4.74618891e-02] [-9.14460380e-02 6.12934978e-04 9.95809845e-01 -1.48720912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.839649246 meters 0.057366968916445 Centerline is valid? [True, True] Translation: X:14.62, Y:0.05, Z:-1.49 [[ 9.95599051e-01 1.71769997e-02 9.21275232e-02 1.46224283e+01] [-1.70425150e-02 9.99852242e-01 -2.24634150e-03 4.59442009e-02] [-9.21524960e-02 6.66370761e-04 9.95744683e-01 -1.48996720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.869649246000002 meters 0.05741776731112304 Centerline is valid? [True, True] Translation: X:14.65, Y:0.05, Z:-1.49 [[ 9.95664408e-01 1.74061710e-02 9.13751143e-02 1.46529058e+01] [-1.72724258e-02 9.99848279e-01 -2.25433900e-03 4.51095454e-02] [-9.14004902e-02 6.66295226e-04 9.95813992e-01 -1.49434551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899649246000001 meters 0.057316319919899994 Centerline is valid? [True, True] Translation: X:14.69, Y:0.04, Z:-1.50 [[ 9.95657709e-01 1.80096953e-02 9.13311395e-02 1.46857594e+01] [-1.78768138e-02 9.99837614e-01 -2.27286440e-03 4.44595499e-02] [-9.13572421e-02 6.30285182e-04 9.95817984e-01 -1.49798055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.929649246000002 meters 0.05740492905041816 Centerline is valid? [True, True] Translation: X:14.72, Y:0.04, Z:-1.50 [[ 9.95717729e-01 1.81295345e-02 9.06505602e-02 1.47176285e+01] [-1.79967778e-02 9.99835441e-01 -2.28173401e-03 4.30003711e-02] [-9.06770096e-02 6.40545016e-04 9.95880148e-01 -1.50280434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.959649246000001 meters 0.05750044465312458 Centerline is valid? [True, True] Translation: X:14.75, Y:0.04, Z:-1.51 [[ 9.95743268e-01 1.84453559e-02 9.03056602e-02 1.47506814e+01] [-1.83129912e-02 9.99829671e-01 -2.29416841e-03 4.22821729e-02] [-9.03325953e-02 6.30635987e-04 9.95911454e-01 -1.50563450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.989649246 meters 0.05749173654710261 Centerline is valid? [True, True] Translation: X:14.78, Y:0.04, Z:-1.51 [[ 9.95814458e-01 1.90031370e-02 8.94004771e-02 1.47809334e+01] [-1.88732847e-02 9.99819244e-01 -2.29766382e-03 4.10571670e-02] [-8.94279802e-02 6.00766196e-04 9.95993110e-01 -1.50978424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.019649246000004 meters 0.057513143708861195 Centerline is valid? [True, True] Translation: X:14.81, Y:0.04, Z:-1.51 [[ 9.95803675e-01 1.90365192e-02 8.95134141e-02 1.48134032e+01] [-1.89050620e-02 9.99818600e-01 -2.31625407e-03 3.96893811e-02] [-8.95412698e-02 6.14277679e-04 9.95982923e-01 -1.51246657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.049649246 meters 0.05744299252435381 Centerline is valid? [True, True] Translation: X:14.84, Y:0.04, Z:-1.52 [[ 9.95917367e-01 1.88023054e-02 8.82897003e-02 1.48446097e+01] [-1.86713156e-02 9.99823009e-01 -2.30933045e-03 3.84364173e-02] [-8.83174945e-02 6.51417449e-04 9.96092162e-01 -1.51678543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.079649246000002 meters 0.057506409103603884 Centerline is valid? [True, True] Translation: X:14.88, Y:0.04, Z:-1.52 [[ 9.95929996e-01 1.84933243e-02 8.82124748e-02 1.48761821e+01] [-1.83596384e-02 9.99828740e-01 -2.32668398e-03 3.66572142e-02] [-8.82403957e-02 6.97665226e-04 9.96098964e-01 -1.52207768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.109649246000004 meters 0.05751695701432893 Centerline is valid? [True, True] Translation: X:14.91, Y:0.04, Z:-1.52 [[ 9.95955934e-01 1.87213690e-02 8.78708634e-02 1.49088819e+01] [-1.85876411e-02 9.99824497e-01 -2.33993232e-03 3.61403280e-02] [-8.78992485e-02 6.97157403e-04 9.96129126e-01 -1.52352851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.139649246000005 meters 0.057475293845910165 Centerline is valid? [True, True] Translation: X:14.94, Y:0.04, Z:-1.53 [[ 9.95796637e-01 2.02057534e-02 8.93352399e-02 1.49400968e+01] [-2.00710901e-02 9.99795661e-01 -2.40555150e-03 3.69763413e-02] [-8.93655913e-02 6.02384438e-04 9.95998709e-01 -1.52807747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.169649246000002 meters 0.05736776954807239 Centerline is valid? [True, True] Translation: X:14.97, Y:0.04, Z:-1.53 [[ 9.95647176e-01 2.15695389e-02 9.06722455e-02 1.49719699e+01] [-2.14343572e-02 9.99767220e-01 -2.46448876e-03 3.79200923e-02] [-9.07042967e-02 5.10259983e-04 9.95877739e-01 -1.53094690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.199649246000003 meters 0.057338752365467385 Centerline is valid? [True, True] Translation: X:15.01, Y:0.04, Z:-1.53 [[ 9.95644380e-01 2.29452674e-02 9.03647196e-02 1.50050300e+01] [-2.28147769e-02 9.99736641e-01 -2.47685315e-03 3.84185237e-02] [-9.03977533e-02 4.04413996e-04 9.95905660e-01 -1.53475256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.229649246000005 meters 0.05716629317977208 Centerline is valid? [True, True] Translation: X:15.04, Y:0.04, Z:-1.54 [[ 9.95519499e-01 2.56169174e-02 9.10203358e-02 1.50359876e+01] [-2.54932919e-02 9.99671815e-01 -2.52076699e-03 4.03576556e-02] [-9.10550386e-02 1.89064692e-04 9.95845844e-01 -1.53713326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.259649246000002 meters 0.05713723218394569 Centerline is valid? [True, True] Translation: X:15.07, Y:0.04, Z:-1.54 [[ 9.95453938e-01 2.67928244e-02 9.13980456e-02 1.50664001e+01] [-2.66712545e-02 9.99641003e-01 -2.55148189e-03 4.01076511e-02] [-9.14335954e-02 1.02182155e-04 9.95811170e-01 -1.54036342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.289649246000003 meters 0.057116985092111064 Centerline is valid? [True, True] Translation: X:15.10, Y:0.04, Z:-1.54 [[ 9.95530629e-01 2.69701449e-02 9.05062297e-02 1.50980608e+01] [-2.68499672e-02 9.99636234e-01 -2.54534233e-03 3.99714265e-02] [-9.05419549e-02 1.03876957e-04 9.95892637e-01 -1.54294000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.319649246000004 meters 0.0573586517474691 Centerline is valid? [True, True] Translation: X:15.13, Y:0.04, Z:-1.55 [[ 9.95622724e-01 2.67554295e-02 8.95518774e-02 1.51286841e+01] [-2.66348612e-02 9.99641999e-01 -2.54129773e-03 3.79418965e-02] [-8.95878113e-02 1.44971946e-04 9.95978917e-01 -1.54749874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.349649246000002 meters 0.05755772395727723 Centerline is valid? [True, True] Translation: X:15.16, Y:0.03, Z:-1.55 [[ 9.95876329e-01 2.28943109e-02 8.77848939e-02 1.51587633e+01] [-2.27615439e-02 9.99737763e-01 -2.51323853e-03 3.04138368e-02] [-8.78194124e-02 5.04755039e-04 9.96136284e-01 -1.55441656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.379649246000003 meters 0.057766362725919965 Centerline is valid? [True, True] Translation: X:15.19, Y:0.02, Z:-1.56 [[ 9.96001077e-01 1.59868750e-02 8.78992236e-02 1.51909105e+01] [-1.58260950e-02 9.99871569e-01 -2.52577976e-03 2.12378695e-02] [-8.79283140e-02 1.12457790e-03 9.96126170e-01 -1.55537714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.409649246000004 meters 0.05770436051631635 Centerline is valid? [True, True] Translation: X:15.22, Y:0.02, Z:-1.56 [[ 9.96040467e-01 1.60477404e-02 8.74405965e-02 1.52231874e+01] [-1.58871116e-02 9.99870584e-01 -2.53266149e-03 2.03937247e-02] [-8.74699238e-02 1.13345482e-03 9.96166516e-01 -1.55894324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.439649246000002 meters 0.05770436051631635 Centerline is valid? [True, True] Translation: X:15.26, Y:0.02, Z:-1.56 [[ 9.96036014e-01 1.63255987e-02 8.74398862e-02 1.52553103e+01] [-1.61639088e-02 9.99866086e-01 -2.55692447e-03 1.92948234e-02] [-8.74699202e-02 1.13341851e-03 9.96166516e-01 -1.56244239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.469649246000003 meters 0.05755796690454372 Centerline is valid? [True, True] Translation: X:15.29, Y:0.02, Z:-1.57 [[ 9.96134433e-01 1.90150353e-02 8.57590784e-02 1.52872901e+01] [-1.88672662e-02 9.99818788e-01 -2.53332987e-03 2.19347774e-02] [-8.57917092e-02 9.05497759e-04 9.96312683e-01 -1.56877115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.499649246000004 meters 0.05768712665542007 Centerline is valid? [True, True] Translation: X:15.32, Y:0.02, Z:-1.57 [[ 9.96115759e-01 1.89108726e-02 8.59986870e-02 1.53192596e+01] [-1.87605917e-02 9.99820739e-01 -2.55540570e-03 2.03731031e-02] [-8.60315958e-02 9.32093636e-04 9.96291973e-01 -1.57253884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.529649246 meters 0.05761033850719955 Centerline is valid? [True, True] Translation: X:15.35, Y:0.02, Z:-1.57 [[ 9.95896959e-01 1.99785556e-02 8.82615698e-02 1.53500059e+01] [-1.98231166e-02 9.99800024e-01 -2.63737518e-03 1.95233088e-02] [-8.82966106e-02 8.76934534e-04 9.96093841e-01 -1.57438651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.559649246000003 meters 0.05753102690657557 Centerline is valid? [True, True] Translation: X:15.38, Y:0.02, Z:-1.58 [[ 9.95843066e-01 1.97645629e-02 8.89154130e-02 1.53824104e+01] [-1.96042621e-02 9.99804237e-01 -2.67586059e-03 1.80649768e-02] [-8.89508939e-02 9.21616157e-04 9.96035586e-01 -1.57695587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.589649246000004 meters 0.05755838346506253 Centerline is valid? [True, True] Translation: X:15.41, Y:0.02, Z:-1.58 [[ 9.95730401e-01 2.06634803e-02 8.99666048e-02 1.54135695e+01] [-2.05007095e-02 9.99786103e-01 -2.73302206e-03 1.69272436e-02] [-9.00038349e-02 8.76973919e-04 9.95941033e-01 -1.58004565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.619649246 meters 0.05756804340970492 Centerline is valid? [True, True] Translation: X:15.45, Y:0.02, Z:-1.58 [[ 9.95738559e-01 2.09535126e-02 8.98090892e-02 1.54459665e+01] [-2.07908136e-02 9.99780074e-01 -2.74682195e-03 1.61660462e-02] [-8.98468934e-02 8.67912491e-04 9.95955211e-01 -1.58271980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.649649246000003 meters 0.05728304113506897 Centerline is valid? [True, True] Translation: X:15.48, Y:0.02, Z:-1.59 [[ 9.95665480e-01 2.15448979e-02 9.04768999e-02 1.54782673e+01] [-2.13799288e-02 9.99767524e-01 -2.79222827e-03 1.70719088e-02] [-9.05160244e-02 8.45735623e-04 9.95894640e-01 -1.58550576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.679649246000004 meters 0.057397232877737604 Centerline is valid? [True, True] Translation: X:15.51, Y:0.02, Z:-1.59 [[ 9.95716751e-01 2.22810285e-02 8.97313119e-02 1.55095238e+01] [-2.21198347e-02 9.99751432e-01 -2.79055541e-03 1.51225401e-02] [-8.97711840e-02 7.93760978e-04 9.95962100e-01 -1.59131133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.709649246 meters 0.05754635540198974 Centerline is valid? [True, True] Translation: X:15.54, Y:0.02, Z:-1.59 [[ 9.95852871e-01 2.26756428e-02 8.81071796e-02 1.55418149e+01] [-2.25197743e-02 9.99742580e-01 -2.76281396e-03 1.51925755e-02] [-8.81471476e-02 7.67202419e-04 9.96107169e-01 -1.59424897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.739649246000003 meters 0.05771569402245397 Centerline is valid? [True, True] Translation: X:15.57, Y:0.01, Z:-1.60 [[ 9.95912955e-01 2.33844210e-02 8.72384948e-02 1.55724590e+01] [-2.32324757e-02 9.99726289e-01 -2.75677479e-03 1.37642510e-02] [-8.72790823e-02 7.18741522e-04 9.96183640e-01 -1.60131521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.769649246000004 meters 0.05794783161521123 Centerline is valid? [True, True] Translation: X:15.60, Y:0.01, Z:-1.61 [[ 9.96119153e-01 2.33826225e-02 8.48521428e-02 1.56035529e+01] [-2.32373455e-02 9.99726332e-01 -2.69950221e-03 1.35922209e-02] [-8.48920429e-02 7.17287300e-04 9.96389897e-01 -1.60831168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.799649246 meters 0.05789244090376723 Centerline is valid? [True, True] Translation: X:15.64, Y:0.01, Z:-1.61 [[ 9.96232432e-01 2.38699924e-02 8.33736429e-02 1.56357481e+01] [-2.37299367e-02 9.99714838e-01 -2.67054526e-03 1.31378694e-02] [-8.34136138e-02 6.82032531e-04 9.96514779e-01 -1.61097505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.829649246000002 meters 0.057950900657059226 Centerline is valid? [True, True] Translation: X:15.67, Y:0.01, Z:-1.62 [[ 9.96294299e-01 2.35843621e-02 8.27130422e-02 1.56677507e+01] [-2.34439440e-02 9.99721591e-01 -2.66860295e-03 1.11012683e-02] [-8.27529515e-02 7.19593983e-04 9.96569833e-01 -1.61661114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.859649246000004 meters 0.0582473294428806 Centerline is valid? [True, True] Translation: X:15.70, Y:0.01, Z:-1.62 [[ 9.96272744e-01 2.37340775e-02 8.29295669e-02 1.56992505e+01] [-2.35916748e-02 9.99718040e-01 -2.69678057e-03 9.02748461e-03] [-8.29701897e-02 7.30281601e-04 9.96551762e-01 -1.62272340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.889649246000005 meters 0.057696565929106894 Centerline is valid? [True, True] Translation: X:15.73, Y:0.01, Z:-1.62 [[ 9.96146610e-01 2.51623472e-02 8.40165859e-02 1.57313986e+01] [-2.50201650e-02 9.99683178e-01 -2.74496566e-03 9.79977396e-03] [-8.40590373e-02 6.32279398e-04 9.96460575e-01 -1.62179335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.919649246000002 meters 0.05758050416868714 Centerline is valid? [True, True] Translation: X:15.76, Y:0.01, Z:-1.62 [[ 9.95973734e-01 2.80589078e-02 8.51411713e-02 1.57629702e+01] [-2.79217081e-02 9.99606186e-01 -2.80205075e-03 1.21494233e-02] [-8.51862640e-02 4.13482010e-04 9.96364958e-01 -1.62454480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.949649246000003 meters 0.05738335368556036 Centerline is valid? [True, True] Translation: X:15.79, Y:0.01, Z:-1.63 [[ 9.95817785e-01 2.99533263e-02 8.63118610e-02 1.57946874e+01] [-2.98173835e-02 9.99551260e-01 -2.86408130e-03 1.33372503e-02] [-8.63589182e-02 2.78509233e-04 9.96264051e-01 -1.62699852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.979649246000005 meters 0.057398934973357095 Centerline is valid? [True, True] Translation: X:15.83, Y:0.01, Z:-1.63 [[ 9.95697047e-01 3.17247143e-02 8.70685496e-02 1.58272762e+01] [-3.15924924e-02 9.99496636e-01 -2.89649720e-03 1.48139078e-02] [-8.71166130e-02 1.33321221e-04 9.96198112e-01 -1.62940272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.009649246000002 meters 0.057338713461999494 Centerline is valid? [True, True] Translation: X:15.86, Y:0.02, Z:-1.63 [[ 9.95532070e-01 3.34545593e-02 8.82988702e-02 1.58597510e+01] [-3.33249629e-02 9.99440239e-01 -2.94186590e-03 1.71866102e-02] [-8.83478628e-02 -1.38347300e-05 9.96089682e-01 -1.63072409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.039649246000003 meters 0.05734478569760559 Centerline is valid? [True, True] Translation: X:15.89, Y:0.02, Z:-1.64 [[ 9.95438125e-01 3.39278966e-02 8.91730695e-02 1.58905099e+01] [-3.37956355e-02 9.99424283e-01 -2.99305284e-03 1.70526955e-02] [-8.92232790e-02 -3.42616446e-05 9.96011649e-01 -1.63630767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.069649246000004 meters 0.05695415123184782 Centerline is valid? [True, True] Translation: X:15.92, Y:0.02, Z:-1.64 [[ 9.95339529e-01 3.41273525e-02 9.01917123e-02 1.59227706e+01] [-3.39910506e-02 9.99417492e-01 -3.04725080e-03 1.52405414e-02] [-9.02431695e-02 -3.26618731e-05 9.95919760e-01 -1.63711581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.099649246000002 meters 0.056995024299572365 Centerline is valid? [True, True] Translation: X:15.96, Y:0.01, Z:-1.64 [[ 9.95318328e-01 3.44211788e-02 9.03139475e-02 1.59560119e+01] [-3.42838255e-02 9.99407415e-01 -3.07218759e-03 1.35422723e-02] [-9.03661771e-02 -3.85030052e-05 9.95908607e-01 -1.63820341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.129649246000003 meters 0.057054486122417106 Centerline is valid? [True, True] Translation: X:15.99, Y:0.01, Z:-1.65 [[ 9.95328899e-01 3.55410049e-02 8.97620158e-02 1.59872575e+01] [-3.54075345e-02 9.99368212e-01 -3.07934522e-03 1.25567364e-02] [-8.98147483e-02 -1.13290383e-04 9.95958482e-01 -1.64564185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.159649246000004 meters 0.05703295303915862 Centerline is valid? [True, True] Translation: X:16.02, Y:0.01, Z:-1.65 [[ 9.95374948e-01 3.58931687e-02 8.91088875e-02 1.60199668e+01] [-3.57609689e-02 9.99355625e-01 -3.08013573e-03 1.10600508e-02] [-8.91620238e-02 -1.20730216e-04 9.96017128e-01 -1.64771911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.189649246000002 meters 0.05716785755481266 Centerline is valid? [True, True] Translation: X:16.05, Y:0.01, Z:-1.65 [[ 9.95412794e-01 3.55794287e-02 8.88114467e-02 1.60518812e+01] [-3.54445915e-02 9.99366849e-01 -3.09534131e-03 8.77401915e-03] [-8.88653462e-02 -6.67431071e-05 9.96043647e-01 -1.65259202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.219649246000003 meters 0.056916750575498026 Centerline is valid? [True, True] Translation: X:16.08, Y:0.01, Z:-1.65 [[ 9.95307730e-01 3.60206342e-02 8.98055459e-02 1.60843176e+01] [-3.58823321e-02 9.99351043e-01 -3.15454682e-03 7.11103462e-03] [-8.98608948e-02 -8.26875921e-05 9.95954323e-01 -1.65369868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.249649246000004 meters 0.056647829618148834 Centerline is valid? [True, True] Translation: X:16.12, Y:0.01, Z:-1.66 [[ 9.95190133e-01 3.63704468e-02 9.09603748e-02 1.61167621e+01] [-3.62277022e-02 9.99338372e-01 -3.22042791e-03 5.17412950e-03] [-9.10173213e-02 -9.03472896e-05 9.95849305e-01 -1.65629112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.279649246 meters 0.056584875610381294 Centerline is valid? [True, True] Translation: X:16.15, Y:0.00, Z:-1.66 [[ 9.95198149e-01 3.60524456e-02 9.09992581e-02 1.61490006e+01] [-3.59078051e-02 9.99349898e-01 -3.22669354e-03 3.08033604e-03] [-9.10564295e-02 -5.63841880e-05 9.95845733e-01 -1.65840315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.309649246000003 meters 0.056602346428869126 Centerline is valid? [True, True] Translation: X:16.18, Y:0.00, Z:-1.66 [[ 9.95089708e-01 3.74531866e-02 9.16173106e-02 1.61798576e+01] [-3.73098099e-02 9.99298371e-01 -3.27777016e-03 2.58320157e-03] [-9.16757922e-02 -1.56549090e-04 9.95788896e-01 -1.66406132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.339649246000004 meters 0.05681143525544292 Centerline is valid? [True, True] Translation: X:16.21, Y:0.00, Z:-1.67 [[ 9.95053719e-01 3.71713392e-02 9.21215928e-02 1.62126979e+01] [-3.70241716e-02 9.99308900e-01 -3.30661264e-03 9.20837291e-04] [-9.21808388e-02 -1.20468456e-04 9.95742275e-01 -1.66536230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.369649246 meters 0.056826586820524896 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.00, Z:-1.67 [[ 9.95012857e-01 3.69976872e-02 9.26314479e-02 1.62438198e+01] [-3.68454001e-02 9.99315348e-01 -3.35425817e-03 -1.17485655e-03] [-9.26921274e-02 -7.55127516e-05 9.95694815e-01 -1.66839817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.399649246000003 meters 0.057057510303707176 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.00, Z:-1.67 [[ 9.94974236e-01 3.70929846e-02 9.30074190e-02 1.62767798e+01] [-3.69388293e-02 9.99311816e-01 -3.37902376e-03 -4.01551086e-03] [-9.30687509e-02 -7.35435973e-05 9.95659682e-01 -1.67003102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.429649246000004 meters 0.05715738005274129 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.01, Z:-1.67 [[ 9.94926596e-01 3.64910650e-02 9.37521810e-02 1.63072091e+01] [-3.63290864e-02 9.99333979e-01 -3.43444661e-03 -6.72161227e-03] [-9.38150667e-02 1.10911901e-05 9.95589641e-01 -1.67290596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.459649246 meters 0.057594611529883995 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.01, Z:-1.68 [[ 9.95004601e-01 3.63110605e-02 9.29911333e-02 1.63389235e+01] [-3.61489570e-02 9.99340535e-01 -3.42759678e-03 -9.01025666e-03] [-9.30542685e-02 4.89420818e-05 9.95661037e-01 -1.67751228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.489649246000003 meters 0.05828901760854568 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.01, Z:-1.68 [[ 9.95171758e-01 3.56045575e-02 9.14630441e-02 1.63703146e+01] [-3.54425860e-02 9.99365947e-01 -3.39505117e-03 -1.31983788e-02] [-9.15259310e-02 1.36972237e-04 9.95802684e-01 -1.68107770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.519649246000004 meters 0.05890073973185859 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.02, Z:-1.69 [[ 9.95255867e-01 3.54915608e-02 9.05875779e-02 1.64009494e+01] [-3.53301200e-02 9.99369962e-01 -3.38556931e-03 -1.62795767e-02] [-9.06506634e-02 1.69037716e-04 9.95882738e-01 -1.68643370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.549649246000005 meters 0.061750215426798614 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.02, Z:-1.69 [[ 9.95583144e-01 3.81237476e-02 8.57950108e-02 1.64325564e+01] [-3.79868068e-02 9.99273025e-01 -3.22871960e-03 -1.94761926e-02] [-8.58557309e-02 -4.46196908e-05 9.96307579e-01 -1.69142533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.579649246000002 meters 0.06394343135198066 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.02, Z:-1.70 [[ 9.95724259e-01 4.10479556e-02 8.27542421e-02 1.64637146e+01] [-4.09305072e-02 9.99157137e-01 -3.11595954e-03 -2.14865056e-02] [-8.28123954e-02 -2.84536594e-04 9.96565114e-01 -1.69735811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.609649246000004 meters 0.06427267020330374 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.02, Z:-1.70 [[ 9.95705039e-01 4.30118052e-02 8.19845056e-02 1.64946643e+01] [-4.29016281e-02 9.99074474e-01 -3.10582274e-03 -2.12676197e-02] [-8.20422139e-02 -4.24785421e-04 9.96628765e-01 -1.70141439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.639649246000005 meters 0.06600627662582709 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.02, Z:-1.71 [[ 9.95780774e-01 4.52147594e-02 7.98515839e-02 1.65257887e+01] [-4.51158851e-02 9.98977126e-01 -3.04288728e-03 -2.36679918e-02] [-7.99074892e-02 -5.72526239e-04 9.96802119e-01 -1.70621888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.669649246000002 meters 0.06638888070774886 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.03, Z:-1.71 [[ 9.95752837e-01 4.60092936e-02 7.97460496e-02 1.65580061e+01] [-4.59118509e-02 9.98940820e-01 -3.05602186e-03 -2.55942900e-02] [-7.98021896e-02 -6.18246300e-04 9.96810528e-01 -1.71008075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.699649246000003 meters 0.06712468835926265 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.03, Z:-1.71 [[ 9.95922567e-01 4.44436099e-02 7.85048165e-02 1.65884884e+01] [-4.43424474e-02 9.99011788e-01 -3.03224951e-03 -3.00631500e-02] [-7.85620012e-02 -4.61209984e-04 9.96909123e-01 -1.71494872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.729649246000005 meters 0.06775087295506049 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.03, Z:-1.72 [[ 9.95956676e-01 4.43851632e-02 7.81041432e-02 1.66192030e+01] [-4.42832249e-02 9.99014399e-01 -3.03752896e-03 -3.15727736e-02] [-7.81619849e-02 -4.33456098e-04 9.96940578e-01 -1.71988383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.759649246000002 meters 0.06853169622886475 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.03, Z:-1.72 [[ 9.95906166e-01 4.47427200e-02 7.85429688e-02 1.66512004e+01] [-4.46401561e-02 9.98998439e-01 -3.06202800e-03 -3.37376850e-02] [-7.86013066e-02 -4.56677822e-04 9.96906027e-01 -1.72106201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.789649246000003 meters 0.06865508306153209 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.04, Z:-1.72 [[ 9.95858601e-01 4.47032703e-02 7.91660609e-02 1.66835986e+01] [-4.45969893e-02 9.99000215e-01 -3.11094456e-03 -3.56281773e-02] [-7.92259813e-02 -4.32507074e-04 9.96856588e-01 -1.72400286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.819649246000004 meters 0.06969911411151448 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.04, Z:-1.73 [[ 9.95734566e-01 4.42243356e-02 8.09745720e-02 1.67143898e+01] [-4.41112508e-02 9.99021546e-01 -3.18577701e-03 -3.95384798e-02] [-8.10362309e-02 -3.99701363e-04 9.96711076e-01 -1.72812225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.849649246000002 meters 0.07014417821412773 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.04, Z:-1.73 [[ 9.95626517e-01 4.46868229e-02 8.20422211e-02 1.67464613e+01] [-4.45707389e-02 9.99000955e-01 -3.24673296e-03 -4.15794724e-02] [-8.21053434e-02 -4.24148985e-04 9.96623566e-01 -1.73131941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.879649246000003 meters 0.07080862126562393 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.04, Z:-1.73 [[ 9.95493881e-01 4.47007790e-02 8.36287828e-02 1.67784286e+01] [-4.45784423e-02 9.99000335e-01 -3.33051239e-03 -4.29600494e-02] [-8.36940586e-02 -4.12536161e-04 9.96491412e-01 -1.73307857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.909649246000004 meters 0.07133894642932596 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.05, Z:-1.74 [[ 9.95495354e-01 4.37762947e-02 8.40989645e-02 1.68103138e+01] [-4.36474988e-02 9.99041309e-01 -3.37036751e-03 -4.52322077e-02] [-8.41658818e-02 -3.15524257e-04 9.96451707e-01 -1.73676882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.939649246000002 meters 0.071468144060156 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.05, Z:-1.74 [[ 9.95576971e-01 4.16178571e-02 8.42285566e-02 1.68407575e+01] [-4.14789241e-02 9.99133596e-01 -3.39953126e-03 -4.80446465e-02] [-8.42970618e-02 -1.09214875e-04 9.96440662e-01 -1.74421388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.969649246000003 meters 0.0716531815805768 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.05, Z:-1.75 [[ 9.95612426e-01 4.05831148e-02 8.43143413e-02 1.68721820e+01] [-4.04392423e-02 9.99176166e-01 -3.41423496e-03 -5.07245736e-02] [-8.43834406e-02 -1.03533265e-05 9.96433357e-01 -1.74787686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.999649246000004 meters 0.07162584150677447 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.05, Z:-1.75 [[ 9.95547646e-01 3.83283860e-02 8.61151488e-02 1.69027949e+01] [-3.81686434e-02 9.99265178e-01 -3.50133917e-03 -5.40259223e-02] [-8.61860701e-02 1.98851568e-04 9.96279038e-01 -1.75038036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.029649246 meters 0.07168174513160397 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.06, Z:-1.75 [[ 9.95466598e-01 3.75937354e-02 8.73668343e-02 1.69346815e+01] [-3.74248086e-02 9.99293065e-01 -3.57128862e-03 -5.65566314e-02] [-8.74393297e-02 2.85411476e-04 9.96169806e-01 -1.75246794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.059649246000003 meters 0.07166530025348508 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.06, Z:-1.76 [[ 9.95393113e-01 3.72397595e-02 8.83501619e-02 1.69662546e+01] [-3.70636600e-02 9.99306301e-01 -3.63343323e-03 -5.85813211e-02] [-8.84241817e-02 3.42114056e-04 9.96082852e-01 -1.75533586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.089649246000004 meters 0.07182324089331339 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.06, Z:-1.76 [[ 9.95223528e-01 3.56365670e-02 9.08854488e-02 1.69965581e+01] [-3.54413907e-02 9.99364680e-01 -3.76100398e-03 -6.09714605e-02] [-9.09617366e-02 5.21932957e-04 9.95854251e-01 -1.75967929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.119649246 meters 0.07177322608788746 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.06, Z:-1.77 [[ 9.95198334e-01 3.46586059e-02 9.15371922e-02 1.70284890e+01] [-3.44546591e-02 9.99399008e-01 -3.80781849e-03 -6.25662282e-02] [-9.16141528e-02 6.35651864e-04 9.95794378e-01 -1.76531970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.149649246000003 meters 0.07149850775181955 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.06, Z:-1.77 [[ 9.95136887e-01 3.45307502e-02 9.22507643e-02 1.70612139e+01] [-3.43206140e-02 9.99403405e-01 -3.86382058e-03 -6.40860358e-02] [-9.23291486e-02 6.78927513e-04 9.95728310e-01 -1.76886465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.179649246000004 meters 0.07138838652534475 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.06, Z:-1.78 [[ 9.95174593e-01 3.46811636e-02 9.17864204e-02 1.70928196e+01] [-3.44713841e-02 9.99398191e-01 -3.87036048e-03 -6.45930572e-02] [-9.18654111e-02 6.87679465e-04 9.95771195e-01 -1.77501915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.209649246 meters 0.07095550956803012 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.06, Z:-1.78 [[ 9.95155665e-01 3.46632322e-02 9.19981635e-02 1.71257539e+01] [-3.44502032e-02 9.99398794e-01 -3.90309538e-03 -6.49459725e-02] [-9.20781475e-02 7.14832061e-04 9.95751527e-01 -1.77781388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.239649246000003 meters 0.0705426908140871 Centerline is valid? [True, True] Translation: X:17.16, Y:-0.07, Z:-1.78 [[ 9.95094331e-01 3.44696233e-02 9.27314230e-02 1.71576702e+01] [-3.42498049e-02 9.99405452e-01 -3.96136228e-03 -6.60259384e-02] [-9.28128364e-02 7.65896002e-04 9.95683278e-01 -1.78133673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.269649246000004 meters 0.07024439252943196 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.07, Z:-1.79 [[ 9.95076726e-01 3.36482453e-02 9.32207324e-02 1.71902635e+01] [-3.34201833e-02 9.99433357e-01 -4.00696488e-03 -6.70295200e-02] [-9.33027369e-02 8.71783525e-04 9.95637404e-01 -1.78502874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.299649246000005 meters 0.07043881485991599 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.07, Z:-1.79 [[ 9.95019260e-01 3.31105800e-02 9.40231948e-02 1.72233129e+01] [-3.28736440e-02 9.99451236e-01 -4.06815748e-03 -6.67951738e-02] [-9.41062973e-02 9.57010009e-04 9.95561695e-01 -1.78818744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.329649246000002 meters 0.07039107655581305 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.07, Z:-1.79 [[ 9.94938571e-01 3.29287827e-02 9.49364780e-02 1.72564395e+01] [-3.26837561e-02 9.99457189e-01 -4.13517539e-03 -6.79961350e-02] [-9.50211117e-02 1.01136480e-03 9.95474744e-01 -1.79130824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.359649246000004 meters 0.07039107655581305 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.07, Z:-1.79 [[ 9.94929076e-01 3.32178588e-02 9.49352776e-02 1.72885276e+01] [-3.29715340e-02 9.99447623e-01 -4.16254197e-03 -6.95665747e-02] [-9.50211082e-02 1.01127230e-03 9.95474744e-01 -1.79480677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.389649246000005 meters 0.06919143931913814 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.07, Z:-1.80 [[ 9.94758167e-01 3.40762032e-02 9.64105856e-02 1.73191515e+01] [-3.38232470e-02 9.99418763e-01 -4.25726739e-03 -6.92312347e-02] [-9.64996197e-02 9.74032450e-04 9.95332545e-01 -1.79883571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.419649246000002 meters 0.06900188155884715 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.07, Z:-1.80 [[ 9.94678669e-01 3.39995849e-02 9.72541664e-02 1.73518212e+01] [-3.37405532e-02 9.99421344e-01 -4.30729296e-03 -6.92691204e-02] [-9.73443358e-02 1.00296305e-03 9.95250257e-01 -1.80228164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.449649246000003 meters 0.06829979774032433 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.07, Z:-1.80 [[ 9.94544844e-01 3.36226031e-02 9.87424630e-02 1.73841922e+01] [-3.33509718e-02 9.99434013e-01 -4.40070102e-03 -6.96530394e-02] [-9.88345391e-02 1.08353741e-03 9.95103291e-01 -1.80389248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.479649246000005 meters 0.06786904362964599 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.07, Z:-1.80 [[ 9.94375623e-01 3.37070524e-02 1.00403963e-01 1.74149617e+01] [-3.34236561e-02 9.99431125e-01 -4.50389041e-03 -7.12836076e-02] [-1.00498659e-01 1.12269129e-03 9.94936560e-01 -1.80430682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.509649246000002 meters 0.06704314791438297 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.07, Z:-1.81 [[ 9.94361924e-01 3.36528367e-02 1.00557701e-01 1.74466090e+01] [-3.33660052e-02 9.99432918e-01 -4.53339463e-03 -7.34254592e-02] [-1.00653239e-01 1.15262622e-03 9.94920900e-01 -1.80748911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.539649246000003 meters 0.06721251863727815 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.08, Z:-1.81 [[ 9.94298493e-01 3.19083558e-02 1.01746564e-01 1.74784615e+01] [-3.16028238e-02 9.99489857e-01 -4.61379638e-03 -7.69080802e-02] [-1.01841878e-01 1.37201204e-03 9.94799653e-01 -1.80998718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.569649246000004 meters 0.06724714700372093 Centerline is valid? [True, True] Translation: X:17.51, Y:-0.08, Z:-1.82 [[ 9.94457839e-01 2.85189338e-02 1.01194258e-01 1.75094745e+01] [-2.81967419e-02 9.99591748e-01 -4.61310696e-03 -8.31758098e-02] [-1.01284506e-01 1.73419201e-03 9.94855990e-01 -1.81523479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.599649246000002 meters 0.06735272889599642 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.09, Z:-1.82 [[ 9.94585525e-01 2.73056367e-02 1.00269815e-01 1.75399101e+01] [-2.69808909e-02 9.99625395e-01 -4.59364851e-03 -8.65507625e-02] [-1.00357686e-01 1.86340737e-03 9.94949678e-01 -1.81935179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.629649246000003 meters 0.067331584502966 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.09, Z:-1.82 [[ 9.94753089e-01 2.72236121e-02 9.86162559e-02 1.75705677e+01] [-2.69079782e-02 9.99627653e-01 -4.52948740e-03 -8.91078224e-02] [-9.87028454e-02 1.85215753e-03 9.95115228e-01 -1.82260255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.659649246000004 meters 0.0668106530086968 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.09, Z:-1.83 [[ 9.94846001e-01 2.70748702e-02 9.77158425e-02 1.76020693e+01] [-2.67622253e-02 9.99631658e-01 -4.50903911e-03 -9.04750912e-02] [-9.78019314e-02 1.87070613e-03 9.95204141e-01 -1.82686265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.689649246000002 meters 0.06620616496571602 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.09, Z:-1.83 [[ 9.94723985e-01 2.67475391e-02 9.90391936e-02 1.76351775e+01] [-2.64224202e-02 9.99640315e-01 -4.59316429e-03 -8.90241058e-02] [-9.91264265e-02 1.95207550e-03 9.95072932e-01 -1.82920533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.719649246000003 meters 0.065958489313161 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.09, Z:-1.83 [[ 9.94720503e-01 2.71386039e-02 9.89677539e-02 1.76663648e+01] [-2.68130736e-02 9.99629798e-01 -4.61810078e-03 -9.10502987e-02] [-9.90564446e-02 1.94008987e-03 9.95079925e-01 -1.83239862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.749649246000004 meters 0.06566976018704163 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.09, Z:-1.83 [[ 9.94584437e-01 2.69906605e-02 1.00365845e-01 1.76997637e+01] [-2.66523701e-02 9.99633666e-01 -4.71017155e-03 -9.14520689e-02] [-1.00456208e-01 2.00967568e-03 9.94939451e-01 -1.83342123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.779649246 meters 0.06608317692353073 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.10, Z:-1.84 [[ 9.94485686e-01 2.70464497e-02 1.01324772e-01 1.77313596e+01] [-2.66988646e-02 9.99632069e-01 -4.78520505e-03 -9.59075937e-02] [-1.01416914e-01 2.05356157e-03 9.94841893e-01 -1.83781349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.809649246000003 meters 0.06503756002831335 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.09, Z:-1.84 [[ 9.94378778e-01 2.75274244e-02 1.02240343e-01 1.77635580e+01] [-2.71741804e-02 9.99618965e-01 -4.84649429e-03 -9.30968406e-02] [-1.02334797e-01 2.04095354e-03 9.94747920e-01 -1.83876509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.839649246000004 meters 0.06479499109834184 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.09, Z:-1.84 [[ 9.94295855e-01 2.75966572e-02 1.03025132e-01 1.77962732e+01] [-2.72356678e-02 9.99616986e-01 -4.90924505e-03 -9.40626511e-02] [-1.03121151e-01 2.07528373e-03 9.94666638e-01 -1.84130614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.869649246 meters 0.06451578944651835 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.10, Z:-1.84 [[ 9.94244088e-01 2.82993223e-02 1.03333646e-01 1.78267905e+01] [-2.79367975e-02 9.99597415e-01 -4.95418178e-03 -9.53208742e-02] [-1.03432245e-01 2.03885481e-03 9.94634412e-01 -1.84464315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.899649246000003 meters 0.064165403072894 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.10, Z:-1.85 [[ 9.94203672e-01 2.80051287e-02 1.03801598e-01 1.78596451e+01] [-2.76362263e-02 9.99605588e-01 -4.99072715e-03 -9.69576211e-02] [-1.03900424e-01 2.09311480e-03 9.94585502e-01 -1.84761591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.929649246000004 meters 0.06403448124570918 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.10, Z:-1.85 [[ 9.94204231e-01 2.74202523e-02 1.03952284e-01 1.78913942e+01] [-2.70440038e-02 9.99621602e-01 -5.02743759e-03 -1.00825041e-01] [-1.04050802e-01 2.18701376e-03 9.94569579e-01 -1.85054828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.959649246 meters 0.06390465942078234 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.10, Z:-1.85 [[ 9.94224838e-01 2.66927097e-02 1.03944552e-01 1.79229023e+01] [-2.63098332e-02 9.99641065e-01 -5.05306952e-03 -1.02637144e-01] [-1.04042122e-01 2.28912341e-03 9.94570257e-01 -1.85395148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.989649246000003 meters 0.06381324744535119 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.11, Z:-1.86 [[ 9.94284828e-01 2.67299720e-02 1.03359512e-01 1.79540348e+01] [-2.63489138e-02 9.99640048e-01 -5.05057811e-03 -1.05128721e-01] [-1.03457310e-01 2.29830231e-03 9.94631240e-01 -1.85846360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.019649246000004 meters 0.06392459155576523 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.11, Z:-1.86 [[ 9.94314751e-01 2.69791970e-02 1.03006308e-01 1.79859014e+01] [-2.65992179e-02 9.99633367e-01 -5.06096012e-03 -1.07776037e-01] [-1.03105083e-01 2.29230007e-03 9.94667828e-01 -1.86187892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.049649246000005 meters 0.06341445979875761 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.11, Z:-1.86 [[ 9.94304323e-01 2.68875706e-02 1.03130846e-01 1.80182057e+01] [-2.65033408e-02 9.99635744e-01 -5.09440510e-03 -1.09178458e-01] [-1.03230256e-01 2.33207707e-03 9.94654752e-01 -1.86497190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.079649246000002 meters 0.06358769812155346 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.11, Z:-1.87 [[ 9.94310056e-01 2.64088301e-02 1.03199257e-01 1.80491426e+01] [-2.60184107e-02 9.99648313e-01 -5.12770149e-03 -1.11511475e-01] [-1.03298380e-01 2.41344450e-03 9.94647485e-01 -1.86944278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.109649246000004 meters 0.06338785768316033 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.11, Z:-1.87 [[ 9.94343193e-01 2.62323923e-02 1.02924611e-01 1.80817031e+01] [-2.58406830e-02 9.99652872e-01 -5.13753711e-03 -1.13621240e-01] [-1.03023653e-01 2.44883281e-03 9.94675892e-01 -1.87331764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.139649246000005 meters 0.06350636469267955 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.12, Z:-1.88 [[ 9.94350802e-01 2.60431998e-02 1.02899145e-01 1.81143402e+01] [-2.56477157e-02 9.99657701e-01 -5.16484851e-03 -1.15567247e-01] [-1.02998432e-01 2.49654325e-03 9.94678385e-01 -1.87655050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.169649246000002 meters 0.06291513323295124 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.12, Z:-1.88 [[ 9.94252773e-01 2.65267665e-02 1.03719595e-01 1.81473541e+01] [-2.61245097e-02 9.99644989e-01 -5.23510496e-03 -1.15947854e-01] [-1.03821643e-01 2.49539407e-03 9.94592801e-01 -1.87937250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.199649246000003 meters 0.0627508274492344 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.12, Z:-1.88 [[ 9.94190073e-01 2.66447515e-02 1.04288806e-01 1.81798418e+01] [-2.62356509e-02 9.99641774e-01 -5.29283052e-03 -1.16269072e-01] [-1.04392473e-01 2.52599487e-03 9.94532971e-01 -1.88250040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.229649246000005 meters 0.06289518767665665 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.12, Z:-1.88 [[ 9.94021720e-01 2.63250904e-02 1.05961362e-01 1.82117185e+01] [-2.58976672e-02 9.99649971e-01 -5.40793510e-03 -1.18992610e-01] [-1.06066636e-01 2.63145287e-03 9.94355542e-01 -1.88484654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.259649246000002 meters 0.06235915063341395 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.12, Z:-1.89 [[ 9.94015176e-01 2.69072600e-02 1.05876478e-01 1.82442510e+01] [-2.64808701e-02 9.99634566e-01 -5.43123842e-03 -1.20749996e-01] [-1.05983927e-01 2.59503216e-03 9.94364457e-01 -1.88758690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.289649246000003 meters 0.06249892232879096 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.12, Z:-1.89 [[ 9.94030525e-01 2.62508787e-02 1.05897149e-01 1.82745165e+01] [-2.58174811e-02 9.99651753e-01 -5.46164515e-03 -1.22408930e-01] [-1.06003643e-01 2.69504436e-03 9.94362089e-01 -1.89205179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.319649246000004 meters 0.06202488888375026 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.12, Z:-1.90 [[ 9.93969494e-01 2.74021208e-02 1.06178002e-01 1.83059406e+01] [-2.69704266e-02 9.99621102e-01 -5.49979225e-03 -1.22967722e-01] [-1.06288477e-01 2.60295973e-03 9.94331929e-01 -1.89560598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.349649246000002 meters 0.06153644742041837 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.12, Z:-1.90 [[ 9.93963147e-01 2.75541471e-02 1.06198080e-01 1.83383832e+01] [-2.71204306e-02 9.99616898e-01 -5.52630059e-03 -1.23073106e-01] [-1.06309667e-01 2.61280147e-03 9.94329637e-01 -1.89863705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.379649246000003 meters 0.06204974001929695 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.13, Z:-1.90 [[ 9.94043537e-01 2.79734514e-02 1.05332487e-01 1.83699439e+01] [-2.75459359e-02 9.99605344e-01 -5.51161363e-03 -1.28646832e-01] [-1.05445096e-01 2.57730198e-03 9.94421786e-01 -1.90204821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.409649246000004 meters 0.06146160182671159 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.13, Z:-1.91 [[ 9.94077674e-01 2.83613575e-02 1.04905730e-01 1.84025721e+01] [-2.79364871e-02 9.99594473e-01 -5.51750682e-03 -1.28527013e-01] [-1.05019672e-01 2.55413276e-03 9.94466865e-01 -1.90560128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.439649246000002 meters 0.06144522418236368 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.13, Z:-1.91 [[ 9.94051133e-01 2.84616139e-02 1.05129828e-01 1.84338518e+01] [-2.80323107e-02 9.99591559e-01 -5.55920973e-03 -1.29981575e-01] [-1.05245113e-01 2.57910672e-03 9.94442967e-01 -1.91027772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.469649246000003 meters 0.06098866386269512 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.13, Z:-1.91 [[ 9.93922421e-01 2.91447869e-02 1.06154617e-01 1.84658452e+01] [-2.87078817e-02 9.99571922e-01 -5.64180264e-03 -1.29131426e-01] [-1.06273604e-01 2.56003994e-03 9.94333630e-01 -1.91293622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.499649246000004 meters 0.0606341817115378 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.13, Z:-1.92 [[ 9.93742134e-01 3.06816437e-02 1.07402085e-01 1.84977850e+01] [-3.02403721e-02 9.99526201e-01 -5.73522241e-03 -1.28766463e-01] [-1.07527164e-01 2.45145314e-03 9.94199125e-01 -1.91551110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.529649246 meters 0.060157909765392495 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.13, Z:-1.92 [[ 9.93669761e-01 3.19861695e-02 1.07690720e-01 1.85298380e+01] [-3.15472327e-02 9.99485564e-01 -5.77750295e-03 -1.28143275e-01] [-1.07820120e-01 2.34358576e-03 9.94167657e-01 -1.91870226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.559649246000003 meters 0.05970384868655922 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.13, Z:-1.92 [[ 9.93638422e-01 3.41399122e-02 1.07317995e-01 1.85610495e+01] [-3.37135896e-02 9.99414794e-01 -5.78482082e-03 -1.28198494e-01] [-1.07452685e-01 2.12994541e-03 9.94207918e-01 -1.92276522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.589649246000004 meters 0.059850737900648605 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.13, Z:-1.93 [[ 9.93592487e-01 3.46123457e-02 1.07591613e-01 1.85935817e+01] [-3.41836325e-02 9.99398582e-01 -5.82693023e-03 -1.30386304e-01] [-1.07728590e-01 2.11172192e-03 9.94178099e-01 -1.92578549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.619649246 meters 0.05984969615745765 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.13, Z:-1.93 [[ 9.93605750e-01 3.37243189e-02 1.07751025e-01 1.86238749e+01] [-3.32857530e-02 9.99428657e-01 -5.86662820e-03 -1.33971325e-01] [-1.07887310e-01 2.24254153e-03 9.94160600e-01 -1.92963434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.649649246000003 meters 0.05999077084919738 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.14, Z:-1.93 [[ 9.93673527e-01 3.32065254e-02 1.07285825e-01 1.86542565e+01] [-3.27660772e-02 9.99445833e-01 -5.86601231e-03 -1.37441452e-01] [-1.07421161e-01 2.31356551e-03 9.94210914e-01 -1.93399045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.679649246000004 meters 0.05974994092532077 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.14, Z:-1.94 [[ 9.93855125e-01 3.31878854e-02 1.05596190e-01 1.86870331e+01] [-3.27596847e-02 9.99446501e-01 -5.78747607e-03 -1.40620220e-01] [-1.05729817e-01 2.29261485e-03 9.94392251e-01 -1.93775260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.709649246000005 meters 0.05973586765991954 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.14, Z:-1.94 [[ 9.93868345e-01 3.32503908e-02 1.05451997e-01 1.87188111e+01] [-3.28205451e-02 9.99444377e-01 -5.80942292e-03 -1.43178363e-01] [-1.05586571e-01 2.31280951e-03 9.94407425e-01 -1.94138372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.739649246000003 meters 0.059608169099869136 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.14, Z:-1.95 [[ 9.93924326e-01 3.38122846e-02 1.04743318e-01 1.87517145e+01] [-3.33894444e-02 9.99425655e-01 -5.78828084e-03 -1.43166165e-01] [-1.04878874e-01 2.25579194e-03 9.94482445e-01 -1.94559905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.769649246000004 meters 0.059046767349062106 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.14, Z:-1.95 [[ 9.93923538e-01 3.53337612e-02 1.04247423e-01 1.87829268e+01] [-3.49201228e-02 9.99373329e-01 -5.79090083e-03 -1.43878361e-01] [-1.04386708e-01 2.11537985e-03 9.94534535e-01 -1.94969127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.799649246000005 meters 0.05914916030927134 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.15, Z:-1.95 [[ 9.93915520e-01 3.54576319e-02 1.04281804e-01 1.88159074e+01] [-3.50416673e-02 9.99368912e-01 -5.81882951e-03 -1.45603676e-01] [-1.04422315e-01 2.12921667e-03 9.94530767e-01 -1.95348650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.829649246000002 meters 0.059058317246652614 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.15, Z:-1.96 [[ 9.93846273e-01 3.54825857e-02 1.04931272e-01 1.88481496e+01] [-3.50583901e-02 9.99367939e-01 -5.88488239e-03 -1.47083416e-01] [-1.05073760e-01 2.16994697e-03 9.94462064e-01 -1.95720054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.859649246000004 meters 0.05891758895789768 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.15, Z:-1.96 [[ 9.93798811e-01 3.55801494e-02 1.05346932e-01 1.88795157e+01] [-3.51499084e-02 9.99364407e-01 -5.93845240e-03 -1.49542450e-01] [-1.05491265e-01 2.19869193e-03 9.94417799e-01 -1.95972644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.889649246000005 meters 0.05877590934234325 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.15, Z:-1.96 [[ 9.93759510e-01 3.60381459e-02 1.05561779e-01 1.89117488e+01] [-3.56057185e-02 9.99348031e-01 -5.97876210e-03 -1.51941847e-01] [-1.05708419e-01 2.18284871e-03 9.94394773e-01 -1.96310616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.919649246000002 meters 0.05856160289970437 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.15, Z:-1.97 [[ 9.93803761e-01 3.64330714e-02 1.05008169e-01 1.89440381e+01] [-3.60042836e-02 9.99333763e-01 -5.97673465e-03 -1.53762394e-01] [-1.05155960e-01 2.15895748e-03 9.94453399e-01 -1.96683580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.949649246000003 meters 0.058754434429714314 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.16, Z:-1.97 [[ 9.93747079e-01 3.65294495e-02 1.05509917e-01 1.89762161e+01] [-3.60938845e-02 9.99330179e-01 -6.03534752e-03 -1.55738635e-01] [-1.05659712e-01 2.18934621e-03 9.94399936e-01 -1.97075044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.979649246000005 meters 0.058827964527550264 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.16, Z:-1.97 [[ 9.93733931e-01 3.71299022e-02 1.05424114e-01 1.90091052e+01] [-3.66952292e-02 9.99308126e-01 -6.06045971e-03 -1.57781196e-01] [-1.05576198e-01 2.15392242e-03 9.94408883e-01 -1.97493874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009649246000002 meters 0.058634760042577345 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.16, Z:-1.98 [[ 9.93816324e-01 3.73790178e-02 1.04555840e-01 1.90420357e+01] [-3.69497820e-02 9.99298870e-01 -6.03996586e-03 -1.59526325e-01] [-1.04708301e-01 2.13930116e-03 9.94500676e-01 -1.97890373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.039649246000003 meters 0.05874362749258359 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.16, Z:-1.98 [[ 9.93870079e-01 3.78915922e-02 1.03858040e-01 1.90731096e+01] [-3.74678201e-02 9.99279648e-01 -6.02891707e-03 -1.62696329e-01] [-1.04011671e-01 2.10062591e-03 9.94573858e-01 -1.98262538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.069649246000004 meters 0.05846602249009971 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.17, Z:-1.99 [[ 9.93882176e-01 3.80971292e-02 1.03666910e-01 1.91056394e+01] [-3.76732044e-02 9.99271829e-01 -6.04495275e-03 -1.65188559e-01] [-1.03821718e-01 2.10250609e-03 9.94593701e-01 -1.98596345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.099649246000002 meters 0.05846510290096027 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.17, Z:-1.99 [[ 9.94004719e-01 3.86845714e-02 1.02264964e-01 1.91366897e+01] [-3.82722693e-02 9.99249386e-01 -5.99147488e-03 -1.67347657e-01] [-1.02419981e-01 2.04164205e-03 9.94739151e-01 -1.99044877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.129649246000003 meters 0.05837765089326405 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.17, Z:-2.00 [[ 9.94060227e-01 3.93720271e-02 1.01459886e-01 1.91688977e+01] [-3.89671181e-02 9.99222657e-01 -5.97043086e-03 -1.67141257e-01] [-1.01616084e-01 1.98136851e-03 9.94821715e-01 -1.99567243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.159649246000004 meters 0.058141722995388 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.17, Z:-2.00 [[ 9.94062665e-01 4.01973424e-02 1.01111783e-01 1.92017419e+01] [-3.97965693e-02 9.99189917e-01 -5.97848749e-03 -1.67834735e-01] [-1.01270193e-01 1.91908913e-03 9.94857108e-01 -1.99931065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189649246000002 meters 0.05819505906319066 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.17, Z:-2.00 [[ 9.94040894e-01 4.02414399e-02 1.01308084e-01 1.92335440e+01] [-3.98363266e-02 9.99188086e-01 -6.01955529e-03 -1.70183968e-01] [-1.01468067e-01 1.94794219e-03 9.94836890e-01 -2.00320672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.219649246000003 meters 0.05813618012560134 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.17, Z:-2.01 [[ 9.94018469e-01 4.05954936e-02 1.01386828e-01 1.92658485e+01] [-4.01888082e-02 9.99173779e-01 -6.05142858e-03 -1.72744666e-01] [-1.01548721e-01 1.94061598e-03 9.94828674e-01 -2.00639727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.249649246000004 meters 0.05813618012560134 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.17, Z:-2.01 [[ 9.94007107e-01 4.08770164e-02 1.01385112e-01 1.92979174e+01] [-4.04688736e-02 9.99162301e-01 -6.08004199e-03 -1.74829838e-01] [-1.01548716e-01 1.94066366e-03 9.94828675e-01 -2.00989614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.279649246 meters 0.057651958130202505 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.18, Z:-2.01 [[ 9.93868367e-01 4.21014451e-02 1.02240588e-01 1.93300114e+01] [-4.16897969e-02 9.99111609e-01 -6.16068712e-03 -1.76443282e-01] [-1.02409132e-01 1.86052270e-03 9.94740624e-01 -2.01148702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.309649246000003 meters 0.05759316716812335 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.18, Z:-2.01 [[ 9.93817787e-01 4.28246391e-02 1.02431718e-01 1.93608303e+01] [-4.24125864e-02 9.99080955e-01 -6.19826189e-03 -1.79844163e-01] [-1.02603017e-01 1.81554883e-03 9.94720727e-01 -2.01466682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.339649246000004 meters 0.057326658366731835 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.18, Z:-2.02 [[ 9.93771396e-01 4.27161712e-02 1.02925899e-01 1.93931378e+01] [-4.22981002e-02 9.99085536e-01 -6.24203211e-03 -1.80105505e-01] [-1.03098413e-01 1.84958297e-03 9.94669441e-01 -2.01734696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.369649246 meters 0.057181954243575604 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.18, Z:-2.02 [[ 9.93891341e-01 4.44032235e-02 1.01036412e-01 1.94233169e+01] [-4.40062517e-02 9.99012292e-01 -6.15553877e-03 -1.82257072e-01] [-1.01209943e-01 1.67170291e-03 9.94863686e-01 -2.02254635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.399649246000003 meters 0.0572991395302369 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.18, Z:-2.03 [[ 9.93957471e-01 4.44989816e-02 1.00341347e-01 1.94552861e+01] [-4.41057157e-02 9.99008029e-01 -6.13539922e-03 -1.84420699e-01] [-1.00514830e-01 1.67269896e-03 9.94934154e-01 -2.02691293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.429649246000004 meters 0.057513150826695766 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.19, Z:-2.03 [[ 9.94132718e-01 4.48634849e-02 9.84246238e-02 1.94860533e+01] [-4.44844272e-02 9.98991798e-01 -6.04349688e-03 -1.85625458e-01] [-9.85965242e-02 1.62967497e-03 9.95126158e-01 -2.03323896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.459649246000005 meters 0.057588724924348356 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.19, Z:-2.04 [[ 9.94214721e-01 4.56176827e-02 9.72425583e-02 1.95181193e+01] [-4.52492651e-02 9.98957758e-01 -5.99174487e-03 -1.87492608e-01] [-9.74145376e-02 1.55692666e-03 9.95242676e-01 -2.03806805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.489649246000003 meters 0.057622896429445215 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.19, Z:-2.04 [[ 9.94300274e-01 4.61198591e-02 9.61245245e-02 1.95506967e+01] [-4.57597310e-02 9.98934763e-01 -5.94871608e-03 -1.90480335e-01] [-9.62964830e-02 1.51617765e-03 9.95351540e-01 -2.04254638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.519649246000004 meters 0.057653783933378396 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.19, Z:-2.05 [[ 9.94336411e-01 4.57832926e-02 9.59113711e-02 1.95826936e+01] [-4.54206763e-02 9.98950159e-01 -5.96170349e-03 -1.93402663e-01] [-9.60836258e-02 1.57157951e-03 9.95372024e-01 -2.04622033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.549649246000005 meters 0.05719698336509372 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.20, Z:-2.05 [[ 9.94258855e-01 4.69523015e-02 9.61499375e-02 1.96139972e+01] [-4.65910219e-02 9.98896027e-01 -6.00032990e-03 -1.95437955e-01] [-9.63255198e-02 1.48615729e-03 9.95348776e-01 -2.04914859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.579649246000002 meters 0.057281706851368824 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.20, Z:-2.05 [[ 9.94214065e-01 4.72159842e-02 9.64833852e-02 1.96465553e+01] [-4.68523012e-02 9.98883611e-01 -6.03270698e-03 -1.98082017e-01] [-9.66605124e-02 1.47733350e-03 9.95316313e-01 -2.05195169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.609649246000004 meters 0.05714117064268047 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.20, Z:-2.06 [[ 9.94138635e-01 4.82861249e-02 9.67306799e-02 1.96774775e+01] [-4.79230659e-02 9.98832559e-01 -6.07441572e-03 -1.99595964e-01] [-9.69110626e-02 1.40318061e-03 9.95292056e-01 -2.05521996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.639649246000005 meters 0.057323126351076246 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.20, Z:-2.06 [[ 9.94017506e-01 4.81525211e-02 9.80333200e-02 1.97101311e+01] [-4.77768920e-02 9.98838933e-01 -6.17693733e-03 -2.02023568e-01] [-9.82169319e-02 1.45625650e-03 9.95163963e-01 -2.05806684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669649246000002 meters 0.05732468916421549 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.20, Z:-2.06 [[ 9.94061561e-01 4.92378564e-02 9.70425020e-02 1.97421007e+01] [-4.88725019e-02 9.98786154e-01 -6.13971877e-03 -2.03395039e-01] [-9.72270140e-02 1.36054856e-03 9.95261301e-01 -2.06264825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.699649246000003 meters 0.05731433316228875 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.21, Z:-2.07 [[ 9.94111282e-01 4.97816778e-02 9.62524966e-02 1.97748907e+01] [-4.94225828e-02 9.98759252e-01 -6.11271518e-03 -2.05892781e-01] [-9.64373727e-02 1.31967214e-03 9.95338180e-01 -2.06711752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.729649246000005 meters 0.05734213000044881 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.21, Z:-2.07 [[ 9.94247653e-01 4.91228784e-02 9.51763968e-02 1.98052448e+01] [-4.87664095e-02 9.98791772e-01 -6.06913628e-03 -2.09582391e-01] [-9.53595354e-02 1.39281336e-03 9.95441922e-01 -2.07137006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.759649246000002 meters 0.05759187838648649 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.21, Z:-2.08 [[ 9.94239113e-01 4.89680994e-02 9.53452272e-02 1.98372641e+01] [-4.86078069e-02 9.98799320e-01 -6.09911584e-03 -2.12108019e-01] [-9.55294102e-02 1.42945713e-03 9.95425582e-01 -2.07571276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.789649246000003 meters 0.05711355962713173 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.21, Z:-2.08 [[ 9.94378282e-01 5.14492421e-02 9.25462451e-02 1.98687306e+01] [-5.11183350e-02 9.98674914e-01 -5.94411264e-03 -2.13968103e-01] [-9.27294335e-02 1.17988655e-03 9.95690645e-01 -2.07937915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.819649246000004 meters 0.057686330777403164 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.22, Z:-2.08 [[ 9.94312325e-01 5.01811783e-02 9.39406713e-02 1.99004513e+01] [-4.98331274e-02 9.98739242e-01 -6.04870280e-03 -2.16743928e-01] [-9.41257658e-02 1.33294230e-03 9.95559422e-01 -2.08355516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849649246000002 meters 0.05732292248724439 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.22, Z:-2.09 [[ 9.94345845e-01 5.14735500e-02 9.28806493e-02 1.99326407e+01] [-5.11377475e-02 9.98673625e-01 -5.99339106e-03 -2.18464543e-01] [-9.30659559e-02 1.20979630e-03 9.95659211e-01 -2.08770060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.879649246000003 meters 0.0572979688128851 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.22, Z:-2.09 [[ 9.94326189e-01 5.16872083e-02 9.29723793e-02 1.99647231e+01] [-5.13495191e-02 9.98662585e-01 -6.02231988e-03 -2.20984923e-01] [-9.31593135e-02 1.21406340e-03 9.95650475e-01 -2.09128015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.909649246000004 meters 0.05729109217104705 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.22, Z:-2.09 [[ 9.94309503e-01 5.20071363e-02 9.29724127e-02 1.99966715e+01] [-5.16686840e-02 9.98645984e-01 -6.04538771e-03 -2.23681535e-01] [-9.31609299e-02 1.20722424e-03 9.95650332e-01 -2.09476580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.939649246000002 meters 0.057256065010353345 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.23, Z:-2.10 [[ 9.94188028e-01 5.22099550e-02 9.41503307e-02 2.00288017e+01] [-5.18616586e-02 9.98635378e-01 -6.14408961e-03 -2.25746180e-01] [-9.43426338e-02 1.22558802e-03 9.95539033e-01 -2.09718136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.969649246000003 meters 0.057134120903011947 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.23, Z:-2.10 [[ 9.94213739e-01 5.31580359e-02 9.33448719e-02 2.00606706e+01] [-5.28179333e-02 9.98585454e-01 -6.11202772e-03 -2.28606906e-01] [-9.35377346e-02 1.14637871e-03 9.95615075e-01 -2.10105179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.999649246000004 meters 0.05687869314069374 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.23, Z:-2.10 [[ 9.94162439e-01 5.50063097e-02 9.28189147e-02 2.00918816e+01] [-5.46768337e-02 9.98485526e-01 -6.09088916e-03 -2.29782598e-01] [-9.30133802e-02 9.80288861e-04 9.95664376e-01 -2.10477219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029649246 meters 0.05672135278639277 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.23, Z:-2.11 [[ 9.94136649e-01 5.61564075e-02 9.24055298e-02 2.01245663e+01] [-5.58332262e-02 9.98421591e-01 -6.08094925e-03 -2.30908454e-01] [-9.26011603e-02 8.85995663e-04 9.95702887e-01 -2.10975531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.059649246000003 meters 0.05656971781347617 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.23, Z:-2.11 [[ 9.94082699e-01 5.72822066e-02 9.22948383e-02 2.01564575e+01] [-5.69625913e-02 9.98357704e-01 -6.09574485e-03 -2.30992551e-01] [-9.24924406e-02 8.02321339e-04 9.95713063e-01 -2.11443072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.089649246000004 meters 0.05652712323319453 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.23, Z:-2.12 [[ 9.94086339e-01 5.88159521e-02 9.12854515e-02 2.01887583e+01] [-5.85079429e-02 9.98268617e-01 -6.04885425e-03 -2.32222743e-01] [-9.14831706e-02 6.72159396e-04 9.95806396e-01 -2.11885856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.119649246000005 meters 0.0565924674799074 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.23, Z:-2.12 [[ 9.94111535e-01 5.87995936e-02 9.10212245e-02 2.02197764e+01] [-5.84911982e-02 9.98269565e-01 -6.05430129e-03 -2.34144513e-01] [-9.12197087e-02 6.94710262e-04 9.95830549e-01 -2.12362370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.149649246000003 meters 0.05654978810160963 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.24, Z:-2.13 [[ 9.94124665e-01 5.92607338e-02 9.05776740e-02 2.02525438e+01] [-5.89563298e-02 9.98242321e-01 -6.03494002e-03 -2.36800538e-01] [-9.07761025e-02 6.59355505e-04 9.95871108e-01 -2.12799034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.179649246000004 meters 0.05657342811720638 Centerline is valid? [True, True] Translation: X:20.28, Y:-0.24, Z:-2.13 [[ 9.94141253e-01 5.93441473e-02 9.03406978e-02 2.02847681e+01] [-5.90397875e-02 9.98237358e-01 -6.03998461e-03 -2.41893651e-01] [-9.05398972e-02 6.70902266e-04 9.95892603e-01 -2.13082381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.209649246000005 meters 0.05654265375706819 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.25, Z:-2.13 [[ 9.94164311e-01 5.91312185e-02 9.02264969e-02 2.03172705e+01] [-5.88248725e-02 9.98249966e-01 -6.05307821e-03 -2.45683324e-01] [-9.04265234e-02 7.10192154e-04 9.95902877e-01 -2.13427828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.239649246000003 meters 0.05639144617559519 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.25, Z:-2.14 [[ 9.94107274e-01 6.04115733e-02 9.00064977e-02 2.03477913e+01] [-6.01099046e-02 9.98173363e-01 -6.06100599e-03 -2.47180575e-01] [-9.02082435e-02 6.15008156e-04 9.95922735e-01 -2.13735505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.269649246000004 meters 0.05643406715604048 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.25, Z:-2.14 [[ 9.94100127e-01 6.03325627e-02 9.01383316e-02 2.03807360e+01] [-6.00289417e-02 9.98178132e-01 -6.07805868e-03 -2.48917960e-01] [-9.03408163e-02 6.31290251e-04 9.95910708e-01 -2.14178923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.299649246000005 meters 0.056437056777286825 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.25, Z:-2.15 [[ 9.94137206e-01 6.06552860e-02 8.95106270e-02 2.04112192e+01] [-6.03551869e-02 9.98158580e-01 -6.05802115e-03 -2.49886924e-01] [-8.97132514e-02 6.20073596e-04 9.95967443e-01 -2.14670920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.329649246000002 meters 0.056449939667441086 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.25, Z:-2.15 [[ 9.94113941e-01 6.06720261e-02 8.97573299e-02 2.04436927e+01] [-6.03696330e-02 9.98157558e-01 -6.08248626e-03 -2.51944246e-01] [-8.99609940e-02 6.28067325e-04 9.95945091e-01 -2.15049099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.359649246000004 meters 0.05660612640311225 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.25, Z:-2.16 [[ 9.94074058e-01 6.09476110e-02 9.00119720e-02 2.04747468e+01] [-6.06427594e-02 9.98140770e-01 -6.12031325e-03 -2.53468516e-01] [-9.02176376e-02 6.25470267e-04 9.95921878e-01 -2.15555612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.389649246000005 meters 0.056024822367952073 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.25, Z:-2.15 [[ 9.94135934e-01 6.27038408e-02 8.81020566e-02 2.05072022e+01] [-6.24171664e-02 9.98032066e-01 -6.00775661e-03 -2.51930036e-01] [-8.83053870e-02 4.73446005e-04 9.96093336e-01 -2.15159219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.419649246000002 meters 0.0560201990782963 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.25, Z:-2.15 [[ 9.94080799e-01 6.31949192e-02 8.83728917e-02 2.05388573e+01] [-6.29065211e-02 9.98001101e-01 -6.04749017e-03 -2.54477420e-01] [-8.85784138e-02 4.52462685e-04 9.96069104e-01 -2.15498388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.449649246000003 meters 0.0560560470203539 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.26, Z:-2.16 [[ 9.94070356e-01 6.36333533e-02 8.81755285e-02 2.05716947e+01] [-6.33459753e-02 9.97973250e-01 -6.05642166e-03 -2.57674045e-01] [-8.83822092e-02 4.34944385e-04 9.96086540e-01 -2.15810892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.479649246000005 meters 0.056021918795579745 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.26, Z:-2.16 [[ 9.94026374e-01 6.39584774e-02 8.84357490e-02 2.06041375e+01] [-6.36685128e-02 9.97952467e-01 -6.09865821e-03 -2.59948515e-01] [-8.86447348e-02 4.31654486e-04 9.96063213e-01 -2.16222239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509649246000002 meters 0.056030994364639444 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.26, Z:-2.17 [[ 9.93948743e-01 6.41428180e-02 8.91717125e-02 2.06355973e+01] [-6.38464847e-02 9.97940630e-01 -6.17450188e-03 -2.61734442e-01] [-8.93841249e-02 4.43838002e-04 9.95997129e-01 -2.16515889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.539649246000003 meters 0.05602863330950451 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.26, Z:-2.17 [[ 9.93845798e-01 6.50120972e-02 8.96881120e-02 2.06670035e+01] [-6.47139128e-02 9.97884400e-01 -6.23167656e-03 -2.62166120e-01] [-8.99035022e-02 3.89256897e-04 9.95950405e-01 -2.16977298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.569649246000004 meters 0.0560936456598818 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.26, Z:-2.17 [[ 9.93826287e-01 6.56037493e-02 8.94732277e-02 2.06981641e+01] [-6.53075177e-02 9.97845690e-01 -6.23751473e-03 -2.64004463e-01] [-8.96896790e-02 3.55731701e-04 9.95969696e-01 -2.17436529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.599649246000002 meters 0.0562123846490022 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.27, Z:-2.18 [[ 9.93850510e-01 6.60893282e-02 8.88446131e-02 2.07308340e+01] [-6.57972497e-02 9.97813655e-01 -6.21539129e-03 -2.67319208e-01] [-8.90611392e-02 3.31438609e-04 9.96026106e-01 -2.17640468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.629649246000003 meters 0.056154920663467146 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.27, Z:-2.18 [[ 9.93846475e-01 6.58408535e-02 8.90739401e-02 2.07631365e+01] [-6.55440476e-02 9.97830065e-01 -6.25617895e-03 -2.70603277e-01] [-8.92925676e-02 3.79414821e-04 9.96005368e-01 -2.18010415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.659649246000004 meters 0.056265862568787586 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.27, Z:-2.18 [[ 9.93979662e-01 6.52729107e-02 8.79993123e-02 2.07936755e+01] [-6.49788263e-02 9.97867348e-01 -6.20544099e-03 -2.74731215e-01] [-8.82166876e-02 4.49990104e-04 9.96101206e-01 -2.18461465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689649246000002 meters 0.0564232567720171 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.28, Z:-2.19 [[ 9.94003876e-01 6.51829609e-02 8.77922288e-02 2.08256176e+01] [-6.48881175e-02 9.97873215e-01 -6.21114672e-03 -2.76717824e-01] [-8.80103745e-02 4.77231464e-04 9.96119444e-01 -2.18970514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.719649246000003 meters 0.05634743968670143 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.28, Z:-2.19 [[ 9.93991133e-01 6.55389145e-02 8.76714191e-02 2.08577603e+01] [-6.52451398e-02 9.97849909e-01 -6.21535957e-03 -2.79086874e-01] [-8.78902655e-02 4.57878302e-04 9.96130058e-01 -2.19351552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.749649246000004 meters 0.056231584354272106 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.28, Z:-2.20 [[ 9.93912534e-01 6.50234176e-02 8.89372192e-02 2.08882325e+01] [-6.47167507e-02 9.97883594e-01 -6.33044341e-03 -2.81738183e-01] [-8.91606190e-02 5.36179209e-04 9.96017117e-01 -2.19621172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.779649246 meters 0.05637699321157419 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.28, Z:-2.20 [[ 9.93712121e-01 6.55558459e-02 9.07670202e-02 2.09194680e+01] [-6.52367754e-02 9.97848767e-01 -6.48082921e-03 -2.84579368e-01] [-9.09966154e-02 5.18730836e-04 9.95851067e-01 -2.19873249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.809649246000003 meters 0.056251105662394545 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.29, Z:-2.20 [[ 9.93638452e-01 6.54924667e-02 9.16153054e-02 2.09511944e+01] [-6.51653150e-02 9.97852913e-01 -6.56097794e-03 -2.87942057e-01] [-9.18482940e-02 5.49099726e-04 9.95772860e-01 -2.20070219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.839649246000004 meters 0.05625182580495156 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.29, Z:-2.20 [[ 9.93639391e-01 6.59859117e-02 9.12503175e-02 2.09822194e+01] [-6.56614006e-02 9.97820417e-01 -6.55708290e-03 -2.90904558e-01] [-9.14841050e-02 5.23752203e-04 9.95806399e-01 -2.20478192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869649246000005 meters 0.056427065631255664 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.29, Z:-2.21 [[ 9.93599879e-01 6.61692456e-02 9.15473137e-02 2.10150267e+01] [-6.58423124e-02 9.97808278e-01 -6.59011530e-03 -2.92907781e-01] [-9.17827305e-02 5.20250943e-04 9.95778921e-01 -2.20872005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.899649246000003 meters 0.05634130216937082 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.29, Z:-2.21 [[ 9.93537448e-01 6.69667888e-02 9.16449009e-02 2.10482580e+01] [-6.66403828e-02 9.97755094e-01 -6.62054052e-03 -2.93805140e-01] [-9.18825230e-02 4.70503662e-04 9.95769743e-01 -2.20960714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.929649246000004 meters 0.05627044737912591 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.30, Z:-2.21 [[ 9.93576362e-01 6.65024922e-02 9.15610787e-02 2.10796174e+01] [-6.61721123e-02 9.97786112e-01 -6.64274060e-03 -2.96540710e-01] [-9.18001316e-02 5.41280054e-04 9.95777306e-01 -2.21317271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.959649246000005 meters 0.05658938505597909 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.30, Z:-2.22 [[ 9.93560129e-01 6.69025091e-02 9.14457415e-02 2.11101700e+01] [-6.65732597e-02 9.97759382e-01 -6.64951332e-03 -3.00102161e-01] [-9.16857157e-02 5.18850218e-04 9.95787859e-01 -2.22120145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.989649246000003 meters 0.05681250059265898 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.30, Z:-2.23 [[ 9.93559888e-01 6.66314407e-02 9.16460557e-02 2.11419350e+01] [-6.62972750e-02 9.97777493e-01 -6.68919912e-03 -3.02568183e-01] [-9.18880827e-02 5.70236169e-04 9.95769178e-01 -2.22580180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.019649246000004 meters 0.05671024754866261 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.31, Z:-2.22 [[ 9.93674678e-01 6.51187638e-02 9.14886956e-02 2.11741604e+01] [-6.47773931e-02 9.97877254e-01 -6.69894765e-03 -3.06280108e-01] [-9.17307155e-02 7.30175450e-04 9.95783582e-01 -2.22478721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.049649246000005 meters 0.0568424576258709 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.31, Z:-2.23 [[ 9.93709299e-01 6.47954138e-02 9.13421259e-02 2.12065494e+01] [-6.44517493e-02 9.97898264e-01 -6.71024718e-03 -3.09427938e-01] [-9.15849421e-02 7.80875221e-04 9.95796962e-01 -2.22770593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.079649246000002 meters 0.05672483840293471 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.31, Z:-2.23 [[ 9.93622264e-01 6.49585396e-02 9.21693244e-02 2.12376814e+01] [-6.46067190e-02 9.97887642e-01 -6.79889484e-03 -3.11455036e-01] [-9.24162761e-02 8.00775643e-04 9.95720137e-01 -2.23095980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.109649246000004 meters 0.056875336292715066 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.31, Z:-2.24 [[ 9.93535466e-01 6.55984050e-02 9.26505654e-02 2.12685504e+01] [-6.52435070e-02 9.97845809e-01 -6.85754523e-03 -3.12998390e-01] [-9.29008224e-02 7.68366586e-04 9.95675071e-01 -2.23700282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.139649246000005 meters 0.056858565462993726 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.31, Z:-2.24 [[ 9.93513190e-01 6.56440581e-02 9.28568763e-02 2.13013945e+01] [-6.52867206e-02 9.97842800e-01 -6.88406459e-03 -3.14609354e-01] [-9.31084634e-02 7.77088029e-04 9.95655668e-01 -2.23982417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169649246000002 meters 0.056858565462993726 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.32, Z:-2.24 [[ 9.93495195e-01 6.59185185e-02 9.28549794e-02 2.13334334e+01] [-6.55599953e-02 9.97824707e-01 -6.90954968e-03 -3.17167509e-01] [-9.31084599e-02 7.77032390e-04 9.95655669e-01 -2.24332275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.199649246000003 meters 0.05687104280924326 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.32, Z:-2.25 [[ 9.93373626e-01 6.63818196e-02 9.38205414e-02 2.13651890e+01] [-6.60153214e-02 9.97793999e-01 -7.00808251e-03 -3.18883157e-01] [-9.40787824e-02 7.68051144e-04 9.95564459e-01 -2.24673054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.229649246000005 meters 0.0568856582162673 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.32, Z:-2.25 [[ 9.93283254e-01 6.70786345e-02 9.42806180e-02 2.13974855e+01] [-6.67094608e-02 9.97747426e-01 -7.06555229e-03 -3.21204259e-01] [-9.45421915e-02 7.28685571e-04 9.95520589e-01 -2.24870090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.259649246000002 meters 0.05676438995256897 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.32, Z:-2.25 [[ 9.93236857e-01 6.71682737e-02 9.47046360e-02 2.14290448e+01] [-6.67937683e-02 9.97741381e-01 -7.12249834e-03 -3.24836249e-01] [-9.49691401e-02 7.48648363e-04 9.95479935e-01 -2.25131817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.289649246000003 meters 0.05694869984690766 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.33, Z:-2.26 [[ 9.93265404e-01 6.66989932e-02 9.47369022e-02 2.14605555e+01] [-6.63205594e-02 9.97772814e-01 -7.14109061e-03 -3.28512152e-01] [-9.50022090e-02 8.09993899e-04 9.95476732e-01 -2.25570450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.319649246000004 meters 0.0569736609978015 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.33, Z:-2.26 [[ 9.93286713e-01 6.67529539e-02 9.44751233e-02 2.14925603e+01] [-6.63744545e-02 9.97769191e-01 -7.14661203e-03 -3.30842724e-01] [-9.47414248e-02 8.27899997e-04 9.95501571e-01 -2.25967885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349649246000002 meters 0.05703215978885672 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.33, Z:-2.27 [[ 9.93280687e-01 6.70972942e-02 9.42943841e-02 2.15240122e+01] [-6.67194026e-02 9.97746101e-01 -7.15811085e-03 -3.33106612e-01] [-9.45621440e-02 8.18748284e-04 9.95518624e-01 -2.26520910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.379649246000003 meters 0.05721440262170983 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.34, Z:-2.27 [[ 9.93300753e-01 6.69754402e-02 9.41695493e-02 2.15568231e+01] [-6.65956587e-02 9.97754259e-01 -7.17336786e-03 -3.35399215e-01] [-9.44385084e-02 8.54028533e-04 9.95530330e-01 -2.26898105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.409649246000004 meters 0.057560143130228225 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.34, Z:-2.27 [[ 9.93402596e-01 6.45907185e-02 9.47592793e-02 2.15872757e+01] [-6.41926865e-02 9.97911216e-01 -7.24595048e-03 -3.41889964e-01] [-9.50293688e-02 1.11529331e-03 9.95473845e-01 -2.27324784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.439649246000002 meters 0.05765589633522363 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.35, Z:-2.27 [[ 9.93601655e-01 6.23561401e-02 9.41672106e-02 2.16184974e+01] [-6.19510531e-02 9.98053060e-01 -7.22191506e-03 -3.48236076e-01] [-9.44342034e-02 1.34194889e-03 9.95530201e-01 -2.27456740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.469649246000003 meters 0.05794956266349596 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.35, Z:-2.28 [[ 9.93900773e-01 6.21876950e-02 9.10710962e-02 2.16484314e+01] [-6.18063545e-02 9.98063582e-01 -7.00430947e-03 -3.50830414e-01] [-9.13303264e-02 1.33281613e-03 9.95819760e-01 -2.28199293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.499649246000004 meters 0.05820991216996602 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.35, Z:-2.29 [[ 9.94042252e-01 6.18738265e-02 8.97308841e-02 2.16792164e+01] [-6.15005871e-02 9.98083051e-01 -6.92108827e-03 -3.53934931e-01] [-8.99871087e-02 1.36135211e-03 9.95942000e-01 -2.28684409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529649246 meters 0.05834911955177224 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.36, Z:-2.29 [[ 9.94178095e-01 6.12589095e-02 8.86411990e-02 2.17108033e+01] [-6.08905687e-02 9.98120901e-01 -6.85604884e-03 -3.57766515e-01] [-8.88946275e-02 1.41872055e-03 9.96040026e-01 -2.29196381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.559649246000003 meters 0.05842772882016678 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.36, Z:-2.29 [[ 9.94287511e-01 6.03255020e-02 8.80521361e-02 2.17421237e+01] [-5.99565736e-02 9.98177612e-01 -6.83110231e-03 -3.60802731e-01] [-8.83037606e-02 1.51277534e-03 9.96092444e-01 -2.29479473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.589649246000004 meters 0.05849455069468835 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.36, Z:-2.30 [[ 9.94271464e-01 6.00836640e-02 8.83980191e-02 2.17746018e+01] [-5.97089969e-02 9.98192123e-01 -6.87898161e-03 -3.63772665e-01] [-8.86515208e-02 1.56141806e-03 9.96061479e-01 -2.29886233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.619649246000005 meters 0.058807684613595194 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.37, Z:-2.30 [[ 9.94226395e-01 6.06900567e-02 8.84906366e-02 2.18056737e+01] [-6.03146841e-02 9.98155479e-01 -6.91216282e-03 -3.68900078e-01] [-8.87469133e-02 1.53496993e-03 9.96053025e-01 -2.30442086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.649649246000003 meters 0.05849135332095715 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.37, Z:-2.31 [[ 9.94132600e-01 6.09342581e-02 8.93722035e-02 2.18375855e+01] [-6.05500891e-02 9.98140573e-01 -7.00595703e-03 -3.69598828e-01] [-8.96329252e-02 1.55335538e-03 9.95973657e-01 -2.30551219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.679649246000004 meters 0.05825835718317897 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.37, Z:-2.31 [[ 9.94017719e-01 6.16918242e-02 9.01270968e-02 2.18697302e+01] [-6.13021676e-02 9.98094087e-01 -7.08781475e-03 -3.71526180e-01] [-9.03925827e-02 1.52042705e-03 9.95905050e-01 -2.30611902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.709649246000005 meters 0.05820325530382931 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.37, Z:-2.31 [[ 9.93961194e-01 6.21337950e-02 9.04463161e-02 2.19020802e+01] [-6.17411660e-02 9.98066690e-01 -7.13514953e-03 -3.73265460e-01] [-9.07147892e-02 1.50780073e-03 9.95875772e-01 -2.30990558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.739649246000003 meters 0.0582349725594406 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.38, Z:-2.31 [[ 9.93915915e-01 6.28209076e-02 9.04692612e-02 2.19335094e+01] [-6.24284983e-02 9.98023730e-01 -7.16352240e-03 -3.75437592e-01] [-9.07404886e-02 1.47207880e-03 9.95873484e-01 -2.31453426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.769649246000004 meters 0.05818649548307145 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.38, Z:-2.32 [[ 9.93830621e-01 6.28153169e-02 9.14053180e-02 2.19659208e+01] [-6.24121422e-02 9.98024017e-01 -7.26540663e-03 -3.75898020e-01] [-9.16810814e-02 1.51578188e-03 9.95787267e-01 -2.31865183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.799649246000005 meters 0.058488207601449974 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.38, Z:-2.32 [[ 9.93765779e-01 6.30689157e-02 9.19341547e-02 2.19973917e+01] [-6.26616028e-02 9.98008037e-01 -7.31314990e-03 -3.79455510e-01] [-9.22122577e-02 1.50681662e-03 9.95738233e-01 -2.32274413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.829649246000002 meters 0.058359122467361045 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.38, Z:-2.33 [[ 9.93644252e-01 6.45442040e-02 9.22233524e-02 2.20295756e+01] [-6.41382892e-02 9.97913867e-01 -7.36162613e-03 -3.80185894e-01] [-9.25061125e-02 1.39978944e-03 9.95711133e-01 -2.32630175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.859649246000004 meters 0.058220900205895224 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.38, Z:-2.33 [[ 9.93484182e-01 6.60941718e-02 9.28479398e-02 2.20605495e+01] [-6.56872711e-02 9.97812559e-01 -7.43505868e-03 -3.81547453e-01] [-9.31362544e-02 1.28768541e-03 9.95652540e-01 -2.32999433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.889649246000005 meters 0.057976092710652884 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.38, Z:-2.33 [[ 9.93449631e-01 6.74281183e-02 9.22565966e-02 2.20917695e+01] [-6.70300632e-02 9.97723440e-01 -7.41001292e-03 -3.84592472e-01] [-9.25462121e-02 1.17750910e-03 9.95707694e-01 -2.33281873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.919649246000002 meters 0.05765074944569212 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.39, Z:-2.33 [[ 9.93248146e-01 6.97278433e-02 9.27154211e-02 2.21238454e+01] [-6.93347601e-02 9.97565571e-01 -7.45802521e-03 -3.85320131e-01] [-9.30097440e-02 9.79268224e-04 9.95664717e-01 -2.33484377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.949649246000003 meters 0.057621502049990045 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.39, Z:-2.34 [[ 9.93163678e-01 7.10622440e-02 9.26070523e-02 2.21555855e+01] [-7.06737205e-02 9.97471498e-01 -7.47233377e-03 -3.86006684e-01] [-9.29038960e-02 8.76365561e-04 9.95674695e-01 -2.33915601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.979649246000005 meters 0.057927911434499955 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.38, Z:-2.35 [[ 9.93052760e-01 7.42602700e-02 9.12777519e-02 2.21869311e+01] [-7.38943078e-02 9.97238719e-01 -7.38701610e-03 -3.84203294e-01] [-9.15742702e-02 5.90790435e-04 9.95798074e-01 -2.34558949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009649246000002 meters 0.057905301191018256 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.38, Z:-2.35 [[ 9.92991274e-01 7.62561918e-02 9.02957499e-02 2.22182794e+01] [-7.59040361e-02 9.97088166e-01 -7.33258162e-03 -3.84438412e-01] [-9.05919785e-02 4.27377704e-04 9.95888001e-01 -2.35048516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.039649246000003 meters 0.058118049320423366 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.38, Z:-2.36 [[ 9.93062210e-01 7.72604024e-02 8.86469217e-02 2.22499047e+01] [-7.69237847e-02 9.97010889e-01 -7.21242008e-03 -3.83940863e-01] [-8.89391807e-02 3.43325113e-04 9.96036999e-01 -2.35679374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.069649246000004 meters 0.05794009323149355 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.39, Z:-2.36 [[ 9.93205279e-01 7.40062682e-02 8.98128399e-02 2.22825476e+01] [-7.36455083e-02 9.97257555e-01 -7.32860075e-03 -3.92272155e-01] [-9.01088955e-02 6.64492702e-04 9.95931697e-01 -2.35760201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.099649246000002 meters 0.05837700345255996 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.40, Z:-2.36 [[ 9.93677682e-01 6.91341394e-02 8.84597893e-02 2.23139942e+01] [-6.87624527e-02 9.97606747e-01 -7.24588302e-03 -3.98970261e-01] [-8.87490205e-02 1.11736017e-03 9.96053394e-01 -2.36007279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.129649246000003 meters 0.0588926439040318 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.40, Z:-2.37 [[ 9.93846213e-01 6.91005058e-02 8.65726573e-02 2.23437320e+01] [-6.87441771e-02 9.97609098e-01 -7.09407799e-03 -4.02990476e-01] [-8.68558749e-02 1.09905646e-03 9.96220281e-01 -2.36951242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.159649246000004 meters 0.05912736794865127 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.41, Z:-2.37 [[ 9.93750266e-01 6.96968481e-02 8.71938013e-02 2.23745041e+01] [-6.93358897e-02 9.97567639e-01 -7.16520403e-03 -4.05723790e-01] [-8.74811066e-02 1.07476362e-03 9.96165599e-01 -2.37414944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.189649246000002 meters 0.05857881741927871 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.41, Z:-2.37 [[ 9.93570514e-01 7.04160881e-02 8.86521810e-02 2.24065632e+01] [-7.00440639e-02 9.97517156e-01 -7.30426877e-03 -4.10139538e-01] [-8.89464095e-02 1.04774703e-03 9.96035862e-01 -2.36994063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.219649246000003 meters 0.05866618553498952 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.41, Z:-2.37 [[ 9.93458529e-01 7.04987886e-02 8.98335800e-02 2.24369538e+01] [-7.01150280e-02 9.97511283e-01 -7.42444557e-03 -4.14661384e-01] [-9.01334241e-02 1.07719479e-03 9.95929117e-01 -2.37401631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.249649246000004 meters 0.058432532236092884 Centerline is valid? [True, True] Translation: X:22.47, Y:-0.42, Z:-2.37 [[ 9.93283837e-01 7.01629763e-02 9.20020415e-02 2.24693541e+01] [-6.97570061e-02 9.97534872e-01 -7.62492752e-03 -4.17063090e-01] [-9.23102323e-02 1.15593030e-03 9.95729624e-01 -2.37408515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.279649246000005 meters 0.05822278920122304 Centerline is valid? [True, True] Translation: X:22.50, Y:-0.42, Z:-2.38 [[ 9.93153640e-01 7.04225912e-02 9.32014311e-02 2.25015169e+01] [-7.00049096e-02 9.97516561e-01 -7.74741569e-03 -4.19510743e-01] [-9.35155641e-02 1.16981634e-03 9.95617131e-01 -2.37636229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.309649246000003 meters 0.05848649128281614 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.42, Z:-2.38 [[ 9.93316568e-01 7.05214657e-02 9.13724197e-02 2.25330168e+01] [-7.01184350e-02 9.97509588e-01 -7.61756122e-03 -4.22969804e-01] [-9.16820663e-02 1.15975869e-03 9.95787655e-01 -2.38263691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.339649246000004 meters 0.0586149231961063 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.43, Z:-2.39 [[ 9.93390128e-01 7.03781491e-02 9.06805959e-02 2.25649930e+01] [-6.99785667e-02 9.97519678e-01 -7.58234266e-03 -4.26144645e-01] [-9.09893101e-02 1.18652622e-03 9.95851162e-01 -2.38703073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.369649246000005 meters 0.058933888722554936 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.43, Z:-2.39 [[ 9.93506205e-01 7.03819263e-02 8.93968946e-02 2.25947933e+01] [-6.99915945e-02 9.97519405e-01 -7.49750679e-03 -4.29192579e-01] [-8.97028261e-02 1.19178833e-03 9.95967862e-01 -2.39367809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.399649246000003 meters 0.05885408655109896 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.43, Z:-2.40 [[ 9.93590410e-01 7.11815189e-02 8.78139441e-02 2.26266629e+01] [-7.08063066e-02 9.97462751e-01 -7.38432170e-03 -4.30366783e-01] [-8.81167655e-02 1.11921018e-03 9.96109524e-01 -2.39666758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.429649246000004 meters 0.05911124673852958 Centerline is valid? [True, True] Translation: X:22.66, Y:-0.43, Z:-2.40 [[ 9.93703449e-01 7.05147877e-02 8.70696274e-02 2.26578730e+01] [-7.01413691e-02 9.97510023e-01 -7.34454770e-03 -4.33133278e-01] [-8.73707253e-02 1.19111950e-03 9.96175154e-01 -2.40099154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.459649246000005 meters 0.05916389533205883 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.44, Z:-2.41 [[ 9.93624459e-01 7.15390706e-02 8.71355062e-02 2.26882112e+01] [-7.11670247e-02 9.97437164e-01 -7.37278420e-03 -4.35762370e-01] [-8.74396343e-02 1.12460398e-03 9.96169185e-01 -2.40582366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.489649246000003 meters 0.0590778856119913 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.44, Z:-2.41 [[ 9.93619090e-01 7.29275195e-02 8.60388365e-02 2.27210628e+01] [-7.25683612e-02 9.97336733e-01 -7.29885607e-03 -4.37146493e-01] [-8.63419796e-02 1.00858537e-03 9.96265048e-01 -2.40948147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.519649246000004 meters 0.05923416530040447 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.44, Z:-2.41 [[ 9.93659399e-01 7.19714800e-02 8.63776881e-02 2.27525357e+01] [-7.16035304e-02 9.97406058e-01 -7.35455289e-03 -4.41212642e-01] [-8.66829475e-02 1.12297320e-03 9.96235316e-01 -2.41391922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.549649246000005 meters 0.059309828191612735 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.45, Z:-2.42 [[ 9.93780094e-01 6.98051959e-02 8.67661135e-02 2.27845223e+01] [-6.94244685e-02 9.97559753e-01 -7.40149769e-03 -4.46165704e-01] [-8.70710458e-02 1.33176976e-03 9.96201214e-01 -2.41636223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.579649246000002 meters 0.05942119109994335 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.45, Z:-2.42 [[ 9.93853110e-01 7.00784156e-02 8.57030451e-02 2.28156283e+01] [-6.97062038e-02 9.97540622e-01 -7.33158146e-03 -4.48834818e-01] [-8.60060546e-02 1.31248110e-03 9.96293750e-01 -2.42228594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.609649246000004 meters 0.05956435128798518 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.45, Z:-2.43 [[ 9.93850408e-01 7.06851553e-02 8.52348194e-02 2.28476023e+01] [-7.03174815e-02 9.97497863e-01 -7.31196081e-03 -4.52332687e-01] [-8.55383973e-02 1.27349741e-03 9.96334061e-01 -2.42569402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.639649246000005 meters 0.059536694155822946 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.46, Z:-2.43 [[ 9.93846889e-01 7.11067463e-02 8.49246201e-02 2.28796074e+01] [-7.07413935e-02 9.97467922e-01 -7.30747659e-03 -4.55319235e-01] [-8.52291953e-02 1.25482691e-03 9.96360582e-01 -2.42928299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.669649246000002 meters 0.05929808510149023 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.46, Z:-2.43 [[ 9.93843010e-01 7.12133526e-02 8.48806860e-02 2.29118235e+01] [-7.08469111e-02 9.97460302e-01 -7.32539748e-03 -4.58494978e-01] [-8.51867808e-02 1.26676066e-03 9.96364194e-01 -2.43076901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.699649246000003 meters 0.05940595781239192 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.46, Z:-2.43 [[ 9.93782104e-01 7.13566496e-02 8.54713898e-02 2.29422840e+01] [-7.09833579e-02 9.97450032e-01 -7.40249708e-03 -4.61879642e-01] [-8.57816579e-02 1.28942287e-03 9.96313126e-01 -2.43451804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.729649246000005 meters 0.059734686917922386 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.46, Z:-2.44 [[ 9.93763993e-01 7.06954092e-02 8.62281027e-02 2.29745004e+01] [-7.03112995e-02 9.97496998e-01 -7.48735779e-03 -4.64377667e-01] [-8.65415954e-02 1.37785661e-03 9.96247285e-01 -2.43847230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.759649246000002 meters 0.05980147604038992 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.47, Z:-2.44 [[ 9.93698192e-01 7.08686366e-02 8.68420335e-02 2.30066522e+01] [-7.04774739e-02 9.97484678e-01 -7.56593020e-03 -4.67174758e-01] [-8.71597849e-02 1.39784401e-03 9.96193364e-01 -2.44166233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.789649246000003 meters 0.059851809044504795 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.47, Z:-2.45 [[ 9.93683234e-01 7.16610049e-02 8.63616233e-02 2.30378183e+01] [-7.12753713e-02 9.97428143e-01 -7.54457316e-03 -4.70202603e-01] [-8.66801653e-02 1.34145910e-03 9.96235288e-01 -2.44652123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.819649246000004 meters 0.059624549413096715 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.47, Z:-2.45 [[ 9.93517566e-01 7.29610749e-02 8.71752739e-02 2.30701569e+01] [-7.25711027e-02 9.97333990e-01 -7.63857229e-03 -4.69813304e-01] [-8.75001821e-02 1.26265000e-03 9.96163703e-01 -2.44859531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.849649246000002 meters 0.05950916099624911 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.47, Z:-2.45 [[ 9.93542934e-01 7.40415275e-02 8.59667981e-02 2.31017977e+01] [-7.36645498e-02 9.97254470e-01 -7.55351295e-03 -4.70861706e-01] [-8.62900473e-02 1.17203394e-03 9.96269368e-01 -2.45248616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.879649246000003 meters 0.05962476608497454 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.47, Z:-2.46 [[ 9.93515406e-01 7.53586806e-02 8.51364072e-02 2.31332438e+01] [-7.49919909e-02 9.97155920e-01 -7.50156291e-03 -4.70868851e-01] [-8.54595803e-02 1.06836965e-03 9.96341065e-01 -2.45850035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.909649246000004 meters 0.05962147421182912 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.47, Z:-2.46 [[ 9.93465902e-01 7.64475295e-02 8.47424118e-02 2.31643066e+01] [-7.60862682e-02 9.97073112e-01 -7.48932023e-03 -4.72912639e-01] [-8.50669202e-02 9.92650410e-04 9.96374746e-01 -2.46256652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.939649246000002 meters 0.05967738394408726 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.47, Z:-2.47 [[ 9.93392096e-01 7.86348822e-02 8.35984368e-02 2.31963195e+01] [-7.82890242e-02 9.96903147e-01 -7.41238484e-03 -4.72858540e-01] [-8.39224168e-02 8.18564468e-04 9.96471955e-01 -2.46623899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.969649246000003 meters 0.05935156572364638 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.47, Z:-2.47 [[ 9.93067271e-01 8.20837890e-02 8.41406399e-02 2.32287580e+01] [-8.17438007e-02 9.96625278e-01 -7.48373226e-03 -4.71679446e-01] [-8.44709817e-02 5.53873869e-04 9.96425786e-01 -2.46783294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.999649246000004 meters 0.059282775912160926 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.47, Z:-2.47 [[ 9.92936621e-01 8.33406692e-02 8.44464357e-02 2.32597829e+01] [-8.30008938e-02 9.96521004e-01 -7.53258946e-03 -4.73072887e-01] [-8.47804180e-02 4.70254281e-04 9.96399548e-01 -2.47143768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.029649246000005 meters 0.05930502236390972 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.47, Z:-2.47 [[ 9.92768601e-01 8.50834570e-02 8.46835840e-02 2.32907947e+01] [-8.47464035e-02 9.96373769e-01 -7.57356050e-03 -4.73923290e-01] [-8.50208865e-02 3.42163873e-04 9.96379110e-01 -2.47459835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.059649246000003 meters 0.05930502236390972 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.48, Z:-2.48 [[ 9.92745016e-01 8.53598130e-02 8.46819723e-02 2.33227971e+01] [-8.50222299e-02 9.96350134e-01 -7.59153481e-03 -4.76963288e-01] [-8.50209064e-02 3.36608230e-04 9.96379111e-01 -2.47809354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.089649246000004 meters 0.05918165617647481 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.48, Z:-2.48 [[ 9.92457586e-01 8.71938374e-02 8.61694574e-02 2.33549424e+01] [-8.68489670e-02 9.96191343e-01 -7.75019218e-03 -4.77051014e-01] [-8.65170365e-02 2.08008658e-04 9.96250350e-01 -2.48062886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.119649246000005 meters 0.059189917221460935 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.48, Z:-2.48 [[ 9.92314194e-01 8.84606161e-02 8.65289485e-02 2.33869225e+01] [-8.81157666e-02 9.96079668e-01 -7.80426936e-03 -4.78833540e-01] [-8.68800968e-02 1.19722636e-04 9.96218768e-01 -2.48362437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.149649246000003 meters 0.05910686571415428 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.48, Z:-2.49 [[ 9.91960992e-01 9.05924014e-02 8.83538766e-02 2.34183583e+01] [-9.02392436e-02 9.95888053e-01 -7.99150835e-03 -4.79339500e-01] [-8.87145401e-02 -4.57224445e-05 9.96057091e-01 -2.48664426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.179649246000004 meters 0.05900592863708465 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.48, Z:-2.49 [[ 9.91693541e-01 9.32426891e-02 8.85986596e-02 2.34512083e+01] [-9.28962210e-02 9.95643376e-01 -8.03492335e-03 -4.80653653e-01] [-8.89618664e-02 -2.62299069e-04 9.96034998e-01 -2.48859269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.209649246000005 meters 0.05933569739185657 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.48, Z:-2.49 [[ 9.91521852e-01 9.52282071e-02 8.84081757e-02 2.34828242e+01] [-9.48888477e-02 9.95455382e-01 -8.04298055e-03 -4.82003722e-01] [-8.87723129e-02 -4.14158942e-04 9.96051859e-01 -2.49343499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.239649246000003 meters 0.0593657734909196 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.48, Z:-2.50 [[ 9.91389718e-01 9.74790210e-02 8.74314981e-02 2.35149061e+01] [-9.71535457e-02 9.95237409e-01 -7.98044140e-03 -4.82507853e-01] [-8.77930233e-02 -5.82552494e-04 9.96138568e-01 -2.49714732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.269649246000004 meters 0.05933612648666156 Centerline is valid? [True, True] Translation: X:23.55, Y:-0.49, Z:-2.50 [[ 9.91408299e-01 9.69900004e-02 8.77640311e-02 2.35467198e+01] [-9.66597164e-02 9.95285211e-01 -8.01544823e-03 -4.87278118e-01] [-8.81276606e-02 -5.36664468e-04 9.96109044e-01 -2.49942386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.299649246000005 meters 0.05936873490098064 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.49, Z:-2.50 [[ 9.91586628e-01 9.50200848e-02 8.79041720e-02 2.35774880e+01] [-9.46789660e-02 9.95475298e-01 -8.05138839e-03 -4.92009729e-01] [-8.82714754e-02 -3.39027041e-04 9.96096397e-01 -2.50480282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.329649246000002 meters 0.05952259892668261 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.49, Z:-2.51 [[ 9.91636993e-01 9.50741841e-02 8.72752792e-02 2.36078353e+01] [-9.47363231e-02 9.95470139e-01 -8.01451077e-03 -4.94588979e-01] [-8.76419073e-02 -3.20653693e-04 9.96151993e-01 -2.51078990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.359649246000004 meters 0.05958522312082426 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.50, Z:-2.51 [[ 9.91720940e-01 9.45450419e-02 8.68954054e-02 2.36403325e+01] [-9.42064673e-02 9.95520553e-01 -7.99819123e-03 -4.99254172e-01] [-8.72623513e-02 -2.54135440e-04 9.96185333e-01 -2.51258210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.389649246000005 meters 0.05950991431031999 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.51, Z:-2.52 [[ 9.92421485e-01 8.74349209e-02 8.63407821e-02 2.36702423e+01] [-8.70715440e-02 9.96170156e-01 -7.97291544e-03 -5.12139719e-01] [-8.67072215e-02 3.94667375e-04 9.96233759e-01 -2.51543695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.419649246000002 meters 0.05961625985249501 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.52, Z:-2.52 [[ 9.92820281e-01 8.37169077e-02 8.54363491e-02 2.37016762e+01] [-8.33457363e-02 9.96489310e-01 -7.90841755e-03 -5.20275932e-01] [-8.57984769e-02 7.30881910e-04 9.96312244e-01 -2.51781057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.449649246000003 meters 0.05965858740779214 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.52, Z:-2.52 [[ 9.92767529e-01 8.45558560e-02 8.52228857e-02 2.37343909e+01] [-8.41878292e-02 9.96418510e-01 -7.90957708e-03 -5.23836559e-01] [-8.55864619e-02 6.77641550e-04 9.96330517e-01 -2.52342304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.479649246000005 meters 0.05983485541092823 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.53, Z:-2.53 [[ 9.92713687e-01 8.60111909e-02 8.43896310e-02 2.37657586e+01] [-8.56535045e-02 9.96294007e-01 -7.85674417e-03 -5.27346808e-01] [-8.47526516e-02 5.71229832e-04 9.96401858e-01 -2.52690561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.509649246000002 meters 0.05967369782675766 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.53, Z:-2.53 [[ 9.92668101e-01 8.67479065e-02 8.41715031e-02 2.37971458e+01] [-8.63927684e-02 9.96230154e-01 -7.85936836e-03 -5.30164591e-01] [-8.45359733e-02 5.29935092e-04 9.96420287e-01 -2.53191620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.539649246000003 meters 0.05974908878838417 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.53, Z:-2.53 [[ 9.92678051e-01 8.64530500e-02 8.43573174e-02 2.38301483e+01] [-8.60934619e-02 9.96255759e-01 -7.89805784e-03 -5.32876363e-01] [-8.47242744e-02 5.77615179e-04 9.96404267e-01 -2.53393271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.569649246000004 meters 0.05979928871684451 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.54, Z:-2.54 [[ 9.92688830e-01 8.64083236e-02 8.42762666e-02 2.38614094e+01] [-8.60471420e-02 9.96259622e-01 -7.91548023e-03 -5.36584261e-01] [-8.46450049e-02 6.05876930e-04 9.96410988e-01 -2.53805339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.599649246000002 meters 0.05980210247415792 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.54, Z:-2.54 [[ 9.92874559e-01 8.53730062e-02 8.31357954e-02 2.38918647e+01] [-8.50157994e-02 9.96348807e-01 -7.83379294e-03 -5.41614964e-01] [-8.35010451e-02 7.10117603e-04 9.96507437e-01 -2.54173785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.629649246000003 meters 0.05995342814839874 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.55, Z:-2.55 [[ 9.92892761e-01 8.50555752e-02 8.32437055e-02 2.39235787e+01] [-8.46956485e-02 9.96375929e-01 -7.85202433e-03 -5.45176584e-01] [-8.36098829e-02 7.45838495e-04 9.96498285e-01 -2.54642138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.659649246000004 meters 0.059772188893427176 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.55, Z:-2.55 [[ 9.92774105e-01 8.56686707e-02 8.40265169e-02 2.39544770e+01] [-8.53021492e-02 9.96323419e-01 -7.94913309e-03 -5.48702539e-01] [-8.43985783e-02 7.24051005e-04 9.96431812e-01 -2.54853292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.689649246000005 meters 0.05971135353659712 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.55, Z:-2.55 [[ 9.92828387e-01 8.54256546e-02 8.36316359e-02 2.39859895e+01] [-8.50601710e-02 9.96344258e-01 -7.93010895e-03 -5.52030754e-01] [-8.40033350e-02 7.59516028e-04 9.96465184e-01 -2.55009705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.719649246000003 meters 0.05963126114833009 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.55, Z:-2.55 [[ 9.92801369e-01 8.60447022e-02 8.33171667e-02 2.40186575e+01] [-8.56824714e-02 9.96291014e-01 -7.92020118e-03 -5.54136999e-01] [-8.36896359e-02 7.24365830e-04 9.96491606e-01 -2.55380138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.749649246000004 meters 0.05957570475591564 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.56, Z:-2.56 [[ 9.92746522e-01 8.57710909e-02 8.42476306e-02 2.40487564e+01] [-8.53975351e-02 9.96314563e-01 -8.03442130e-03 -5.57236661e-01] [-8.46262624e-02 7.81603801e-04 9.96412457e-01 -2.55848601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.779649246000005 meters 0.05939031954854578 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.56, Z:-2.56 [[ 9.92580223e-01 8.65893404e-02 8.53626792e-02 2.40806622e+01] [-8.62071569e-02 9.96243814e-01 -8.16018989e-03 -5.59758591e-01] [-8.57486266e-02 7.40769219e-04 9.96316528e-01 -2.55924362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.809649246000003 meters 0.05930902047044155 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.56, Z:-2.56 [[ 9.92551956e-01 8.70196891e-02 8.52536752e-02 2.41117912e+01] [-8.66382430e-02 9.96206329e-01 -8.17099694e-03 -5.63916664e-01] [-8.56412884e-02 7.23910368e-04 9.96325773e-01 -2.56411365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.839649246000004 meters 0.05906915500377406 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.57, Z:-2.57 [[ 9.92500929e-01 8.71449865e-02 8.57184754e-02 2.41435670e+01] [-8.67577851e-02 9.96195364e-01 -8.23917145e-03 -5.66666821e-01] [-8.61103502e-02 7.40640251e-04 9.96285330e-01 -2.56583534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.869649246000005 meters 0.05926628145307407 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.57, Z:-2.57 [[ 9.92432516e-01 8.69994090e-02 8.66533518e-02 2.41739437e+01] [-8.66011806e-02 9.96208055e-01 -8.35148831e-03 -5.70612951e-01] [-8.70513416e-02 7.84005993e-04 9.96203518e-01 -2.56998300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.899649246000003 meters 0.059497138523548036 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.58, Z:-2.57 [[ 9.92566356e-01 8.60870928e-02 8.60293011e-02 2.42055093e+01] [-8.56894881e-02 9.96287229e-01 -8.31075236e-03 -5.76600110e-01] [-8.64253426e-02 8.77166413e-04 9.96257944e-01 -2.57300042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.929649246000004 meters 0.059435592329223144 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.58, Z:-2.58 [[ 9.92696167e-01 8.48725997e-02 8.57377491e-02 2.42374978e+01] [-8.44713607e-02 9.96391309e-01 -8.30351494e-03 -5.81160350e-01] [-8.61330890e-02 1.00048312e-03 9.96283137e-01 -2.57550456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.959649246000005 meters 0.059652708112485284 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.59, Z:-2.58 [[ 9.92826697e-01 8.33413381e-02 8.57284733e-02 2.42675664e+01] [-8.29325885e-02 9.96520390e-01 -8.32459469e-03 -5.86582675e-01] [-8.61239545e-02 1.15519565e-03 9.96283760e-01 -2.57894766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.989649246000003 meters 0.060104868897476654 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.59, Z:-2.59 [[ 9.92977966e-01 8.21310805e-02 8.51424943e-02 2.42979450e+01] [-8.17216104e-02 9.96620723e-01 -8.28937813e-03 -5.93329156e-01] [-8.55355898e-02 1.27318808e-03 9.96334302e-01 -2.58529678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.019649246000004 meters 0.05994884843959552 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.59, Z:-2.59 [[ 9.92895042e-01 8.22004991e-02 8.60378628e-02 2.43299650e+01] [-8.17818088e-02 9.96614978e-01 -8.38579824e-03 -5.94473684e-01] [-8.64359395e-02 1.28988545e-03 9.96256576e-01 -2.58569057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.049649246000005 meters 0.05999941647602003 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.60, Z:-2.59 [[ 9.92823571e-01 8.28141143e-02 8.62738613e-02 2.43605821e+01] [-8.23935227e-02 9.96564213e-01 -8.43072502e-03 -5.97651728e-01] [-8.66756257e-02 1.26181517e-03 9.96235787e-01 -2.59026069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.079649246000002 meters 0.05977222383085484 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.60, Z:-2.59 [[ 9.92700124e-01 8.41250292e-02 8.64259442e-02 2.43924161e+01] [-8.37062155e-02 9.96454521e-01 -8.46499585e-03 -5.99405969e-01] [-8.68316409e-02 1.16881371e-03 9.96222315e-01 -2.59152274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.109649246000004 meters 0.059580131121815615 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.60, Z:-2.59 [[ 9.92676673e-01 8.49936778e-02 8.58434533e-02 2.44249873e+01] [-8.45819834e-02 9.96380877e-01 -8.42828921e-03 -6.01148586e-01] [-8.62491265e-02 1.10575656e-03 9.96272987e-01 -2.59433271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.139649246000005 meters 0.05998002566684554 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.60, Z:-2.60 [[ 9.92649656e-01 8.58414862e-02 8.53106095e-02 2.44563758e+01] [-8.54358636e-02 9.96308253e-01 -8.40107140e-03 -6.02401215e-01] [-8.57168248e-02 1.05073503e-03 9.96318986e-01 -2.60030025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.169649246000002 meters 0.06006116634349162 Centerline is valid? [True, True] Translation: X:24.49, Y:-0.60, Z:-2.60 [[ 9.92632823e-01 8.69658139e-02 8.43624620e-02 2.44889416e+01] [-8.65713373e-02 9.96210829e-01 -8.32994358e-03 -6.03459137e-01] [-8.47672185e-02 9.65204261e-04 9.96400315e-01 -2.60387568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.199649246000003 meters 0.059748927621736725 Centerline is valid? [True, True] Translation: X:24.52, Y:-0.61, Z:-2.61 [[ 9.92636179e-01 8.70971264e-02 8.41873316e-02 2.45217835e+01] [-8.67027624e-02 9.96199347e-01 -8.33619067e-03 -6.06822681e-01] [-8.45934230e-02 9.75530243e-04 9.96415075e-01 -2.60527061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.229649246000005 meters 0.0597280714188356 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.61, Z:-2.61 [[ 9.92559236e-01 8.76035736e-02 8.45681797e-02 2.45527463e+01] [-8.72052479e-02 9.96154951e-01 -8.39984232e-03 -6.10675973e-01] [-8.49788671e-02 9.62552003e-04 9.96382289e-01 -2.60982969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.259649246000002 meters 0.05972006294146742 Centerline is valid? [True, True] Translation: X:24.58, Y:-0.62, Z:-2.61 [[ 9.92603548e-01 8.68242400e-02 8.48513326e-02 2.45834179e+01] [-8.64185371e-02 9.96223087e-01 -8.44967118e-03 -6.16809727e-01] [-8.52644928e-02 1.05444556e-03 9.96357794e-01 -2.61362288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.289649246000003 meters 0.05971507000890562 Centerline is valid? [True, True] Translation: X:24.62, Y:-0.62, Z:-2.62 [[ 9.92577547e-01 8.73307985e-02 8.46353673e-02 2.46157857e+01] [-8.69272732e-02 9.96178836e-01 -8.44840219e-03 -6.19778008e-01] [-8.50497674e-02 1.02857263e-03 9.96376173e-01 -2.61554963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.319649246000004 meters 0.06000077008149014 Centerline is valid? [True, True] Translation: X:24.65, Y:-0.63, Z:-2.61 [[ 9.92913054e-01 8.04796748e-02 8.74453518e-02 2.46473138e+01] [-8.00200075e-02 9.96754808e-01 -8.75509974e-03 -6.30903015e-01] [-8.78661824e-02 1.69567511e-03 9.96130844e-01 -2.61203603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.349649246000002 meters 0.06048729111830808 Centerline is valid? [True, True] Translation: X:24.68, Y:-0.63, Z:-2.62 [[ 9.93255667e-01 7.74948131e-02 8.62423006e-02 2.46785884e+01] [-7.70343347e-02 9.96990833e-01 -8.65965749e-03 -6.34919961e-01] [-8.66538617e-02 1.95763562e-03 9.96236556e-01 -2.61699014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.379649246000003 meters 0.0611734166809908 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.64, Z:-2.62 [[ 9.93426150e-01 7.59684200e-02 8.56345924e-02 2.47101875e+01] [-7.55085686e-02 9.97108058e-01 -8.60093054e-03 -6.38822838e-01] [-8.60403413e-02 2.07824382e-03 9.96289486e-01 -2.62398664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.409649246000004 meters 0.06256113067339604 Centerline is valid? [True, True] Translation: X:24.74, Y:-0.65, Z:-2.63 [[ 9.94063363e-01 6.87182778e-02 8.43553654e-02 2.47388603e+01] [-6.82439149e-02 9.97632478e-01 -8.49750504e-03 -6.48009417e-01] [-8.47395861e-02 2.69031806e-03 9.96399501e-01 -2.62563122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.439649246000005 meters 0.06307229552009229 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.65, Z:-2.63 [[ 9.94194194e-01 6.84308685e-02 8.30368588e-02 2.47695842e+01] [-6.79702029e-02 9.97652280e-01 -8.36533206e-03 -6.51894604e-01] [-8.34143585e-02 2.67273243e-03 9.96511365e-01 -2.63038249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.469649246000003 meters 0.06257013100167809 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.65, Z:-2.64 [[ 9.94187514e-01 7.17818845e-02 8.02405635e-02 2.48014377e+01] [-7.13613134e-02 9.97417638e-01 -8.10052834e-03 -6.48964446e-01] [-8.06148245e-02 2.32737214e-03 9.96742611e-01 -2.63756540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.499649246000004 meters 0.06266037228204888 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.65, Z:-2.64 [[ 9.94144741e-01 7.31752154e-02 7.95086269e-02 2.48334730e+01] [-7.27652093e-02 9.97316645e-01 -8.04579450e-03 -6.50471885e-01] [-7.98840298e-02 2.21322240e-03 9.96801707e-01 -2.64201814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.529649246000005 meters 0.06270282270718289 Centerline is valid? [True, True] Translation: X:24.86, Y:-0.65, Z:-2.64 [[ 9.94092831e-01 7.35590094e-02 7.98029746e-02 2.48639868e+01] [-7.31455821e-02 9.97288417e-01 -8.09555281e-03 -6.53510954e-01] [-8.01820830e-02 2.21049598e-03 9.96777782e-01 -2.64367395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.559649246000003 meters 0.062491504796064044 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.65, Z:-2.65 [[ 9.93941307e-01 7.45308990e-02 8.07825715e-02 2.48960744e+01] [-7.41089804e-02 9.97216330e-01 -8.21281966e-03 -6.53413543e-01] [-8.11698083e-02 2.17634670e-03 9.96697911e-01 -2.64636086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.589649246000004 meters 0.06254733232851732 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.65, Z:-2.65 [[ 9.93928314e-01 7.63180663e-02 7.92594438e-02 2.49284640e+01] [-7.59161982e-02 9.97081498e-01 -8.07566891e-03 -6.53103398e-01] [-7.96444444e-02 2.00956034e-03 9.96821310e-01 -2.65034491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.619649246000005 meters 0.06229071846240142 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.65, Z:-2.65 [[ 9.93798929e-01 7.81446100e-02 7.91018830e-02 2.49592107e+01] [-7.77482670e-02 9.96940257e-01 -8.08277974e-03 -6.54090379e-01] [-7.94914772e-02 1.88262353e-03 9.96833768e-01 -2.65402491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.649649246000003 meters 0.06188061429309802 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.65, Z:-2.66 [[ 9.93726159e-01 7.99725782e-02 7.81838097e-02 2.49912693e+01] [-7.95897470e-02 9.96795558e-01 -8.00545790e-03 -6.52685031e-01] [-7.85734913e-02 1.73260329e-03 9.96906818e-01 -2.65575826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.679649246000004 meters 0.06162427666417923 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.65, Z:-2.66 [[ 9.93641662e-01 8.05818745e-02 7.86308456e-02 2.50230427e+01] [-8.01950142e-02 9.96746520e-01 -8.07057115e-03 -6.54555009e-01] [-7.90253635e-02 1.71345394e-03 9.96871133e-01 -2.65836340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.709649246000005 meters 0.061565100185417845 Centerline is valid? [True, True] Translation: X:25.06, Y:-0.66, Z:-2.66 [[ 9.93517822e-01 8.26097040e-02 7.80895295e-02 2.50551478e+01] [-8.22329167e-02 9.96580755e-01 -8.03402163e-03 -6.55060723e-01] [-7.84862105e-02 1.56041389e-03 9.96913978e-01 -2.66113847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.739649246000003 meters 0.06135722752234416 Centerline is valid? [True, True] Translation: X:25.09, Y:-0.65, Z:-2.66 [[ 9.93324615e-01 8.44392369e-02 7.85889573e-02 2.50873045e+01] [-8.40617705e-02 9.96427583e-01 -8.10494111e-03 -6.54902999e-01] [-7.89925798e-02 1.44451061e-03 9.96874157e-01 -2.66492094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.769649246000004 meters 0.06110747604058544 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.66, Z:-2.67 [[ 9.93194253e-01 8.62256979e-02 7.82962659e-02 2.51192895e+01] [-8.58550887e-02 9.96274759e-01 -8.09369137e-03 -6.55687397e-01] [-7.87024777e-02 1.31647490e-03 9.96897280e-01 -2.66832398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.799649246000005 meters 0.06134738590233253 Centerline is valid? [True, True] Translation: X:25.15, Y:-0.66, Z:-2.67 [[ 9.93231105e-01 8.68842267e-02 7.70915226e-02 2.51499032e+01] [-8.65254500e-02 9.96217614e-01 -7.98828000e-03 -6.57507974e-01] [-7.74939882e-02 1.26382949e-03 9.96992018e-01 -2.67297021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.829649246000002 meters 0.06125939777822652 Centerline is valid? [True, True] Translation: X:25.18, Y:-0.66, Z:-2.68 [[ 9.93036822e-01 8.95039513e-02 7.65957749e-02 2.51806113e+01] [-8.91562209e-02 9.95985892e-01 -7.95425806e-03 -6.57781339e-01] [-7.70002487e-02 1.06988132e-03 9.97030500e-01 -2.67830795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.859649246000004 meters 0.060969252846748714 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.66, Z:-2.68 [[ 9.92918502e-01 9.06639077e-02 7.67652531e-02 2.52134033e+01] [-9.03164548e-02 9.95881042e-01 -7.99304081e-03 -6.59061036e-01] [-7.71737405e-02 1.00327259e-03 9.97017155e-01 -2.67887827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.889649246000005 meters 0.06097792750151039 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.66, Z:-2.68 [[ 9.92671398e-01 9.29956942e-02 7.71705711e-02 2.52442069e+01] [-9.26513742e-02 9.95666166e-01 -8.03800091e-03 -6.59393505e-01] [-7.75836261e-02 8.29134143e-04 9.96985503e-01 -2.68307841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.919649246000002 meters 0.060579640209176486 Centerline is valid? [True, True] Translation: X:25.28, Y:-0.66, Z:-2.69 [[ 9.92392096e-01 9.54113824e-02 7.78112852e-02 2.52764803e+01] [-9.50673309e-02 9.95437707e-01 -8.12247137e-03 -6.59717814e-01] [-7.82312635e-02 6.63365190e-04 9.96935018e-01 -2.68631104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.949649246000003 meters 0.06045906527412096 Centerline is valid? [True, True] Translation: X:25.31, Y:-0.66, Z:-2.69 [[ 9.91963260e-01 1.00056887e-01 7.74435982e-02 2.53074124e+01] [-9.97286882e-02 9.94981668e-01 -8.10362539e-03 -6.55748909e-01] [-7.78657840e-02 3.15150197e-04 9.96963801e-01 -2.69136410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.979649246000005 meters 0.06045906527412096 Centerline is valid? [True, True] Translation: X:25.34, Y:-0.66, Z:-2.69 [[ 9.91935539e-01 1.00332617e-01 7.74419329e-02 2.53393780e+01] [-1.00004018e-01 9.94953904e-01 -8.11950297e-03 -6.59268945e-01] [-7.78658045e-02 3.09519109e-04 9.96963801e-01 -2.69486000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.009649246000002 meters 0.06068876492825503 Centerline is valid? [True, True] Translation: X:25.37, Y:-0.66, Z:-2.70 [[ 9.91434705e-01 1.05206827e-01 7.73870113e-02 2.53725453e+01] [-1.04891813e-01 9.94450361e-01 -8.13550651e-03 -6.56242725e-01] [-7.78134521e-02 -5.14404487e-05 9.96967935e-01 -2.69884102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.039649246000003 meters 0.06050686273680648 Centerline is valid? [True, True] Translation: X:25.40, Y:-0.66, Z:-2.70 [[ 9.91194509e-01 1.08039500e-01 7.65565873e-02 2.54043684e+01] [-1.07737964e-01 9.94146571e-01 -8.07011660e-03 -6.56366579e-01] [-7.69803601e-02 -2.48995560e-04 9.97032578e-01 -2.70146017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.069649246000004 meters 0.06086570378150765 Centerline is valid? [True, True] Translation: X:25.44, Y:-0.65, Z:-2.71 [[ 9.90613201e-01 1.12322373e-01 7.79048804e-02 2.54357628e+01] [-1.12021706e-01 9.93671655e-01 -8.23282705e-03 -6.54183429e-01] [-7.83366021e-02 -5.71490427e-04 9.96926803e-01 -2.70619209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.099649246000002 meters 0.06081629596338565 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.66, Z:-2.71 [[ 9.90438256e-01 1.13655713e-01 7.81948807e-02 2.54682792e+01] [-1.13355648e-01 9.93519974e-01 -8.27996696e-03 -6.56426863e-01] [-7.86292415e-02 -6.63035316e-04 9.96903708e-01 -2.70867617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.129649246000003 meters 0.0608708788413393 Centerline is valid? [True, True] Translation: X:25.50, Y:-0.66, Z:-2.71 [[ 9.90398306e-01 1.14316244e-01 7.77366893e-02 2.55001040e+01] [-1.14019917e-01 9.93444172e-01 -8.25445287e-03 -6.58969257e-01] [-7.81706789e-02 -6.88334692e-04 9.96939753e-01 -2.71270174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.159649246000004 meters 0.0612817686021784 Centerline is valid? [True, True] Translation: X:25.53, Y:-0.66, Z:-2.72 [[ 9.90167122e-01 1.16799993e-01 7.69859218e-02 2.55306813e+01] [-1.16515334e-01 9.93155088e-01 -8.19442271e-03 -6.58787777e-01] [-7.74160685e-02 -8.56192416e-04 9.96998505e-01 -2.71910983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.189649246000005 meters 0.06148574432918938 Centerline is valid? [True, True] Translation: X:25.56, Y:-0.66, Z:-2.72 [[ 9.89984896e-01 1.18564945e-01 7.66306706e-02 2.55624037e+01] [-1.18286865e-01 9.92945823e-01 -8.17371534e-03 -6.62653242e-01] [-7.70592204e-02 -9.72547052e-04 9.97026043e-01 -2.72212473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.219649246000003 meters 0.06157591353873027 Centerline is valid? [True, True] Translation: X:25.60, Y:-0.67, Z:-2.73 [[ 9.89928047e-01 1.19170962e-01 7.64247577e-02 2.55950185e+01] [-1.18894812e-01 9.92873246e-01 -8.16948418e-03 -6.66838207e-01] [-7.68536626e-02 -9.99305691e-04 9.97041883e-01 -2.72528857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.249649246000004 meters 0.06135948138403146 Centerline is valid? [True, True] Translation: X:25.63, Y:-0.67, Z:-2.73 [[ 9.89840753e-01 1.19165211e-01 7.75560168e-02 2.56273417e+01] [-1.18878611e-01 9.92873950e-01 -8.31837253e-03 -6.71253647e-01] [-7.79946093e-02 -9.85887441e-04 9.96953293e-01 -2.72753483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.279649246000005 meters 0.06150265971320394 Centerline is valid? [True, True] Translation: X:25.66, Y:-0.68, Z:-2.73 [[ 9.89745906e-01 1.19760281e-01 7.78493173e-02 2.56599186e+01] [-1.19473241e-01 9.92802298e-01 -8.35114497e-03 -6.75167549e-01] [-7.82891165e-02 -1.03539868e-03 9.96930159e-01 -2.73129497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.309649246000003 meters 0.06159670680846274 Centerline is valid? [True, True] Translation: X:25.69, Y:-0.68, Z:-2.74 [[ 9.89678021e-01 1.20450840e-01 7.76467040e-02 2.56903184e+01] [-1.20165569e-01 9.92718723e-01 -8.35297346e-03 -6.77067072e-01] [-7.80874595e-02 -1.06370615e-03 9.96945945e-01 -2.73676717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.339649246000004 meters 0.06151062337737006 Centerline is valid? [True, True] Translation: X:25.72, Y:-0.68, Z:-2.74 [[ 9.89597447e-01 1.21286737e-01 7.73719628e-02 2.57215947e+01] [-1.21004715e-01 9.92616894e-01 -8.34033142e-03 -6.80841376e-01] [-7.78122890e-02 -1.10880161e-03 9.96967411e-01 -2.73916156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.369649246000005 meters 0.06160976873312528 Centerline is valid? [True, True] Translation: X:25.75, Y:-0.68, Z:-2.74 [[ 9.89540154e-01 1.21340744e-01 7.80173474e-02 2.57523305e+01] [-1.21052541e-01 9.92610301e-01 -8.43046926e-03 -6.84867837e-01] [-7.84637821e-02 -1.10191028e-03 9.96916356e-01 -2.74343706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.399649246000003 meters 0.06149187734736091 Centerline is valid? [True, True] Translation: X:25.78, Y:-0.69, Z:-2.75 [[ 9.89472191e-01 1.21234302e-01 7.90381362e-02 2.57841619e+01] [-1.20936710e-01 9.92623321e-01 -8.55895843e-03 -6.90482692e-01] [-7.94927365e-02 -1.08976080e-03 9.96834850e-01 -2.74512728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.429649246000004 meters 0.06139698655181485 Centerline is valid? [True, True] Translation: X:25.81, Y:-0.69, Z:-2.75 [[ 9.89405967e-01 1.21082282e-01 8.00931491e-02 2.58145242e+01] [-1.20774485e-01 9.92641896e-01 -8.69425622e-03 -6.94450371e-01] [-8.05565357e-02 -1.07105981e-03 9.96749466e-01 -2.74985003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.459649246000005 meters 0.061283861594454724 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.70, Z:-2.75 [[ 9.89610374e-01 1.20052351e-01 7.91121969e-02 2.58462027e+01] [-1.19747454e-01 9.92767100e-01 -8.60426030e-03 -7.00655776e-01] [-7.95729479e-02 -9.58618900e-04 9.96828585e-01 -2.75387228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.489649246000003 meters 0.06159208433870042 Centerline is valid? [True, True] Translation: X:25.88, Y:-0.70, Z:-2.76 [[ 9.89660464e-01 1.20150598e-01 7.83326282e-02 2.58767606e+01] [-1.19850127e-01 9.92755238e-01 -8.54309682e-03 -7.04318113e-01] [-7.87915852e-02 -9.33410284e-04 9.96890673e-01 -2.75906877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.519649246000004 meters 0.06130336837756586 Centerline is valid? [True, True] Translation: X:25.91, Y:-0.71, Z:-2.76 [[ 9.89935912e-01 1.17741525e-01 7.85100164e-02 2.59066958e+01] [-1.17430691e-01 9.93044011e-01 -8.58054722e-03 -7.11151549e-01] [-7.89741882e-02 -7.25293596e-04 9.96876397e-01 -2.76312904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.549649246000005 meters 0.06109153259075431 Centerline is valid? [True, True] Translation: X:25.94, Y:-0.72, Z:-2.76 [[ 9.89971153e-01 1.17721283e-01 7.80949114e-02 2.59386511e+01] [-1.17412434e-01 9.93046426e-01 -8.55083850e-03 -7.16888652e-01] [-7.85584883e-02 -7.04230163e-04 9.96909258e-01 -2.76471542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.579649246000002 meters 0.060982983740511254 Centerline is valid? [True, True] Translation: X:25.97, Y:-0.72, Z:-2.77 [[ 9.89844228e-01 1.17659001e-01 7.97794647e-02 2.59705786e+01] [-1.17334522e-01 9.93053817e-01 -8.75940542e-03 -7.20507411e-01] [-8.02559248e-02 -6.90438473e-04 9.96774052e-01 -2.76720476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.609649246000004 meters 0.06100351467122168 Centerline is valid? [True, True] Translation: X:26.00, Y:-0.72, Z:-2.77 [[ 9.89767142e-01 1.17849613e-01 8.04516890e-02 2.60012392e+01] [-1.17518558e-01 9.93031214e-01 -8.85421373e-03 -7.23604407e-01] [-8.09345041e-02 -6.90956702e-04 9.96719182e-01 -2.77075756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.639649246000005 meters 0.060849076233113204 Centerline is valid? [True, True] Translation: X:26.03, Y:-0.73, Z:-2.77 [[ 9.89816200e-01 1.17034892e-01 8.10353220e-02 2.60329129e+01] [-1.16694790e-01 9.93127616e-01 -8.93671447e-03 -7.29223181e-01] [-8.15243236e-02 -6.10695130e-04 9.96671165e-01 -2.77274447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.669649246000002 meters 0.06096998199557741 Centerline is valid? [True, True] Translation: X:26.06, Y:-0.73, Z:-2.78 [[ 9.89703929e-01 1.17419032e-01 8.18468323e-02 2.60632420e+01] [-1.17071601e-01 9.93082261e-01 -9.04780584e-03 -7.32164198e-01] [-8.23430219e-02 -6.27290692e-04 9.96603850e-01 -2.77741903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.699649246000003 meters 0.0608839365885434 Centerline is valid? [True, True] Translation: X:26.10, Y:-0.74, Z:-2.78 [[ 9.89628573e-01 1.17884567e-01 8.20884715e-02 2.60958076e+01] [-1.17535187e-01 9.93027092e-01 -9.09250976e-03 -7.36898456e-01] [-8.25879428e-02 -6.50076375e-04 9.96583569e-01 -2.77972658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.729649246000005 meters 0.060781405914212806 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.74, Z:-2.78 [[ 9.89782812e-01 1.16417150e-01 8.23227365e-02 2.61268284e+01] [-1.16058653e-01 9.93200278e-01 -9.14311230e-03 -7.43540321e-01] [-8.28273798e-02 -5.04570518e-04 9.96563781e-01 -2.78341485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.759649246000002 meters 0.060815631712690346 Centerline is valid? [True, True] Translation: X:26.16, Y:-0.75, Z:-2.79 [[ 9.89820430e-01 1.16182602e-01 8.22017040e-02 2.61583462e+01] [-1.15822692e-01 9.93227762e-01 -9.14967113e-03 -7.48462476e-01] [-8.27080471e-02 -4.64291256e-04 9.96573712e-01 -2.78884846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.789649246000003 meters 0.060891455517325534 Centerline is valid? [True, True] Translation: X:26.19, Y:-0.75, Z:-2.79 [[ 9.89987936e-01 1.15537916e-01 8.10856128e-02 2.61897347e+01] [-1.15183802e-01 9.93302997e-01 -9.04703340e-03 -7.54335726e-01] [-8.15878575e-02 -3.83295218e-04 9.96666080e-01 -2.79139310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.819649246000004 meters 0.06100083295974889 Centerline is valid? [True, True] Translation: X:26.22, Y:-0.76, Z:-2.80 [[ 9.90224400e-01 1.13549666e-01 8.10068534e-02 2.62197969e+01] [-1.13187995e-01 9.93532301e-01 -9.05783784e-03 -7.63268752e-01] [-8.15114399e-02 -1.99711280e-04 9.96672386e-01 -2.79754730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.849649246000006 meters 0.06086122049615363 Centerline is valid? [True, True] Translation: X:26.25, Y:-0.77, Z:-2.80 [[ 9.90350880e-01 1.12377895e-01 8.10946580e-02 2.62522461e+01] [-1.12009788e-01 9.93665538e-01 -9.08875773e-03 -7.69493026e-01] [-8.16023425e-02 -8.23362539e-05 9.96664964e-01 -2.80055565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.879649246000003 meters 0.060760898960824164 Centerline is valid? [True, True] Translation: X:26.28, Y:-0.78, Z:-2.80 [[ 9.90635960e-01 1.09175736e-01 8.19820292e-02 2.62833307e+01] [-1.08786583e-01 9.94022442e-01 -9.21215210e-03 -7.78654694e-01] [-8.24977204e-02 2.07344334e-04 9.96591232e-01 -2.80245951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.909649246000004 meters 0.06094668924114127 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.79, Z:-2.81 [[ 9.90795900e-01 1.07879248e-01 8.17652247e-02 2.63139599e+01] [-1.07486118e-01 9.94163948e-01 -9.20750611e-03 -7.87301536e-01] [-8.22813374e-02 3.34132705e-04 9.96609086e-01 -2.80609729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.939649246000005 meters 0.060777461134363865 Centerline is valid? [True, True] Translation: X:26.34, Y:-0.79, Z:-2.81 [[ 9.90773408e-01 1.07733318e-01 8.22288706e-02 2.63447942e+01] [-1.07333323e-01 9.94179760e-01 -9.28240263e-03 -7.92350218e-01] [-8.27503028e-02 3.70859747e-04 9.96570243e-01 -2.80983547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.969649246000003 meters 0.06090081784590681 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.80, Z:-2.81 [[ 9.90795382e-01 1.07141144e-01 8.27362427e-02 2.63772750e+01] [-1.06732663e-01 9.94243723e-01 -9.35720523e-03 -7.97129404e-01] [-8.32625316e-02 4.40416229e-04 9.96527549e-01 -2.81191388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.999649246000004 meters 0.06118682026097367 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.80, Z:-2.82 [[ 9.90875711e-01 1.07267509e-01 8.16027366e-02 2.64076067e+01] [-1.06868637e-01 9.94230095e-01 -9.25274195e-03 -8.01474655e-01] [-8.21244151e-02 4.47544058e-04 9.96621985e-01 -2.82044433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.029649246000005 meters 0.06086825533537733 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.80, Z:-2.82 [[ 9.90837674e-01 1.07160794e-01 8.22025997e-02 2.64394025e+01] [-1.06754168e-01 9.94241588e-01 -9.33871388e-03 -8.03076237e-01] [-8.27299873e-02 4.77679418e-04 9.96571885e-01 -2.82108465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.059649246000003 meters 0.06097000298877757 Centerline is valid? [True, True] Translation: X:26.47, Y:-0.81, Z:-2.83 [[ 9.90767532e-01 1.07428590e-01 8.26970053e-02 2.64697122e+01] [-1.07016224e-01 9.94212688e-01 -9.41590089e-03 -8.06521109e-01] [-8.32299488e-02 4.79047645e-04 9.96530253e-01 -2.82625250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.089649246000004 meters 0.0607686292818538 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.81, Z:-2.83 [[ 9.90689117e-01 1.06865613e-01 8.43493519e-02 2.65017453e+01] [-1.06432902e-01 9.94273318e-01 -9.62319935e-03 -8.10696189e-01] [-8.48946991e-02 5.56052598e-04 9.96389774e-01 -2.82587652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.119649246000005 meters 0.060691781578218196 Centerline is valid? [True, True] Translation: X:26.53, Y:-0.81, Z:-2.83 [[ 9.90556383e-01 1.07771974e-01 8.47540759e-02 2.65336258e+01] [-1.07336612e-01 9.94175513e-01 -9.69029240e-03 -8.14215717e-01] [-8.53047688e-02 5.01565671e-04 9.96354779e-01 -2.82907459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.149649246000003 meters 0.060641713267990116 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.82, Z:-2.83 [[ 9.90499316e-01 1.08082474e-01 8.50252002e-02 2.65661641e+01] [-1.07643717e-01 9.94141807e-01 -9.74155788e-03 -8.18467347e-01] [-8.55799979e-02 4.96577800e-04 9.96331179e-01 -2.83226282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.179649246000004 meters 0.06077706683863207 Centerline is valid? [True, True] Translation: X:26.60, Y:-0.82, Z:-2.84 [[ 9.90515025e-01 1.08167453e-01 8.47336273e-02 2.65983676e+01] [-1.07729985e-01 9.94132557e-01 -9.73188653e-03 -8.22602206e-01] [-8.52891309e-02 5.11227448e-04 9.96356112e-01 -2.83588932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.209649246000005 meters 0.06076572529578603 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.83, Z:-2.84 [[ 9.90467372e-01 1.08841195e-01 8.44273563e-02 2.66292499e+01] [-1.08407106e-01 9.94059036e-01 -9.72281326e-03 -8.27337956e-01] [-8.49840190e-02 4.77603894e-04 9.96382200e-01 -2.83950397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.239649246000003 meters 0.06069380303369385 Centerline is valid? [True, True] Translation: X:26.66, Y:-0.83, Z:-2.84 [[ 9.90422775e-01 1.08839548e-01 8.49510483e-02 2.66607651e+01] [-1.08398898e-01 9.94059208e-01 -9.79642712e-03 -8.31507039e-01] [-8.55126105e-02 4.94004462e-04 9.96336966e-01 -2.84120476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.269649246000004 meters 0.060666038151235745 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.84, Z:-2.85 [[ 9.90331398e-01 1.09603314e-01 8.50343220e-02 2.66923841e+01] [-1.09162803e-01 9.93975307e-01 -9.82704365e-03 -8.35031278e-01] [-8.55990929e-02 4.49444914e-04 9.96329561e-01 -2.84594709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.299649246000005 meters 0.06076208850781712 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.84, Z:-2.85 [[ 9.90241212e-01 1.10162556e-01 8.53613109e-02 2.67236048e+01] [-1.09718691e-01 9.93913492e-01 -9.88833610e-03 -8.37864074e-01] [-8.59310830e-02 4.26106659e-04 9.96300992e-01 -2.84990725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.329649246000002 meters 0.06083987266643806 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.84, Z:-2.85 [[ 9.90285001e-01 1.10208269e-01 8.47924193e-02 2.67551337e+01] [-1.09768714e-01 9.93908418e-01 -9.84304277e-03 -8.41683618e-01] [-8.53606841e-02 4.39862796e-04 9.96350019e-01 -2.85305614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.359649246000004 meters 0.06112827286631744 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.85, Z:-2.86 [[ 9.90421279e-01 1.08628210e-01 8.52384997e-02 2.67857811e+01] [-1.08176337e-01 9.94082266e-01 -9.91606693e-03 -8.48456468e-01] [-8.58112456e-02 6.00294978e-04 9.96311231e-01 -2.85874711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.389649246000005 meters 0.06103884933950052 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.85, Z:-2.86 [[ 9.90444773e-01 1.08744894e-01 8.48156846e-02 2.68180133e+01] [-1.08296018e-01 9.94069503e-01 -9.88917527e-03 -8.52950590e-01] [-8.53880827e-02 6.09481033e-04 9.96347582e-01 -2.86038351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.419649246000002 meters 0.06135319298283092 Centerline is valid? [True, True] Translation: X:26.85, Y:-0.86, Z:-2.87 [[ 9.90513345e-01 1.07700674e-01 8.53456361e-02 2.68492226e+01] [-1.07240117e-01 9.94183098e-01 -9.97617257e-03 -8.60219367e-01] [-8.59236294e-02 7.29056067e-04 9.96301460e-01 -2.86654328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.449649246000003 meters 0.06107377878346521 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.86, Z:-2.87 [[ 9.90514063e-01 1.07074144e-01 8.61221113e-02 2.68815347e+01] [-1.06600775e-01 9.94250706e-01 -1.00900581e-02 -8.64681053e-01] [-8.67073542e-02 8.13660609e-04 9.96233493e-01 -2.86700111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.479649246000005 meters 0.06100313814727641 Centerline is valid? [True, True] Translation: X:26.91, Y:-0.87, Z:-2.87 [[ 9.90461070e-01 1.06437614e-01 8.75094489e-02 2.69131317e+01] [-1.05944075e-01 9.94318967e-01 -1.02783855e-02 -8.68853737e-01] [-8.81063116e-02 9.09233014e-04 9.96110662e-01 -2.86932936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.509649246000002 meters 0.061044407672555645 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.87, Z:-2.87 [[ 9.90336156e-01 1.07904469e-01 8.71259068e-02 2.69455629e+01] [-1.07419103e-01 9.94160949e-01 -1.02539813e-02 -8.71586869e-01] [-8.77236246e-02 7.95901677e-04 9.96144534e-01 -2.87418246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.539649246000003 meters 0.06105154697271388 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.88, Z:-2.88 [[ 9.90469378e-01 1.07086862e-01 8.66187912e-02 2.69765611e+01] [-1.06601824e-01 9.94249272e-01 -1.02194078e-02 -8.77720703e-01] [-8.72150344e-02 8.88289323e-04 9.96189113e-01 -2.87587482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.569649246000004 meters 0.06125262328230883 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.88, Z:-2.88 [[ 9.90545972e-01 1.06534945e-01 8.64232724e-02 2.70071878e+01] [-1.06048253e-01 9.94308500e-01 -1.02163676e-02 -8.82579921e-01] [-8.70197945e-02 9.54744703e-04 9.96206125e-01 -2.88194589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.599649246000006 meters 0.0610990853250932 Centerline is valid? [True, True] Translation: X:27.04, Y:-0.89, Z:-2.89 [[ 9.90504153e-01 1.06488211e-01 8.69585216e-02 2.70396270e+01] [-1.05993596e-01 9.94313478e-01 -1.02987733e-02 -8.86056619e-01] [-8.75607280e-02 9.83931313e-04 9.96158698e-01 -2.88502914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.629649246000003 meters 0.061026128811383785 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.89, Z:-2.89 [[ 9.90457935e-01 1.07114244e-01 8.67157353e-02 2.70720604e+01] [-1.06622653e-01 9.94246265e-01 -1.02943764e-02 -8.90030752e-01] [-8.73194703e-02 9.50285094e-04 9.96179907e-01 -2.88803975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.659649246000004 meters 0.06101075923491002 Centerline is valid? [True, True] Translation: X:27.10, Y:-0.89, Z:-2.89 [[ 9.90437531e-01 1.07420898e-01 8.65693226e-02 2.71032306e+01] [-1.06929979e-01 9.94213184e-01 -1.03016772e-02 -8.93852740e-01] [-8.71749773e-02 9.46311947e-04 9.96192566e-01 -2.89174131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.689649246000005 meters 0.060853413453881636 Centerline is valid? [True, True] Translation: X:27.14, Y:-0.90, Z:-2.89 [[ 9.90171575e-01 1.06284043e-01 9.09062934e-02 2.71354218e+01] [-1.05735463e-01 9.94335174e-01 -1.08431742e-02 -8.98494088e-01] [-9.15437814e-02 1.12458393e-03 9.95800417e-01 -2.89034059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.719649246000003 meters 0.06088533952256306 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.90, Z:-2.89 [[ 9.90225646e-01 1.05558200e-01 9.11626864e-02 2.71676602e+01] [-1.05001402e-01 9.94412382e-01 -1.08959041e-02 -9.03312503e-01] [-9.18034561e-02 1.21719380e-03 9.95776403e-01 -2.89200559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.749649246000004 meters 0.06085463281121478 Centerline is valid? [True, True] Translation: X:27.20, Y:-0.91, Z:-2.90 [[ 9.90276029e-01 1.05239667e-01 9.09835112e-02 2.71987083e+01] [-1.04681287e-01 9.94446076e-01 -1.09009252e-02 -9.06880257e-01] [-9.16254055e-02 1.27065391e-03 9.95792735e-01 -2.89605532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.779649246000005 meters 0.0612344584912166 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.91, Z:-2.90 [[ 9.90334275e-01 1.05043394e-01 9.05754312e-02 2.72294955e+01] [-1.04486944e-01 9.94466779e-01 -1.08767281e-02 -9.09171980e-01] [-9.12167858e-02 1.30764662e-03 9.95830200e-01 -2.90305538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.809649246000003 meters 0.061338612903357646 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.91, Z:-2.91 [[ 9.90387221e-01 1.04891807e-01 9.01712901e-02 2.72614548e+01] [-1.04337854e-01 9.94482742e-01 -1.08484005e-02 -9.12338287e-01] [-9.08117002e-02 1.33583836e-03 9.95867185e-01 -2.90686850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.839649246000004 meters 0.06128186223643906 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.92, Z:-2.91 [[ 9.90371502e-01 1.05943798e-01 8.91077994e-02 2.72939885e+01] [-1.05405237e-01 9.94371339e-01 -1.07413033e-02 -9.15600802e-01] [-8.97442163e-02 1.24545192e-03 9.95964068e-01 -2.91123517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.869649246000005 meters 0.06128186223643906 Centerline is valid? [True, True] Translation: X:27.33, Y:-0.92, Z:-2.91 [[ 9.90342382e-01 1.06218156e-01 8.91048291e-02 2.73258823e+01] [-1.05678491e-01 9.94342070e-01 -1.07658815e-02 -9.19619199e-01] [-8.97442123e-02 1.24544478e-03 9.95964068e-01 -2.91473416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.899649246000003 meters 0.06122983511505333 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.92, Z:-2.92 [[ 9.90237753e-01 1.06929088e-01 8.94167889e-02 2.73576313e+01] [-1.06386198e-01 9.94265912e-01 -1.08292565e-02 -9.23108279e-01] [-9.00620277e-02 1.21082638e-03 9.95935422e-01 -2.91725324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.929649246000004 meters 0.061444473821721995 Centerline is valid? [True, True] Translation: X:27.39, Y:-0.93, Z:-2.92 [[ 9.90212581e-01 1.07783809e-01 8.86661996e-02 2.73888508e+01] [-1.07251508e-01 9.94173697e-01 -1.07598592e-02 -9.28346912e-01] [-8.93093421e-02 1.14496436e-03 9.96003278e-01 -2.92346415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.959649246000005 meters 0.061087885158927 Centerline is valid? [True, True] Translation: X:27.42, Y:-0.93, Z:-2.93 [[ 9.90166647e-01 1.08820573e-01 8.79095735e-02 2.74213140e+01] [-1.08299380e-01 9.94060837e-01 -1.06909441e-02 -9.30550002e-01] [-8.85508589e-02 1.06526397e-03 9.96071087e-01 -2.92500108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.989649246000003 meters 0.06082135398021686 Centerline is valid? [True, True] Translation: X:27.45, Y:-0.93, Z:-2.93 [[ 9.89995172e-01 1.10380256e-01 8.78962910e-02 2.74535875e+01] [-1.09863142e-01 9.93888976e-01 -1.07142077e-02 -9.32365491e-01] [-8.85417916e-02 9.50451197e-04 9.96072009e-01 -2.92705882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.019649246000004 meters 0.060801457341145095 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.94, Z:-2.93 [[ 9.89923614e-01 1.10667944e-01 8.83393712e-02 2.74855977e+01] [-1.10144810e-01 9.93856983e-01 -1.07897558e-02 -9.35622208e-01] [-8.89907810e-02 9.50910763e-04 9.96031996e-01 -2.93048356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.049649246000005 meters 0.06059391101133087 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.94, Z:-2.93 [[ 9.89632473e-01 1.11965199e-01 8.99520049e-02 2.75180619e+01] [-1.11425413e-01 9.93711740e-01 -1.10161625e-02 -9.38053445e-01] [-9.06197901e-02 8.79012825e-04 9.95885175e-01 -2.93273857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.079649246000002 meters 0.0606741382948672 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.94, Z:-2.94 [[ 9.89641010e-01 1.12039477e-01 8.97654016e-02 2.75509291e+01] [-1.11501818e-01 9.93703371e-01 -1.09979361e-02 -9.41766364e-01] [-9.04323852e-02 8.75003082e-04 9.95902213e-01 -2.93635605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.109649246000004 meters 0.060473296825873324 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.94, Z:-2.94 [[ 9.89599369e-01 1.13298080e-01 8.86376505e-02 2.75825672e+01] [-1.12776609e-01 9.93560739e-01 -1.08854790e-02 -9.43753320e-01] [-8.93001934e-02 7.76009531e-04 9.96004454e-01 -2.94093118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.139649246000005 meters 0.06036092868909368 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.95, Z:-2.94 [[ 9.89443060e-01 1.13747201e-01 8.97998024e-02 2.76144548e+01] [-1.13211506e-01 9.93509427e-01 -1.10532277e-02 -9.46672514e-01] [-9.04742239e-02 7.70168504e-04 9.95898500e-01 -2.94449097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.169649246000002 meters 0.06034838769191704 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.95, Z:-2.95 [[ 9.89389414e-01 1.15234956e-01 8.84844227e-02 2.76457406e+01] [-1.14718860e-01 9.93338053e-01 -1.09131184e-02 -9.48214112e-01] [-8.91525169e-02 6.46491719e-04 9.96017776e-01 -2.94876129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.199649246000003 meters 0.060355752124674 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.95, Z:-2.95 [[ 9.89272686e-01 1.16913659e-01 8.75828132e-02 2.76772735e+01] [-1.16412765e-01 9.93141951e-01 -1.08227920e-02 -9.50596598e-01] [-8.82474982e-02 5.10935044e-04 9.96098448e-01 -2.95292278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.229649246000005 meters 0.060391142291297197 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.95, Z:-2.96 [[ 9.89162118e-01 1.17730222e-01 8.77376758e-02 2.77102980e+01] [-1.17229568e-01 9.93045513e-01 -1.08553202e-02 -9.52384358e-01] [-8.84055045e-02 4.52221699e-04 9.96084465e-01 -2.95761486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.259649246000006 meters 0.06024488217423876 Centerline is valid? [True, True] Translation: X:27.74, Y:-0.95, Z:-2.96 [[ 9.88931486e-01 1.19699625e-01 8.76727815e-02 2.77414461e+01] [-1.19205215e-01 9.92810107e-01 -1.08723194e-02 -9.54943517e-01] [-8.83438361e-02 3.00926141e-04 9.96089994e-01 -2.96091729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.289649246000003 meters 0.06019363676721529 Centerline is valid? [True, True] Translation: X:27.77, Y:-0.96, Z:-2.96 [[ 9.88644025e-01 1.21489487e-01 8.84493945e-02 2.77726879e+01] [-1.20991275e-01 9.92592704e-01 -1.09924683e-02 -9.56121286e-01] [-8.91296930e-02 1.66033117e-04 9.96020015e-01 -2.96477678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.319649246000004 meters 0.06010364980194992 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.96, Z:-2.97 [[ 9.88434546e-01 1.23072973e-01 8.86013117e-02 2.78050432e+01] [-1.22577544e-01 9.92397623e-01 -1.10319700e-02 -9.57964822e-01] [-8.92854684e-02 4.38490716e-05 9.96006076e-01 -2.96896446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.349649246000006 meters 0.06024513713401322 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.96, Z:-2.97 [[ 9.88163193e-01 1.26392124e-01 8.69398401e-02 2.78358750e+01] [-1.25925808e-01 9.91980332e-01 -1.08494903e-02 -9.57736332e-01] [-8.76139016e-02 -2.26902576e-04 9.96154482e-01 -2.97328704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.379649246000003 meters 0.06026738577990533 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.96, Z:-2.97 [[ 9.87579121e-01 1.30322716e-01 8.77694093e-02 2.78688310e+01] [-1.29861278e-01 9.91471469e-01 -1.09715604e-02 -9.58322710e-01] [-8.84507087e-02 -5.62563757e-04 9.96080396e-01 -2.97391034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.409649246000004 meters 0.06035438513925073 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.96, Z:-2.98 [[ 9.87406944e-01 1.31071544e-01 8.85876860e-02 2.78990093e+01] [-1.30602060e-01 9.91372725e-01 -1.11005567e-02 -9.61671646e-01] [-8.92783827e-02 -6.08967570e-04 9.96006526e-01 -2.97790079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.439649246000005 meters 0.06026943205992506 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.97, Z:-2.98 [[ 9.87440912e-01 1.31302425e-01 8.78642014e-02 2.79307420e+01] [-1.30839554e-01 9.91342176e-01 -1.10318318e-02 -9.66400192e-01] [-8.85519949e-02 -6.02830834e-04 9.96071373e-01 -2.97928820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.469649246000003 meters 0.06041491252557723 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.97, Z:-2.99 [[ 9.87425046e-01 1.32046955e-01 8.69216911e-02 2.79609359e+01] [-1.31594736e-01 9.91243257e-01 -1.09376073e-02 -9.70286115e-01] [-8.76048179e-02 -6.38369602e-04 9.96155103e-01 -2.98538401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.499649246000004 meters 0.06036915217368015 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.98, Z:-2.99 [[ 9.87553494e-01 1.30880851e-01 8.72255641e-02 2.79925972e+01] [-1.30420051e-01 9.91397965e-01 -1.09856867e-02 -9.75960317e-01] [-8.79130628e-02 -5.27009215e-04 9.96128012e-01 -2.98990231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.529649246000005 meters 0.06025907130797286 Centerline is valid? [True, True] Translation: X:28.02, Y:-0.98, Z:-2.99 [[ 9.87640654e-01 1.29879902e-01 8.77334047e-02 2.80242706e+01] [-1.29407829e-01 9.91529644e-01 -1.10714978e-02 -9.81877642e-01] [-8.84282366e-02 -4.18728133e-04 9.96082462e-01 -2.99382622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.559649246000003 meters 0.06025862304626564 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.99, Z:-3.00 [[ 9.87696653e-01 1.29613101e-01 8.74972289e-02 2.80557552e+01] [-1.29140646e-01 9.91564574e-01 -1.10629274e-02 -9.89172444e-01] [-8.81930528e-02 -3.72632335e-04 9.96103331e-01 -2.99530055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.589649246000004 meters 0.0600853378245288 Centerline is valid? [True, True] Translation: X:28.09, Y:-1.00, Z:-3.00 [[ 9.87638529e-01 1.29863006e-01 8.77823178e-02 2.80878855e+01] [-1.29386426e-01 9.91531876e-01 -1.11217158e-02 -9.95093117e-01] [-8.84832657e-02 -3.73605299e-04 9.96077593e-01 -2.99858480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.619649246000005 meters 0.060054711470199876 Centerline is valid? [True, True] Translation: X:28.12, Y:-1.00, Z:-3.00 [[ 9.87729802e-01 1.28791790e-01 8.83318313e-02 2.81186733e+01] [-1.28302623e-01 9.91671624e-01 -1.12172362e-02 -1.00149367e+00] [-8.90408586e-02 -2.53607130e-04 9.96027942e-01 -3.00076497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.649649246000003 meters 0.06018874811810212 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.01, Z:-3.01 [[ 9.87802923e-01 1.28502355e-01 8.79348015e-02 2.81499834e+01] [-1.28014737e-01 9.91709182e-01 -1.11859395e-02 -1.00640120e+00] [-8.86431696e-02 -2.07446802e-04 9.96063424e-01 -3.00540865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.679649246000004 meters 0.060173100985884735 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.01, Z:-3.01 [[ 9.87914210e-01 1.28370487e-01 8.68707755e-02 2.81815387e+01] [-1.27892138e-01 9.91726267e-01 -1.10730348e-02 -1.01019704e+00] [-8.75734808e-02 -1.70880730e-04 9.96158048e-01 -3.01141972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.709649246000005 meters 0.060227459183758575 Centerline is valid? [True, True] Translation: X:28.21, Y:-1.01, Z:-3.02 [[ 9.87953931e-01 1.28345107e-01 8.64555644e-02 2.82130435e+01] [-1.27869478e-01 9.91729556e-01 -1.10401499e-02 -1.01450053e+00] [-8.71574876e-02 -1.47868429e-04 9.96194534e-01 -3.01592771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.739649246000003 meters 0.06018948106084011 Centerline is valid? [True, True] Translation: X:28.24, Y:-1.02, Z:-3.02 [[ 9.88043142e-01 1.27770083e-01 8.62876274e-02 2.82445978e+01] [-1.27292207e-01 9.91803811e-01 -1.10405546e-02 -1.02053823e+00] [-8.69910503e-02 -7.51982641e-05 9.96209090e-01 -3.01895952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.769649246000004 meters 0.060069289143445476 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.03, Z:-3.02 [[ 9.88028212e-01 1.27750241e-01 8.64877303e-02 2.82769823e+01] [-1.27268200e-01 9.91806369e-01 -1.10874774e-02 -1.02535115e+00] [-8.71955097e-02 -5.23972786e-05 9.96191217e-01 -3.02258480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.799649246000005 meters 0.060133149210828865 Centerline is valid? [True, True] Translation: X:28.31, Y:-1.03, Z:-3.03 [[ 9.88009422e-01 1.27853519e-01 8.65497526e-02 2.83092722e+01] [-1.27369179e-01 9.91793061e-01 -1.11182777e-02 -1.02973338e+00] [-8.72609550e-02 -3.88078148e-05 9.96185487e-01 -3.02678048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.829649246000002 meters 0.060289736351052135 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.03, Z:-3.03 [[ 9.87829214e-01 1.29207792e-01 8.65955537e-02 2.83410711e+01] [-1.28726084e-01 9.91617531e-01 -1.11475210e-02 -1.03328213e+00] [-8.73100157e-02 -1.35259625e-04 9.96181180e-01 -3.03035010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.859649246000004 meters 0.0600228073112203 Centerline is valid? [True, True] Translation: X:28.37, Y:-1.04, Z:-3.03 [[ 9.87777604e-01 1.29635382e-01 8.65452080e-02 2.83736778e+01] [-1.29154046e-01 9.91561720e-01 -1.11618924e-02 -1.03806191e+00] [-8.72618915e-02 -1.52196504e-04 9.96185394e-01 -3.03154126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.889649246000005 meters 0.05993747459789357 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.04, Z:-3.04 [[ 9.87735801e-01 1.29927706e-01 8.65839445e-02 2.84048512e+01] [-1.29444925e-01 9.91523458e-01 -1.11912350e-02 -1.04268109e+00] [-8.73040635e-02 -1.53868793e-04 9.96181699e-01 -3.03510894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.919649246000002 meters 0.059804166364307694 Centerline is valid? [True, True] Translation: X:28.44, Y:-1.05, Z:-3.04 [[ 9.87663705e-01 1.30726621e-01 8.62029921e-02 2.84355505e+01] [-1.30249206e-01 9.91418433e-01 -1.11639821e-02 -1.04704442e+00] [-8.69226650e-02 -2.01611326e-04 9.96215042e-01 -3.04067301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.949649246000003 meters 0.059527056519251095 Centerline is valid? [True, True] Translation: X:28.47, Y:-1.05, Z:-3.04 [[ 9.87535086e-01 1.30959914e-01 8.73152661e-02 2.84670155e+01] [-1.30468957e-01 9.91387644e-01 -1.13309815e-02 -1.05162810e+00] [-8.80471803e-02 -2.02189955e-04 9.96116285e-01 -3.04047101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.979649246000005 meters 0.05940184044612064 Centerline is valid? [True, True] Translation: X:28.50, Y:-1.06, Z:-3.04 [[ 9.87443091e-01 1.31381981e-01 8.77206786e-02 2.84997162e+01] [-1.30886329e-01 9.91331794e-01 -1.14036216e-02 -1.05631904e+00] [-8.84585281e-02 -2.21010238e-04 9.96079836e-01 -3.04225681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.009649246000006 meters 0.059463415748145676 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.06, Z:-3.05 [[ 9.87479962e-01 1.31569067e-01 8.70224395e-02 2.85301341e+01] [-1.31079793e-01 9.91306984e-01 -1.13380652e-02 -1.06016483e+00] [-8.77576907e-02 -2.10771103e-04 9.96141829e-01 -3.04789481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.039649246000003 meters 0.05943099187873528 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.07, Z:-3.05 [[ 9.87475703e-01 1.31716133e-01 8.68481204e-02 2.85627045e+01] [-1.31227749e-01 9.91287455e-01 -1.13340035e-02 -1.06651090e+00] [-8.75843233e-02 -2.04830251e-04 9.96157088e-01 -3.05016676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.069649246000004 meters 0.05938829916053819 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.07, Z:-3.05 [[ 9.87573793e-01 1.30701004e-01 8.72654101e-02 2.85928491e+01] [-1.30201703e-01 9.91421827e-01 -1.14138924e-02 -1.07314421e+00] [-8.80086395e-02 -9.00440627e-05 9.96119707e-01 -3.05363184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.099649246000006 meters 0.059509621044728046 Centerline is valid? [True, True] Translation: X:28.62, Y:-1.08, Z:-3.06 [[ 9.87639502e-01 1.30527391e-01 8.67802676e-02 2.86234301e+01] [-1.30031336e-01 9.91444702e-01 -1.13690183e-02 -1.07796756e+00] [-8.75218048e-02 -5.56625701e-05 9.96162602e-01 -3.06214737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.129649246000003 meters 0.05927254079876789 Centerline is valid? [True, True] Translation: X:28.66, Y:-1.08, Z:-3.06 [[ 9.87813212e-01 1.29253845e-01 8.67092923e-02 2.86565084e+01] [-1.28751811e-01 9.91611535e-01 -1.13812924e-02 -1.08493996e+00] [-8.74530103e-02 7.86125346e-05 9.96168643e-01 -3.06018950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.159649246000004 meters 0.05932679776651736 Centerline is valid? [True, True] Translation: X:28.69, Y:-1.09, Z:-3.06 [[ 9.87883035e-01 1.29527901e-01 8.54963828e-02 2.86875482e+01] [-1.29038737e-01 9.91575775e-01 -1.12466719e-02 -1.09041491e+00] [-8.62328998e-02 7.80511724e-05 9.96275003e-01 -3.06385979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.189649246000005 meters 0.05947166068542486 Centerline is valid? [True, True] Translation: X:28.72, Y:-1.10, Z:-3.07 [[ 9.87990830e-01 1.29255321e-01 8.46592158e-02 2.87176166e+01] [-1.28772913e-01 9.91611339e-01 -1.11574983e-02 -1.09586559e+00] [-8.53912043e-02 1.21692185e-04 9.96347493e-01 -3.06995349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.219649246000003 meters 0.0593654161626059 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.10, Z:-3.07 [[ 9.87966471e-01 1.29645467e-01 8.43463383e-02 2.87504380e+01] [-1.29166536e-01 9.91560408e-01 -1.11339213e-02 -1.10041750e+00] [-8.50779520e-02 1.05216582e-04 9.96374293e-01 -3.07105196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.249649246000004 meters 0.05963110913527032 Centerline is valid? [True, True] Translation: X:28.78, Y:-1.10, Z:-3.08 [[ 9.87822225e-01 1.30327878e-01 8.49817332e-02 2.87808080e+01] [-1.29842001e-01 9.91470947e-01 -1.12434865e-02 -1.10416060e+00] [-8.57222593e-02 7.23676421e-05 9.96319070e-01 -3.08001349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.279649246000005 meters 0.059316062317491466 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.11, Z:-3.08 [[ 9.87681852e-01 1.31366000e-01 8.50148956e-02 2.88141070e+01] [-1.30881989e-01 9.91333937e-01 -1.12663597e-02 -1.10772511e+00] [-8.57581678e-02 6.60416181e-07 9.96315982e-01 -3.07897859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.309649246000003 meters 0.05923138555101198 Centerline is valid? [True, True] Translation: X:28.85, Y:-1.11, Z:-3.08 [[ 9.87803010e-01 1.31326908e-01 8.36567759e-02 2.88452415e+01] [-1.30856143e-01 9.91339116e-01 -1.11097841e-02 -1.11214553e+00] [-8.43912479e-02 2.72751804e-05 9.96432695e-01 -3.08165169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.339649246000004 meters 0.059259748335227735 Centerline is valid? [True, True] Translation: X:28.88, Y:-1.12, Z:-3.08 [[ 9.87997202e-01 1.28069739e-01 8.63693897e-02 2.88751804e+01] [-1.27553498e-01 9.91765107e-01 -1.14924893e-02 -1.12040709e+00] [-8.71299872e-02 3.37829486e-04 9.96196894e-01 -3.08370949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.369649246000005 meters 0.059236525223301646 Centerline is valid? [True, True] Translation: X:28.91, Y:-1.13, Z:-3.08 [[ 9.88685090e-01 1.21691045e-01 8.77102187e-02 2.89059650e+01] [-1.21132584e-01 9.92567597e-01 -1.16817457e-02 -1.13198080e+00] [-8.84798849e-02 9.25002401e-04 9.96077534e-01 -3.08234855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.399649246000003 meters 0.059432052658843146 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.13, Z:-3.09 [[ 9.89083551e-01 1.20587298e-01 8.46902149e-02 2.89379363e+01] [-1.20060743e-01 9.92702212e-01 -1.13020279e-02 -1.13423999e+00] [-8.54350447e-02 1.01067972e-03 9.96343230e-01 -3.08872386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.429649246000004 meters 0.0600721612857071 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.14, Z:-3.10 [[ 9.89365451e-01 1.19742136e-01 8.25701241e-02 2.89682654e+01] [-1.19238573e-01 9.92804463e-01 -1.10209666e-02 -1.13726328e+00] [-8.32956618e-02 1.05821982e-03 9.96524316e-01 -3.09705125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.459649246000005 meters 0.06033144133678499 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.14, Z:-3.10 [[ 9.89595108e-01 1.19131782e-01 8.06792494e-02 2.90001561e+01] [-1.18647672e-01 9.92877841e-01 -1.07853022e-02 -1.13896720e+00] [-8.13895112e-02 1.10067717e-03 9.96681763e-01 -3.10388842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.489649246000003 meters 0.060603631703144076 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.15, Z:-3.11 [[ 9.89673106e-01 1.18953903e-01 7.99819452e-02 2.90299168e+01] [-1.18475943e-01 9.92899140e-01 -1.07120838e-02 -1.14517744e+00] [-8.06882488e-02 1.12552489e-03 9.96738752e-01 -3.10974015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.519649246000004 meters 0.0600585933752408 Centerline is valid? [True, True] Translation: X:29.06, Y:-1.15, Z:-3.11 [[ 9.89552010e-01 1.18874601e-01 8.15821573e-02 2.90616078e+01] [-1.18375485e-01 9.92908582e-01 -1.09449491e-02 -1.15143736e+00] [-8.23047006e-02 1.17326897e-03 9.96606522e-01 -3.10667684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.549649246000005 meters 0.05941664072230191 Centerline is valid? [True, True] Translation: X:29.09, Y:-1.16, Z:-3.11 [[ 9.89011134e-01 1.21207491e-01 8.46505777e-02 2.90922637e+01] [-1.20676332e-01 9.92626646e-01 -1.13826560e-02 -1.15668410e+00] [-8.54060822e-02 1.04225229e-03 9.96345680e-01 -3.10626656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.579649246000002 meters 0.05925813545921853 Centerline is valid? [True, True] Translation: X:29.13, Y:-1.16, Z:-3.11 [[ 9.88922194e-01 1.22079090e-01 8.44369009e-02 2.91251077e+01] [-1.21553971e-01 9.92519909e-01 -1.13517601e-02 -1.15994727e+00] [-8.51911177e-02 9.62366921e-04 9.96364164e-01 -3.10943363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.609649246000004 meters 0.05924481913411743 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.16, Z:-3.11 [[ 9.88771161e-01 1.22885043e-01 8.50344442e-02 2.91553735e+01] [-1.22353375e-01 9.92420483e-01 -1.14558766e-02 -1.16255273e+00] [-8.57976800e-02 9.22989177e-04 9.96312153e-01 -3.11399871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.639649246000005 meters 0.0591285035742941 Centerline is valid? [True, True] Translation: X:29.19, Y:-1.16, Z:-3.12 [[ 9.88598481e-01 1.24418102e-01 8.48126102e-02 2.91878353e+01] [-1.23893344e-01 9.92229554e-01 -1.14434138e-02 -1.16247577e+00] [-8.55773462e-02 8.05223651e-04 9.96331205e-01 -3.11699793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.669649246000002 meters 0.05925512265753479 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.16, Z:-3.12 [[ 9.88566543e-01 1.26590394e-01 8.19210792e-02 2.92189331e+01] [-1.26106737e-01 9.91954885e-01 -1.10723418e-02 -1.16291565e+00] [-8.26636668e-02 6.14946635e-04 9.96577313e-01 -3.12351829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.699649246000003 meters 0.059112582448858635 Centerline is valid? [True, True] Translation: X:29.25, Y:-1.17, Z:-3.13 [[ 9.88412779e-01 1.28240328e-01 8.12071239e-02 2.92513094e+01] [-1.27769289e-01 9.91743000e-01 -1.09922597e-02 -1.16563956e+00] [-8.19462477e-02 4.89113463e-04 9.96636630e-01 -3.12777056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.729649246000005 meters 0.05911230795584502 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.17, Z:-3.13 [[ 9.88181717e-01 1.31166674e-01 7.93233721e-02 2.92833073e+01] [-1.30724951e-01 9.91360295e-01 -1.07588214e-02 -1.16685386e+00] [-8.00492404e-02 2.62126674e-04 9.96790876e-01 -3.13168553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.759649246000006 meters 0.05928117147984782 Centerline is valid? [True, True] Translation: X:29.31, Y:-1.17, Z:-3.14 [[ 9.88010731e-01 1.32415846e-01 7.93778294e-02 2.93142120e+01] [-1.31976090e-01 9.91194235e-01 -1.07842535e-02 -1.16881682e+00] [-8.01068529e-02 1.78982629e-04 9.96786266e-01 -3.13811582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.789649246000003 meters 0.05928117147984782 Centerline is valid? [True, True] Translation: X:29.35, Y:-1.17, Z:-3.14 [[ 9.87977546e-01 1.32664775e-01 7.93752272e-02 2.93460626e+01] [-1.32224285e-01 9.91160948e-01 -1.08033666e-02 -1.17334750e+00] [-8.01068517e-02 1.78150954e-04 9.96786266e-01 -3.14161466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.819649246000004 meters 0.059175068012497764 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.17, Z:-3.14 [[ 9.87493362e-01 1.36036051e-01 7.96934883e-02 2.93786714e+01] [-1.35601260e-01 9.90703885e-01 -1.08678914e-02 -1.17117383e+00] [-8.04310735e-02 -7.45668103e-05 9.96760170e-01 -3.14426069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.849649246000006 meters 0.05915063558953638 Centerline is valid? [True, True] Translation: X:29.41, Y:-1.17, Z:-3.15 [[ 9.87191702e-01 1.38532649e-01 7.91280581e-02 2.94107179e+01] [-1.38110578e-01 9.90357834e-01 -1.08087846e-02 -1.17236891e+00] [-7.98624617e-02 -2.58079352e-04 9.96805859e-01 -3.14798156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.879649246000003 meters 0.0594740850115983 Centerline is valid? [True, True] Translation: X:29.44, Y:-1.17, Z:-3.15 [[ 9.86498250e-01 1.43145269e-01 7.95652799e-02 2.94423492e+01] [-1.42731772e-01 9.89701498e-01 -1.08897233e-02 -1.16818703e+00] [-8.03046891e-02 -6.13800451e-04 9.96770174e-01 -3.15221056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.909649246000004 meters 0.05978556010493326 Centerline is valid? [True, True] Translation: X:29.47, Y:-1.17, Z:-3.16 [[ 9.86194340e-01 1.45429513e-01 7.91895280e-02 2.94745634e+01] [-1.45026694e-01 9.89368301e-01 -1.08454393e-02 -1.16874351e+00] [-7.99248557e-02 -7.88884622e-04 9.96800579e-01 -3.15580261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.939649246000005 meters 0.06042363746920805 Centerline is valid? [True, True] Translation: X:29.51, Y:-1.17, Z:-3.16 [[ 9.85614131e-01 1.49672768e-01 7.85038045e-02 2.95067127e+01] [-1.49288575e-01 9.88734975e-01 -1.07736382e-02 -1.16734602e+00] [-7.92319774e-02 -1.10107097e-03 9.96855597e-01 -3.15890973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.969649246000003 meters 0.060202061579762836 Centerline is valid? [True, True] Translation: X:29.54, Y:-1.17, Z:-3.16 [[ 9.85231418e-01 1.51727192e-01 7.93593835e-02 2.95393121e+01] [-1.51341247e-01 9.88421580e-01 -1.08907021e-02 -1.17052215e+00] [-8.00929429e-02 -1.28048613e-03 9.96786577e-01 -3.15976122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.999649246000004 meters 0.06080407910365091 Centerline is valid? [True, True] Translation: X:29.57, Y:-1.17, Z:-3.16 [[ 9.84511956e-01 1.55566216e-01 8.08415827e-02 2.95710443e+01] [-1.55176680e-01 9.87824172e-01 -1.11176976e-02 -1.16968196e+00] [-8.15868077e-02 -1.59922223e-03 9.96664956e-01 -3.16183528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.029649246000005 meters 0.06148999785085464 Centerline is valid? [True, True] Translation: X:29.60, Y:-1.17, Z:-3.17 [[ 9.84397654e-01 1.55907555e-01 8.15726247e-02 2.96017501e+01] [-1.55510452e-01 9.87770318e-01 -1.12382277e-02 -1.17165133e+00] [-8.23271421e-02 -1.62251068e-03 9.96604038e-01 -3.16761120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.059649246000003 meters 0.06149074912778983 Centerline is valid? [True, True] Translation: X:29.63, Y:-1.18, Z:-3.17 [[ 9.84457882e-01 1.55770461e-01 8.11063587e-02 2.96327828e+01] [-1.55376776e-01 9.87791994e-01 -1.11818904e-02 -1.17659732e+00] [-8.18580200e-02 -1.59394435e-03 9.96642726e-01 -3.17253242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.089649246000004 meters 0.0615952992919281 Centerline is valid? [True, True] Translation: X:29.66, Y:-1.18, Z:-3.18 [[ 9.84476387e-01 1.55902374e-01 8.06268704e-02 2.96640211e+01] [-1.55512193e-01 9.87771211e-01 -1.11351882e-02 -1.18118668e+00] [-8.13769037e-02 -1.57613157e-03 9.96682154e-01 -3.17671762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.119649246000005 meters 0.06040441170392635 Centerline is valid? [True, True] Translation: X:29.70, Y:-1.19, Z:-3.18 [[ 9.84531790e-01 1.55610704e-01 8.05137441e-02 2.96960301e+01] [-1.55219335e-01 9.87817268e-01 -1.11356295e-02 -1.19177768e+00] [-8.12656899e-02 -1.53390850e-03 9.96691294e-01 -3.17633245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.149649246000003 meters 0.060046022471784755 Centerline is valid? [True, True] Translation: X:29.73, Y:-1.20, Z:-3.18 [[ 9.85033577e-01 1.53352642e-01 7.86881136e-02 2.97262324e+01] [-1.52969944e-01 9.88170678e-01 -1.09044900e-02 -1.20304336e+00] [-7.94295189e-02 -1.29562748e-03 9.96839643e-01 -3.18009981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.179649246000004 meters 0.059516750388336974 Centerline is valid? [True, True] Translation: X:29.76, Y:-1.21, Z:-3.18 [[ 9.85198763e-01 1.52170201e-01 7.89153203e-02 2.97580974e+01] [-1.51779522e-01 9.88353600e-01 -1.09607117e-02 -1.21134479e+00] [-7.96641347e-02 -1.17925004e-03 9.96821065e-01 -3.18137174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.209649246000005 meters 0.05949729758938279 Centerline is valid? [True, True] Translation: X:29.79, Y:-1.22, Z:-3.19 [[ 9.85243974e-01 1.52064319e-01 7.85541452e-02 2.97901420e+01] [-1.51676757e-01 9.88369915e-01 -1.09120509e-02 -1.21699755e+00] [-7.92998874e-02 -1.16380562e-03 9.96850126e-01 -3.18527866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.239649246000003 meters 0.05906024175143478 Centerline is valid? [True, True] Translation: X:29.82, Y:-1.22, Z:-3.19 [[ 9.85232710e-01 1.50793221e-01 8.11043320e-02 2.98194984e+01] [-1.50373253e-01 9.88564752e-01 -1.12967484e-02 -1.22413301e+00] [-8.18803569e-02 -1.06599622e-03 9.96641596e-01 -3.18752176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.269649246000004 meters 0.059144493395692437 Centerline is valid? [True, True] Translation: X:29.85, Y:-1.23, Z:-3.19 [[ 9.85299711e-01 1.50711845e-01 8.04389132e-02 2.98506258e+01] [-1.50298837e-01 9.88577173e-01 -1.11996626e-02 -1.22889325e+00] [-8.12079952e-02 -1.05485081e-03 9.96696618e-01 -3.19163889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.299649246000005 meters 0.059108300778053964 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.23, Z:-3.20 [[ 9.85334093e-01 1.50261657e-01 8.08588870e-02 2.98824378e+01] [-1.49841204e-01 9.88645754e-01 -1.12776983e-02 -1.23374413e+00] [-8.16354009e-02 -1.00369238e-03 9.96661755e-01 -3.19574030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.329649246000002 meters 0.05842965003314851 Centerline is valid? [True, True] Translation: X:29.91, Y:-1.24, Z:-3.20 [[ 9.85887807e-01 1.45793109e-01 8.22775829e-02 2.99125113e+01] [-1.45340521e-01 9.89314904e-01 -1.14958108e-02 -1.24496257e+00] [-8.30744490e-02 -6.24687051e-04 9.96543148e-01 -3.19846369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.359649246000004 meters 0.05826365313933975 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.25, Z:-3.20 [[ 9.85826887e-01 1.46077615e-01 8.25025990e-02 2.99443931e+01] [-1.45621962e-01 9.89272931e-01 -1.15461112e-02 -1.25140687e+00] [-8.33042163e-02 -6.31723528e-04 9.96523963e-01 -3.19995074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.389649246000005 meters 0.05801611614417119 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.26, Z:-3.21 [[ 9.86090342e-01 1.43993239e-01 8.30167733e-02 2.99745040e+01] [-1.43522511e-01 9.89578576e-01 -1.16417711e-02 -1.25834203e+00] [-8.38279566e-02 -4.34937714e-04 9.96480148e-01 -3.20509558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.419649246000006 meters 0.05793778431993355 Centerline is valid? [True, True] Translation: X:30.01, Y:-1.26, Z:-3.21 [[ 9.86201495e-01 1.43009342e-01 8.33962746e-02 3.00062253e+01] [-1.42528986e-01 9.89721283e-01 -1.17162346e-02 -1.26415237e+00] [-8.42145989e-02 -3.31818378e-04 9.96447586e-01 -3.20661937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.449649246000003 meters 0.05795800370094868 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.27, Z:-3.21 [[ 9.86196048e-01 1.43762266e-01 8.21569615e-02 3.00378717e+01] [-1.43298463e-01 9.89612177e-01 -1.15451064e-02 -1.27015845e+00] [-8.29632802e-02 -3.87228011e-04 9.96552530e-01 -3.21057058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.479649246000005 meters 0.05812286487927522 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.28, Z:-3.22 [[ 9.86279536e-01 1.43536091e-01 8.15479454e-02 3.00690446e+01] [-1.43076804e-01 9.89645023e-01 -1.14785685e-02 -1.27514319e+00] [-8.23511071e-02 -3.46542183e-04 9.96603319e-01 -3.21537185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.509649246000006 meters 0.05816758883919494 Centerline is valid? [True, True] Translation: X:30.10, Y:-1.28, Z:-3.22 [[ 9.86402513e-01 1.43574818e-01 7.99772109e-02 3.00990890e+01] [-1.43131511e-01 9.89639413e-01 -1.12784180e-02 -1.27960309e+00] [-8.07678969e-02 -3.22199251e-04 9.96732884e-01 -3.22103280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.539649246000003 meters 0.058025067359402896 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.28, Z:-3.22 [[ 9.86281116e-01 1.43897573e-01 8.08891144e-02 3.01305195e+01] [-1.43444590e-01 9.89592527e-01 -1.14140554e-02 -1.28467610e+00] [-8.16897180e-02 -3.45638585e-04 9.96657750e-01 -3.22270279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.569649246000004 meters 0.057925421247060446 Centerline is valid? [True, True] Translation: X:30.16, Y:-1.29, Z:-3.23 [[ 9.86230229e-01 1.44335515e-01 8.07291414e-02 3.01615121e+01] [-1.43884257e-01 9.89528740e-01 -1.14102125e-02 -1.28929597e+00] [-8.15307045e-02 -3.62556086e-04 9.96670764e-01 -3.22624676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.599649246000006 meters 0.05789327375382746 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.29, Z:-3.23 [[ 9.86177460e-01 1.44123453e-01 8.17462415e-02 3.01931167e+01] [-1.43658220e-01 9.89559661e-01 -1.15755330e-02 -1.29384464e+00] [-8.25610888e-02 -3.27989889e-04 9.96585952e-01 -3.22900995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.629649246000003 meters 0.0577894743849889 Centerline is valid? [True, True] Translation: X:30.22, Y:-1.30, Z:-3.23 [[ 9.86025305e-01 1.44739456e-01 8.24899300e-02 3.02246249e+01] [-1.44266234e-01 9.89469735e-01 -1.17002636e-02 -1.29846342e+00] [-8.33147791e-02 -3.63755606e-04 9.96523214e-01 -3.23083694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.659649246000004 meters 0.058064650776497084 Centerline is valid? [True, True] Translation: X:30.26, Y:-1.30, Z:-3.24 [[ 9.86059211e-01 1.44785633e-01 8.20021522e-02 3.02559979e+01] [-1.44316540e-01 9.89462986e-01 -1.16505642e-02 -1.30343219e+00] [-8.28249286e-02 -3.46120726e-04 9.96564053e-01 -3.23706473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.689649246000005 meters 0.05790632226322262 Centerline is valid? [True, True] Translation: X:30.29, Y:-1.31, Z:-3.24 [[ 9.86029669e-01 1.45006522e-01 8.19670650e-02 3.02870174e+01] [-1.44536795e-01 9.89430640e-01 -1.16672258e-02 -1.31023593e+00] [-8.27925494e-02 -3.43026086e-04 9.96566744e-01 -3.23928902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.719649246000003 meters 0.05774234719101766 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.32, Z:-3.24 [[ 9.86005747e-01 1.45231969e-01 8.18556119e-02 3.03189307e+01] [-1.44762672e-01 9.89397573e-01 -1.16709304e-02 -1.31623503e+00] [-8.26827360e-02 -3.42032643e-04 9.96575862e-01 -3.24170176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.749649246000004 meters 0.05779182856330595 Centerline is valid? [True, True] Translation: X:30.35, Y:-1.32, Z:-3.25 [[ 9.85963472e-01 1.45443956e-01 8.19883348e-02 3.03502345e+01] [-1.44971967e-01 9.89366434e-01 -1.17126908e-02 -1.32080241e+00] [-8.28200466e-02 -3.37724894e-04 9.96564461e-01 -3.24622698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.779649246000005 meters 0.05806964776240408 Centerline is valid? [True, True] Translation: X:30.38, Y:-1.33, Z:-3.25 [[ 9.85913309e-01 1.45866221e-01 8.18412642e-02 3.03811862e+01] [-1.45395651e-01 9.89304261e-01 -1.17125125e-02 -1.32542108e+00] [-8.26743713e-02 -3.51841953e-04 9.96576552e-01 -3.25232234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.809649246000003 meters 0.058438793243485825 Centerline is valid? [True, True] Translation: X:30.41, Y:-1.33, Z:-3.26 [[ 9.85898357e-01 1.46618709e-01 8.06683519e-02 3.04124683e+01] [-1.46162373e-01 9.89193006e-01 -1.15653527e-02 -1.32905268e+00] [-8.14922666e-02 -3.88415497e-04 9.96673898e-01 -3.25747400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.839649246000004 meters 0.05829689039055651 Centerline is valid? [True, True] Translation: X:30.44, Y:-1.33, Z:-3.26 [[ 9.85748852e-01 1.46782402e-01 8.21834988e-02 3.04429628e+01] [-1.46307701e-01 9.89168729e-01 -1.18018028e-02 -1.33367474e+00] [-8.30256440e-02 -3.90465178e-04 9.96547335e-01 -3.26031413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.869649246000005 meters 0.05797971269725649 Centerline is valid? [True, True] Translation: X:30.47, Y:-1.34, Z:-3.26 [[ 9.85898128e-01 1.45359378e-01 8.29188353e-02 3.04743230e+01] [-1.44869714e-01 9.89378889e-01 -1.19239450e-02 -1.34141747e+00] [-8.37714024e-02 -2.56632907e-04 9.96484965e-01 -3.25823657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.899649246000003 meters 0.05809347849271005 Centerline is valid? [True, True] Translation: X:30.50, Y:-1.35, Z:-3.26 [[ 9.85995577e-01 1.44559877e-01 8.31574682e-02 3.05043674e+01] [-1.44062606e-01 9.89496041e-01 -1.19812914e-02 -1.34686455e+00] [-8.40159995e-02 -1.66381226e-04 9.96464392e-01 -3.26475369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.929649246000004 meters 0.058042174096480534 Centerline is valid? [True, True] Translation: X:30.53, Y:-1.35, Z:-3.27 [[ 9.86198718e-01 1.43006730e-01 8.34335840e-02 3.05342576e+01] [-1.42499771e-01 9.89721716e-01 -1.20308272e-02 -1.35409738e+00] [-8.42965191e-02 -2.44801732e-05 9.96440714e-01 -3.26759562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.959649246000005 meters 0.05804911103353306 Centerline is valid? [True, True] Translation: X:30.57, Y:-1.36, Z:-3.27 [[ 9.86308410e-01 1.42081879e-01 8.37165509e-02 3.05667425e+01] [-1.41566719e-01 9.89854906e-01 -1.20884115e-02 -1.36128503e+00] [-8.45847828e-02 7.14244882e-05 9.96416283e-01 -3.27077590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.989649246000003 meters 0.057872195596954994 Centerline is valid? [True, True] Translation: X:30.60, Y:-1.37, Z:-3.27 [[ 9.86644706e-01 1.39043813e-01 8.48471731e-02 3.05973017e+01] [-1.38501414e-01 9.90286165e-01 -1.22747462e-02 -1.37244781e+00] [-8.57297092e-02 3.59359940e-04 9.96318367e-01 -3.27162836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.019649246000004 meters 0.05787492779715162 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.38, Z:-3.27 [[ 9.86716394e-01 1.38713327e-01 8.45539469e-02 3.06295537e+01] [-1.38171921e-01 9.90332494e-01 -1.22503542e-02 -1.37733256e+00] [-8.54358085e-02 4.04644072e-04 9.96343595e-01 -3.27407776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.049649246000005 meters 0.05794056081651331 Centerline is valid? [True, True] Translation: X:30.66, Y:-1.38, Z:-3.28 [[ 9.86773818e-01 1.37459199e-01 8.59208996e-02 3.06609013e+01] [-1.36893255e-01 9.90507280e-01 -1.24726097e-02 -1.38473851e+00] [-8.68197514e-02 5.45653136e-04 9.96223887e-01 -3.27743934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.079649246000002 meters 0.05797651494646332 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.39, Z:-3.28 [[ 9.86663928e-01 1.37315253e-01 8.74003131e-02 3.06908140e+01] [-1.36727154e-01 9.90527220e-01 -1.27087046e-02 -1.39043224e+00] [-8.83174882e-02 5.89224335e-04 9.96092202e-01 -3.28173335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.109649246000004 meters 0.05769279944641665 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.39, Z:-3.28 [[ 9.86638521e-01 1.37308969e-01 8.76965041e-02 3.07232429e+01] [-1.36715247e-01 9.90528079e-01 -1.27697160e-02 -1.39431305e+00] [-8.86192463e-02 6.09644437e-04 9.96065388e-01 -3.28063145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.139649246000005 meters 0.05799200807945666 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.40, Z:-3.29 [[ 9.86647340e-01 1.37670327e-01 8.70282042e-02 3.07526295e+01] [-1.37084695e-01 9.90477926e-01 -1.26989887e-02 -1.39994680e+00] [-8.79477891e-02 5.99188525e-04 9.96124906e-01 -3.28943779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.169649246000006 meters 0.057712805898916926 Centerline is valid? [True, True] Translation: X:30.79, Y:-1.40, Z:-3.29 [[ 9.86613897e-01 1.37437916e-01 8.77715064e-02 3.07850272e+01] [-1.36840430e-01 9.90510180e-01 -1.28172010e-02 -1.40320062e+00] [-8.87001400e-02 6.34937978e-04 9.96058172e-01 -3.28868795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.199649246000003 meters 0.05767876331516716 Centerline is valid? [True, True] Translation: X:30.82, Y:-1.41, Z:-3.29 [[ 9.86582422e-01 1.37735589e-01 8.76586161e-02 3.08173150e+01] [-1.37139015e-01 9.90468835e-01 -1.28209547e-02 -1.40777565e+00] [-8.85890291e-02 6.27512339e-04 9.96068065e-01 -3.29212148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.229649246000005 meters 0.057622277454803805 Centerline is valid? [True, True] Translation: X:30.85, Y:-1.41, Z:-3.30 [[ 9.86496382e-01 1.38239926e-01 8.78328614e-02 3.08481546e+01] [-1.37640816e-01 9.90398583e-01 -1.28705883e-02 -1.41285792e+00] [-8.87687707e-02 6.07402120e-04 9.96052075e-01 -3.29549703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.259649246000006 meters 0.05762222787604245 Centerline is valid? [True, True] Translation: X:30.88, Y:-1.42, Z:-3.30 [[ 9.86473854e-01 1.38483432e-01 8.77021905e-02 3.08807833e+01] [-1.37885123e-01 9.90364565e-01 -1.28732774e-02 -1.41755750e+00] [-8.86398774e-02 6.06324216e-04 9.96063554e-01 -3.29934027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.289649246000003 meters 0.057685418315720424 Centerline is valid? [True, True] Translation: X:30.91, Y:-1.42, Z:-3.30 [[ 9.86351034e-01 1.38400961e-01 8.92009675e-02 3.09110963e+01] [-1.37779359e-01 9.90376066e-01 -1.31185346e-02 -1.42182204e+00] [-9.01581211e-02 6.49428061e-04 9.95927252e-01 -3.30232759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.319649246000004 meters 0.05768436536166953 Centerline is valid? [True, True] Translation: X:30.94, Y:-1.43, Z:-3.31 [[ 9.86328673e-01 1.38814987e-01 8.88039834e-02 3.09422699e+01] [-1.38198926e-01 9.90318134e-01 -1.30786482e-02 -1.42732570e+00] [-8.97597075e-02 6.27230563e-04 9.95963253e-01 -3.30820015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.349649246000006 meters 0.05757987403608264 Centerline is valid? [True, True] Translation: X:30.97, Y:-1.43, Z:-3.31 [[ 9.86245801e-01 1.39649037e-01 8.84158696e-02 3.09746314e+01] [-1.39039813e-01 9.90200900e-01 -1.30425704e-02 -1.43037112e+00] [-8.93708560e-02 5.69854257e-04 9.95998256e-01 -3.30923208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.379649246000003 meters 0.057802094109818784 Centerline is valid? [True, True] Translation: X:31.01, Y:-1.44, Z:-3.32 [[ 9.86240190e-01 1.39765163e-01 8.82948850e-02 3.10059554e+01] [-1.39155858e-01 9.90184508e-01 -1.30494438e-02 -1.43597047e+00] [-8.92520848e-02 5.83135479e-04 9.96008898e-01 -3.31553414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.409649246000004 meters 0.05741676649931858 Centerline is valid? [True, True] Translation: X:31.04, Y:-1.44, Z:-3.32 [[ 9.86055407e-01 1.40997017e-01 8.84000867e-02 3.10383349e+01] [-1.40389181e-01 9.90009897e-01 -1.30874400e-02 -1.43908698e+00] [-8.93622508e-02 4.94525194e-04 9.95999068e-01 -3.31682953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.439649246000005 meters 0.05759180345009639 Centerline is valid? [True, True] Translation: X:31.07, Y:-1.44, Z:-3.32 [[ 9.85956704e-01 1.41748309e-01 8.82994580e-02 3.10696781e+01] [-1.41142552e-01 9.89902628e-01 -1.30983607e-02 -1.44358971e+00] [-8.92645360e-02 4.51605681e-04 9.96007851e-01 -3.32162198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.469649246000003 meters 0.057656778777725744 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.44, Z:-3.33 [[ 9.85704259e-01 1.44056451e-01 8.73776447e-02 3.11018790e+01] [-1.43471171e-01 9.89569439e-01 -1.29749020e-02 -1.44384017e+00] [-8.83353652e-02 2.53243130e-04 9.96090758e-01 -3.32677959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.499649246000004 meters 0.0578082463178426 Centerline is valid? [True, True] Translation: X:31.13, Y:-1.45, Z:-3.33 [[ 9.85799116e-01 1.44241758e-01 8.59908039e-02 3.11337157e+01] [-1.43673884e-01 9.89542445e-01 -1.27892100e-02 -1.44629551e+00] [-8.69362885e-02 2.52959172e-04 9.96213841e-01 -3.33003445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.529649246000005 meters 0.05793562711108863 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.45, Z:-3.34 [[ 9.85957186e-01 1.44064484e-01 8.44621375e-02 3.11640778e+01] [-1.43514098e-01 9.89568261e-01 -1.25841507e-02 -1.45083352e+00] [-8.53939797e-02 2.85926297e-04 9.96347222e-01 -3.33623991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.559649246000003 meters 0.05803451216803617 Centerline is valid? [True, True] Translation: X:31.20, Y:-1.46, Z:-3.34 [[ 9.85970213e-01 1.44319137e-01 8.38732772e-02 3.11953558e+01] [-1.43776617e-01 9.89531158e-01 -1.25048401e-02 -1.45612964e+00] [-8.47999089e-02 2.70383845e-04 9.96397964e-01 -3.34051094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.589649246000004 meters 0.057878111905740416 Centerline is valid? [True, True] Translation: X:31.23, Y:-1.46, Z:-3.34 [[ 9.85936921e-01 1.44315103e-01 8.42706286e-02 3.12279192e+01] [-1.43765822e-01 9.89531741e-01 -1.25826002e-02 -1.46201761e+00] [-8.52043211e-02 2.90413962e-04 9.96363457e-01 -3.34171373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.619649246000005 meters 0.05791083817842816 Centerline is valid? [True, True] Translation: X:31.26, Y:-1.47, Z:-3.35 [[ 9.85806038e-01 1.44860850e-01 8.48633587e-02 3.12581942e+01] [-1.44303736e-01 9.89452001e-01 -1.26952774e-02 -1.46793329e+00] [-8.58072687e-02 2.68981487e-04 9.96311718e-01 -3.34546759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.649649246000003 meters 0.057678964222029866 Centerline is valid? [True, True] Translation: X:31.29, Y:-1.47, Z:-3.34 [[ 9.85700398e-01 1.44264369e-01 8.70776453e-02 3.12897336e+01] [-1.43673718e-01 9.89539120e-01 -1.30457789e-02 -1.47349659e+00] [-8.80487776e-02 3.48460434e-04 9.96116103e-01 -3.34467430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.679649246000004 meters 0.057678964222029866 Centerline is valid? [True, True] Translation: X:31.32, Y:-1.48, Z:-3.35 [[ 9.85662808e-01 1.44522710e-01 8.70747675e-02 3.13215039e+01] [-1.43931371e-01 9.89501424e-01 -1.30649553e-02 -1.47845766e+00] [-8.80487892e-02 3.44849837e-04 9.96116104e-01 -3.34817057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.709649246000005 meters 0.057635675296307774 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.48, Z:-3.35 [[ 9.85563707e-01 1.44922385e-01 8.75310326e-02 3.13533541e+01] [-1.44324242e-01 9.89442970e-01 -1.31576119e-02 -1.48296508e+00] [-8.85137974e-02 3.34814762e-04 9.96074895e-01 -3.35097696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.739649246000003 meters 0.05754722094050764 Centerline is valid? [True, True] Translation: X:31.38, Y:-1.49, Z:-3.36 [[ 9.85345153e-01 1.45611514e-01 8.88381483e-02 3.13842942e+01] [-1.44996199e-01 9.89341800e-01 -1.33755131e-02 -1.48640874e+00] [-8.98389223e-02 2.98303165e-04 9.95956264e-01 -3.35501728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.769649246000004 meters 0.05744891389939891 Centerline is valid? [True, True] Translation: X:31.42, Y:-1.49, Z:-3.36 [[ 9.85295313e-01 1.46179653e-01 8.84570771e-02 3.14151280e+01] [-1.45570258e-01 9.89258025e-01 -1.33364298e-02 -1.49122599e+00] [-8.94563880e-02 2.63602234e-04 9.95990705e-01 -3.35833368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.799649246000005 meters 0.05732915491187735 Centerline is valid? [True, True] Translation: X:31.45, Y:-1.50, Z:-3.36 [[ 9.85167696e-01 1.46666214e-01 8.90709428e-02 3.14457202e+01] [-1.46048253e-01 9.89186010e-01 -1.34515970e-02 -1.49687593e+00] [-9.00806253e-02 2.43423287e-04 9.95934446e-01 -3.36159406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.829649246000006 meters 0.0573673273475949 Centerline is valid? [True, True] Translation: X:31.48, Y:-1.50, Z:-3.36 [[ 9.85105268e-01 1.46738435e-01 8.96406307e-02 3.14769558e+01] [-1.46111117e-01 9.89175296e-01 -1.35563903e-02 -1.50223268e+00] [-9.06595409e-02 2.56978840e-04 9.95881911e-01 -3.36390735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.859649246000004 meters 0.05714252904630414 Centerline is valid? [True, True] Translation: X:31.51, Y:-1.51, Z:-3.37 [[ 9.85038095e-01 1.47000571e-01 8.99487817e-02 3.15094032e+01] [-1.46368225e-01 9.89136375e-01 -1.36225708e-02 -1.50685263e+00] [-9.09741375e-02 2.53107604e-04 9.95853223e-01 -3.36565210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.889649246000005 meters 0.05727880856005601 Centerline is valid? [True, True] Translation: X:31.54, Y:-1.51, Z:-3.37 [[ 9.85027874e-01 1.46842026e-01 9.03189124e-02 3.15400715e+01] [-1.46201523e-01 9.89159913e-01 -1.37033378e-02 -1.51335775e+00] [-9.13520734e-02 2.93407158e-04 9.95818614e-01 -3.37231085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.919649246000006 meters 0.05740059454144572 Centerline is valid? [True, True] Translation: X:31.57, Y:-1.52, Z:-3.38 [[ 9.85056153e-01 1.47000279e-01 8.97512891e-02 3.15722519e+01] [-1.46366451e-01 9.89136405e-01 -1.36394078e-02 -1.51907883e+00] [-9.07812643e-02 2.99004897e-04 9.95870811e-01 -3.37659118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.949649246000003 meters 0.05759248598649827 Centerline is valid? [True, True] Translation: X:31.60, Y:-1.52, Z:-3.38 [[ 9.85155498e-01 1.47289650e-01 8.81725831e-02 3.16039291e+01] [-1.46677121e-01 9.89093360e-01 -1.34218959e-02 -1.52389128e+00] [-8.91878228e-02 2.89753881e-04 9.96014783e-01 -3.38142985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.979649246000005 meters 0.057727362760130005 Centerline is valid? [True, True] Translation: X:31.63, Y:-1.53, Z:-3.39 [[ 9.85158491e-01 1.47634033e-01 8.75610657e-02 3.16349536e+01] [-1.47029638e-01 9.89042019e-01 -1.33480125e-02 -1.52837951e+00] [-8.85721941e-02 2.75836102e-04 9.96069722e-01 -3.38505206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.009649246 meters 0.05770639162419363 Centerline is valid? [True, True] Translation: X:31.67, Y:-1.53, Z:-3.39 [[ 9.85181568e-01 1.47691332e-01 8.72040595e-02 3.16674823e+01] [-1.47090572e-01 9.89033462e-01 -1.33107311e-02 -1.53316453e+00] [-8.82136124e-02 2.86591953e-04 9.96101539e-01 -3.38728162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.039649246 meters 0.05779269451884589 Centerline is valid? [True, True] Translation: X:31.70, Y:-1.54, Z:-3.39 [[ 9.85100435e-01 1.47707358e-01 8.80889822e-02 3.16983752e+01] [-1.47092113e-01 9.89031060e-01 -1.34711486e-02 -1.53750583e+00] [-8.91125272e-02 3.13239834e-04 9.96021516e-01 -3.39079602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.069649246 meters 0.057625890176337485 Centerline is valid? [True, True] Translation: X:31.73, Y:-1.54, Z:-3.39 [[ 9.84951113e-01 1.47867089e-01 8.94797666e-02 3.17298689e+01] [-1.47231102e-01 9.89007189e-01 -1.37033895e-02 -1.54222240e+00] [-9.05224127e-02 3.22964032e-04 9.95894366e-01 -3.39148925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.099649246 meters 0.057523650226296526 Centerline is valid? [True, True] Translation: X:31.76, Y:-1.55, Z:-3.39 [[ 9.85053854e-01 1.47651884e-01 8.87007651e-02 3.17598415e+01] [-1.47023934e-01 9.89039326e-01 -1.36078579e-02 -1.54789857e+00] [-8.97377708e-02 3.63337432e-04 9.95965361e-01 -3.39423262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.129649246 meters 0.05751845296998091 Centerline is valid? [True, True] Translation: X:31.79, Y:-1.55, Z:-3.40 [[ 9.84947569e-01 1.47732490e-01 8.97407274e-02 3.17900917e+01] [-1.47089042e-01 9.89027287e-01 -1.37782495e-02 -1.55324817e+00] [-9.07915232e-02 3.70975716e-04 9.95869852e-01 -3.39813171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.159649246 meters 0.05746473197222837 Centerline is valid? [True, True] Translation: X:31.82, Y:-1.56, Z:-3.40 [[ 9.84835127e-01 1.48408317e-01 8.98595807e-02 3.18223909e+01] [-1.47765042e-01 9.88926119e-01 -1.38066207e-02 -1.55757094e+00] [-9.09135038e-02 3.19140378e-04 9.95858741e-01 -3.40004916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.189649246 meters 0.05760466879214483 Centerline is valid? [True, True] Translation: X:31.85, Y:-1.56, Z:-3.40 [[ 9.84814381e-01 1.48605224e-01 8.97614746e-02 3.18542042e+01] [-1.47961691e-01 9.88896547e-01 -1.38187540e-02 -1.56251226e+00] [-9.08183512e-02 3.27648077e-04 9.95867421e-01 -3.40449585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.219649246 meters 0.05765494084696769 Centerline is valid? [True, True] Translation: X:31.88, Y:-1.57, Z:-3.41 [[ 9.84943765e-01 1.48450383e-01 8.85904288e-02 3.18842780e+01] [-1.47822163e-01 9.88919797e-01 -1.36471262e-02 -1.56887963e+00] [-8.96347499e-02 3.46022986e-04 9.95974644e-01 -3.40900611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.249649246000004 meters 0.057615166861377215 Centerline is valid? [True, True] Translation: X:31.92, Y:-1.57, Z:-3.41 [[ 9.85034132e-01 1.48073984e-01 8.82148131e-02 3.19165325e+01] [-1.47447947e-01 9.88976207e-01 -1.36075329e-02 -1.57449041e+00] [-8.92572729e-02 3.96791198e-04 9.96008525e-01 -3.41123157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.279649246 meters 0.057689110217417745 Centerline is valid? [True, True] Translation: X:31.95, Y:-1.58, Z:-3.42 [[ 9.85075877e-01 1.48089888e-01 8.77205874e-02 3.19467900e+01] [-1.47468443e-01 9.88973816e-01 -1.35591379e-02 -1.58061443e+00] [-8.87613352e-02 4.20761167e-04 9.96052834e-01 -3.41541743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.309649246 meters 0.05772551199772121 Centerline is valid? [True, True] Translation: X:31.98, Y:-1.59, Z:-3.42 [[ 9.84975495e-01 1.48575886e-01 8.80254548e-02 3.19779125e+01] [-1.47950870e-01 9.88900932e-01 -1.36193691e-02 -1.58539392e+00] [-8.90719641e-02 3.91302237e-04 9.96025116e-01 -3.41932969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.339649246 meters 0.057786626655852116 Centerline is valid? [True, True] Translation: X:32.01, Y:-1.59, Z:-3.42 [[ 9.84997293e-01 1.48170251e-01 8.84641744e-02 3.20096272e+01] [-1.47536921e-01 9.88961773e-01 -1.36919340e-02 -1.58956218e+00] [-8.95164240e-02 4.34786023e-04 9.95985251e-01 -3.42365698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.369649246 meters 0.05804987157395472 Centerline is valid? [True, True] Translation: X:32.04, Y:-1.59, Z:-3.43 [[ 9.84994008e-01 1.48652116e-01 8.76889504e-02 3.20406049e+01] [-1.48029694e-01 9.88889468e-01 -1.35952196e-02 -1.59420773e+00] [-8.87356376e-02 4.10641373e-04 9.96055128e-01 -3.42780167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.399649246 meters 0.05811487579158152 Centerline is valid? [True, True] Translation: X:32.07, Y:-1.60, Z:-3.43 [[ 9.85025726e-01 1.48559201e-01 8.74899060e-02 3.20716717e+01] [-1.47937379e-01 9.88903419e-01 -1.35853098e-02 -1.60047917e+00] [-8.85372899e-02 4.38852288e-04 9.96072766e-01 -3.43123175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.429649246000004 meters 0.058030723526139534 Centerline is valid? [True, True] Translation: X:32.10, Y:-1.61, Z:-3.44 [[ 9.85133640e-01 1.48192186e-01 8.68952654e-02 3.21030519e+01] [-1.47575376e-01 9.88958460e-01 -1.35156795e-02 -1.60608789e+00] [-8.79387259e-02 4.91149050e-04 9.96125765e-01 -3.43544314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.459649246 meters 0.0579592116030029 Centerline is valid? [True, True] Translation: X:32.13, Y:-1.61, Z:-3.44 [[ 9.85120303e-01 1.47343571e-01 8.84751953e-02 3.21346718e+01] [-1.46698726e-01 9.89085190e-01 -1.37829574e-02 -1.61276469e+00] [-8.95403355e-02 5.98672705e-04 9.95983017e-01 -3.43740902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.489649246 meters 0.05786979940669539 Centerline is valid? [True, True] Translation: X:32.17, Y:-1.62, Z:-3.44 [[ 9.85169615e-01 1.46632222e-01 8.91056779e-02 3.21667251e+01] [-1.45973347e-01 9.89190840e-01 -1.39019643e-02 -1.62008134e+00] [-9.01809962e-02 6.88738769e-04 9.95925155e-01 -3.44032068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.519649246 meters 0.057807144682731876 Centerline is valid? [True, True] Translation: X:32.20, Y:-1.63, Z:-3.44 [[ 9.85128969e-01 1.46868140e-01 8.91664919e-02 3.21990588e+01] [-1.46207161e-01 9.89155838e-01 -1.39353796e-02 -1.62557435e+00] [-9.02462193e-02 6.91366480e-04 9.95919245e-01 -3.44278141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.549649246 meters 0.057747481059786145 Centerline is valid? [True, True] Translation: X:32.23, Y:-1.63, Z:-3.45 [[ 9.85107142e-01 1.47749914e-01 8.79424890e-02 3.22300276e+01] [-1.47108301e-01 9.89024555e-01 -1.37687095e-02 -1.63067379e+00] [-8.90116067e-02 6.26583981e-04 9.96030392e-01 -3.44714341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.579649246 meters 0.05771542691202596 Centerline is valid? [True, True] Translation: X:32.26, Y:-1.63, Z:-3.45 [[ 9.85056367e-01 1.48455347e-01 8.73210365e-02 3.22615894e+01] [-1.47823455e-01 9.88918941e-01 -1.36950842e-02 -1.63474376e+00] [-8.83865354e-02 5.82332575e-04 9.96086081e-01 -3.45095396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.609649246000004 meters 0.05784186197638538 Centerline is valid? [True, True] Translation: X:32.29, Y:-1.64, Z:-3.46 [[ 9.84879798e-01 1.49605549e-01 8.73496656e-02 3.22928737e+01] [-1.48977409e-01 9.88745643e-01 -1.37034834e-02 -1.63844522e+00] [-8.84167184e-02 4.83157060e-04 9.96083456e-01 -3.45652658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.639649246 meters 0.057803396746510145 Centerline is valid? [True, True] Translation: X:32.32, Y:-1.64, Z:-3.46 [[ 9.84824532e-01 1.50285093e-01 8.68045601e-02 3.23243635e+01] [-1.49665253e-01 9.88642602e-01 -1.36425072e-02 -1.64327184e+00] [-8.78689516e-02 4.43849296e-04 9.96131944e-01 -3.46195117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.669649246 meters 0.05762534084207169 Centerline is valid? [True, True] Translation: X:32.36, Y:-1.65, Z:-3.46 [[ 9.84620099e-01 1.51074161e-01 8.77488367e-02 3.23560290e+01] [-1.50441741e-01 9.88522350e-01 -1.38146925e-02 -1.64589412e+00] [-8.88287294e-02 4.01136159e-04 9.96046834e-01 -3.46331271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.699649246 meters 0.057542210699751885 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.65, Z:-3.47 [[ 9.84437011e-01 1.52192660e-01 8.78701617e-02 3.23872539e+01] [-1.51561097e-01 9.88350794e-01 -1.38543403e-02 -1.64989226e+00] [-8.89550730e-02 3.21027254e-04 9.96035588e-01 -3.46664283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.729649246 meters 0.05757985820771825 Centerline is valid? [True, True] Translation: X:32.42, Y:-1.66, Z:-3.47 [[ 9.84371480e-01 1.51937469e-01 8.90381613e-02 3.24182284e+01] [-1.51285680e-01 9.88390037e-01 -1.40633261e-02 -1.65594307e+00] [-9.01411777e-02 3.73338356e-04 9.95928928e-01 -3.46822093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.759649246 meters 0.05753185354843929 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.66, Z:-3.47 [[ 9.84528444e-01 1.50581627e-01 8.96042182e-02 3.24492719e+01] [-1.49914992e-01 9.88597447e-01 -1.41627049e-02 -1.66415951e+00] [-9.07151445e-02 5.10570191e-04 9.95876750e-01 -3.47052162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.789649246 meters 0.05751688454411842 Centerline is valid? [True, True] Translation: X:32.48, Y:-1.67, Z:-3.47 [[ 9.84686122e-01 1.49525693e-01 8.96398794e-02 3.24817796e+01] [-1.48852179e-01 9.88757640e-01 -1.41900675e-02 -1.67087840e+00] [-9.07538953e-02 6.29671131e-04 9.95873152e-01 -3.47375671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.819649246 meters 0.05807844865724184 Centerline is valid? [True, True] Translation: X:32.51, Y:-1.68, Z:-3.48 [[ 9.85163749e-01 1.46539877e-01 8.93221791e-02 3.25112497e+01] [-1.45856547e-01 9.89204329e-01 -1.41655454e-02 -1.67833982e+00] [-9.04337035e-02 9.27157206e-04 9.95902046e-01 -3.47823332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.849649246 meters 0.05826492002976999 Centerline is valid? [True, True] Translation: X:32.54, Y:-1.68, Z:-3.48 [[ 9.85365367e-01 1.46668171e-01 8.68535558e-02 3.25429950e+01] [-1.46022053e-01 9.89185343e-01 -1.37810293e-02 -1.68011477e+00] [-8.79355028e-02 8.96814512e-04 9.96125767e-01 -3.48021557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.879649246 meters 0.058277645239300485 Centerline is valid? [True, True] Translation: X:32.58, Y:-1.69, Z:-3.48 [[ 9.85258127e-01 1.47580555e-01 8.65240032e-02 3.25751521e+01] [-1.46941060e-01 9.89049689e-01 -1.37491104e-02 -1.68506440e+00] [-8.76056398e-02 8.32493995e-04 9.96154887e-01 -3.48314173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.909649246 meters 0.058493956564268576 Centerline is valid? [True, True] Translation: X:32.60, Y:-1.69, Z:-3.49 [[ 9.85457075e-01 1.46922972e-01 8.53697472e-02 3.26046372e+01] [-1.46295617e-01 9.89147521e-01 -1.35931298e-02 -1.69165537e+00] [-8.64404169e-02 9.06226090e-04 9.96256610e-01 -3.48859072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.939649246 meters 0.05857261981255441 Centerline is valid? [True, True] Translation: X:32.64, Y:-1.70, Z:-3.49 [[ 9.85464886e-01 1.46912292e-01 8.52979261e-02 3.26366691e+01] [-1.46285305e-01 9.89149101e-01 -1.35891989e-02 -1.69801032e+00] [-8.63687873e-02 9.13845242e-04 9.96262815e-01 -3.49235773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.969649246 meters 0.05845330125528619 Centerline is valid? [True, True] Translation: X:32.67, Y:-1.70, Z:-3.49 [[ 9.85540471e-01 1.46679044e-01 8.48247489e-02 3.26682208e+01] [-1.46056096e-01 9.89183679e-01 -1.35375913e-02 -1.70326030e+00] [-8.58929381e-02 9.52672415e-04 9.96303917e-01 -3.49423655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.999649246000004 meters 0.058695396190703464 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.71, Z:-3.50 [[ 9.85601372e-01 1.46714851e-01 8.40517050e-02 3.26982590e+01] [-1.46101380e-01 9.89178358e-01 -1.34373735e-02 -1.70887829e+00] [-8.51135897e-02 9.63823661e-04 9.96370788e-01 -3.50019051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.029649246 meters 0.058658987618419534 Centerline is valid? [True, True] Translation: X:32.73, Y:-1.71, Z:-3.50 [[ 9.85453340e-01 1.47478654e-01 8.44497543e-02 3.27294192e+01] [-1.46861344e-01 9.89064819e-01 -1.35103571e-02 -1.71253503e+00] [-8.55187702e-02 9.11422185e-04 9.96336143e-01 -3.50387984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.059649246 meters 0.0582842996656136 Centerline is valid? [True, True] Translation: X:32.76, Y:-1.72, Z:-3.50 [[ 9.85236793e-01 1.48403847e-01 8.53508076e-02 3.27615019e+01] [-1.47774989e-01 9.88926468e-01 -1.36745700e-02 -1.71547883e+00] [-8.64350315e-02 8.59974833e-04 9.96257118e-01 -3.50426755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.089649246 meters 0.05822034993545774 Centerline is valid? [True, True] Translation: X:32.79, Y:-1.72, Z:-3.51 [[ 9.84934563e-01 1.50441543e-01 8.52716143e-02 3.27917936e+01] [-1.49819600e-01 9.88618657e-01 -1.36834995e-02 -1.71899433e+00] [-8.63596756e-02 7.01992454e-04 9.96263777e-01 -3.51005166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.119649246 meters 0.058268603236011754 Centerline is valid? [True, True] Translation: X:32.82, Y:-1.72, Z:-3.51 [[ 9.84742584e-01 1.51653476e-01 8.53420608e-02 3.28239846e+01] [-1.51033362e-01 9.88433531e-01 -1.37141911e-02 -1.72208939e+00] [-8.64347592e-02 6.15449593e-04 9.96257323e-01 -3.51168659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.149649246 meters 0.05804206754176949 Centerline is valid? [True, True] Translation: X:32.86, Y:-1.72, Z:-3.51 [[ 9.84447875e-01 1.54043035e-01 8.44578307e-02 3.28566837e+01] [-1.53442847e-01 9.88064050e-01 -1.35914084e-02 -1.72443800e+00] [-8.55434080e-02 4.20583149e-04 9.96334356e-01 -3.51490677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.179649246000004 meters 0.05816215070671133 Centerline is valid? [True, True] Translation: X:32.89, Y:-1.73, Z:-3.52 [[ 9.84301224e-01 1.55191934e-01 8.40628575e-02 3.28883717e+01] [-1.54599464e-01 9.87884278e-01 -1.35521092e-02 -1.72826466e+00] [-8.51475532e-02 3.43284884e-04 9.96368294e-01 -3.52039694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.209649246 meters 0.05835556247113646 Centerline is valid? [True, True] Translation: X:32.92, Y:-1.73, Z:-3.53 [[ 9.83919655e-01 1.57871079e-01 8.35394178e-02 3.29206862e+01] [-1.57293552e-01 9.87459723e-01 -1.34920067e-02 -1.72808161e+00] [-8.46218080e-02 1.34838822e-04 9.96413133e-01 -3.52602424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.239649246 meters 0.05844182246667363 Centerline is valid? [True, True] Translation: X:32.95, Y:-1.73, Z:-3.53 [[ 9.83451959e-01 1.61006116e-01 8.30618789e-02 3.29537533e+01] [-1.60445369e-01 9.86953401e-01 -1.34263849e-02 -1.72903668e+00] [-8.41399340e-02 -1.22689330e-04 9.96453941e-01 -3.52924735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.269649246 meters 0.0584405060590331 Centerline is valid? [True, True] Translation: X:32.99, Y:-1.73, Z:-3.53 [[ 9.83342996e-01 1.61889794e-01 8.26332042e-02 3.29855002e+01] [-1.61335958e-01 9.86808829e-01 -1.33807383e-02 -1.73300448e+00] [-8.37093804e-02 -1.73851889e-04 9.96490195e-01 -3.53327221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.299649246 meters 0.058478549606697794 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.74, Z:-3.54 [[ 9.82954946e-01 1.63923973e-01 8.32376392e-02 3.30166133e+01] [-1.63367350e-01 9.86472921e-01 -1.35012902e-02 -1.73624073e+00] [-8.43248623e-02 -3.27152561e-04 9.96438262e-01 -3.53758807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.329649246 meters 0.0583097357830934 Centerline is valid? [True, True] Translation: X:33.05, Y:-1.74, Z:-3.54 [[ 9.82383587e-01 1.66344303e-01 8.51590380e-02 3.30486757e+01] [-1.65768860e-01 9.86067592e-01 -1.38343400e-02 -1.73853507e+00] [-8.62738312e-02 -5.26088167e-04 9.96271323e-01 -3.53753007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.359649246000004 meters 0.058418579290995434 Centerline is valid? [True, True] Translation: X:33.08, Y:-1.74, Z:-3.54 [[ 9.82191367e-01 1.67531614e-01 8.50486772e-02 3.30811097e+01] [-1.66960397e-01 9.85866515e-01 -1.38361757e-02 -1.74386920e+00] [-8.61646399e-02 -6.09988574e-04 9.96280725e-01 -3.54041218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.389649246 meters 0.05825161122955198 Centerline is valid? [True, True] Translation: X:33.11, Y:-1.75, Z:-3.54 [[ 9.82283541e-01 1.66644947e-01 8.57234305e-02 3.31112519e+01] [-1.66058963e-01 9.86016836e-01 -1.39721111e-02 -1.75063393e+00] [-8.68531275e-02 -5.10569236e-04 9.96220996e-01 -3.54379821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.419649246 meters 0.05827269882199075 Centerline is valid? [True, True] Translation: X:33.14, Y:-1.76, Z:-3.55 [[ 9.82357516e-01 1.66240497e-01 8.56610064e-02 3.31429710e+01] [-1.65652184e-01 9.86085133e-01 -1.39808634e-02 -1.75731382e+00] [-8.67932306e-02 -4.55726506e-04 9.96226243e-01 -3.54733296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.449649246 meters 0.058270522002247985 Centerline is valid? [True, True] Translation: X:33.17, Y:-1.76, Z:-3.55 [[ 9.82283384e-01 1.66496518e-01 8.60131544e-02 3.31736919e+01] [-1.65902127e-01 9.86041937e-01 -1.40635089e-02 -1.76389973e+00] [-8.71541026e-02 -4.55414130e-04 9.96194737e-01 -3.55063854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.479649246 meters 0.05826164859798326 Centerline is valid? [True, True] Translation: X:33.21, Y:-1.77, Z:-3.55 [[ 9.82283034e-01 1.66754642e-01 8.55156723e-02 3.32058084e+01] [-1.66166164e-01 9.85998318e-01 -1.40043719e-02 -1.77077666e+00] [-8.66536031e-02 -4.53554318e-04 9.96238399e-01 -3.55262376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.509649246 meters 0.05832555208207293 Centerline is valid? [True, True] Translation: X:33.24, Y:-1.78, Z:-3.56 [[ 9.82236530e-01 1.67048341e-01 8.54766139e-02 3.32376224e+01] [-1.66459344e-01 9.85948602e-01 -1.40228998e-02 -1.77669870e+00] [-8.66180501e-02 -4.54576665e-04 9.96241490e-01 -3.55651725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.539649246 meters 0.05862479423773413 Centerline is valid? [True, True] Translation: X:33.27, Y:-1.78, Z:-3.56 [[ 9.82232963e-01 1.67120277e-01 8.53769251e-02 3.32685248e+01] [-1.66530732e-01 9.85936420e-01 -1.40318106e-02 -1.78175579e+00] [-8.65212199e-02 -4.35374904e-04 9.96249913e-01 -3.56360599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.569649246 meters 0.05862479423773413 Centerline is valid? [True, True] Translation: X:33.30, Y:-1.79, Z:-3.57 [[ 9.82190552e-01 1.67371261e-01 8.53731843e-02 3.33002296e+01] [-1.66780688e-01 9.85893844e-01 -1.40545294e-02 -1.78717200e+00] [-8.65212212e-02 -4.34372379e-04 9.96249913e-01 -3.56710558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.599649246 meters 0.05847646867425541 Centerline is valid? [True, True] Translation: X:33.33, Y:-1.80, Z:-3.57 [[ 9.82486251e-01 1.65329392e-01 8.59474168e-02 3.33307059e+01] [-1.64721014e-01 9.86238378e-01 -1.41721504e-02 -1.79707293e+00] [-8.71077139e-02 -2.33402756e-04 9.96198872e-01 -3.56768229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.629649246 meters 0.05843315984530714 Centerline is valid? [True, True] Translation: X:33.36, Y:-1.80, Z:-3.57 [[ 9.82420715e-01 1.65524753e-01 8.63197205e-02 3.33633218e+01] [-1.64910090e-01 9.86205609e-01 -1.42534211e-02 -1.80248967e+00] [-8.74882865e-02 -2.32136700e-04 9.96165521e-01 -3.56987562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.659649246 meters 0.05834979597313641 Centerline is valid? [True, True] Translation: X:33.39, Y:-1.81, Z:-3.57 [[ 9.82470253e-01 1.65005202e-01 8.67495493e-02 3.33944223e+01] [-1.64380099e-01 9.86292683e-01 -1.43501243e-02 -1.80801495e+00] [-8.79282909e-02 -1.61329198e-04 9.96126794e-01 -3.57448780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.689649246 meters 0.05830067657267336 Centerline is valid? [True, True] Translation: X:33.42, Y:-1.82, Z:-3.58 [[ 9.82783200e-01 1.63257911e-01 8.65103191e-02 3.34245838e+01] [-1.62627635e-01 9.86583425e-01 -1.43317191e-02 -1.81566628e+00] [-8.76894134e-02 1.60042255e-05 9.96147864e-01 -3.58039170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.719649246 meters 0.05791083046883116 Centerline is valid? [True, True] Translation: X:33.46, Y:-1.82, Z:-3.58 [[ 9.83127644e-01 1.61057603e-01 8.67207196e-02 3.34564486e+01] [-1.60413708e-01 9.86944980e-01 -1.43892035e-02 -1.82486043e+00] [-8.79060695e-02 2.35231602e-04 9.96128740e-01 -3.58328926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.749649246000004 meters 0.05815825121114393 Centerline is valid? [True, True] Translation: X:33.49, Y:-1.83, Z:-3.59 [[ 9.83115849e-01 1.60764684e-01 8.73953268e-02 3.34873920e+01] [-1.60107279e-01 9.86992722e-01 -1.45267455e-02 -1.83094949e+00] [-8.85939391e-02 2.88845807e-04 9.96067784e-01 -3.58672377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.779649246 meters 0.05818363288841159 Centerline is valid? [True, True] Translation: X:33.52, Y:-1.84, Z:-3.59 [[ 9.83208214e-01 1.60889136e-01 8.61179028e-02 3.35171826e+01] [-1.60249466e-01 9.86972441e-01 -1.43355922e-02 -1.83838149e+00] [-8.73024378e-02 2.94524013e-04 9.96181810e-01 -3.59042263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.809649246 meters 0.058267512488062424 Centerline is valid? [True, True] Translation: X:33.55, Y:-1.84, Z:-3.59 [[ 9.83143556e-01 1.61329931e-01 8.60313963e-02 3.35489412e+01] [-1.60691619e-01 9.86900491e-01 -1.43396372e-02 -1.84468410e+00] [-8.72178399e-02 2.73397522e-04 9.96189226e-01 -3.59355852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.839649246 meters 0.05835558133505191 Centerline is valid? [True, True] Translation: X:33.58, Y:-1.85, Z:-3.60 [[ 9.83154834e-01 1.61139105e-01 8.62598430e-02 3.35797180e+01] [-1.60494543e-01 9.86931654e-01 -1.44018071e-02 -1.85086643e+00] [-8.74532639e-02 3.14972256e-04 9.96168574e-01 -3.59695080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.869649246 meters 0.058203069314420736 Centerline is valid? [True, True] Translation: X:33.61, Y:-1.86, Z:-3.60 [[ 9.83078619e-01 1.61851140e-01 8.57941507e-02 3.36112277e+01] [-1.61214168e-01 9.86815147e-01 -1.43477772e-02 -1.85645251e+00] [-8.69851715e-02 2.73760414e-04 9.96209569e-01 -3.60000817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.899649246 meters 0.05830564880370101 Centerline is valid? [True, True] Translation: X:33.64, Y:-1.86, Z:-3.60 [[ 9.83179258e-01 1.61483539e-01 8.53323695e-02 3.36425265e+01] [-1.60850113e-01 9.86875352e-01 -1.42926963e-02 -1.86247669e+00] [-8.65204474e-02 3.26561279e-04 9.96250022e-01 -3.60435966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.929649246000004 meters 0.058333134829150424 Centerline is valid? [True, True] Translation: X:33.67, Y:-1.87, Z:-3.61 [[ 9.83048101e-01 1.62051920e-01 8.57648348e-02 3.36737539e+01] [-1.61412424e-01 9.86782188e-01 -1.43855188e-02 -1.86664246e+00] [-8.69624123e-02 2.98147112e-04 9.96211549e-01 -3.60827281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.959649246 meters 0.05848306762232424 Centerline is valid? [True, True] Translation: X:33.71, Y:-1.87, Z:-3.61 [[ 9.82979989e-01 1.62614953e-01 8.54793458e-02 3.37054759e+01] [-1.61980128e-01 9.86689569e-01 -1.43573154e-02 -1.87016756e+00] [-8.66762931e-02 2.66998315e-04 9.96236492e-01 -3.61378826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.989649246 meters 0.05852285094613243 Centerline is valid? [True, True] Translation: X:33.74, Y:-1.88, Z:-3.62 [[ 9.82901278e-01 1.63245187e-01 8.51826723e-02 3.37380932e+01] [-1.62615308e-01 9.86585503e-01 -1.43285095e-02 -1.87526260e+00] [-8.63790499e-02 2.31503778e-04 9.96262318e-01 -3.61787465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.019649246 meters 0.0582282402604741 Centerline is valid? [True, True] Translation: X:33.77, Y:-1.88, Z:-3.62 [[ 9.82742957e-01 1.64289821e-01 8.50007937e-02 3.37712180e+01] [-1.63664635e-01 9.86412099e-01 -1.43198712e-02 -1.88024950e+00] [-8.61984204e-02 1.61128738e-04 9.96277976e-01 -3.61749991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.049649246 meters 0.05851458089772664 Centerline is valid? [True, True] Translation: X:33.80, Y:-1.88, Z:-3.62 [[ 9.82575283e-01 1.65377734e-01 8.48293498e-02 3.38021354e+01] [-1.64756972e-01 9.86230296e-01 -1.43158332e-02 -1.88416452e+00] [-8.60287948e-02 9.01570356e-05 9.96292647e-01 -3.62497803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.079649246 meters 0.05852170723228475 Centerline is valid? [True, True] Translation: X:33.83, Y:-1.89, Z:-3.63 [[ 9.82416316e-01 1.66136971e-01 8.51862039e-02 3.38326817e+01] [-1.65511575e-01 9.86102685e-01 -1.44018702e-02 -1.88796968e+00] [-8.63950274e-02 4.93294318e-05 9.96260958e-01 -3.62857342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.109649246000004 meters 0.058447057493124406 Centerline is valid? [True, True] Translation: X:33.87, Y:-1.89, Z:-3.63 [[ 9.82376008e-01 1.66437601e-01 8.50641174e-02 3.38654808e+01] [-1.65814465e-01 9.86051988e-01 -1.43888616e-02 -1.89327333e+00] [-8.62724897e-02 3.04113091e-05 9.96271578e-01 -3.62779923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.139649246 meters 0.05868374727983708 Centerline is valid? [True, True] Translation: X:33.90, Y:-1.90, Z:-3.64 [[ 9.82205404e-01 1.67459794e-01 8.50280111e-02 3.38959198e+01] [-1.66838890e-01 9.85878905e-01 -1.44072352e-02 -1.89827648e+00] [-8.62399552e-02 -3.51147434e-05 9.96274394e-01 -3.63588123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.169649246 meters 0.05842074439365806 Centerline is valid? [True, True] Translation: X:33.93, Y:-1.90, Z:-3.63 [[ 9.82182458e-01 1.67853928e-01 8.45143660e-02 3.39284835e+01] [-1.67240133e-01 9.85811877e-01 -1.43415923e-02 -1.90373914e+00] [-8.57225584e-02 -4.81334086e-05 9.96319046e-01 -3.63495280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.199649246 meters 0.05862968252795965 Centerline is valid? [True, True] Translation: X:33.96, Y:-1.91, Z:-3.64 [[ 9.82164527e-01 1.68134513e-01 8.41642944e-02 3.39599158e+01] [-1.67524697e-01 9.85764061e-01 -1.43070854e-02 -1.90945271e+00] [-8.53716515e-02 -4.76861537e-05 9.96349175e-01 -3.63992393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.229649246 meters 0.05877431143933815 Centerline is valid? [True, True] Translation: X:33.99, Y:-1.92, Z:-3.64 [[ 9.82223360e-01 1.68308307e-01 8.31239099e-02 3.39899339e+01] [-1.67712149e-01 9.85734403e-01 -1.41535422e-02 -1.91573799e+00] [-8.43202564e-02 -3.89497831e-05 9.96438705e-01 -3.64444327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.259649246 meters 0.05876386892044289 Centerline is valid? [True, True] Translation: X:34.02, Y:-1.93, Z:-3.65 [[ 9.82687271e-01 1.65157618e-01 8.39564735e-02 3.40210891e+01] [-1.64536288e-01 9.86267153e-01 -1.43147805e-02 -1.92542061e+00] [-8.51677072e-02 2.53066114e-04 9.96366598e-01 -3.64530309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.289649246 meters 0.05864431214630807 Centerline is valid? [True, True] Translation: X:34.05, Y:-1.93, Z:-3.65 [[ 9.82807229e-01 1.64112119e-01 8.46000222e-02 3.40518936e+01] [-1.63475480e-01 9.86441624e-01 -1.44461158e-02 -1.93246549e+00] [-8.58237659e-02 3.67717785e-04 9.96310266e-01 -3.64760883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.319649246 meters 0.05873964577752237 Centerline is valid? [True, True] Translation: X:34.08, Y:-1.94, Z:-3.65 [[ 9.82922726e-01 1.62874733e-01 8.56430730e-02 3.40832946e+01] [-1.62215649e-01 9.86646628e-01 -1.46463383e-02 -1.93966487e+00] [-8.68849676e-02 5.03572060e-04 9.96218223e-01 -3.65072483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.349649246 meters 0.0585481628766434 Centerline is valid? [True, True] Translation: X:34.11, Y:-1.95, Z:-3.65 [[ 9.82741931e-01 1.63692388e-01 8.61574114e-02 3.41138995e+01] [-1.63026497e-01 9.86511325e-01 -1.47569435e-02 -1.94560631e+00] [-8.74108614e-02 4.56326177e-04 9.96172241e-01 -3.65479303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.379649246 meters 0.05858146609872174 Centerline is valid? [True, True] Translation: X:34.15, Y:-1.95, Z:-3.66 [[ 9.82765775e-01 1.63026293e-01 8.71427503e-02 3.41452595e+01] [-1.62340610e-01 9.86621576e-01 -1.49463045e-02 -1.95240339e+00] [-8.84135583e-02 5.41909241e-04 9.96083706e-01 -3.65576750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.409649246 meters 0.0586823167674317 Centerline is valid? [True, True] Translation: X:34.18, Y:-1.96, Z:-3.66 [[ 9.82693993e-01 1.63217282e-01 8.75935820e-02 3.41756443e+01] [-1.62523196e-01 9.86589994e-01 -1.50464013e-02 -1.95888369e+00] [-8.88747842e-02 5.50019227e-04 9.96042655e-01 -3.66059932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.439649246 meters 0.05861584776462902 Centerline is valid? [True, True] Translation: X:34.21, Y:-1.96, Z:-3.66 [[ 9.82667026e-01 1.63721712e-01 8.69523871e-02 3.42073805e+01] [-1.63038060e-01 9.86506427e-01 -1.49552607e-02 -1.96489253e+00] [-8.82275896e-02 5.19493065e-04 9.96100207e-01 -3.66373583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.469649246 meters 0.05860870782120995 Centerline is valid? [True, True] Translation: X:34.24, Y:-1.97, Z:-3.67 [[ 9.82609928e-01 1.64176894e-01 8.67391320e-02 3.42399077e+01] [-1.63496178e-01 9.86430786e-01 -1.49433694e-02 -1.97075785e+00] [-8.80155061e-02 5.01986562e-04 9.96118978e-01 -3.66768022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.499649246000004 meters 0.05875488455523515 Centerline is valid? [True, True] Translation: X:34.27, Y:-1.98, Z:-3.67 [[ 9.82776847e-01 1.63784237e-01 8.55826662e-02 3.42697313e+01] [-1.63117849e-01 9.86496029e-01 -1.47699775e-02 -1.97590031e+00] [-8.68460499e-02 5.55531510e-04 9.96221589e-01 -3.67226331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.529649246 meters 0.05877243045930216 Centerline is valid? [True, True] Translation: X:34.30, Y:-1.98, Z:-3.68 [[ 9.82709741e-01 1.64589417e-01 8.48050071e-02 3.43007720e+01] [-1.63936783e-01 9.86362042e-01 -1.46510168e-02 -1.98101634e+00] [-8.60598424e-02 4.95036820e-04 9.96289847e-01 -3.67559648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.559649246 meters 0.05881706004052499 Centerline is valid? [True, True] Translation: X:34.33, Y:-1.99, Z:-3.68 [[ 9.82793701e-01 1.64236646e-01 8.45154739e-02 3.43312172e+01] [-1.63585405e-01 9.86420817e-01 -1.46214786e-02 -1.98741414e+00] [-8.57692054e-02 5.44399029e-04 9.96314883e-01 -3.68051526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.589649246 meters 0.05902434457016227 Centerline is valid? [True, True] Translation: X:34.36, Y:-1.99, Z:-3.69 [[ 9.82867046e-01 1.64325859e-01 8.34828222e-02 3.43617153e+01] [-1.63688872e-01 9.86405955e-01 -1.44653371e-02 -1.99247380e+00] [-8.47249819e-02 5.52294152e-04 9.96404221e-01 -3.68536867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.619649246 meters 0.05898215518770184 Centerline is valid? [True, True] Translation: X:34.39, Y:-2.00, Z:-3.69 [[ 9.82727563e-01 1.65231890e-01 8.33364212e-02 3.43939811e+01] [-1.64598918e-01 9.86254623e-01 -1.44573225e-02 -1.99787911e+00] [-8.45797414e-02 4.90524564e-04 9.96416593e-01 -3.68834175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.649649246 meters 0.05894591300604628 Centerline is valid? [True, True] Translation: X:34.43, Y:-2.00, Z:-3.69 [[ 9.82726419e-01 1.65212493e-01 8.33883523e-02 3.44259157e+01] [-1.64576722e-01 9.86257860e-01 -1.44891596e-02 -2.00310661e+00] [-8.46362081e-02 5.15098257e-04 9.96411786e-01 -3.69100205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.679649246000004 meters 0.058755001754008454 Centerline is valid? [True, True] Translation: X:34.46, Y:-2.01, Z:-3.69 [[ 9.82650095e-01 1.66018509e-01 8.26840144e-02 3.44564543e+01] [-1.65394223e-01 9.86122527e-01 -1.43914387e-02 -2.00871789e+00] [-8.39258144e-02 4.66290294e-04 9.96471896e-01 -3.69356645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.709649246 meters 0.05879527602738527 Centerline is valid? [True, True] Translation: X:34.49, Y:-2.01, Z:-3.70 [[ 9.82617325e-01 1.65938954e-01 8.32313427e-02 3.44879533e+01] [-1.65304473e-01 9.86135903e-01 -1.45056039e-02 -2.01449216e+00] [-8.44844600e-02 4.94944382e-04 9.96424674e-01 -3.69695485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.739649246 meters 0.05864608506793462 Centerline is valid? [True, True] Translation: X:34.52, Y:-2.02, Z:-3.70 [[ 9.82383427e-01 1.66725840e-01 8.44114675e-02 3.45200864e+01] [-1.66074082e-01 9.86003187e-01 -1.47347711e-02 -2.01948765e+00] [-8.56866431e-02 4.56637920e-04 9.96322032e-01 -3.69874912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.769649246 meters 0.05872045267814468 Centerline is valid? [True, True] Translation: X:34.55, Y:-2.02, Z:-3.70 [[ 9.82254484e-01 1.67435460e-01 8.45073641e-02 3.45510528e+01] [-1.66784103e-01 9.85882956e-01 -1.47600576e-02 -2.02485403e+00] [-8.57857270e-02 4.03647860e-04 9.96313528e-01 -3.70279370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.799649246 meters 0.0587807921183815 Centerline is valid? [True, True] Translation: X:34.58, Y:-2.03, Z:-3.70 [[ 9.82573894e-01 1.65285400e-01 8.50251665e-02 3.45823894e+01] [-1.64616065e-01 9.86245586e-01 -1.48726397e-02 -2.03338013e+00] [-8.63139254e-02 6.16959196e-04 9.96267798e-01 -3.70480908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.829649246 meters 0.0589882224365228 Centerline is valid? [True, True] Translation: X:34.61, Y:-2.04, Z:-3.71 [[ 9.82817261e-01 1.62924839e-01 8.67509613e-02 3.46127565e+01] [-1.62216513e-01 9.86638102e-01 -1.52005791e-02 -2.04155576e+00] [-8.80683558e-02 8.66953054e-04 9.96114056e-01 -3.70765824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.859649246000004 meters 0.05904823991656631 Centerline is valid? [True, True] Translation: X:34.64, Y:-2.05, Z:-3.71 [[ 9.82816263e-01 1.62769780e-01 8.70528095e-02 3.46448445e+01] [-1.62054232e-01 9.86663663e-01 -1.52722494e-02 -2.04751795e+00] [-8.83777046e-02 9.02538875e-04 9.96086626e-01 -3.71090205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.889649246 meters 0.05896695753400964 Centerline is valid? [True, True] Translation: X:34.68, Y:-2.05, Z:-3.71 [[ 9.82652867e-01 1.63713420e-01 8.71278277e-02 3.46770241e+01] [-1.62998231e-01 9.86507581e-01 -1.53091306e-02 -2.05185982e+00] [-8.84585727e-02 8.41879373e-04 9.96079501e-01 -3.71298514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.919649246 meters 0.05904084016352672 Centerline is valid? [True, True] Translation: X:34.71, Y:-2.06, Z:-3.72 [[ 9.82654124e-01 1.63460810e-01 8.75867369e-02 3.47077149e+01] [-1.62734771e-01 9.86549423e-01 -1.54152760e-02 -2.05865263e+00] [-8.89284382e-02 8.94476953e-04 9.96037616e-01 -3.71881554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.949649246 meters 0.058913449372655996 Centerline is valid? [True, True] Translation: X:34.74, Y:-2.06, Z:-3.72 [[ 9.82685917e-01 1.63622636e-01 8.69253769e-02 3.47397362e+01] [-1.62906119e-01 9.86522595e-01 -1.53220870e-02 -2.06281596e+00] [-8.82608886e-02 8.96123308e-04 9.96096990e-01 -3.71972752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.979649246 meters 0.059230279649444446 Centerline is valid? [True, True] Translation: X:34.77, Y:-2.07, Z:-3.73 [[ 9.82744402e-01 1.64162427e-01 8.52299152e-02 3.47694983e+01] [-1.63473780e-01 9.86432953e-01 -1.50450075e-02 -2.07002248e+00] [-8.65434219e-02 8.52540435e-04 9.96247715e-01 -3.72724278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.009649246 meters 0.05912867549325565 Centerline is valid? [True, True] Translation: X:34.80, Y:-2.08, Z:-3.73 [[ 9.82988544e-01 1.63532615e-01 8.36098508e-02 3.48002801e+01] [-1.62866033e-01 9.86537509e-01 -1.47783314e-02 -2.07721262e+00] [-8.49009931e-02 9.09725721e-04 9.96388977e-01 -3.72907653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.039649246 meters 0.059157618660104695 Centerline is valid? [True, True] Translation: X:34.83, Y:-2.08, Z:-3.73 [[ 9.82985380e-01 1.63898425e-01 8.29279752e-02 3.48311089e+01] [-1.63242406e-01 9.86476819e-01 -1.46765684e-02 -2.08394309e+00] [-8.42119916e-02 8.89489944e-04 9.96447464e-01 -3.73273679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.069649246000004 meters 0.059530434342540156 Centerline is valid? [True, True] Translation: X:34.86, Y:-2.09, Z:-3.74 [[ 9.83127111e-01 1.63196970e-01 8.26306976e-02 3.48607600e+01] [-1.62541419e-01 9.86593034e-01 -1.46448900e-02 -2.09180842e+00] [-8.39128723e-02 9.66877483e-04 9.96472626e-01 -3.73948707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.099649246 meters 0.0594099727635401 Centerline is valid? [True, True] Translation: X:34.89, Y:-2.10, Z:-3.74 [[ 9.83241445e-01 1.62590179e-01 8.24663244e-02 3.48919740e+01] [-1.61933555e-01 9.86693145e-01 -1.46342414e-02 -2.09705957e+00] [-8.37483409e-02 1.03492755e-03 9.96486399e-01 -3.74142017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.129649246 meters 0.059456227857291016 Centerline is valid? [True, True] Translation: X:34.92, Y:-2.10, Z:-3.75 [[ 9.83165778e-01 1.63232062e-01 8.20996170e-02 3.49246129e+01] [-1.62581897e-01 9.86587200e-01 -1.45884476e-02 -2.10183706e+00] [-8.33797336e-02 9.94950921e-04 9.96517351e-01 -3.74556611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.159649246 meters 0.05949020474903832 Centerline is valid? [True, True] Translation: X:34.96, Y:-2.11, Z:-3.75 [[ 9.83071598e-01 1.63560066e-01 8.25732304e-02 3.49564535e+01] [-1.62901503e-01 9.86532874e-01 -1.46965448e-02 -2.10697406e+00] [-8.38649741e-02 9.96452385e-04 9.96476630e-01 -3.74845745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.189649246 meters 0.05912084569162579 Centerline is valid? [True, True] Translation: X:34.99, Y:-2.11, Z:-3.75 [[ 9.82614953e-01 1.65103993e-01 8.49030411e-02 3.49873405e+01] [-1.64411514e-01 9.86275743e-01 -1.51331678e-02 -2.11031130e+00] [-8.62363564e-02 9.11039416e-04 9.96274290e-01 -3.74948507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.219649246 meters 0.05886101865384205 Centerline is valid? [True, True] Translation: X:35.02, Y:-2.11, Z:-3.75 [[ 9.82312727e-01 1.66711252e-01 8.52588110e-02 3.50192310e+01] [-1.66017336e-01 9.86005442e-01 -1.52155459e-02 -2.11368114e+00] [-8.66022544e-02 7.91983742e-04 9.96242652e-01 -3.75095252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.249649246000004 meters 0.05854053168514853 Centerline is valid? [True, True] Translation: X:35.05, Y:-2.11, Z:-3.75 [[ 9.81602530e-01 1.70229531e-01 8.64776305e-02 3.50518573e+01] [-1.69527335e-01 9.85404306e-01 -1.54543048e-02 -2.11344929e+00] [-8.78462086e-02 5.09662480e-04 9.96133919e-01 -3.75261679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.279649246 meters 0.05850453315186054 Centerline is valid? [True, True] Translation: X:35.08, Y:-2.12, Z:-3.76 [[ 9.81201502e-01 1.72310198e-01 8.69068875e-02 3.50822917e+01] [-1.71607197e-01 9.85042677e-01 -1.55529592e-02 -2.11587130e+00] [-8.82869266e-02 3.46739519e-04 9.96095025e-01 -3.75646573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.309649246 meters 0.05854045503196823 Centerline is valid? [True, True] Translation: X:35.11, Y:-2.11, Z:-3.76 [[ 9.80398122e-01 1.77179051e-01 8.61806657e-02 3.51148791e+01] [-1.76504732e-01 9.84178632e-01 -1.54434624e-02 -2.11458794e+00] [-8.75534277e-02 -7.05538214e-05 9.96159823e-01 -3.76016446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.339649246 meters 0.05857159774535044 Centerline is valid? [True, True] Translation: X:35.15, Y:-2.12, Z:-3.76 [[ 9.80099571e-01 1.79216738e-01 8.53591922e-02 3.51464973e+01] [-1.78561779e-01 9.83809588e-01 -1.53096758e-02 -2.11748878e+00] [-8.67209418e-02 -2.36882592e-04 9.96232614e-01 -3.76381586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.369649246 meters 0.058792458823333074 Centerline is valid? [True, True] Translation: X:35.18, Y:-2.12, Z:-3.77 [[ 9.79720136e-01 1.81336378e-01 8.52383365e-02 3.51782186e+01] [-1.80689515e-01 9.83421047e-01 -1.53083011e-02 -2.12032940e+00] [-8.66011259e-02 -4.03822832e-04 9.96242983e-01 -3.76826696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.399649246 meters 0.05871988370349407 Centerline is valid? [True, True] Translation: X:35.21, Y:-2.12, Z:-3.77 [[ 9.79564893e-01 1.82379030e-01 8.47968723e-02 3.52085235e+01] [-1.81740807e-01 9.83228187e-01 -1.52516062e-02 -2.12407928e+00] [-8.61562482e-02 -4.71114043e-04 9.96281526e-01 -3.77281759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.429649246000004 meters 0.05868179390309257 Centerline is valid? [True, True] Translation: X:35.24, Y:-2.13, Z:-3.78 [[ 9.79373109e-01 1.83181897e-01 8.52801563e-02 3.52404842e+01] [-1.82537845e-01 9.83078895e-01 -1.53564540e-02 -2.13035788e+00] [-8.66501462e-02 -5.27157854e-04 9.96238663e-01 -3.77504600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.459649246 meters 0.05868179390309257 Centerline is valid? [True, True] Translation: X:35.27, Y:-2.14, Z:-3.78 [[ 9.79323870e-01 1.83446876e-01 8.52760320e-02 3.52720949e+01] [-1.82801835e-01 9.83029484e-01 -1.53793184e-02 -2.13624376e+00] [-8.66501416e-02 -5.27281488e-04 9.96238664e-01 -3.77854480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.489649246 meters 0.058711023937911416 Centerline is valid? [True, True] Translation: X:35.30, Y:-2.14, Z:-3.78 [[ 9.79460430e-01 1.82864394e-01 8.49581083e-02 3.53029327e+01] [-1.82219900e-01 9.83138043e-01 -1.53459222e-02 -2.14252997e+00] [-8.63317710e-02 -4.50334402e-04 9.96266341e-01 -3.78416036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.519649246 meters 0.05858741813263906 Centerline is valid? [True, True] Translation: X:35.33, Y:-2.15, Z:-3.78 [[ 9.79735122e-01 1.81393327e-01 8.49444018e-02 3.53344951e+01] [-1.80741656e-01 9.83410581e-01 -1.53649825e-02 -2.15323716e+00] [-8.63223288e-02 -2.99378811e-04 9.96267216e-01 -3.78466381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.549649246 meters 0.05833650665260947 Centerline is valid? [True, True] Translation: X:35.37, Y:-2.16, Z:-3.79 [[ 9.80084417e-01 1.79676338e-01 8.45632890e-02 3.53655957e+01] [-1.79022084e-01 9.83725774e-01 -1.53197654e-02 -2.16239614e+00] [-8.59396863e-02 -1.24032905e-04 9.96300334e-01 -3.78839285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.579649246 meters 0.058483664618206456 Centerline is valid? [True, True] Translation: X:35.40, Y:-2.17, Z:-3.79 [[ 9.80480061e-01 1.77558146e-01 8.44508955e-02 3.53967021e+01] [-1.76895457e-01 9.84110307e-01 -1.53264607e-02 -2.17174976e+00] [-8.58303347e-02 8.83093595e-05 9.96309764e-01 -3.79275132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.609649246000004 meters 0.058593517086525354 Centerline is valid? [True, True] Translation: X:35.43, Y:-2.18, Z:-3.80 [[ 9.80721516e-01 1.76791649e-01 8.32467443e-02 3.54272226e+01] [-1.76144367e-01 9.84248285e-01 -1.51153776e-02 -2.17907214e+00] [-8.46077378e-02 1.60530931e-04 9.96414324e-01 -3.79648374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.639649246 meters 0.05894389140490138 Centerline is valid? [True, True] Translation: X:35.46, Y:-2.19, Z:-3.80 [[ 9.81226417e-01 1.74953017e-01 8.11551621e-02 3.54572263e+01] [-1.74330123e-01 9.84576728e-01 -1.47538077e-02 -2.18871022e+00] [-8.24847071e-02 3.29036553e-04 9.96592276e-01 -3.80249628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.669649246 meters 0.05909211034257447 Centerline is valid? [True, True] Translation: X:35.49, Y:-2.20, Z:-3.81 [[ 9.81385341e-01 1.74560223e-01 8.00721036e-02 3.54871005e+01] [-1.73950706e-01 9.84646426e-01 -1.45796952e-02 -2.19654275e+00] [-8.13877455e-02 3.79700175e-04 9.96682442e-01 -3.80882410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.699649246 meters 0.059020185661291906 Centerline is valid? [True, True] Translation: X:35.52, Y:-2.20, Z:-3.81 [[ 9.81431357e-01 1.74381201e-01 7.98979843e-02 3.55194615e+01] [-1.73773180e-01 9.84678138e-01 -1.45549244e-02 -2.20234417e+00] [-8.12119037e-02 4.00532403e-04 9.96696778e-01 -3.80989180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.729649246 meters 0.05926333063517186 Centerline is valid? [True, True] Translation: X:35.55, Y:-2.21, Z:-3.82 [[ 9.81364572e-01 1.75259692e-01 7.87884338e-02 3.55490153e+01] [-1.74669335e-01 9.84522178e-01 -1.43771891e-02 -2.20736404e+00] [-8.00887022e-02 3.47340639e-04 9.96787680e-01 -3.81664916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.759649246 meters 0.0591882966549365 Centerline is valid? [True, True] Translation: X:35.58, Y:-2.21, Z:-3.82 [[ 9.81236238e-01 1.75641304e-01 7.95334992e-02 3.55803801e+01] [-1.75039801e-01 9.84454174e-01 -1.45274553e-02 -2.21189943e+00] [-8.08487065e-02 3.33337772e-04 9.96726329e-01 -3.81776837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.789649246 meters 0.05914940853276252 Centerline is valid? [True, True] Translation: X:35.61, Y:-2.22, Z:-3.82 [[ 9.81242711e-01 1.75668992e-01 7.93923594e-02 3.56128633e+01] [-1.75068205e-01 9.84449229e-01 -1.45203314e-02 -2.21688903e+00] [-8.07085190e-02 3.48891493e-04 9.96737685e-01 -3.82218520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.819649246000004 meters 0.05913102715392704 Centerline is valid? [True, True] Translation: X:35.64, Y:-2.22, Z:-3.83 [[ 9.81077855e-01 1.76383752e-01 7.98436912e-02 3.56434060e+01] [-1.75776521e-01 9.84321428e-01 -1.46267564e-02 -2.22325261e+00] [-8.11717783e-02 3.15340559e-04 9.96700077e-01 -3.82549528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.849649246 meters 0.059005074363252474 Centerline is valid? [True, True] Translation: X:35.67, Y:-2.23, Z:-3.83 [[ 9.80993840e-01 1.76716054e-01 8.01406434e-02 3.56735941e+01] [-1.76103909e-01 9.84261826e-01 -1.46993603e-02 -2.22904664e+00] [-8.14769889e-02 3.06901304e-04 9.96675176e-01 -3.82792110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.879649246 meters 0.05885607298488502 Centerline is valid? [True, True] Translation: X:35.71, Y:-2.23, Z:-3.83 [[ 9.80890157e-01 1.77382120e-01 7.99379987e-02 3.57057334e+01] [-1.76773969e-01 9.84142018e-01 -1.46782724e-02 -2.23442866e+00] [-8.12740065e-02 2.66815638e-04 9.96691760e-01 -3.82924729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.909649246 meters 0.05896262639635203 Centerline is valid? [True, True] Translation: X:35.74, Y:-2.24, Z:-3.84 [[ 9.80858668e-01 1.77368472e-01 8.03535796e-02 3.57360343e+01] [-1.76751900e-01 9.84144470e-01 -1.47792806e-02 -2.23948364e+00] [-8.17009095e-02 2.93737629e-04 9.96656849e-01 -3.83624046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.939649246 meters 0.0588301030121243 Centerline is valid? [True, True] Translation: X:35.77, Y:-2.25, Z:-3.84 [[ 9.80919399e-01 1.77219881e-01 7.99390136e-02 3.57677887e+01] [-1.76607718e-01 9.84171230e-01 -1.47208654e-02 -2.24514539e+00] [-8.12825074e-02 3.22135614e-04 9.96691051e-01 -3.83807414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.969649246 meters 0.05889681822244395 Centerline is valid? [True, True] Translation: X:35.80, Y:-2.25, Z:-3.84 [[ 9.80988338e-01 1.76753599e-01 8.01251907e-02 3.57996268e+01] [-1.76135473e-01 9.84255059e-01 -1.47741195e-02 -2.25209894e+00] [-8.14750031e-02 3.80350505e-04 9.96675313e-01 -3.84208527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.999649246000004 meters 0.05888648016792773 Centerline is valid? [True, True] Translation: X:35.83, Y:-2.26, Z:-3.84 [[ 9.81004730e-01 1.76390946e-01 8.07214630e-02 3.58293054e+01] [-1.75760352e-01 9.84320092e-01 -1.49082401e-02 -2.25936224e+00] [-8.20854365e-02 4.37421244e-04 9.96625200e-01 -3.84440956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.029649246 meters 0.05872970911969305 Centerline is valid? [True, True] Translation: X:35.86, Y:-2.27, Z:-3.85 [[ 9.80787421e-01 1.77045843e-01 8.19195023e-02 3.58594974e+01] [-1.76396882e-01 9.84202521e-01 -1.51505044e-02 -2.26555640e+00] [-8.33077145e-02 4.09079309e-04 9.96523787e-01 -3.84713342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.059649246 meters 0.05882701565523066 Centerline is valid? [True, True] Translation: X:35.89, Y:-2.27, Z:-3.85 [[ 9.80656583e-01 1.78135852e-01 8.11189488e-02 3.58911849e+01] [-1.77502551e-01 9.84005851e-01 -1.50109897e-02 -2.27090760e+00] [-8.24955157e-02 3.21805510e-04 9.96591384e-01 -3.85012110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.089649246 meters 0.058912057056413586 Centerline is valid? [True, True] Translation: X:35.92, Y:-2.28, Z:-3.86 [[ 9.80528363e-01 1.78927066e-01 8.09273370e-02 3.59222964e+01] [-1.78297688e-01 9.83862302e-01 -1.49968423e-02 -2.27508185e+00] [-8.23046971e-02 2.75672195e-04 9.96607175e-01 -3.85507255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.119649246 meters 0.05899555971278637 Centerline is valid? [True, True] Translation: X:35.95, Y:-2.28, Z:-3.86 [[ 9.80473571e-01 1.79690634e-01 7.98927520e-02 3.59538572e+01] [-1.79078839e-01 9.83723146e-01 -1.48169492e-02 -2.27988311e+00] [-8.12548164e-02 2.20525782e-04 9.96693336e-01 -3.86043057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.149649246 meters 0.05907434545878059 Centerline is valid? [True, True] Translation: X:35.99, Y:-2.28, Z:-3.86 [[ 9.80558483e-01 1.79727428e-01 7.87598459e-02 3.59855493e+01] [-1.79131553e-01 9.83716421e-01 -1.46249366e-02 -2.28485734e+00] [-8.01058559e-02 2.32232078e-04 9.96786335e-01 -3.86324839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.179649246000004 meters 0.059137589097716305 Centerline is valid? [True, True] Translation: X:36.02, Y:-2.29, Z:-3.87 [[ 9.80692916e-01 1.79443069e-01 7.77276588e-02 3.60169716e+01] [-1.78860309e-01 9.83768322e-01 -1.44526182e-02 -2.29146308e+00] [-7.90594306e-02 2.71187220e-04 9.96869868e-01 -3.86771172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.209649246 meters 0.059237137308670376 Centerline is valid? [True, True] Translation: X:36.05, Y:-2.30, Z:-3.87 [[ 9.80675085e-01 1.79506974e-01 7.78050355e-02 3.60482728e+01] [-1.78921747e-01 9.83756660e-01 -1.44859712e-02 -2.29822805e+00] [-7.91415546e-02 2.85018192e-04 9.96863347e-01 -3.87154543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.239649246 meters 0.05922029963296316 Centerline is valid? [True, True] Translation: X:36.08, Y:-2.30, Z:-3.88 [[ 9.80633200e-01 1.79410931e-01 7.85509093e-02 3.60796813e+01] [-1.78812361e-01 9.83774170e-01 -1.46465721e-02 -2.30460833e+00] [-7.99041108e-02 3.17041326e-04 9.96802504e-01 -3.87526526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.269649246 meters 0.05896150768097094 Centerline is valid? [True, True] Translation: X:36.11, Y:-2.31, Z:-3.88 [[ 9.80579367e-01 1.79297410e-01 7.94766806e-02 3.61099505e+01] [-1.78682598e-01 9.83794855e-01 -1.48395850e-02 -2.31185344e+00] [-8.08494485e-02 3.50291072e-04 9.96726263e-01 -3.87719762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.299649246 meters 0.059008363806980976 Centerline is valid? [True, True] Translation: X:36.14, Y:-2.32, Z:-3.88 [[ 9.80417882e-01 1.79932972e-01 8.00306347e-02 3.61416362e+01] [-1.79310186e-01 9.83678822e-01 -1.49610427e-02 -2.31810123e+00] [-8.14164253e-02 3.17765778e-04 9.96680122e-01 -3.87973441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.329649246 meters 0.059010986200691 Centerline is valid? [True, True] Translation: X:36.17, Y:-2.32, Z:-3.88 [[ 9.80308734e-01 1.80780060e-01 7.94566263e-02 3.61725636e+01] [-1.80167188e-01 9.83523512e-01 -1.48756870e-02 -2.32239889e+00] [-8.08366877e-02 2.67288945e-04 9.96727324e-01 -3.88435090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.359649246000004 meters 0.05908392905140727 Centerline is valid? [True, True] Translation: X:36.20, Y:-2.32, Z:-3.89 [[ 9.79928418e-01 1.82768708e-01 7.95983319e-02 3.62038362e+01] [-1.82159508e-01 9.83155932e-01 -1.49106215e-02 -2.32384442e+00] [-8.09827672e-02 1.11748805e-04 9.96715495e-01 -3.88970519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.389649246 meters 0.05907873393872115 Centerline is valid? [True, True] Translation: X:36.24, Y:-2.33, Z:-3.89 [[ 9.79660859e-01 1.84498489e-01 7.88980935e-02 3.62350431e+01] [-1.83904231e-01 9.82832797e-01 -1.47961668e-02 -2.32744525e+00] [-8.02735043e-02 -1.44677483e-05 9.96772875e-01 -3.89381186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.419649246 meters 0.05884743517836882 Centerline is valid? [True, True] Translation: X:36.27, Y:-2.33, Z:-3.89 [[ 9.78951924e-01 1.87214579e-01 8.12639669e-02 3.62670672e+01] [-1.86591770e-01 9.82319017e-01 -1.52597649e-02 -2.32995475e+00] [-8.26839905e-02 -2.24611225e-04 9.96575791e-01 -3.89372085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.449649246 meters 0.058827832753596807 Centerline is valid? [True, True] Translation: X:36.30, Y:-2.33, Z:-3.90 [[ 9.78673980e-01 1.88513715e-01 8.16077250e-02 3.62983228e+01] [-1.87888511e-01 9.82070506e-01 -1.53436849e-02 -2.33437338e+00] [-8.30370348e-02 -3.16688784e-04 9.96546412e-01 -3.89714620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.479649246 meters 0.05843074448713846 Centerline is valid? [True, True] Translation: X:36.33, Y:-2.34, Z:-3.90 [[ 9.78693722e-01 1.87926010e-01 8.27188811e-02 3.63298323e+01] [-1.87279694e-01 9.82183156e-01 -1.55744577e-02 -2.34100532e+00] [-8.41719374e-02 -2.48942756e-04 9.96451215e-01 -3.89609086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.509649246 meters 0.0586408950514202 Centerline is valid? [True, True] Translation: X:36.36, Y:-2.35, Z:-3.90 [[ 9.78665481e-01 1.88360790e-01 8.20614969e-02 3.63602846e+01] [-1.87724506e-01 9.82099864e-01 -1.54714778e-02 -2.34566398e+00] [-8.35068047e-02 -2.63552658e-04 9.96507172e-01 -3.90286304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.539649246 meters 0.058838615581558895 Centerline is valid? [True, True] Translation: X:36.39, Y:-2.35, Z:-3.91 [[ 9.78680569e-01 1.88931755e-01 8.05551753e-02 3.63919368e+01] [-1.88319115e-01 9.81990177e-01 -1.52053449e-02 -2.35174597e+00] [-8.19771633e-02 -2.88903726e-04 9.96634166e-01 -3.90551728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.569649246000004 meters 0.058861046573144685 Centerline is valid? [True, True] Translation: X:36.42, Y:-2.36, Z:-3.91 [[ 9.78629638e-01 1.88917504e-01 8.12047366e-02 3.64225187e+01] [-1.88292977e-01 9.81992925e-01 -1.53508773e-02 -2.35829040e+00] [-8.26425262e-02 -2.67458126e-04 9.96579220e-01 -3.90933578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.599649246 meters 0.05881289424973778 Centerline is valid? [True, True] Translation: X:36.45, Y:-2.37, Z:-3.91 [[ 9.78870204e-01 1.87748028e-01 8.10172978e-02 3.64528214e+01] [-1.87121693e-01 9.82217212e-01 -1.53238339e-02 -2.36673597e+00] [-8.24536040e-02 -1.60049507e-04 9.96594891e-01 -3.91418192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.629649246 meters 0.05916584428823162 Centerline is valid? [True, True] Translation: X:36.48, Y:-2.37, Z:-3.92 [[ 9.78963362e-01 1.87471781e-01 8.05299135e-02 3.64821412e+01] [-1.86850251e-01 9.82269982e-01 -1.52533849e-02 -2.37442031e+00] [-8.19616960e-02 -1.14529543e-04 9.96635474e-01 -3.92087897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.659649246 meters 0.05838629725037963 Centerline is valid? [True, True] Translation: X:36.51, Y:-2.39, Z:-3.92 [[ 9.79221307e-01 1.85290830e-01 8.24192919e-02 3.65138433e+01] [-1.84630257e-01 9.82683723e-01 -1.56322743e-02 -2.38548402e+00] [-8.38886137e-02 9.03610084e-05 9.96475134e-01 -3.91636285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.689649246 meters 0.058118481121957555 Centerline is valid? [True, True] Translation: X:36.54, Y:-2.39, Z:-3.92 [[ 9.79318799e-01 1.84090645e-01 8.39364334e-02 3.65433673e+01] [-1.83400097e-01 9.82909249e-01 -1.59315217e-02 -2.39411721e+00] [-8.54347408e-02 2.08088695e-04 9.96343747e-01 -3.91913528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.719649246 meters 0.057962533261629694 Centerline is valid? [True, True] Translation: X:36.57, Y:-2.40, Z:-3.92 [[ 9.79209026e-01 1.84194413e-01 8.49829454e-02 3.65739241e+01] [-1.83485979e-01 9.82889807e-01 -1.61406993e-02 -2.40078716e+00] [-8.65018975e-02 2.11939551e-04 9.96251663e-01 -3.92240186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.749649246000004 meters 0.058083386948689135 Centerline is valid? [True, True] Translation: X:36.61, Y:-2.41, Z:-3.92 [[ 9.79133082e-01 1.84607606e-01 8.49613988e-02 3.66066769e+01] [-1.83899529e-01 9.82812289e-01 -1.61545222e-02 -2.40601420e+00] [-8.64833545e-02 1.93065857e-04 9.96253277e-01 -3.92494200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.779649246 meters 0.058146017226101784 Centerline is valid? [True, True] Translation: X:36.64, Y:-2.41, Z:-3.93 [[ 9.79079345e-01 1.85123124e-01 8.44574795e-02 3.66391461e+01] [-1.84423328e-01 9.82715320e-01 -1.60821649e-02 -2.41169964e+00] [-8.59748396e-02 1.69785982e-04 9.96297294e-01 -3.92919202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.809649246 meters 0.058115608856257474 Centerline is valid? [True, True] Translation: X:36.67, Y:-2.42, Z:-3.93 [[ 9.79117504e-01 1.85160374e-01 8.39318136e-02 3.66704873e+01] [-1.84467356e-01 9.82708299e-01 -1.60060701e-02 -2.41796695e+00] [-8.54441797e-02 1.89143635e-04 9.96342941e-01 -3.93435521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.839649246 meters 0.058177050283222134 Centerline is valid? [True, True] Translation: X:36.70, Y:-2.42, Z:-3.94 [[ 9.79162616e-01 1.85012484e-01 8.37314326e-02 3.67017175e+01] [-1.84320541e-01 9.82736146e-01 -1.59876976e-02 -2.42434723e+00] [-8.52438290e-02 2.21132899e-04 9.96360096e-01 -3.93807877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.869649246 meters 0.0582633410606529 Centerline is valid? [True, True] Translation: X:36.73, Y:-2.43, Z:-3.94 [[ 9.78970544e-01 1.85853048e-01 8.41149147e-02 3.67316716e+01] [-1.85155901e-01 9.82577537e-01 -1.60834401e-02 -2.42993439e+00] [-8.56385820e-02 1.70841305e-04 9.96326254e-01 -3.94138758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.899649246 meters 0.05826483214923881 Centerline is valid? [True, True] Translation: X:36.76, Y:-2.44, Z:-3.95 [[ 9.78989006e-01 1.85861573e-01 8.38808771e-02 3.67634265e+01] [-1.85166845e-01 9.82575921e-01 -1.60561134e-02 -2.43648647e+00] [-8.54035445e-02 1.86801135e-04 9.96346426e-01 -3.94513555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.929649246000004 meters 0.05835283114593164 Centerline is valid? [True, True] Translation: X:36.79, Y:-2.44, Z:-3.95 [[ 9.79141878e-01 1.85795935e-01 8.22256268e-02 3.67947828e+01] [-1.85126321e-01 9.82588330e-01 -1.57613065e-02 -2.44231048e+00] [-8.37223280e-02 2.10427468e-04 9.96489101e-01 -3.94815794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.959649246 meters 0.05855494662753359 Centerline is valid? [True, True] Translation: X:36.83, Y:-2.45, Z:-3.95 [[ 9.79122288e-01 1.85872222e-01 8.22864585e-02 3.68257864e+01] [-1.85200209e-01 9.82573899e-01 -1.57928925e-02 -2.44926466e+00] [-8.37879864e-02 2.23703695e-04 9.96483579e-01 -3.95403632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.989649246 meters 0.05835902583225127 Centerline is valid? [True, True] Translation: X:36.86, Y:-2.46, Z:-3.95 [[ 9.79175168e-01 1.85269583e-01 8.30130886e-02 3.68567758e+01] [-1.84581549e-01 9.82687688e-01 -1.59549478e-02 -2.45738746e+00] [-8.45319066e-02 3.00004228e-04 9.96420728e-01 -3.95356496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.019649246 meters 0.05831978069209286 Centerline is valid? [True, True] Translation: X:36.89, Y:-2.46, Z:-3.96 [[ 9.79088907e-01 1.85292077e-01 8.39747442e-02 3.68879454e+01] [-1.84586290e-01 9.82683440e-01 -1.61604152e-02 -2.46421835e+00] [-8.55149873e-02 3.21896753e-04 9.96336832e-01 -3.95585079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.049649246 meters 0.05824691899728656 Centerline is valid? [True, True] Translation: X:36.92, Y:-2.47, Z:-3.96 [[ 9.78996670e-01 1.85485430e-01 8.46207736e-02 3.69179240e+01] [-1.84767622e-01 9.82646960e-01 -1.63057756e-02 -2.46960069e+00] [-8.61768297e-02 3.28120969e-04 9.96279803e-01 -3.95877043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.079649246 meters 0.05830106281142869 Centerline is valid? [True, True] Translation: X:36.95, Y:-2.48, Z:-3.96 [[ 9.78925004e-01 1.85678105e-01 8.50263346e-02 3.69487551e+01] [-1.84952483e-01 9.82610570e-01 -1.64026624e-02 -2.47543248e+00] [-8.65933904e-02 3.31144617e-04 9.96243683e-01 -3.96216735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.109649246000004 meters 0.058459291156358 Centerline is valid? [True, True] Translation: X:36.98, Y:-2.48, Z:-3.97 [[ 9.78857324e-01 1.86194886e-01 8.46746951e-02 3.69794554e+01] [-1.85475478e-01 9.82512785e-01 -1.63546620e-02 -2.48067991e+00] [-8.62391249e-02 3.03801171e-04 9.96274421e-01 -3.96726512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.139649246 meters 0.05842338468130602 Centerline is valid? [True, True] Translation: X:37.01, Y:-2.49, Z:-3.97 [[ 9.78771062e-01 1.86741886e-01 8.44670140e-02 3.70116972e+01] [-1.86026228e-01 9.82408974e-01 -1.63355651e-02 -2.48682160e+00] [-8.60316868e-02 2.75698413e-04 9.96292363e-01 -3.97145221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.169649246 meters 0.05833757853160912 Centerline is valid? [True, True] Translation: X:37.04, Y:-2.49, Z:-3.97 [[ 9.78769511e-01 1.86517496e-01 8.49792171e-02 3.70428489e+01] [-1.85790217e-01 9.82451587e-01 -1.64582614e-02 -2.49344348e+00] [-8.65577204e-02 3.20537254e-04 9.96246786e-01 -3.97331661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.199649246 meters 0.058316889869432384 Centerline is valid? [True, True] Translation: X:37.08, Y:-2.50, Z:-3.98 [[ 9.78788010e-01 1.86317948e-01 8.52036045e-02 3.70750841e+01] [-1.85584319e-01 9.82489437e-01 -1.65217182e-02 -2.50149177e+00] [-8.67899340e-02 3.58806773e-04 9.96226570e-01 -3.97511277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.229649246 meters 0.058371289605472644 Centerline is valid? [True, True] Translation: X:37.11, Y:-2.51, Z:-3.98 [[ 9.78762431e-01 1.86632228e-01 8.48087026e-02 3.71054925e+01] [-1.85904366e-01 9.82429787e-01 -1.64706079e-02 -2.50864335e+00] [-8.63925419e-02 3.54504079e-04 9.96261112e-01 -3.97884540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.259649246 meters 0.05840067790483869 Centerline is valid? [True, True] Translation: X:37.14, Y:-2.52, Z:-3.98 [[ 9.78737672e-01 1.86549867e-01 8.52743617e-02 3.71355984e+01] [-1.85812472e-01 9.82445421e-01 -1.65746971e-02 -2.51641099e+00] [-8.68694137e-02 3.77240532e-04 9.96219636e-01 -3.98203899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.289649246 meters 0.05831201595446066 Centerline is valid? [True, True] Translation: X:37.17, Y:-2.52, Z:-3.99 [[ 9.78804664e-01 1.86275639e-01 8.51047320e-02 3.71674735e+01] [-1.85538603e-01 9.82497436e-01 -1.65594492e-02 -2.52262653e+00] [-8.66998029e-02 4.18253059e-04 9.96234395e-01 -3.98527676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.319649246000004 meters 0.05837560508722435 Centerline is valid? [True, True] Translation: X:37.20, Y:-2.53, Z:-3.99 [[ 9.78753236e-01 1.86559024e-01 8.50754533e-02 3.71991314e+01] [-1.85821572e-01 9.82443666e-01 -1.65766587e-02 -2.52882725e+00] [-8.66743655e-02 4.15603849e-04 9.96236609e-01 -3.98946532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.349649246 meters 0.058512267268856624 Centerline is valid? [True, True] Translation: X:37.23, Y:-2.54, Z:-3.99 [[ 9.78882518e-01 1.85649413e-01 8.55763469e-02 3.72304844e+01] [-1.84897713e-01 9.82615908e-01 -1.66977003e-02 -2.53602686e+00] [-8.71885981e-02 5.22216153e-04 9.96191686e-01 -3.99273916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.379649246 meters 0.058512267268856624 Centerline is valid? [True, True] Translation: X:37.26, Y:-2.54, Z:-4.00 [[ 9.78835307e-01 1.85899998e-01 8.55723782e-02 3.72620082e+01] [-1.85147477e-01 9.82568532e-01 -1.67180116e-02 -2.54238209e+00] [-8.71886044e-02 5.20670131e-04 9.96191686e-01 -3.99623692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.409649246 meters 0.05812250951532249 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.55, Z:-4.00 [[ 9.78682576e-01 1.86577495e-01 8.58443534e-02 3.72943737e+01] [-1.85820814e-01 9.82440128e-01 -1.67934707e-02 -2.54737687e+00] [-8.74702212e-02 4.83809527e-04 9.96167017e-01 -3.99540492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.439649246 meters 0.058090408507856725 Centerline is valid? [True, True] Translation: X:37.33, Y:-2.55, Z:-4.00 [[ 9.78807275e-01 1.85927694e-01 8.58324577e-02 3.73254071e+01] [-1.85166503e-01 9.82563266e-01 -1.68164993e-02 -2.55455517e+00] [-8.74624729e-02 5.66815788e-04 9.96167654e-01 -3.99819040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.469649246 meters 0.058054975911667486 Centerline is valid? [True, True] Translation: X:37.36, Y:-2.56, Z:-4.00 [[ 9.78578379e-01 1.86996128e-01 8.61208644e-02 3.73569338e+01] [-1.86231831e-01 9.82360525e-01 -1.68968517e-02 -2.56073223e+00] [-8.77613835e-02 4.96447444e-04 9.96141402e-01 -4.00149364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.499649246000004 meters 0.05805612617470256 Centerline is valid? [True, True] Translation: X:37.39, Y:-2.57, Z:-4.00 [[ 9.78619091e-01 1.86693332e-01 8.63149703e-02 3.73880781e+01] [-1.85922525e-01 9.82418089e-01 -1.69561959e-02 -2.56726750e+00] [-8.79629968e-02 5.45759750e-04 9.96123593e-01 -4.00458829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.529649246 meters 0.05807158194272539 Centerline is valid? [True, True] Translation: X:37.42, Y:-2.57, Z:-4.01 [[ 9.78499960e-01 1.87203708e-01 8.65598103e-02 3.74200182e+01] [-1.86428482e-01 9.82320975e-01 -1.70271433e-02 -2.57380717e+00] [-8.82170616e-02 5.23844985e-04 9.96101137e-01 -4.00779113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.559649246 meters 0.05840488663451398 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.58, Z:-4.01 [[ 9.78509891e-01 1.87398746e-01 8.60238494e-02 3.74497319e+01] [-1.86631501e-01 9.82283783e-01 -1.69485548e-02 -2.57943760e+00] [-8.76759701e-02 5.29568383e-04 9.96148906e-01 -4.01468360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.589649246 meters 0.05821141216591746 Centerline is valid? [True, True] Translation: X:37.48, Y:-2.58, Z:-4.02 [[ 9.78516141e-01 1.87819188e-01 8.50300814e-02 3.74818853e+01] [-1.87070416e-01 9.82203496e-01 -1.67616195e-02 -2.58455820e+00] [-8.66649969e-02 4.94902492e-04 9.96237388e-01 -4.01577114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.619649246 meters 0.05842552190636795 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.59, Z:-4.02 [[ 9.78572566e-01 1.87930478e-01 8.41300662e-02 3.75114269e+01] [-1.87196056e-01 9.82182205e-01 -1.66057821e-02 -2.59171787e+00] [-8.57517865e-02 5.01146169e-04 9.96316406e-01 -4.02051725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.649649246 meters 0.05833214363039198 Centerline is valid? [True, True] Translation: X:37.54, Y:-2.60, Z:-4.02 [[ 9.78417661e-01 1.88580739e-01 8.44759447e-02 3.75421414e+01] [-1.87840949e-01 9.82057579e-01 -1.66939974e-02 -2.59834307e+00] [-8.61084081e-02 4.65660238e-04 9.96285664e-01 -4.02375779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.679649246000004 meters 0.05838863995098945 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.60, Z:-4.03 [[ 9.78310873e-01 1.89397285e-01 8.38838715e-02 3.75741246e+01] [-1.88669206e-01 9.81900453e-01 -1.65960952e-02 -2.60314690e+00] [-8.55088668e-02 4.09836980e-04 9.96337325e-01 -4.02787651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.709649246 meters 0.05829069431435673 Centerline is valid? [True, True] Translation: X:37.61, Y:-2.61, Z:-4.03 [[ 9.78246972e-01 1.89750920e-01 8.38298833e-02 3.76068204e+01] [-1.89023133e-01 9.81832179e-01 -1.66080531e-02 -2.60867540e+00] [-8.54582703e-02 4.00990444e-04 9.96341670e-01 -4.03065292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.739649246 meters 0.05848419876698948 Centerline is valid? [True, True] Translation: X:37.64, Y:-2.61, Z:-4.04 [[ 9.78150430e-01 1.90752745e-01 8.26748264e-02 3.76383006e+01] [-1.90046469e-01 9.81638059e-01 -1.64030478e-02 -2.61362971e+00] [-8.42856826e-02 3.32589413e-04 9.96441575e-01 -4.03621987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.769649246 meters 0.05875613128097052 Centerline is valid? [True, True] Translation: X:37.67, Y:-2.62, Z:-4.04 [[ 9.78085111e-01 1.91136234e-01 8.25618289e-02 3.76692992e+01] [-1.90431575e-01 9.81563466e-01 -1.64005032e-02 -2.62016943e+00] [-8.41744054e-02 3.18708794e-04 9.96450986e-01 -4.04246556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.799649246 meters 0.05867403718065481 Centerline is valid? [True, True] Translation: X:37.70, Y:-2.63, Z:-4.04 [[ 9.78040862e-01 1.91784949e-01 8.15757703e-02 3.77004632e+01] [-1.91097510e-01 9.81436933e-01 -1.62261335e-02 -2.62582316e+00] [-8.31734020e-02 2.80895029e-04 9.96535050e-01 -4.04484065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.829649246 meters 0.05873586024465091 Centerline is valid? [True, True] Translation: X:37.73, Y:-2.63, Z:-4.05 [[ 9.77993454e-01 1.92139092e-01 8.13103548e-02 3.77320148e+01] [-1.91455774e-01 9.81367667e-01 -1.61922671e-02 -2.63300571e+00] [-8.29065206e-02 2.68594335e-04 9.96557292e-01 -4.04788050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.859649246000004 meters 0.058717743098387565 Centerline is valid? [True, True] Translation: X:37.76, Y:-2.64, Z:-4.05 [[ 9.77922722e-01 1.92436439e-01 8.14577615e-02 3.77633482e+01] [-1.91749726e-01 9.81309404e-01 -1.62448990e-02 -2.64020202e+00] [-8.30613779e-02 2.66752418e-04 9.96544398e-01 -4.05142557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.889649246 meters 0.0589252136308579 Centerline is valid? [True, True] Translation: X:37.79, Y:-2.65, Z:-4.06 [[ 9.77911708e-01 1.92706529e-01 8.09498909e-02 3.77940679e+01] [-1.92027519e-01 9.81256401e-01 -1.61650032e-02 -2.64616170e+00] [-8.25477003e-02 2.63339147e-04 9.96587080e-01 -4.05612686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.919649246 meters 0.05899613823538205 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.65, Z:-4.06 [[ 9.77949718e-01 1.93033318e-01 7.97024981e-02 3.78247709e+01] [-1.92374439e-01 9.81192170e-01 -1.59374169e-02 -2.65198083e+00] [-8.12799195e-02 2.53269072e-04 9.96691281e-01 -4.06093787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.949649246 meters 0.059245532236042744 Centerline is valid? [True, True] Translation: X:37.85, Y:-2.66, Z:-4.07 [[ 9.77899763e-01 1.93633505e-01 7.88550574e-02 3.78547711e+01] [-1.92989926e-01 9.81073913e-01 -1.57754948e-02 -2.65763942e+00] [-8.04173041e-02 2.08620915e-04 9.96761262e-01 -4.06571161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.979649246 meters 0.05916771255401848 Centerline is valid? [True, True] Translation: X:37.89, Y:-2.66, Z:-4.07 [[ 9.77840765e-01 1.93893502e-01 7.89477570e-02 3.78866933e+01] [-1.93247974e-01 9.81022563e-01 -1.58098594e-02 -2.66383393e+00] [-8.05149599e-02 2.03030881e-04 9.96753380e-01 -4.06771763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.009649246 meters 0.05918166612994756 Centerline is valid? [True, True] Translation: X:37.92, Y:-2.67, Z:-4.07 [[ 9.77652514e-01 1.94869175e-01 7.88769126e-02 3.79190916e+01] [-1.94226193e-01 9.80829233e-01 -1.58177832e-02 -2.66899909e+00] [-8.04471800e-02 1.44333083e-04 9.96758863e-01 -4.07114725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.039649246 meters 0.059275062678227707 Centerline is valid? [True, True] Translation: X:37.95, Y:-2.67, Z:-4.07 [[ 9.77521764e-01 1.95181939e-01 7.97195862e-02 3.79494182e+01] [-1.94524180e-01 9.80767042e-01 -1.60110404e-02 -2.67419468e+00] [-8.13114086e-02 1.43753287e-04 9.96688735e-01 -4.07445481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.069649246000004 meters 0.059607530775456365 Centerline is valid? [True, True] Translation: X:37.98, Y:-2.68, Z:-4.08 [[ 9.77420305e-01 1.95767843e-01 7.95267132e-02 3.79804296e+01] [-1.95113810e-01 9.80650263e-01 -1.59894431e-02 -2.68055094e+00] [-8.11181110e-02 1.11646355e-04 9.96704490e-01 -4.08143741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.099649246 meters 0.05962129665381287 Centerline is valid? [True, True] Translation: X:38.01, Y:-2.69, Z:-4.08 [[ 9.77301305e-01 1.96208856e-01 7.99014709e-02 3.80118860e+01] [-1.95548329e-01 9.80562122e-01 -1.60864986e-02 -2.68687895e+00] [-8.15046694e-02 9.67569704e-05 9.96672955e-01 -4.08470111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.129649246 meters 0.05967343159349116 Centerline is valid? [True, True] Translation: X:38.04, Y:-2.69, Z:-4.09 [[ 9.77132272e-01 1.96973175e-01 8.00880202e-02 3.80423737e+01] [-1.96310402e-01 9.80408877e-01 -1.61449980e-02 -2.69258975e+00] [-8.16991374e-02 5.36872092e-05 9.96657036e-01 -4.08766539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.159649246 meters 0.05924696960112667 Centerline is valid? [True, True] Translation: X:38.07, Y:-2.70, Z:-4.09 [[ 9.77061770e-01 1.97008084e-01 8.08585940e-02 3.80737747e+01] [-1.96331948e-01 9.80401862e-01 -1.63081153e-02 -2.69896007e+00] [-8.24867467e-02 5.89107465e-05 9.96592160e-01 -4.08696035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.189649246 meters 0.05939863178102933 Centerline is valid? [True, True] Translation: X:38.10, Y:-2.71, Z:-4.09 [[ 9.76973532e-01 1.96793272e-01 8.24325506e-02 3.81041062e+01] [-1.96088029e-01 9.80445000e-01 -1.66459107e-02 -2.70572955e+00] [-8.40963853e-02 9.85777904e-05 9.96457620e-01 -4.09238813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.219649246 meters 0.05904781495742314 Centerline is valid? [True, True] Translation: X:38.14, Y:-2.71, Z:-4.09 [[ 9.76851226e-01 1.96518984e-01 8.45101779e-02 3.81359636e+01] [-1.95774872e-01 9.80500009e-01 -1.70860132e-02 -2.71285885e+00] [-8.62199561e-02 1.45523698e-04 9.96276115e-01 -4.09024068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.249649246000004 meters 0.05905368034659542 Centerline is valid? [True, True] Translation: X:38.17, Y:-2.72, Z:-4.09 [[ 9.76817360e-01 1.96991814e-01 8.37977968e-02 3.81669275e+01] [-1.96260200e-01 9.80405126e-01 -1.69624258e-02 -2.71930264e+00] [-8.54972485e-02 1.23019665e-04 9.96338399e-01 -4.09430654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.279649246 meters 0.058980744809751344 Centerline is valid? [True, True] Translation: X:38.20, Y:-2.73, Z:-4.10 [[ 9.76872185e-01 1.96403545e-01 8.45362693e-02 3.81975257e+01] [-1.95654954e-01 9.80523130e-01 -1.71327163e-02 -2.72712019e+00] [-8.62546936e-02 1.96534094e-04 9.96273100e-01 -4.09816932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.309649246 meters 0.058838106862330826 Centerline is valid? [True, True] Translation: X:38.23, Y:-2.74, Z:-4.10 [[ 9.77056545e-01 1.95242917e-01 8.50923653e-02 3.82290577e+01] [-1.94478301e-01 9.80754863e-01 -1.72652852e-02 -2.73543189e+00] [-8.68256757e-02 3.20541259e-04 9.96223469e-01 -4.09906102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.339649246 meters 0.05899067988137243 Centerline is valid? [True, True] Translation: X:38.26, Y:-2.74, Z:-4.10 [[ 9.77086856e-01 1.95107468e-01 8.50549958e-02 3.82599503e+01] [-1.94340681e-01 9.80781804e-01 -1.72844605e-02 -2.74379461e+00] [-8.67927195e-02 3.58773360e-04 9.96226327e-01 -4.10452931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.369649246 meters 0.058971745212055074 Centerline is valid? [True, True] Translation: X:38.29, Y:-2.75, Z:-4.11 [[ 9.77017444e-01 1.95019462e-01 8.60483829e-02 3.82896781e+01] [-1.94232977e-01 9.80799297e-01 -1.75011320e-02 -2.75053580e+00] [-8.78092548e-02 3.85477690e-04 9.96137233e-01 -4.10809850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.399649246 meters 0.059132600051034 Centerline is valid? [True, True] Translation: X:38.32, Y:-2.76, Z:-4.11 [[ 9.77146876e-01 1.94972238e-01 8.46747228e-02 3.83193859e+01] [-1.94208944e-01 9.80808679e-01 -1.72400927e-02 -2.75677187e+00] [-8.64110424e-02 4.01514221e-04 9.96259490e-01 -4.11427061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.429649246000004 meters 0.059233473769761305 Centerline is valid? [True, True] Translation: X:38.35, Y:-2.76, Z:-4.12 [[ 9.77204622e-01 1.95071968e-01 8.37738306e-02 3.83507084e+01] [-1.94323705e-01 9.80788847e-01 -1.70744032e-02 -2.76354765e+00] [-8.54951762e-02 4.05944532e-04 9.96338502e-01 -4.11921527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.459649246 meters 0.059439791726764946 Centerline is valid? [True, True] Translation: X:38.38, Y:-2.77, Z:-4.12 [[ 9.77410538e-01 1.94540674e-01 8.25988275e-02 3.83811517e+01] [-1.93809791e-01 9.80894342e-01 -1.68539165e-02 -2.77085192e+00] [-8.42994948e-02 4.64734092e-04 9.96440354e-01 -4.12449800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.489649246 meters 0.05939348497466115 Centerline is valid? [True, True] Translation: X:38.41, Y:-2.78, Z:-4.13 [[ 9.77498923e-01 1.94408027e-01 8.18619242e-02 3.84125261e+01] [-1.93688131e-01 9.80920628e-01 -1.67221190e-02 -2.77707914e+00] [-8.35509643e-02 4.90170217e-04 9.96503385e-01 -4.12694006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.519649246 meters 0.059379077696033185 Centerline is valid? [True, True] Translation: X:38.44, Y:-2.78, Z:-4.13 [[ 9.77532628e-01 1.94402197e-01 8.14723691e-02 3.84429295e+01] [-1.93687458e-01 9.80921774e-01 -1.66625641e-02 -2.78382797e+00] [-8.31572599e-02 5.08024034e-04 9.96536307e-01 -4.13139334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.549649246 meters 0.05934565347131041 Centerline is valid? [True, True] Translation: X:38.47, Y:-2.79, Z:-4.13 [[ 9.77568466e-01 1.94517598e-01 8.07638388e-02 3.84747816e+01] [-1.93814235e-01 9.80898896e-01 -1.65347860e-02 -2.78873246e+00] [-8.24374672e-02 5.10703789e-04 9.96596108e-01 -4.13339213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.579649246 meters 0.0593429890648389 Centerline is valid? [True, True] Translation: X:38.51, Y:-2.79, Z:-4.14 [[ 9.77441654e-01 1.95192145e-01 8.06711835e-02 3.85074984e+01] [-1.94491120e-01 9.80764907e-01 -1.65348331e-02 -2.79410572e+00] [-8.23469354e-02 4.72005833e-04 9.96603612e-01 -4.13658016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.609649246000004 meters 0.059386286421677426 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.80, Z:-4.14 [[ 9.77423093e-01 1.95190140e-01 8.09005930e-02 3.85382332e+01] [-1.94483121e-01 9.80765294e-01 -1.66058276e-02 -2.80137433e+00] [-8.25857877e-02 4.97119576e-04 9.96583835e-01 -4.14114651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.639649246000005 meters 0.05924101182074578 Centerline is valid? [True, True] Translation: X:38.57, Y:-2.81, Z:-4.14 [[ 9.77323336e-01 1.95229213e-01 8.20039717e-02 3.85696611e+01] [-1.94500948e-01 9.80757503e-01 -1.68552865e-02 -2.80802815e+00] [-8.37166549e-02 5.23214596e-04 9.96489462e-01 -4.14168773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.669649246 meters 0.05914369470376784 Centerline is valid? [True, True] Translation: X:38.60, Y:-2.81, Z:-4.15 [[ 9.77218374e-01 1.95565148e-01 8.24531518e-02 3.86014501e+01] [-1.94828329e-01 9.80690576e-01 -1.69681192e-02 -2.81389187e+00] [-8.41794016e-02 5.17348087e-04 9.96450481e-01 -4.14502567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.699649246 meters 0.05919468051057679 Centerline is valid? [True, True] Translation: X:38.63, Y:-2.82, Z:-4.15 [[ 9.76972076e-01 1.96198496e-01 8.38553062e-02 3.86320907e+01] [-1.95436808e-01 9.80564076e-01 -1.72784812e-02 -2.81953143e+00] [-8.56155129e-02 4.92180197e-04 9.96328130e-01 -4.14852515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.729649246 meters 0.059233908107559616 Centerline is valid? [True, True] Translation: X:38.66, Y:-2.83, Z:-4.15 [[ 9.76918279e-01 1.96533238e-01 8.36980388e-02 3.86633334e+01] [-1.95774055e-01 9.80497045e-01 -1.72645192e-02 -2.82623489e+00] [-8.54587316e-02 4.80119921e-04 9.96341595e-01 -4.15173748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.759649246 meters 0.05917699568326624 Centerline is valid? [True, True] Translation: X:38.69, Y:-2.83, Z:-4.15 [[ 9.76688371e-01 1.97379133e-01 8.43878142e-02 3.86941853e+01] [-1.96608538e-01 9.80327135e-01 -1.74296199e-02 -2.83257687e+00] [-8.61679074e-02 4.31942369e-04 9.96280535e-01 -4.15386564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.789649246 meters 0.05910711209842703 Centerline is valid? [True, True] Translation: X:38.73, Y:-2.84, Z:-4.16 [[ 9.76347617e-01 1.98494769e-01 8.57038955e-02 3.87264587e+01] [-1.97702076e-01 9.80101880e-01 -1.77255178e-02 -2.83799823e+00] [-8.75169717e-02 3.62428999e-04 9.96162963e-01 -4.15519203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.819649246000004 meters 0.05923747183240874 Centerline is valid? [True, True] Translation: X:38.76, Y:-2.84, Z:-4.16 [[ 9.76142959e-01 1.99505644e-01 8.56879269e-02 3.87572259e+01] [-1.98716762e-01 9.79896638e-01 -1.77264359e-02 -2.84438371e+00] [-8.75018355e-02 2.75908229e-04 9.96164320e-01 -4.16110438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.849649246 meters 0.059270421231739034 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.85, Z:-4.17 [[ 9.76098593e-01 1.99599884e-01 8.59733837e-02 3.87889592e+01] [-1.98804043e-01 9.79877442e-01 -1.78087378e-02 -2.85068536e+00] [-8.77980013e-02 2.91227637e-04 9.96138257e-01 -4.16573204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.879649246 meters 0.059403360615398214 Centerline is valid? [True, True] Translation: X:38.82, Y:-2.86, Z:-4.17 [[ 9.75868064e-01 2.01244764e-01 8.47470751e-02 3.88201094e+01] [-2.00475668e-01 9.79540973e-01 -1.75780628e-02 -2.85552992e+00] [-8.65507255e-02 1.64143600e-04 9.96247432e-01 -4.16807047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.909649246 meters 0.05965474481272357 Centerline is valid? [True, True] Translation: X:38.85, Y:-2.86, Z:-4.18 [[ 9.75791491e-01 2.02427396e-01 8.27895833e-02 3.88498164e+01] [-2.01696118e-01 9.79297270e-01 -1.71910651e-02 -2.86127763e+00] [-8.45555555e-02 7.65575335e-05 9.96418763e-01 -4.17646049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.939649246 meters 0.05960810815629789 Centerline is valid? [True, True] Translation: X:38.88, Y:-2.87, Z:-4.18 [[ 9.75801634e-01 2.02837444e-01 8.16586979e-02 3.88814836e+01] [-2.02125947e-01 9.79212422e-01 -1.69745014e-02 -2.86783195e+00] [-8.34042758e-02 5.84045944e-05 9.96515792e-01 -4.17701538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.969649246 meters 0.060002213029522855 Centerline is valid? [True, True] Translation: X:38.91, Y:-2.87, Z:-4.19 [[ 9.75821572e-01 2.03019714e-01 8.09645332e-02 3.89108247e+01] [-2.02319131e-01 9.79174648e-01 -1.68516273e-02 -2.87435817e+00] [-8.26996309e-02 6.35074364e-05 9.96574517e-01 -4.18715335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.999649246000004 meters 0.06015589344760331 Centerline is valid? [True, True] Translation: X:38.94, Y:-2.88, Z:-4.19 [[ 9.75669249e-01 2.04085108e-01 8.01173232e-02 3.89426287e+01] [-2.03401154e-01 9.78953149e-01 -1.66943738e-02 -2.88052141e+00] [-8.18381789e-02 -7.76885282e-06 9.96645630e-01 -4.18970241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.029649246 meters 0.060055834489633295 Centerline is valid? [True, True] Translation: X:38.98, Y:-2.89, Z:-4.19 [[ 9.75486686e-01 2.05124477e-01 7.96848498e-02 3.89755283e+01] [-2.04449904e-01 9.78735890e-01 -1.66220791e-02 -2.88559169e+00] [-8.14000177e-02 -7.69430376e-05 9.96681509e-01 -4.19080735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.059649246 meters 0.06000503387338431 Centerline is valid? [True, True] Translation: X:39.01, Y:-2.89, Z:-4.19 [[ 9.75346379e-01 2.05770381e-01 7.97370187e-02 3.90066283e+01] [-2.05095124e-01 9.78600296e-01 -1.66568698e-02 -2.89163208e+00] [-8.14581606e-02 -1.07456100e-04 9.96676756e-01 -4.19450542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.089649246 meters 0.05997508245255621 Centerline is valid? [True, True] Translation: X:39.04, Y:-2.90, Z:-4.20 [[ 9.75217031e-01 2.05993015e-01 8.07379702e-02 3.90378644e+01] [-2.05299552e-01 9.78553456e-01 -1.68886744e-02 -2.89800610e+00] [-8.24853687e-02 -1.05346155e-04 9.96592270e-01 -4.19725712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.119649246 meters 0.06000758090396847 Centerline is valid? [True, True] Translation: X:39.07, Y:-2.90, Z:-4.20 [[ 9.75192160e-01 2.06226634e-01 8.04414483e-02 3.90701237e+01] [-2.05537481e-01 9.78504248e-01 -1.68457607e-02 -2.90493439e+00] [-8.21863435e-02 -1.05878916e-04 9.96616974e-01 -4.19966285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.149649246 meters 0.0598988706766815 Centerline is valid? [True, True] Translation: X:39.10, Y:-2.91, Z:-4.20 [[ 9.75133649e-01 2.06076188e-01 8.15289591e-02 3.91020147e+01] [-2.05365308e-01 9.78535947e-01 -1.71023317e-02 -2.91094832e+00] [-8.33034006e-02 -6.61606911e-05 9.96524229e-01 -4.20291701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.179649246000004 meters 0.05996241144849092 Centerline is valid? [True, True] Translation: X:39.13, Y:-2.92, Z:-4.21 [[ 9.75251012e-01 2.04908175e-01 8.30548179e-02 3.91320878e+01] [-2.04165774e-01 9.78781200e-01 -1.74269531e-02 -2.91951615e+00] [-8.48634195e-02 3.87024788e-05 9.96392593e-01 -4.20609942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.209649246 meters 0.05985651942320581 Centerline is valid? [True, True] Translation: X:39.16, Y:-2.93, Z:-4.21 [[ 9.75385547e-01 2.03995723e-01 8.37184588e-02 3.91627585e+01] [-2.03236342e-01 9.78971770e-01 -1.75858822e-02 -2.92822878e+00] [-8.55454525e-02 1.38381929e-04 9.96334259e-01 -4.20803449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.239649246 meters 0.059769957432830124 Centerline is valid? [True, True] Translation: X:39.19, Y:-2.94, Z:-4.21 [[ 9.75308725e-01 2.04147252e-01 8.42424515e-02 3.91944370e+01] [-2.03376801e-01 9.78940181e-01 -1.77200434e-02 -2.93596562e+00] [-8.60858189e-02 1.49552706e-04 9.96287714e-01 -4.20995005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.269649246 meters 0.059769957432830124 Centerline is valid? [True, True] Translation: X:39.23, Y:-2.94, Z:-4.21 [[ 9.75252216e-01 2.04417322e-01 8.42417587e-02 3.92258553e+01] [-2.03647591e-01 9.78883824e-01 -1.77233393e-02 -2.94276501e+00] [-8.60858525e-02 1.29094635e-04 9.96287714e-01 -4.21343468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.299649246 meters 0.059793688542885165 Centerline is valid? [True, True] Translation: X:39.26, Y:-2.95, Z:-4.22 [[ 9.75314952e-01 2.03769944e-01 8.50796900e-02 3.92566672e+01] [-2.02980095e-01 9.79018776e-01 -1.79253161e-02 -2.94990403e+00] [-8.69472546e-02 2.13345272e-04 9.96212894e-01 -4.21586053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.329649246 meters 0.05989019083372765 Centerline is valid? [True, True] Translation: X:39.29, Y:-2.96, Z:-4.22 [[ 9.75220183e-01 2.04152521e-01 8.52487092e-02 3.92880900e+01] [-2.03359126e-01 9.78939073e-01 -1.79821543e-02 -2.95695070e+00] [-8.71243945e-02 2.00456776e-04 9.96197420e-01 -4.21977536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.359649246000004 meters 0.059855416885206666 Centerline is valid? [True, True] Translation: X:39.32, Y:-2.96, Z:-4.22 [[ 9.75146766e-01 2.04552516e-01 8.51296263e-02 3.93195881e+01] [-2.03760678e-01 9.78855573e-01 -1.79820383e-02 -2.96476658e+00] [-8.70078802e-02 1.89056128e-04 9.96207605e-01 -4.22369428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.389649246000005 meters 0.05995515897494629 Centerline is valid? [True, True] Translation: X:39.35, Y:-2.97, Z:-4.23 [[ 9.75125206e-01 2.04844547e-01 8.46731598e-02 3.93518140e+01] [-2.04060144e-01 9.78794502e-01 -1.79103550e-02 -2.97155175e+00] [-8.65464618e-02 1.86421472e-04 9.96247798e-01 -4.22694043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.419649246 meters 0.06012076558755613 Centerline is valid? [True, True] Translation: X:39.38, Y:-2.98, Z:-4.23 [[ 9.74925176e-01 2.05899373e-01 8.44177107e-02 3.93823364e+01] [-2.05121428e-01 9.78573163e-01 -1.78819790e-02 -2.97831985e+00] [-8.62907944e-02 1.17710059e-04 9.96269986e-01 -4.23240881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.449649246 meters 0.06027652582057176 Centerline is valid? [True, True] Translation: X:39.41, Y:-2.99, Z:-4.23 [[ 9.74882792e-01 2.06015843e-01 8.46227792e-02 3.94142722e+01] [-2.05232519e-01 9.78548648e-01 -1.79487445e-02 -2.98552760e+00] [-8.65052319e-02 1.30575951e-04 9.96251388e-01 -4.23441655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.479649246 meters 0.06022227712367657 Centerline is valid? [True, True] Translation: X:39.44, Y:-2.99, Z:-4.24 [[ 9.75219517e-01 2.04622970e-01 8.41209510e-02 3.94443698e+01] [-2.03841555e-01 9.78840826e-01 -1.78677803e-02 -2.99490664e+00] [-8.59971795e-02 2.77662648e-04 9.96295342e-01 -4.23784753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.509649246 meters 0.06035317080411351 Centerline is valid? [True, True] Translation: X:39.47, Y:-3.00, Z:-4.24 [[ 9.75488267e-01 2.03277531e-01 8.42667548e-02 3.94744266e+01] [-2.02486543e-01 9.79121071e-01 -1.79200709e-02 -3.00257971e+00] [-8.61501030e-02 4.17935040e-04 9.96282081e-01 -4.24343988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.539649246 meters 0.06026236659839131 Centerline is valid? [True, True] Translation: X:39.51, Y:-3.01, Z:-4.25 [[ 9.75421859e-01 2.03689648e-01 8.40400201e-02 3.95066020e+01] [-2.02902495e-01 9.79035426e-01 -1.78944774e-02 -3.01008721e+00] [-8.59230766e-02 4.02734592e-04 9.96301693e-01 -4.24764930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.569649246000004 meters 0.06039470604728679 Centerline is valid? [True, True] Translation: X:39.54, Y:-3.02, Z:-4.25 [[ 9.75693227e-01 2.02802038e-01 8.30304832e-02 3.95369082e+01] [-2.02028403e-01 9.79219630e-01 -1.77042511e-02 -3.01818777e+00] [-8.48955373e-02 4.99401971e-04 9.96389732e-01 -4.25163178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.599649246 meters 0.060355705976665716 Centerline is valid? [True, True] Translation: X:39.57, Y:-3.02, Z:-4.25 [[ 9.75636587e-01 2.02919415e-01 8.34083974e-02 3.95670653e+01] [-2.02137465e-01 9.79195308e-01 -1.78043513e-02 -3.02471500e+00] [-8.52859599e-02 5.10614563e-04 9.96356384e-01 -4.25485422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.629649246 meters 0.06045194157873976 Centerline is valid? [True, True] Translation: X:39.60, Y:-3.03, Z:-4.26 [[ 9.75575164e-01 2.03079685e-01 8.37361378e-02 3.95981968e+01] [-2.02290546e-01 9.79162078e-01 -1.78930379e-02 -3.03207031e+00] [-8.56249632e-02 5.16974398e-04 9.96327305e-01 -4.25867515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.659649246 meters 0.060394714424277976 Centerline is valid? [True, True] Translation: X:39.63, Y:-3.04, Z:-4.26 [[ 9.75494792e-01 2.03259822e-01 8.42339319e-02 3.96299113e+01] [-2.02459961e-01 9.79124695e-01 -1.80221241e-02 -3.03822784e+00] [-8.61386965e-02 5.26489665e-04 9.96283016e-01 -4.26217972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.689649246 meters 0.060271292011278996 Centerline is valid? [True, True] Translation: X:39.66, Y:-3.04, Z:-4.26 [[ 9.75343381e-01 2.03411844e-01 8.56090618e-02 3.96606986e+01] [-2.02584307e-01 9.79093115e-01 -1.83376981e-02 -3.04430866e+00] [-8.75493480e-02 5.42500027e-04 9.96160036e-01 -4.26465849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.719649246 meters 0.06008683956757173 Centerline is valid? [True, True] Translation: X:39.69, Y:-3.05, Z:-4.27 [[ 9.75150689e-01 2.03662758e-01 8.71929711e-02 3.96909541e+01] [-2.02803149e-01 9.79040947e-01 -1.87004579e-02 -3.05093331e+00] [-8.91740758e-02 5.52755287e-04 9.96015903e-01 -4.26596175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.749649246000004 meters 0.05993450609471305 Centerline is valid? [True, True] Translation: X:39.72, Y:-3.06, Z:-4.27 [[ 9.74874716e-01 2.04378215e-01 8.85936391e-02 3.97222477e+01] [-2.03492675e-01 9.78891868e-01 -1.90116284e-02 -3.05746288e+00] [-9.06091555e-02 5.05799288e-04 9.95886402e-01 -4.26790347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.779649246 meters 0.05986505889592097 Centerline is valid? [True, True] Translation: X:39.75, Y:-3.06, Z:-4.27 [[ 9.74721382e-01 2.04414416e-01 9.01830068e-02 3.97526809e+01] [-2.03494733e-01 9.78884294e-01 -1.93760850e-02 -3.06328106e+00] [-9.22394801e-02 5.34517454e-04 9.95736708e-01 -4.27063997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.809649246 meters 0.059909579937271404 Centerline is valid? [True, True] Translation: X:39.78, Y:-3.07, Z:-4.27 [[ 9.74701901e-01 2.04353144e-01 9.05317469e-02 3.97844344e+01] [-2.03425091e-01 9.78897077e-01 -1.94613850e-02 -3.07025489e+00] [-9.25982576e-02 5.52620101e-04 9.95703398e-01 -4.27314509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.839649246 meters 0.059985020526512105 Centerline is valid? [True, True] Translation: X:39.82, Y:-3.07, Z:-4.28 [[ 9.74452022e-01 2.05634365e-01 9.03203481e-02 3.98168383e+01] [-2.04713934e-01 9.78628787e-01 -1.94397190e-02 -3.07391216e+00] [-9.23875669e-02 4.53239768e-04 9.95723020e-01 -4.27577209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.869649246 meters 0.0601798277005656 Centerline is valid? [True, True] Translation: X:39.85, Y:-3.08, Z:-4.28 [[ 9.74490152e-01 2.06056559e-01 8.89361442e-02 3.98462903e+01] [-2.05163370e-01 9.78539987e-01 -1.91699196e-02 -3.08027099e+00] [-9.09776611e-02 4.34458783e-04 9.95852839e-01 -4.28461821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.899649246 meters 0.06019467201335963 Centerline is valid? [True, True] Translation: X:39.88, Y:-3.09, Z:-4.29 [[ 9.74414379e-01 2.07206953e-01 8.70740870e-02 3.98778763e+01] [-2.06354545e-01 9.78297076e-01 -1.87784962e-02 -3.08657243e+00] [-8.90753597e-02 3.29903091e-04 9.96024835e-01 -4.28794996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.929649246000004 meters 0.06033179664934674 Centerline is valid? [True, True] Translation: X:39.91, Y:-3.09, Z:-4.29 [[ 9.74486657e-01 2.07170475e-01 8.63489956e-02 3.99076847e+01] [-2.06330219e-01 9.78304794e-01 -1.86432295e-02 -3.09466403e+00] [-8.83379631e-02 3.51171292e-04 9.96090498e-01 -4.29440389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.959649246 meters 0.06046992439459762 Centerline is valid? [True, True] Translation: X:39.94, Y:-3.10, Z:-4.30 [[ 9.74503003e-01 2.07440890e-01 8.55112564e-02 3.99380720e+01] [-2.06616271e-01 9.78247494e-01 -1.84812471e-02 -3.10183232e+00] [-8.74849386e-02 3.42013860e-04 9.96165784e-01 -4.30003751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.989649246 meters 0.060415499857641296 Centerline is valid? [True, True] Translation: X:39.97, Y:-3.11, Z:-4.30 [[ 9.74437311e-01 2.07708676e-01 8.56097713e-02 3.99709059e+01] [-2.06881574e-01 9.78190673e-01 -1.85208404e-02 -3.10815378e+00] [-8.75896191e-02 3.36313673e-04 9.96156587e-01 -4.30088631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.019649246 meters 0.06045897116438832 Centerline is valid? [True, True] Translation: X:40.00, Y:-3.11, Z:-4.30 [[ 9.74270393e-01 2.08698757e-01 8.51001223e-02 4.00033360e+01] [-2.07883240e-01 9.77979937e-01 -1.84337044e-02 -3.11464050e+00] [-8.70733034e-02 2.68523234e-04 9.96201871e-01 -4.30421614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.049649246 meters 0.06039749799349506 Centerline is valid? [True, True] Translation: X:40.04, Y:-3.12, Z:-4.31 [[ 9.74219972e-01 2.08867438e-01 8.52633499e-02 4.00355099e+01] [-2.08047313e-01 9.77943923e-01 -1.84932177e-02 -3.12287086e+00] [-8.72454059e-02 2.77651222e-04 9.96186811e-01 -4.30720496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.079649246 meters 0.060341693471204806 Centerline is valid? [True, True] Translation: X:40.07, Y:-3.13, Z:-4.31 [[ 9.73962734e-01 2.09216171e-01 8.73223115e-02 4.00657094e+01] [-2.08354929e-01 9.77869376e-01 -1.89659442e-02 -3.13019943e+00] [-8.93577964e-02 2.78088847e-04 9.95999552e-01 -4.30861581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.109649246000004 meters 0.06028275618318142 Centerline is valid? [True, True] Translation: X:40.10, Y:-3.14, Z:-4.31 [[ 9.73956571e-01 2.09215480e-01 8.73926796e-02 4.00966240e+01] [-2.08350987e-01 9.77869518e-01 -1.90019081e-02 -3.13696919e+00] [-8.94341308e-02 2.98682139e-04 9.95992694e-01 -4.31191329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.139649246000005 meters 0.060081999643384516 Centerline is valid? [True, True] Translation: X:40.13, Y:-3.14, Z:-4.31 [[ 9.73795568e-01 2.09251013e-01 8.90853794e-02 4.01279699e+01] [-2.08351454e-01 9.77861910e-01 -1.93844670e-02 -3.14375858e+00] [-9.11694186e-02 3.15439771e-04 9.95835347e-01 -4.31292216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.169649246 meters 0.06031313077954347 Centerline is valid? [True, True] Translation: X:40.16, Y:-3.15, Z:-4.32 [[ 9.73615949e-01 2.10051844e-01 8.91639298e-02 4.01582185e+01] [-2.09152045e-01 9.77690214e-01 -1.94233846e-02 -3.15110359e+00] [-9.12546194e-02 2.62098748e-04 9.95827558e-01 -4.32015394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.199649246 meters 0.059974949379456244 Centerline is valid? [True, True] Translation: X:40.19, Y:-3.16, Z:-4.32 [[ 9.73311210e-01 2.10399992e-01 9.16358624e-02 4.01909558e+01] [-2.09448472e-01 9.77615351e-01 -1.99890731e-02 -3.15627358e+00] [-9.37903266e-02 2.62597611e-04 9.95591937e-01 -4.31794907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.229649246 meters 0.05994384078897929 Centerline is valid? [True, True] Translation: X:40.22, Y:-3.16, Z:-4.32 [[ 9.73232754e-01 2.10521030e-01 9.21894895e-02 4.02232966e+01] [-2.09557964e-01 9.77589295e-01 -2.01154315e-02 -3.16310040e+00] [-9.43581794e-02 2.57955096e-04 9.95538280e-01 -4.32196328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.259649246 meters 0.06012590571296214 Centerline is valid? [True, True] Translation: X:40.26, Y:-3.17, Z:-4.33 [[ 9.72937837e-01 2.11839510e-01 9.22821106e-02 4.02553392e+01] [-2.10877986e-01 9.77304455e-01 -2.01612721e-02 -3.16837735e+00] [-9.44586718e-02 1.55398848e-04 9.95528772e-01 -4.32535596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.289649246 meters 0.06003378984260976 Centerline is valid? [True, True] Translation: X:40.29, Y:-3.18, Z:-4.33 [[ 9.72914734e-01 2.11765008e-01 9.26957479e-02 4.02868139e+01] [-2.10792039e-01 9.77320595e-01 -2.02773323e-02 -3.17521924e+00] [-9.48874930e-02 1.88589660e-04 9.95487985e-01 -4.32959693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.319649246000004 meters 0.059909594763327 Centerline is valid? [True, True] Translation: X:40.32, Y:-3.18, Z:-4.33 [[ 9.73070052e-01 2.11315807e-01 9.20885590e-02 4.03181969e+01] [-2.10351207e-01 9.77417804e-01 -2.01694141e-02 -3.18308318e+00] [-9.42711132e-02 2.55313319e-04 9.95546529e-01 -4.33374335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.349649246 meters 0.059976801205558865 Centerline is valid? [True, True] Translation: X:40.35, Y:-3.19, Z:-4.34 [[ 9.73011228e-01 2.11771125e-01 9.16631932e-02 4.03494645e+01] [-2.10815098e-01 9.77319260e-01 -2.01012216e-02 -3.19036786e+00] [-9.38410625e-02 2.34729202e-04 9.95587163e-01 -4.33780924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.379649246 meters 0.06015614225493656 Centerline is valid? [True, True] Translation: X:40.38, Y:-3.20, Z:-4.34 [[ 9.73378086e-01 2.11014862e-01 8.94864738e-02 4.03792019e+01] [-2.10098397e-01 9.77482799e-01 -1.96479101e-02 -3.19831369e+00] [-9.16174899e-02 3.23880383e-04 9.95794221e-01 -4.34491676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.409649246 meters 0.0602947058762861 Centerline is valid? [True, True] Translation: X:40.41, Y:-3.21, Z:-4.35 [[ 9.73400231e-01 2.11172535e-01 8.88715459e-02 4.04106041e+01] [-2.10268510e-01 9.77448751e-01 -1.95215948e-02 -3.20643010e+00] [-9.09898062e-02 3.15437338e-04 9.95851774e-01 -4.34962317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.439649246 meters 0.0603660400723147 Centerline is valid? [True, True] Translation: X:40.44, Y:-3.22, Z:-4.35 [[ 9.73775946e-01 2.09687092e-01 8.82707730e-02 4.04413814e+01] [-2.08787051e-01 9.77768428e-01 -1.94131175e-02 -3.21547661e+00] [-9.03790551e-02 4.74232531e-04 9.95907326e-01 -4.35088206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.469649246 meters 0.06046198466613881 Centerline is valid? [True, True] Translation: X:40.47, Y:-3.23, Z:-4.36 [[ 9.73762447e-01 2.09606287e-01 8.86109494e-02 4.04713011e+01] [-2.08696788e-01 9.77785737e-01 -1.95116187e-02 -3.22529923e+00] [-9.07322804e-02 5.06861059e-04 9.95875191e-01 -4.35746105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.499649246000004 meters 0.060085959556380394 Centerline is valid? [True, True] Translation: X:40.50, Y:-3.23, Z:-4.36 [[ 9.73733957e-01 2.10142355e-01 8.76491378e-02 4.05022529e+01] [-2.09253404e-01 9.77670688e-01 -1.93142296e-02 -3.23268985e+00] [-8.97507306e-02 4.66040762e-04 9.95964151e-01 -4.35722888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.529649246 meters 0.06000392205054201 Centerline is valid? [True, True] Translation: X:40.53, Y:-3.24, Z:-4.36 [[ 9.73461262e-01 2.10610630e-01 8.95339850e-02 4.05318360e+01] [-2.09682804e-01 9.77569924e-01 -1.97526270e-02 -3.23907139e+00] [-9.16858441e-02 4.54680247e-04 9.95787879e-01 -4.36209789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.559649246 meters 0.05992813722894138 Centerline is valid? [True, True] Translation: X:40.56, Y:-3.25, Z:-4.36 [[ 9.73417854e-01 2.10711378e-01 8.97685691e-02 4.05646220e+01] [-2.09777267e-01 9.77548208e-01 -1.98242286e-02 -3.24542879e+00] [-9.19302944e-02 4.65853021e-04 9.95765336e-01 -4.36229280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.589649246 meters 0.05975809587632162 Centerline is valid? [True, True] Translation: X:40.60, Y:-3.25, Z:-4.37 [[ 9.73245843e-01 2.11455630e-01 8.98835144e-02 4.05964225e+01] [-2.10519970e-01 9.77387507e-01 -1.98746777e-02 -3.25160877e+00] [-9.20536366e-02 4.20672708e-04 9.95753961e-01 -4.36569992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.619649246 meters 0.05976243805195833 Centerline is valid? [True, True] Translation: X:40.63, Y:-3.26, Z:-4.37 [[ 9.72919507e-01 2.12942420e-01 8.99063830e-02 4.06277208e+01] [-2.12010172e-01 9.77064702e-01 -1.99061588e-02 -3.25767243e+00] [-9.20832190e-02 3.06022565e-04 9.95751268e-01 -4.37031814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.649649246 meters 0.0596368048688577 Centerline is valid? [True, True] Translation: X:40.66, Y:-3.26, Z:-4.37 [[ 9.72592140e-01 2.13932661e-01 9.10897698e-02 4.06595684e+01] [-2.12977618e-01 9.76848381e-01 -2.01934480e-02 -3.26348555e+00] [-9.33009322e-02 2.39906608e-04 9.95637925e-01 -4.37229501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.679649246000004 meters 0.059535042873346065 Centerline is valid? [True, True] Translation: X:40.69, Y:-3.27, Z:-4.38 [[ 9.72396174e-01 2.14868959e-01 9.09780797e-02 4.06917176e+01] [-2.13918265e-01 9.76642873e-01 -2.01909656e-02 -3.27084454e+00] [-9.31915049e-02 1.71744735e-04 9.95648188e-01 -4.37522588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.709649246 meters 0.0593887493903011 Centerline is valid? [True, True] Translation: X:40.72, Y:-3.28, Z:-4.38 [[ 9.72193483e-01 2.15621278e-01 9.13635384e-02 4.07223162e+01] [-2.14663153e-01 9.76477060e-01 -2.03047484e-02 -3.27631688e+00] [-9.35925351e-02 1.27758849e-04 9.95610577e-01 -4.37904532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.739649246 meters 0.05923905187382476 Centerline is valid? [True, True] Translation: X:40.75, Y:-3.28, Z:-4.38 [[ 9.72055298e-01 2.16150621e-01 9.15827870e-02 4.07539021e+01] [-2.15189201e-01 9.76360027e-01 -2.03643355e-02 -3.28272313e+00] [-9.38195361e-02 8.76334413e-05 9.95589216e-01 -4.38245508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.769649246 meters 0.05914348206364722 Centerline is valid? [True, True] Translation: X:40.79, Y:-3.29, Z:-4.39 [[ 9.71837408e-01 2.16969930e-01 9.19570714e-02 4.07862895e+01] [-2.16001811e-01 9.76178287e-01 -2.04736251e-02 -3.28866646e+00] [-9.42086575e-02 3.41407684e-05 9.95552474e-01 -4.38543973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.799649246 meters 0.05920063244314338 Centerline is valid? [True, True] Translation: X:40.82, Y:-3.30, Z:-4.39 [[ 9.71864551e-01 2.16739535e-01 9.22131706e-02 4.08167783e+01] [-2.15762409e-01 9.76229464e-01 -2.05576226e-02 -3.29525159e+00] [-9.44768637e-02 8.30888404e-05 9.95527054e-01 -4.38982128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.829649246 meters 0.05918214156963552 Centerline is valid? [True, True] Translation: X:40.85, Y:-3.30, Z:-4.39 [[ 9.71678976e-01 2.17651804e-01 9.20198882e-02 4.08477685e+01] [-2.16680427e-01 9.76026481e-01 -2.05402244e-02 -3.30105573e+00] [-9.42844646e-02 1.95955261e-05 9.95545297e-01 -4.39481577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.859649246000004 meters 0.05924656495124207 Centerline is valid? [True, True] Translation: X:40.88, Y:-3.31, Z:-4.40 [[ 9.71554526e-01 2.18355306e-01 9.16665875e-02 4.08785028e+01] [-2.17393098e-01 9.75869335e-01 -2.04763709e-02 -3.30790505e+00] [-9.39257360e-02 -3.37725217e-05 9.95579206e-01 -4.39884691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.889649246000005 meters 0.05919383372312974 Centerline is valid? [True, True] Translation: X:40.91, Y:-3.31, Z:-4.40 [[ 9.71270680e-01 2.19592621e-01 9.17188484e-02 4.09093758e+01] [-2.18632546e-01 9.75591648e-01 -2.05120853e-02 -3.31465982e+00] [-9.39844450e-02 -1.29938317e-04 9.95573657e-01 -4.40285820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.919649246 meters 0.05899123692399728 Centerline is valid? [True, True] Translation: X:40.94, Y:-3.32, Z:-4.41 [[ 9.71272141e-01 2.19392196e-01 9.21818431e-02 4.09407642e+01] [-2.18419211e-01 9.75636744e-01 -2.06395576e-02 -3.32264888e+00] [-9.44641512e-02 -8.76581649e-05 9.95528260e-01 -4.40611940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.949649246 meters 0.05897709304655933 Centerline is valid? [True, True] Translation: X:40.97, Y:-3.33, Z:-4.41 [[ 9.71190671e-01 2.19679022e-01 9.23569616e-02 4.09728392e+01] [-2.18701226e-01 9.75572201e-01 -2.07039846e-02 -3.33116682e+00] [-9.46491154e-02 -9.10640011e-05 9.95510691e-01 -4.40705219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.979649246 meters 0.058974689435809316 Centerline is valid? [True, True] Translation: X:41.00, Y:-3.34, Z:-4.41 [[ 9.71171574e-01 2.19778716e-01 9.23205863e-02 4.10036116e+01] [-2.18799527e-01 9.75549748e-01 -2.07233231e-02 -3.33869326e+00] [-9.46178701e-02 -7.37983278e-05 9.95513663e-01 -4.41305798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.009649246 meters 0.05889184839653899 Centerline is valid? [True, True] Translation: X:41.04, Y:-3.35, Z:-4.41 [[ 9.71140461e-01 2.19796642e-01 9.26047578e-02 4.10359058e+01] [-2.18809073e-01 9.75545711e-01 -2.08123978e-02 -3.34682733e+00] [-9.49146694e-02 -5.09995934e-05 9.95485411e-01 -4.41425189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.039649246 meters 0.05872248099762723 Centerline is valid? [True, True] Translation: X:41.07, Y:-3.36, Z:-4.42 [[ 9.71151573e-01 2.18991985e-01 9.43776098e-02 4.10656346e+01] [-2.17959573e-01 9.75726656e-01 -2.12395145e-02 -3.35566471e+00] [-9.67380330e-02 5.62843725e-05 9.95309876e-01 -4.41873562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.069649246000004 meters 0.058566689369169374 Centerline is valid? [True, True] Translation: X:41.10, Y:-3.36, Z:-4.42 [[ 9.71154142e-01 2.19419632e-01 9.33523320e-02 4.10966135e+01] [-2.18409489e-01 9.75630578e-01 -2.10302441e-02 -3.36283456e+00] [-9.56918380e-02 3.45735935e-05 9.95411006e-01 -4.42089602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.099649246 meters 0.05846353766556381 Centerline is valid? [True, True] Translation: X:41.13, Y:-3.37, Z:-4.42 [[ 9.71124971e-01 2.19447290e-01 9.35904789e-02 4.11287627e+01] [-2.18429879e-01 9.75624356e-01 -2.11069732e-02 -3.37062287e+00] [-9.59410188e-02 5.45518146e-05 9.95387019e-01 -4.42421459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.129649246 meters 0.058576581099361244 Centerline is valid? [True, True] Translation: X:41.16, Y:-3.38, Z:-4.43 [[ 9.71011113e-01 2.19944342e-01 9.36050487e-02 4.11595207e+01] [-2.18926215e-01 9.75512422e-01 -2.11382866e-02 -3.37758066e+00] [-9.59621343e-02 3.29121501e-05 9.95384985e-01 -4.42867241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.159649246 meters 0.05852677449223336 Centerline is valid? [True, True] Translation: X:41.19, Y:-3.39, Z:-4.43 [[ 9.71084005e-01 2.19702074e-01 9.34176314e-02 4.11915009e+01] [-2.18684433e-01 9.75567010e-01 -2.11217158e-02 -3.38528260e+00] [-9.57756441e-02 8.19785972e-05 9.95402943e-01 -4.43243701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.189649246 meters 0.0584817854250439 Centerline is valid? [True, True] Translation: X:41.22, Y:-3.40, Z:-4.44 [[ 9.71663136e-01 2.17199959e-01 9.32465990e-02 4.12229927e+01] [-2.16172006e-01 9.76127068e-01 -2.11095141e-02 -3.39589679e+00] [-9.56055149e-02 3.54032320e-04 9.95419238e-01 -4.43513455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.219649246 meters 0.0584817854250439 Centerline is valid? [True, True] Translation: X:41.25, Y:-3.40, Z:-4.44 [[ 9.71602338e-01 2.17474316e-01 9.32406450e-02 4.12542963e+01] [-2.16445102e-01 9.76065980e-01 -2.11357782e-02 -3.40315991e+00] [-9.56055104e-02 3.54090591e-04 9.95419239e-01 -4.43863291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.249649246000004 meters 0.058606894781924095 Centerline is valid? [True, True] Translation: X:41.28, Y:-3.41, Z:-4.45 [[ 9.71723728e-01 2.17049765e-01 9.29644892e-02 4.12846015e+01] [-2.16022069e-01 9.76160449e-01 -2.11008079e-02 -3.41153969e+00] [-9.53281829e-02 4.21774456e-04 9.95445810e-01 -4.44623238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.279649246 meters 0.05859125305865824 Centerline is valid? [True, True] Translation: X:41.32, Y:-3.42, Z:-4.45 [[ 9.72192174e-01 2.15254251e-01 9.22387353e-02 4.13160251e+01] [-2.14232098e-01 9.76557845e-01 -2.09614614e-02 -3.41990081e+00] [-9.45885043e-02 6.18071020e-04 9.95516264e-01 -4.44761520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.309649246 meters 0.058612316007501615 Centerline is valid? [True, True] Translation: X:41.35, Y:-3.43, Z:-4.45 [[ 9.72091422e-01 2.15642993e-01 9.23924652e-02 4.13467162e+01] [-2.14616933e-01 9.76472086e-01 -2.10199284e-02 -3.42751250e+00] [-9.47514635e-02 6.04304560e-04 9.95500776e-01 -4.45124176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.339649246 meters 0.05851294478440675 Centerline is valid? [True, True] Translation: X:41.38, Y:-3.43, Z:-4.45 [[ 9.72095522e-01 2.15471540e-01 9.27486466e-02 4.13786212e+01] [-2.14434337e-01 9.76509905e-01 -2.11262876e-02 -3.43446731e+00] [-9.51220858e-02 6.48275010e-04 9.95465403e-01 -4.45450370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.369649246 meters 0.05846962421183159 Centerline is valid? [True, True] Translation: X:41.41, Y:-3.44, Z:-4.46 [[ 9.71885001e-01 2.16660086e-01 9.21843411e-02 4.14102874e+01] [-2.15638301e-01 9.76246946e-01 -2.10243584e-02 -3.44098905e+00] [-9.45498207e-02 5.54783907e-04 9.95519977e-01 -4.45927643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.399649246 meters 0.05849708580827553 Centerline is valid? [True, True] Translation: X:41.44, Y:-3.45, Z:-4.46 [[ 9.71979605e-01 2.16614859e-01 9.12888274e-02 4.14401629e+01] [-2.15610159e-01 9.76256967e-01 -2.08468957e-02 -3.44809259e+00] [-9.36371011e-02 5.79958888e-04 9.95606226e-01 -4.46432770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.429649246000004 meters 0.05860641068014239 Centerline is valid? [True, True] Translation: X:41.47, Y:-3.45, Z:-4.47 [[ 9.71908321e-01 2.16993362e-01 9.11487641e-02 4.14723054e+01] [-2.15991515e-01 9.76172917e-01 -2.08350893e-02 -3.45432319e+00] [-9.34980311e-02 5.62436953e-04 9.95619306e-01 -4.46727144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.459649246 meters 0.058602056700861486 Centerline is valid? [True, True] Translation: X:41.50, Y:-3.46, Z:-4.47 [[ 9.71391751e-01 2.19407067e-01 9.08768638e-02 4.15037428e+01] [-2.18419191e-01 9.75633339e-01 -2.08001081e-02 -3.45936404e+00] [-9.32261888e-02 3.55802359e-04 9.95644892e-01 -4.47291526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.489649246 meters 0.058436590968512975 Centerline is valid? [True, True] Translation: X:41.54, Y:-3.47, Z:-4.48 [[ 9.71219204e-01 2.20067853e-01 9.11229851e-02 4.15360533e+01] [-2.19075152e-01 9.75484515e-01 -2.08815401e-02 -3.46642250e+00] [-9.34844166e-02 3.17771027e-04 9.95620692e-01 -4.47522126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.519649246 meters 0.05825811683605337 Centerline is valid? [True, True] Translation: X:41.57, Y:-3.47, Z:-4.48 [[ 9.70531112e-01 2.22173234e-01 9.33188863e-02 4.15678196e+01] [-2.21139111e-01 9.75007197e-01 -2.14116825e-02 -3.47109252e+00] [-9.57436885e-02 1.44248470e-04 9.95406010e-01 -4.47592291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.549649246 meters 0.05814971282300895 Centerline is valid? [True, True] Translation: X:41.60, Y:-3.47, Z:-4.48 [[ 9.69801900e-01 2.24651387e-01 9.49527678e-02 4.16002141e+01] [-2.23590170e-01 9.74439197e-01 -2.18102642e-02 -3.47454656e+00] [-9.74254049e-02 -7.88699057e-05 9.95242827e-01 -4.47813539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.579649246 meters 0.05818985710181827 Centerline is valid? [True, True] Translation: X:41.63, Y:-3.48, Z:-4.48 [[ 9.69471899e-01 2.26174456e-01 9.47066689e-02 4.16322931e+01] [-2.25123565e-01 9.74086789e-01 -2.17786142e-02 -3.48030624e+00] [-9.71782812e-02 -2.06948411e-04 9.95266969e-01 -4.48150651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.609649246000004 meters 0.05848182297272508 Centerline is valid? [True, True] Translation: X:41.66, Y:-3.48, Z:-4.49 [[ 9.68837571e-01 2.28472535e-01 9.56768605e-02 4.16635353e+01] [-2.27408200e-01 9.73550271e-01 -2.20313520e-02 -3.48327775e+00] [-9.81797923e-02 -4.12901035e-04 9.95168608e-01 -4.48577260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.639649246000005 meters 0.05842233469987764 Centerline is valid? [True, True] Translation: X:41.70, Y:-3.49, Z:-4.49 [[ 9.68671931e-01 2.29146146e-01 9.57430633e-02 4.16950377e+01] [-2.28080952e-01 9.73391923e-01 -2.20735727e-02 -3.48986079e+00] [-9.82535987e-02 -4.55118801e-04 9.95161305e-01 -4.48932853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.669649246 meters 0.05845585077587876 Centerline is valid? [True, True] Translation: X:41.73, Y:-3.50, Z:-4.49 [[ 9.68529170e-01 2.29890809e-01 9.54015905e-02 4.17261680e+01] [-2.28833844e-01 9.73216300e-01 -2.20251037e-02 -3.49736377e+00] [-9.79097518e-02 -4.99157221e-04 9.95195172e-01 -4.49363291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.699649246 meters 0.05844671719102629 Centerline is valid? [True, True] Translation: X:41.76, Y:-3.51, Z:-4.50 [[ 9.68593909e-01 2.29789213e-01 9.49881912e-02 4.17580423e+01] [-2.28740258e-01 9.73240303e-01 -2.19364367e-02 -3.50526653e+00] [-9.74870925e-02 -4.80124358e-04 9.95236674e-01 -4.49791252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.729649246 meters 0.05847401675539466 Centerline is valid? [True, True] Translation: X:41.79, Y:-3.51, Z:-4.50 [[ 9.68879051e-01 2.28436416e-01 9.53424777e-02 4.17885419e+01] [-2.27370206e-01 9.73558783e-01 -2.20473577e-02 -3.51365978e+00] [-9.78579259e-02 -3.16815842e-04 9.95200345e-01 -4.50275290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.759649246 meters 0.05854068501386101 Centerline is valid? [True, True] Translation: X:41.82, Y:-3.52, Z:-4.51 [[ 9.68876363e-01 2.28898182e-01 9.42561176e-02 4.18180517e+01] [-2.27856009e-01 9.73450312e-01 -2.18203978e-02 -3.52087107e+00] [-9.67482964e-02 -3.35555130e-04 9.95308824e-01 -4.50754855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.789649246 meters 0.058616040476760854 Centerline is valid? [True, True] Translation: X:41.85, Y:-3.53, Z:-4.51 [[ 9.68979426e-01 2.28664370e-01 9.37628796e-02 4.18490152e+01] [-2.27629923e-01 9.73505276e-01 -2.17277692e-02 -3.52981271e+00] [-9.62470247e-02 -2.89475785e-04 9.95357437e-01 -4.51220576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.819649246000004 meters 0.05848927015655037 Centerline is valid? [True, True] Translation: X:41.88, Y:-3.54, Z:-4.52 [[ 9.69349453e-01 2.27471593e-01 9.28348664e-02 4.18796243e+01] [-2.26449564e-01 9.73784706e-01 -2.15392892e-02 -3.54082101e+00] [-9.53007496e-02 -1.43316823e-04 9.95448515e-01 -4.51619137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.849649246 meters 0.05859009315186083 Centerline is valid? [True, True] Translation: X:41.91, Y:-3.55, Z:-4.52 [[ 9.69472088e-01 2.27367569e-01 9.18033692e-02 4.19101345e+01] [-2.26365169e-01 9.73809005e-01 -2.13268054e-02 -3.54986983e+00] [-9.42479715e-02 -1.05342603e-04 9.95548748e-01 -4.51996872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.879649246 meters 0.058607633089936495 Centerline is valid? [True, True] Translation: X:41.94, Y:-3.56, Z:-4.52 [[ 9.69960838e-01 2.25892797e-01 9.02685828e-02 4.19387499e+01] [-2.24915013e-01 9.74152165e-01 -2.09951558e-02 -3.56104935e+00] [-9.26779899e-02 6.17194355e-05 9.95696132e-01 -4.52468007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.909649246 meters 0.058597428312488244 Centerline is valid? [True, True] Translation: X:41.97, Y:-3.57, Z:-4.53 [[ 9.70056404e-01 2.25661342e-01 8.98194450e-02 4.19688105e+01] [-2.24691175e-01 9.74205805e-01 -2.09027754e-02 -3.56993982e+00] [-9.22195730e-02 9.52345006e-05 9.95738691e-01 -4.52940234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.939649246 meters 0.058671662514063326 Centerline is valid? [True, True] Translation: X:42.00, Y:-3.58, Z:-4.53 [[ 9.69896354e-01 2.26351901e-01 8.98102362e-02 4.19990720e+01] [-2.25383470e-01 9.74045592e-01 -2.09159366e-02 -3.57777122e+00] [-9.22136266e-02 4.45479532e-05 9.95739246e-01 -4.53370172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.969649246 meters 0.05868594667594948 Centerline is valid? [True, True] Translation: X:42.03, Y:-3.59, Z:-4.54 [[ 9.69896034e-01 2.26420100e-01 8.96416321e-02 4.20304932e+01] [-2.25453471e-01 9.74029740e-01 -2.08997110e-02 -3.58503102e+00] [-9.20457303e-02 6.05296839e-05 9.95754779e-01 -4.53625656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.999649246000004 meters 0.05876582355074347 Centerline is valid? [True, True] Translation: X:42.06, Y:-3.59, Z:-4.54 [[ 9.69723519e-01 2.27498143e-01 8.87743885e-02 4.20601860e+01] [-2.26552206e-01 9.73778514e-01 -2.07244574e-02 -3.59081969e+00] [-9.11613677e-02 -1.50398264e-05 9.95836134e-01 -4.54090641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.029649246 meters 0.05895816690322751 Centerline is valid? [True, True] Translation: X:42.09, Y:-3.60, Z:-4.54 [[ 9.69733856e-01 2.27409888e-01 8.88875186e-02 4.20924053e+01] [-2.26459293e-01 9.73799128e-01 -2.07712848e-02 -3.59853154e+00] [-9.12821837e-02 1.32135492e-05 9.95825066e-01 -4.54392910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.059649246 meters 0.05894698687053498 Centerline is valid? [True, True] Translation: X:42.12, Y:-3.61, Z:-4.55 [[ 9.69744041e-01 2.27392706e-01 8.88203331e-02 4.21227278e+01] [-2.26440997e-01 9.73803140e-01 -2.07826722e-02 -3.60676661e+00] [-9.12193474e-02 4.13077553e-05 9.95830823e-01 -4.54774886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.089649246 meters 0.0589674482357827 Centerline is valid? [True, True] Translation: X:42.15, Y:-3.62, Z:-4.55 [[ 9.69779772e-01 2.27372697e-01 8.84807928e-02 4.21546890e+01] [-2.26425944e-01 9.73807811e-01 -2.07277445e-02 -3.61511202e+00] [-9.08762103e-02 6.70002315e-05 9.95862194e-01 -4.55157008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.119649246 meters 0.05900210292681568 Centerline is valid? [True, True] Translation: X:42.19, Y:-3.62, Z:-4.55 [[ 9.69740312e-01 2.27297054e-01 8.91054286e-02 4.21854437e+01] [-2.26334023e-01 9.73825466e-01 -2.09014567e-02 -3.62224066e+00] [-9.15239751e-02 1.01394958e-04 9.95802868e-01 -4.55465839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.149649246 meters 0.059010787757052104 Centerline is valid? [True, True] Translation: X:42.22, Y:-3.63, Z:-4.56 [[ 9.69537364e-01 2.27976327e-01 8.95773094e-02 4.22151566e+01] [-2.27003744e-01 9.73666673e-01 -2.10359056e-02 -3.62912316e+00] [-9.20141293e-02 6.07118240e-05 9.95757700e-01 -4.55788114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.179649246000004 meters 0.058948154670917706 Centerline is valid? [True, True] Translation: X:42.25, Y:-3.64, Z:-4.56 [[ 9.69561990e-01 2.27718198e-01 8.99664886e-02 4.22462876e+01] [-2.26733918e-01 9.73727072e-01 -2.11499285e-02 -3.63689700e+00] [-9.24190292e-02 1.07712304e-04 9.95720197e-01 -4.56110703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.209649246000005 meters 0.058960126855251524 Centerline is valid? [True, True] Translation: X:42.28, Y:-3.64, Z:-4.56 [[ 9.69355152e-01 2.28391549e-01 9.04869618e-02 4.22780603e+01] [-2.27397351e-01 9.73569359e-01 -2.12872683e-02 -3.64449408e+00] [-9.29571656e-02 5.84277596e-05 9.95670107e-01 -4.56407990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.239649246 meters 0.058934927014886646 Centerline is valid? [True, True] Translation: X:42.31, Y:-3.65, Z:-4.57 [[ 9.69320868e-01 2.28281706e-01 9.11291302e-02 4.23086143e+01] [-2.27270248e-01 9.73595118e-01 -2.14658028e-02 -3.65245454e+00] [-9.36231263e-02 9.63105984e-05 9.95607704e-01 -4.56793673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.269649246 meters 0.059042208714537234 Centerline is valid? [True, True] Translation: X:42.34, Y:-3.66, Z:-4.57 [[ 9.69324982e-01 2.28339731e-01 9.09397976e-02 4.23403573e+01] [-2.27330607e-01 9.73581509e-01 -2.14438937e-02 -3.66190217e+00] [-9.34337983e-02 1.12702467e-04 9.95625488e-01 -4.56996098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.299649246 meters 0.05896657651684632 Centerline is valid? [True, True] Translation: X:42.37, Y:-3.67, Z:-4.57 [[ 9.69597319e-01 2.27496454e-01 9.01465558e-02 4.23706585e+01] [-2.26498751e-01 9.73778884e-01 -2.12838004e-02 -3.67103039e+00] [-9.26248016e-02 2.18633515e-04 9.95701059e-01 -4.57238018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.329649246 meters 0.059017578147214325 Centerline is valid? [True, True] Translation: X:42.40, Y:-3.68, Z:-4.58 [[ 9.69664020e-01 2.27057739e-01 9.05343606e-02 4.24007073e+01] [-2.26047246e-01 9.73881256e-01 -2.13995499e-02 -3.67916167e+00] [-9.30286502e-02 2.85330679e-04 9.95663391e-01 -4.57611254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.359649246000004 meters 0.059080192711013065 Centerline is valid? [True, True] Translation: X:42.43, Y:-3.69, Z:-4.58 [[ 9.69611961e-01 2.27487761e-01 9.00109060e-02 4.24310864e+01] [-2.26488406e-01 9.73780903e-01 -2.13015296e-02 -3.68637390e+00] [-9.24967386e-02 2.67791248e-04 9.95712951e-01 -4.58059973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.389649246000005 meters 0.05898624837446253 Centerline is valid? [True, True] Translation: X:42.46, Y:-3.69, Z:-4.58 [[ 9.69542156e-01 2.27851105e-01 8.98436565e-02 4.24631726e+01] [-2.26854706e-01 9.73695952e-01 -2.12869536e-02 -3.69355896e+00] [-9.23306606e-02 2.57142576e-04 9.95728368e-01 -4.58458469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.419649246 meters 0.05902824645017245 Centerline is valid? [True, True] Translation: X:42.49, Y:-3.70, Z:-4.59 [[ 9.69336164e-01 2.28483149e-01 9.04591203e-02 4.24940380e+01] [-2.27473199e-01 9.73547842e-01 -2.14602775e-02 -3.70070691e+00] [-9.29695931e-02 2.25197572e-04 9.95668923e-01 -4.58827712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.449649246 meters 0.059048416593229486 Centerline is valid? [True, True] Translation: X:42.53, Y:-3.71, Z:-4.59 [[ 9.69432568e-01 2.27907949e-01 9.08760819e-02 4.25255590e+01] [-2.26883968e-01 9.73682635e-01 -2.15821785e-02 -3.70924833e+00] [-9.34032130e-02 3.04140675e-04 9.95628318e-01 -4.59103839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.479649246 meters 0.05909750723964077 Centerline is valid? [True, True] Translation: X:42.56, Y:-3.72, Z:-4.59 [[ 9.69373632e-01 2.28015638e-01 9.12339352e-02 4.25567421e+01] [-2.26981499e-01 9.73657417e-01 -2.16940915e-02 -3.71735726e+00] [-9.37771898e-02 3.21264962e-04 9.95593158e-01 -4.59407389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.509649246 meters 0.05900079540635864 Centerline is valid? [True, True] Translation: X:42.59, Y:-3.72, Z:-4.60 [[ 9.69528813e-01 2.27355333e-01 9.12328525e-02 4.25874788e+01] [-2.26315556e-01 9.73811779e-01 -2.17229741e-02 -3.72466134e+00] [-9.37824604e-02 4.13635502e-04 9.95592627e-01 -4.59791890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.539649246 meters 0.05910472118016723 Centerline is valid? [True, True] Translation: X:42.62, Y:-3.73, Z:-4.60 [[ 9.69422308e-01 2.27749722e-01 9.13808085e-02 4.26190918e+01] [-2.26706822e-01 9.73719626e-01 -2.17739730e-02 -3.73225450e+00] [-9.39383030e-02 3.91522472e-04 9.95577944e-01 -4.60138561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.569649246000004 meters 0.05911628635526612 Centerline is valid? [True, True] Translation: X:42.65, Y:-3.74, Z:-4.60 [[ 9.69929442e-01 2.25242151e-01 9.22109051e-02 4.26506724e+01] [-2.24166220e-01 9.74302586e-01 -2.19994949e-02 -3.74273664e+00] [-9.47965368e-02 6.67387761e-04 9.95496445e-01 -4.60282651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.599649246 meters 0.059088594554043194 Centerline is valid? [True, True] Translation: X:42.68, Y:-3.75, Z:-4.61 [[ 9.70048834e-01 2.24958581e-01 9.16454909e-02 4.26820748e+01] [-2.23892019e-01 9.74368063e-01 -2.18915815e-02 -3.75113690e+00] [-9.42211386e-02 7.17209149e-04 9.95551035e-01 -4.60627386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.629649246 meters 0.05913262158823545 Centerline is valid? [True, True] Translation: X:42.71, Y:-3.76, Z:-4.61 [[ 9.69848704e-01 2.26547716e-01 8.98310888e-02 4.27123137e+01] [-2.25527351e-01 9.73999896e-01 -2.14852535e-02 -3.75728798e+00] [-9.23629063e-02 5.78077787e-04 9.95725243e-01 -4.61178210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.659649246 meters 0.059271184619331015 Centerline is valid? [True, True] Translation: X:42.74, Y:-3.76, Z:-4.62 [[ 9.70156392e-01 2.25937324e-01 8.80278371e-02 4.27417729e+01] [-2.24953199e-01 9.74141628e-01 -2.10747918e-02 -3.76492637e+00] [-9.05131626e-02 6.43700368e-04 9.95895051e-01 -4.61704003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.689649246 meters 0.059197553079427076 Centerline is valid? [True, True] Translation: X:42.77, Y:-3.77, Z:-4.62 [[ 9.70411841e-01 2.24853460e-01 8.79873906e-02 4.27738900e+01] [-2.23864010e-01 9.74392292e-01 -2.10847504e-02 -3.77334528e+00] [-9.04752143e-02 7.63681378e-04 9.95898415e-01 -4.61889838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.719649246 meters 0.05939221793209155 Centerline is valid? [True, True] Translation: X:42.80, Y:-3.78, Z:-4.63 [[ 9.70333998e-01 2.25344693e-01 8.75882527e-02 4.28041769e+01] [-2.24363788e-01 9.74278821e-01 -2.10159497e-02 -3.78217685e+00] [-9.00712123e-02 7.40858349e-04 9.95935052e-01 -4.62548989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.749649246000004 meters 0.05918994058432227 Centerline is valid? [True, True] Translation: X:42.84, Y:-3.79, Z:-4.63 [[ 9.70537215e-01 2.24876821e-01 8.65328212e-02 4.28353013e+01] [-2.23915432e-01 9.74386873e-01 -2.07870580e-02 -3.78985094e+00] [-8.89909726e-02 7.98579407e-04 9.96032112e-01 -4.62698232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.779649246 meters 0.05925582679268194 Centerline is valid? [True, True] Translation: X:42.87, Y:-3.80, Z:-4.63 [[ 9.70473515e-01 2.25382443e-01 8.59296885e-02 4.28656887e+01] [-2.24434434e-01 9.74270067e-01 -2.06644916e-02 -3.79820780e+00] [-8.83761369e-02 7.68760801e-04 9.96086877e-01 -4.63075325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.809649246 meters 0.05910619239323208 Centerline is valid? [True, True] Translation: X:42.90, Y:-3.81, Z:-4.63 [[ 9.70366264e-01 2.25566953e-01 8.66536986e-02 4.28968385e+01] [-2.24601350e-01 9.74227354e-01 -2.08637744e-02 -3.80528084e+00] [-8.91265816e-02 7.82965165e-04 9.96020000e-01 -4.63312042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.839649246 meters 0.05893705010700515 Centerline is valid? [True, True] Translation: X:42.93, Y:-3.81, Z:-4.64 [[ 9.70196315e-01 2.26047840e-01 8.73011101e-02 4.29268078e+01] [-2.25067550e-01 9.74115899e-01 -2.10431191e-02 -3.81190671e+00] [-8.97981510e-02 7.67309654e-04 9.95959690e-01 -4.63675347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.869649246 meters 0.059000886858564104 Centerline is valid? [True, True] Translation: X:42.96, Y:-3.82, Z:-4.64 [[ 9.69870020e-01 2.26938930e-01 8.86051131e-02 4.29572851e+01] [-2.25930640e-01 9.73908726e-01 -2.13808198e-02 -3.81733797e+00] [-9.11454332e-02 7.18006243e-04 9.95837333e-01 -4.64009110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.899649246 meters 0.05884772631720587 Centerline is valid? [True, True] Translation: X:42.99, Y:-3.82, Z:-4.64 [[ 9.69599483e-01 2.28146488e-01 8.84648056e-02 4.29896170e+01] [-2.27145458e-01 9.73626624e-01 -2.13573784e-02 -3.82369077e+00] [-9.10043010e-02 6.13724304e-04 9.95850310e-01 -4.64257699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.929649246000004 meters 0.05890510824891453 Centerline is valid? [True, True] Translation: X:43.02, Y:-3.83, Z:-4.65 [[ 9.69066635e-01 2.30714009e-01 8.76407577e-02 4.30211252e+01] [-2.29739690e-01 9.73021526e-01 -2.11845331e-02 -3.82818818e+00] [-9.01639124e-02 3.94663694e-04 9.95926861e-01 -4.64649474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.959649246000005 meters 0.05896587133955722 Centerline is valid? [True, True] Translation: X:43.05, Y:-3.83, Z:-4.65 [[ 9.68802758e-01 2.31796284e-01 8.77023294e-02 4.30535747e+01] [-2.30822852e-01 9.72764299e-01 -2.12233112e-02 -3.83409585e+00] [-9.02331796e-02 3.17500570e-04 9.95920616e-01 -4.64952233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.989649246 meters 0.05881017357746841 Centerline is valid? [True, True] Translation: X:43.09, Y:-3.84, Z:-4.65 [[ 9.67915205e-01 2.35627302e-01 8.72922141e-02 4.30866207e+01] [-2.34676199e-01 9.71843493e-01 -2.11496415e-02 -3.83809323e+00] [-8.98178032e-02 -1.43453507e-05 9.95958213e-01 -4.65243333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.019649246 meters 0.05889107974146462 Centerline is valid? [True, True] Translation: X:43.12, Y:-3.84, Z:-4.66 [[ 9.67581384e-01 2.36864752e-01 8.76433407e-02 4.31175271e+01] [-2.35908586e-01 9.71542628e-01 -2.12617235e-02 -3.84396094e+00] [-9.01853944e-02 -1.03368646e-04 9.95924989e-01 -4.65626231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.049649246 meters 0.05888608957323077 Centerline is valid? [True, True] Translation: X:43.15, Y:-3.85, Z:-4.66 [[ 9.67126987e-01 2.38825907e-01 8.73359969e-02 4.31503084e+01] [-2.37882255e-01 9.71062365e-01 -2.12112040e-02 -3.84776643e+00] [-8.98744848e-02 -2.61756093e-04 9.95953065e-01 -4.65946666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.079649246 meters 0.05882391398411538 Centerline is valid? [True, True] Translation: X:43.18, Y:-3.85, Z:-4.66 [[ 9.67060435e-01 2.39043276e-01 8.74781567e-02 4.31820800e+01] [-2.38095048e-01 9.71008881e-01 -2.12720917e-02 -3.85462054e+00] [-9.00270175e-02 -2.56717708e-04 9.95939290e-01 -4.66457046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.109649246000004 meters 0.05882391398411538 Centerline is valid? [True, True] Translation: X:43.21, Y:-3.86, Z:-4.67 [[ 9.66993297e-01 2.39316910e-01 8.74721716e-02 4.32132679e+01] [-2.38367575e-01 9.70941476e-01 -2.12966716e-02 -3.86238638e+00] [-9.00270131e-02 -2.56790778e-04 9.95939291e-01 -4.66806900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.139649246000005 meters 0.05890624410848771 Centerline is valid? [True, True] Translation: X:43.24, Y:-3.87, Z:-4.67 [[ 9.67245501e-01 2.38572480e-01 8.67139668e-02 4.32446280e+01] [-2.37634281e-01 9.71124681e-01 -2.11377046e-02 -3.87095688e+00] [-8.92529480e-02 -1.60861518e-04 9.96008979e-01 -4.67268347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.169649246 meters 0.05882680248341517 Centerline is valid? [True, True] Translation: X:43.28, Y:-3.88, Z:-4.68 [[ 9.67305729e-01 2.38526003e-01 8.61682806e-02 4.32759946e+01] [-2.37597149e-01 9.71136102e-01 -2.10301123e-02 -3.87922482e+00] [-8.86973568e-02 -1.30789676e-04 9.96058614e-01 -4.67641611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.199649246 meters 0.0589846123358124 Centerline is valid? [True, True] Translation: X:43.31, Y:-3.89, Z:-4.68 [[ 9.67133526e-01 2.39107722e-01 8.64883858e-02 4.33076046e+01] [-2.38171919e-01 9.70993034e-01 -2.11344523e-02 -3.88646135e+00] [-8.90330309e-02 -1.59267499e-04 9.96028661e-01 -4.68073041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.229649246 meters 0.058931018013918646 Centerline is valid? [True, True] Translation: X:43.34, Y:-3.89, Z:-4.68 [[ 9.67116746e-01 2.39480112e-01 8.56415473e-02 4.33380762e+01] [-2.38561745e-01 9.70901256e-01 -2.09534127e-02 -3.89413625e+00] [-8.81674114e-02 -1.66400609e-04 9.96105657e-01 -4.68440202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.259649246 meters 0.05901336730862737 Centerline is valid? [True, True] Translation: X:43.37, Y:-3.90, Z:-4.69 [[ 9.67096160e-01 2.39474213e-01 8.58901512e-02 4.33694602e+01] [-2.38548552e-01 9.70902714e-01 -2.10358751e-02 -3.90289551e+00] [-8.84285305e-02 -1.45257202e-04 9.96082514e-01 -4.68789934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.289649246 meters 0.058962249782356875 Centerline is valid? [True, True] Translation: X:43.40, Y:-3.91, Z:-4.69 [[ 9.66886207e-01 2.40252200e-01 8.60810293e-02 4.33993335e+01] [-2.39323207e-01 9.70710484e-01 -2.11082665e-02 -3.91274536e+00] [-8.86310651e-02 -1.91896259e-04 9.96064505e-01 -4.69001048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.319649246000004 meters 0.05881372226074636 Centerline is valid? [True, True] Translation: X:43.43, Y:-3.92, Z:-4.69 [[ 9.67246114e-01 2.38534791e-01 8.68107559e-02 4.34281850e+01] [-2.37580833e-01 9.71133952e-01 -2.13118414e-02 -3.92332161e+00] [-8.93884881e-02 -1.07759489e-05 9.95996836e-01 -4.69341487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.349649246 meters 0.05874237981463837 Centerline is valid? [True, True] Translation: X:43.46, Y:-3.93, Z:-4.70 [[ 9.67534919e-01 2.37137076e-01 8.74196103e-02 4.34580718e+01] [-2.36162118e-01 9.71476190e-01 -2.14817734e-02 -3.93317376e+00] [-9.00201949e-02 1.39165599e-04 9.95939930e-01 -4.69667978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.379649246 meters 0.05878912342036185 Centerline is valid? [True, True] Translation: X:43.49, Y:-3.94, Z:-4.70 [[ 9.68010343e-01 2.35485797e-01 8.66164839e-02 4.34882583e+01] [-2.34520205e-01 9.71877741e-01 -2.13056478e-02 -3.94402794e+00] [-8.91978101e-02 3.10771881e-04 9.96013882e-01 -4.69945224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.409649246 meters 0.05891536162686528 Centerline is valid? [True, True] Translation: X:43.52, Y:-3.95, Z:-4.70 [[ 9.68136885e-01 2.34886065e-01 8.68303456e-02 4.35179754e+01] [-2.33911265e-01 9.72022832e-01 -2.13807149e-02 -3.95321606e+00] [-8.94231104e-02 3.88862765e-04 9.95993653e-01 -4.70486593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.439649246 meters 0.0588771572324107 Centerline is valid? [True, True] Translation: X:43.55, Y:-3.96, Z:-4.71 [[ 9.68223595e-01 2.34466723e-01 8.69967054e-02 4.35487612e+01] [-2.33484282e-01 9.72124041e-01 -2.14461821e-02 -3.96209633e+00] [-8.96000049e-02 4.52336232e-04 9.95977728e-01 -4.70804175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.469649246 meters 0.05878704585327081 Centerline is valid? [True, True] Translation: X:43.58, Y:-3.97, Z:-4.71 [[ 9.68542672e-01 2.33201707e-01 8.68450111e-02 4.35793271e+01] [-2.32215562e-01 9.72428206e-01 -2.14317010e-02 -3.97124029e+00] [-8.94484476e-02 5.90753907e-04 9.95991278e-01 -4.70944639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.499649246000004 meters 0.05880950089481519 Centerline is valid? [True, True] Translation: X:43.61, Y:-3.98, Z:-4.71 [[ 9.68794773e-01 2.32325986e-01 8.63789526e-02 4.36104883e+01] [-2.31344960e-01 9.72637733e-01 -2.13389143e-02 -3.98008321e+00] [-8.89730130e-02 6.89693367e-04 9.96033798e-01 -4.71156517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.529649246 meters 0.05901716350433611 Centerline is valid? [True, True] Translation: X:43.64, Y:-3.99, Z:-4.72 [[ 9.68834074e-01 2.32530908e-01 8.53809918e-02 4.36397096e+01] [-2.31571215e-01 9.72588766e-01 -2.11155316e-02 -3.98907098e+00] [-8.79506071e-02 6.85666498e-04 9.96124601e-01 -4.71911212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.559649246 meters 0.05920896885251449 Centerline is valid? [True, True] Translation: X:43.67, Y:-4.00, Z:-4.72 [[ 9.68962298e-01 2.32193053e-01 8.48436824e-02 4.36708200e+01] [-2.31242296e-01 9.72669445e-01 -2.10035868e-02 -3.99731356e+00] [-8.74017444e-02 7.32235808e-04 9.96172876e-01 -4.72253946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.589649246 meters 0.05918681949917043 Centerline is valid? [True, True] Translation: X:43.70, Y:-4.00, Z:-4.73 [[ 9.69172569e-01 2.32040055e-01 8.28368552e-02 4.37021323e+01] [-2.31131568e-01 9.72705944e-01 -2.05266740e-02 -4.00481397e+00] [-8.53389120e-02 7.47677178e-04 9.96351700e-01 -4.72609733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.619649246 meters 0.058951503450010864 Centerline is valid? [True, True] Translation: X:43.73, Y:-4.01, Z:-4.73 [[ 9.68988738e-01 2.32638881e-01 8.33065193e-02 4.37323638e+01] [-2.31720358e-01 9.72562919e-01 -2.06650418e-02 -4.01336742e+00] [-8.58283238e-02 7.20376379e-04 9.96309681e-01 -4.72917679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.649649246 meters 0.059210542025273774 Centerline is valid? [True, True] Translation: X:43.76, Y:-4.02, Z:-4.73 [[ 9.69085336e-01 2.32448470e-01 8.27122763e-02 4.37623168e+01] [-2.31540286e-01 9.72608420e-01 -2.05416120e-02 -4.02149849e+00] [-8.52215226e-02 7.55350830e-04 9.96361742e-01 -4.73396788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.679649246000004 meters 0.05911424939607621 Centerline is valid? [True, True] Translation: X:43.79, Y:-4.03, Z:-4.74 [[ 9.68944159e-01 2.32859971e-01 8.32072726e-02 4.37933506e+01] [-2.31941553e-01 9.72509998e-01 -2.06741183e-02 -4.02823362e+00] [-8.57340791e-02 7.32842088e-04 9.96317786e-01 -4.73760520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.709649246000005 meters 0.059245934879369556 Centerline is valid? [True, True] Translation: X:43.83, Y:-4.04, Z:-4.74 [[ 9.68903255e-01 2.33045987e-01 8.31627997e-02 4.38250274e+01] [-2.32127474e-01 9.72465437e-01 -2.06835546e-02 -4.03573365e+00] [-8.56931678e-02 7.35992704e-04 9.96321303e-01 -4.74183295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.739649246 meters 0.059396092310070786 Centerline is valid? [True, True] Translation: X:43.86, Y:-4.04, Z:-4.75 [[ 9.69003937e-01 2.32932505e-01 8.23032042e-02 4.38561116e+01] [-2.32030410e-01 9.72492605e-01 -2.04944381e-02 -4.04408765e+00] [-8.48130783e-02 7.62344975e-04 9.96396588e-01 -4.74590257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.769649246 meters 0.05929362286861534 Centerline is valid? [True, True] Translation: X:43.89, Y:-4.05, Z:-4.75 [[ 9.68837590e-01 2.33259580e-01 8.33288209e-02 4.38861129e+01] [-2.32334126e-01 9.72414204e-01 -2.07718618e-02 -4.05166908e+00] [-8.58753648e-02 7.64431751e-04 9.96305594e-01 -4.74878391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.799649246 meters 0.05919080366058571 Centerline is valid? [True, True] Translation: X:43.92, Y:-4.06, Z:-4.75 [[ 9.68723044e-01 2.33651058e-01 8.35634282e-02 4.39177197e+01] [-2.32720219e-01 9.72320225e-01 -2.08489578e-02 -4.05941730e+00] [-8.61217924e-02 7.49966604e-04 9.96284334e-01 -4.75198234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.829649246 meters 0.05919680784584705 Centerline is valid? [True, True] Translation: X:43.95, Y:-4.07, Z:-4.76 [[ 9.68430094e-01 2.35170450e-01 8.26922780e-02 4.39499550e+01] [-2.34262478e-01 9.71953940e-01 -2.06550256e-02 -4.06546252e+00] [-8.52305371e-02 6.31250348e-04 9.96361058e-01 -4.75636964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.859649246000004 meters 0.05899097046209752 Centerline is valid? [True, True] Translation: X:43.98, Y:-4.07, Z:-4.76 [[ 9.68164874e-01 2.36035165e-01 8.33317337e-02 4.39807984e+01] [-2.35114149e-01 9.71744339e-01 -2.08393036e-02 -4.07241509e+00] [-8.58959490e-02 5.83412141e-04 9.96303942e-01 -4.75936891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.889649246000005 meters 0.05903666207224157 Centerline is valid? [True, True] Translation: X:44.01, Y:-4.08, Z:-4.76 [[ 9.68139690e-01 2.35939499e-01 8.38933493e-02 4.40119778e+01] [-2.35003770e-01 9.71767550e-01 -2.10013393e-02 -4.07999149e+00] [-8.64798800e-02 6.16976799e-04 9.96253406e-01 -4.76234820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.919649246 meters 0.059081976259614574 Centerline is valid? [True, True] Translation: X:44.04, Y:-4.09, Z:-4.77 [[ 9.68203517e-01 2.35992532e-01 8.30028552e-02 4.40416399e+01] [-2.35074959e-01 9.71754667e-01 -2.07997946e-02 -4.08780343e+00] [-8.55670081e-02 6.26541591e-04 9.96332221e-01 -4.76519437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.949649246 meters 0.059246248763724495 Centerline is valid? [True, True] Translation: X:44.07, Y:-4.10, Z:-4.77 [[ 9.68332207e-01 2.35391334e-01 8.32085083e-02 4.40735136e+01] [-2.34465381e-01 9.71900422e-01 -2.08699469e-02 -4.09631880e+00] [-8.57829890e-02 6.99527147e-04 9.96313600e-01 -4.76956208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.979649246 meters 0.059533885611035293 Centerline is valid? [True, True] Translation: X:44.10, Y:-4.10, Z:-4.77 [[ 9.68375093e-01 2.35319000e-01 8.29134977e-02 4.41040837e+01] [-2.34397262e-01 9.71917918e-01 -2.08202785e-02 -4.10358202e+00] [-8.54845212e-02 7.27142280e-04 9.96339233e-01 -4.77450746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.009649246 meters 0.05971954756894961 Centerline is valid? [True, True] Translation: X:44.13, Y:-4.11, Z:-4.78 [[ 9.68171401e-01 2.36347426e-01 8.23652339e-02 4.41344415e+01] [-2.35439705e-01 9.71668394e-01 -2.07045447e-02 -4.11173190e+00] [-8.49251604e-02 6.53501671e-04 9.96387119e-01 -4.77879929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.039649246 meters 0.05931866739388556 Centerline is valid? [True, True] Translation: X:44.17, Y:-4.12, Z:-4.78 [[ 9.68044037e-01 2.36660123e-01 8.29622165e-02 4.41657033e+01] [-2.35738387e-01 9.71592281e-01 -2.08770836e-02 -4.11906052e+00] [-8.55462223e-02 6.52557168e-04 9.96333989e-01 -4.77935234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.069649246000004 meters 0.059340452745485196 Centerline is valid? [True, True] Translation: X:44.20, Y:-4.13, Z:-4.78 [[ 9.68073811e-01 2.36607096e-01 8.27658010e-02 4.41973637e+01] [-2.35687769e-01 9.71605180e-01 -2.08482611e-02 -4.12904742e+00] [-8.53485275e-02 6.75768589e-04 9.96350928e-01 -4.78134890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.099649246 meters 0.059300321364780105 Centerline is valid? [True, True] Translation: X:44.23, Y:-4.14, Z:-4.79 [[ 9.68003911e-01 2.36740239e-01 8.32014866e-02 4.42274026e+01] [-2.35809452e-01 9.71572735e-01 -2.09838673e-02 -4.13743814e+00] [-8.58040217e-02 6.92768654e-04 9.96311794e-01 -4.78576897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.129649246 meters 0.05921524837345094 Centerline is valid? [True, True] Translation: X:44.26, Y:-4.15, Z:-4.79 [[ 9.67978212e-01 2.36770334e-01 8.34145624e-02 4.42591862e+01] [-2.35833277e-01 9.71565389e-01 -2.10561298e-02 -4.14527593e+00] [-8.60281686e-02 7.09945281e-04 9.96292452e-01 -4.78822919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.159649246 meters 0.05930634060678095 Centerline is valid? [True, True] Translation: X:44.29, Y:-4.15, Z:-4.79 [[ 9.67937287e-01 2.36804393e-01 8.37919277e-02 4.42905403e+01] [-2.35856774e-01 9.71557070e-01 -2.11764582e-02 -4.15245481e+00] [-8.64233181e-02 7.34589811e-04 9.96258235e-01 -4.79246051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.189649246 meters 0.0593583218116506 Centerline is valid? [True, True] Translation: X:44.32, Y:-4.16, Z:-4.80 [[ 9.67632924e-01 2.38236419e-01 8.32462187e-02 4.43211103e+01] [-2.37304263e-01 9.71206989e-01 -2.10635021e-02 -4.15917503e+00] [-8.58674027e-02 6.27055524e-04 9.96306377e-01 -4.79729028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.219649246 meters 0.05925226369424589 Centerline is valid? [True, True] Translation: X:44.35, Y:-4.17, Z:-4.80 [[ 9.67270480e-01 2.40006762e-01 8.23685204e-02 4.43532561e+01] [-2.39098710e-01 9.70771094e-01 -2.08635934e-02 -4.16550900e+00] [-8.49683822e-02 4.86531062e-04 9.96383529e-01 -4.80005180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.249649246000004 meters 0.05928825701097428 Centerline is valid? [True, True] Translation: X:44.39, Y:-4.17, Z:-4.80 [[ 9.67132142e-01 2.40530225e-01 8.24659385e-02 4.43855010e+01] [-2.39619872e-01 9.70641538e-01 -2.09122349e-02 -4.17272719e+00] [-8.50748900e-02 4.64416845e-04 9.96374451e-01 -4.80377000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.279649246 meters 0.05917382918977931 Centerline is valid? [True, True] Translation: X:44.42, Y:-4.18, Z:-4.81 [[ 9.66950646e-01 2.41230357e-01 8.25491512e-02 4.44159512e+01] [-2.40318589e-01 9.70467790e-01 -2.09581352e-02 -4.17955117e+00] [-8.51670308e-02 4.27386756e-04 9.96366596e-01 -4.80713174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.309649246 meters 0.05932078196063774 Centerline is valid? [True, True] Translation: X:44.45, Y:-4.19, Z:-4.81 [[ 9.66807227e-01 2.42029420e-01 8.18873966e-02 4.44467220e+01] [-2.41133168e-01 9.70268838e-01 -2.08129128e-02 -4.18651243e+00] [-8.44901263e-02 3.76307194e-04 9.96424245e-01 -4.81133173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.339649246 meters 0.059439115383552066 Centerline is valid? [True, True] Translation: X:44.48, Y:-4.19, Z:-4.82 [[ 9.66752974e-01 2.42568128e-01 8.09283091e-02 4.44767510e+01] [-2.41692923e-01 9.70134312e-01 -2.05899685e-02 -4.19317582e+00] [-8.35057996e-02 3.45613636e-04 9.96507231e-01 -4.81694455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.369649246 meters 0.0594889569559284 Centerline is valid? [True, True] Translation: X:44.51, Y:-4.20, Z:-4.82 [[ 9.66687237e-01 2.43239089e-01 7.96902279e-02 4.45074253e+01] [-2.42391296e-01 9.69966317e-01 -2.02929614e-02 -4.20107123e+00] [-8.22328782e-02 3.00729133e-04 9.96613096e-01 -4.82096120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.399649246 meters 0.05969206645045893 Centerline is valid? [True, True] Translation: X:44.54, Y:-4.21, Z:-4.83 [[ 9.66703515e-01 2.43363625e-01 7.91104315e-02 4.45366441e+01] [-2.42526917e-01 9.69935076e-01 -2.01653922e-02 -4.20999100e+00] [-8.16395054e-02 3.07546492e-04 9.96661877e-01 -4.82526451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.429649246000004 meters 0.05942892229449878 Centerline is valid? [True, True] Translation: X:44.57, Y:-4.22, Z:-4.83 [[ 9.66681936e-01 2.43343454e-01 7.94354966e-02 4.45681764e+01] [-2.42498399e-01 9.69940131e-01 -2.02649866e-02 -4.21818744e+00] [-8.19790278e-02 3.26815762e-04 9.96634001e-01 -4.82588557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.459649246000005 meters 0.05931770454287818 Centerline is valid? [True, True] Translation: X:44.60, Y:-4.23, Z:-4.83 [[ 9.66556862e-01 2.43745217e-01 7.97251683e-02 4.45998429e+01] [-2.42893412e-01 9.69839249e-01 -2.03622528e-02 -4.22627863e+00] [-8.22837991e-02 3.16556956e-04 9.96608888e-01 -4.82825452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.489649246 meters 0.059381263655699144 Centerline is valid? [True, True] Translation: X:44.63, Y:-4.24, Z:-4.83 [[ 9.67219718e-01 2.39965825e-01 8.30808092e-02 4.46283600e+01] [-2.39024371e-01 9.70781090e-01 -2.12467801e-02 -4.23966787e+00] [-8.57517796e-02 6.91966471e-04 9.96316292e-01 -4.83023211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.519649246 meters 0.059139442647395325 Centerline is valid? [True, True] Translation: X:44.66, Y:-4.25, Z:-4.83 [[ 9.67102109e-01 2.40571084e-01 8.26986358e-02 4.46608428e+01] [-2.39638924e-01 9.70631303e-01 -2.11674104e-02 -4.24552902e+00] [-8.53621515e-02 6.53235120e-04 9.96349776e-01 -4.83066698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.549649246 meters 0.05923089769014603 Centerline is valid? [True, True] Translation: X:44.69, Y:-4.25, Z:-4.84 [[ 9.67216827e-01 2.40220303e-01 8.23760684e-02 4.46905243e+01] [-2.39291893e-01 9.70718139e-01 -2.11112304e-02 -4.25255900e+00] [-8.50352900e-02 7.07211993e-04 9.96377689e-01 -4.83537403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.579649246 meters 0.05921637287514866 Centerline is valid? [True, True] Translation: X:44.72, Y:-4.26, Z:-4.84 [[ 9.67132889e-01 2.40287045e-01 8.31631554e-02 4.47211390e+01] [-2.39339261e-01 9.70701605e-01 -2.13333582e-02 -4.26060631e+00] [-8.58527381e-02 7.27984164e-04 9.96307572e-01 -4.83834931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.609649246000004 meters 0.05926773769281928 Centerline is valid? [True, True] Translation: X:44.75, Y:-4.27, Z:-4.84 [[ 9.67263926e-01 2.39719528e-01 8.32769238e-02 4.47528596e+01] [-2.38765206e-01 9.70841855e-01 -2.13838444e-02 -4.26948746e+00] [-8.59748483e-02 8.00189394e-04 9.96296986e-01 -4.84123407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.639649246000005 meters 0.05926201846060433 Centerline is valid? [True, True] Translation: X:44.78, Y:-4.28, Z:-4.84 [[ 9.66976756e-01 2.40718025e-01 8.37304306e-02 4.47838135e+01] [-2.39754705e-01 9.70594809e-01 -2.15266830e-02 -4.27680987e+00] [-8.64501819e-02 7.41037373e-04 9.96255899e-01 -4.84490481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.669649246 meters 0.05927137382732984 Centerline is valid? [True, True] Translation: X:44.81, Y:-4.28, Z:-4.85 [[ 9.66917940e-01 2.40816257e-01 8.41262607e-02 4.48149644e+01] [-2.39842279e-01 9.70570429e-01 -2.16500247e-02 -4.28470658e+00] [-8.68641389e-02 7.56763118e-04 9.96219880e-01 -4.84863370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.699649246 meters 0.05919551066286342 Centerline is valid? [True, True] Translation: X:44.85, Y:-4.29, Z:-4.85 [[ 9.66705145e-01 2.41887806e-01 8.34952184e-02 4.48465426e+01] [-2.40930239e-01 9.70303987e-01 -2.15126154e-02 -4.29298659e+00] [-8.62193826e-02 6.79833108e-04 9.96275944e-01 -4.85096926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.729649246 meters 0.059358711205402676 Centerline is valid? [True, True] Translation: X:44.88, Y:-4.30, Z:-4.85 [[ 9.66766623e-01 2.41899216e-01 8.27470035e-02 4.48766954e+01] [-2.40956373e-01 9.70301128e-01 -2.13482469e-02 -4.30133026e+00] [-8.54536350e-02 7.00354735e-04 9.96341902e-01 -4.85454684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.759649246 meters 0.05949873953817378 Centerline is valid? [True, True] Translation: X:44.91, Y:-4.31, Z:-4.86 [[ 9.66786552e-01 2.42178555e-01 8.16903316e-02 4.49064721e+01] [-2.41259878e-01 9.70231462e-01 -2.10850814e-02 -4.30854974e+00] [-8.43648844e-02 6.76173683e-04 9.96434699e-01 -4.86001127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.789649246 meters 0.059720349395514426 Centerline is valid? [True, True] Translation: X:44.94, Y:-4.32, Z:-4.87 [[ 9.66663759e-01 2.42745757e-01 8.14596464e-02 4.49370104e+01] [-2.41832516e-01 9.70089728e-01 -2.10464505e-02 -4.31667530e+00] [-8.41321028e-02 6.45249665e-04 9.96454401e-01 -4.86505224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.819649246000004 meters 0.059559499449346645 Centerline is valid? [True, True] Translation: X:44.97, Y:-4.32, Z:-4.87 [[ 9.66533052e-01 2.43238154e-01 8.15417725e-02 4.49687076e+01] [-2.42323758e-01 9.69966402e-01 -2.10801879e-02 -4.32406806e+00] [-8.42202857e-02 6.15189586e-04 9.96446971e-01 -4.86783728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.849649246 meters 0.05974197934808681 Centerline is valid? [True, True] Translation: X:45.00, Y:-4.33, Z:-4.87 [[ 9.66114526e-01 2.44786035e-01 8.18689222e-02 4.49990984e+01] [-2.43867663e-01 9.69576990e-01 -2.11901598e-02 -4.33117288e+00] [-8.45652784e-02 5.06938448e-04 9.96417812e-01 -4.87264677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.879649246 meters 0.05951851614268109 Centerline is valid? [True, True] Translation: X:45.03, Y:-4.34, Z:-4.87 [[ 9.65947187e-01 2.45664469e-01 8.12096043e-02 4.50311123e+01] [-2.44762294e-01 9.69354822e-01 -2.10392271e-02 -4.33747495e+00] [-8.38895120e-02 4.45733157e-04 9.96474963e-01 -4.87370744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.909649246 meters 0.05961875446335036 Centerline is valid? [True, True] Translation: X:45.06, Y:-4.34, Z:-4.88 [[ 9.65360655e-01 2.48341269e-01 8.00338641e-02 4.50617917e+01] [-2.47472154e-01 9.68672576e-01 -2.07599030e-02 -4.34184898e+00] [-8.26821500e-02 2.34640780e-04 9.96575941e-01 -4.87800799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.939649246 meters 0.059673304919355866 Centerline is valid? [True, True] Translation: X:45.09, Y:-4.35, Z:-4.88 [[ 9.65030393e-01 2.49912721e-01 7.91199898e-02 4.50928668e+01] [-2.49067135e-01 9.68268361e-01 -2.05412729e-02 -4.34762685e+00] [-8.17429082e-02 1.16763393e-04 9.96653442e-01 -4.88166777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.969649246 meters 0.05980211294346515 Centerline is valid? [True, True] Translation: X:45.12, Y:-4.35, Z:-4.89 [[ 9.64688228e-01 2.51177943e-01 7.92859578e-02 4.51236618e+01] [-2.50331347e-01 9.67940928e-01 -2.06052552e-02 -4.35254799e+00] [-8.19197092e-02 2.98864830e-05 9.96638932e-01 -4.88975815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.999649246000004 meters 0.059640930963456955 Centerline is valid? [True, True] Translation: X:45.16, Y:-4.36, Z:-4.89 [[ 9.64423003e-01 2.52156821e-01 7.94053412e-02 4.51560382e+01] [-2.51309131e-01 9.67686383e-01 -2.06587503e-02 -4.35986835e+00] [-8.20487123e-02 -3.15132906e-05 9.96628320e-01 -4.89076383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.029649246 meters 0.059640930963456955 Centerline is valid? [True, True] Translation: X:45.19, Y:-4.37, Z:-4.89 [[ 9.64352908e-01 2.52426590e-01 7.93995311e-02 4.51871059e+01] [-2.51577977e-01 9.67616048e-01 -2.06810528e-02 -4.36813343e+00] [-8.20487081e-02 -3.13400124e-05 9.96628320e-01 -4.89426314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.059649246 meters 0.05959408572726958 Centerline is valid? [True, True] Translation: X:45.22, Y:-4.38, Z:-4.90 [[ 9.64233561e-01 2.52840652e-01 7.95314121e-02 4.52186553e+01] [-2.51988663e-01 9.67507934e-01 -2.07391110e-02 -4.37622917e+00] [-8.21909626e-02 -4.36673334e-05 9.96616598e-01 -4.89790266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.089649246 meters 0.059532928793941745 Centerline is valid? [True, True] Translation: X:45.25, Y:-4.38, Z:-4.90 [[ 9.64072426e-01 2.53319514e-01 7.99598730e-02 4.52493203e+01] [-2.52457881e-01 9.67382665e-01 -2.08757810e-02 -4.38479427e+00] [-8.26400378e-02 -6.07352348e-05 9.96579460e-01 -4.90107760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.119649246 meters 0.05958021316944896 Centerline is valid? [True, True] Translation: X:45.28, Y:-4.39, Z:-4.90 [[ 9.64049535e-01 2.53803209e-01 7.86919685e-02 4.52802267e+01] [-2.52968697e-01 9.67255873e-01 -2.05648662e-02 -4.39288663e+00] [-8.13346978e-02 -8.10550765e-05 9.96686842e-01 -4.90496952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.149649246 meters 0.059663514467097 Centerline is valid? [True, True] Translation: X:45.31, Y:-4.40, Z:-4.91 [[ 9.64005080e-01 2.53839256e-01 7.91191348e-02 4.53099596e+01] [-2.52993995e-01 9.67246415e-01 -2.06980736e-02 -4.40116094e+00] [-8.17816831e-02 -6.36179232e-05 9.96650266e-01 -4.90982928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.179649246000004 meters 0.05975250924639947 Centerline is valid? [True, True] Translation: X:45.34, Y:-4.41, Z:-4.91 [[ 9.64102645e-01 2.53389917e-01 7.93702717e-02 4.53406918e+01] [-2.52536271e-01 9.67364228e-01 -2.07817729e-02 -4.41150209e+00] [-8.20458533e-02 -8.11019147e-06 9.96628556e-01 -4.91184681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.209649246000005 meters 0.05972844015738242 Centerline is valid? [True, True] Translation: X:45.37, Y:-4.42, Z:-4.91 [[ 9.64279821e-01 2.52601377e-01 7.97306184e-02 4.53718825e+01] [-2.51735251e-01 9.67570430e-01 -2.09003792e-02 -4.42177040e+00] [-8.24244533e-02 8.28066601e-05 9.96597312e-01 -4.91394252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.239649246 meters 0.059660966011071494 Centerline is valid? [True, True] Translation: X:45.40, Y:-4.43, Z:-4.92 [[ 9.64365961e-01 2.52258858e-01 7.97731921e-02 4.54021759e+01] [-2.51388596e-01 9.67659780e-01 -2.09361735e-02 -4.43107234e+00] [-8.24746448e-02 1.36062252e-04 9.96593154e-01 -4.91707078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.269649246 meters 0.059845356070479964 Centerline is valid? [True, True] Translation: X:45.43, Y:-4.44, Z:-4.92 [[ 9.64486379e-01 2.51930669e-01 7.93534083e-02 4.54315640e+01] [-2.51066525e-01 9.67745268e-01 -2.08493820e-02 -4.43966049e+00] [-8.20464841e-02 1.85960493e-04 9.96628486e-01 -4.92460888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.299649246 meters 0.05996291107373895 Centerline is valid? [True, True] Translation: X:45.46, Y:-4.45, Z:-4.93 [[ 9.64765479e-01 2.51122755e-01 7.85170865e-02 4.54617056e+01] [-2.50272615e-01 9.67955210e-01 -2.06477269e-02 -4.44908330e+00] [-8.11861371e-02 2.69537522e-04 9.96698921e-01 -4.92754575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.329649246 meters 0.06014183944725631 Centerline is valid? [True, True] Translation: X:45.49, Y:-4.46, Z:-4.93 [[ 9.64840473e-01 2.50724122e-01 7.88687327e-02 4.54925095e+01] [-2.49863376e-01 9.68058526e-01 -2.07601441e-02 -4.45911746e+00] [-8.15546180e-02 3.23819458e-04 9.96668821e-01 -4.93135534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.359649246000004 meters 0.06016334748387593 Centerline is valid? [True, True] Translation: X:45.52, Y:-4.47, Z:-4.93 [[ 9.64850247e-01 2.50440037e-01 7.96479018e-02 4.55233054e+01] [-2.49559151e-01 9.68132040e-01 -2.09900730e-02 -4.46979199e+00] [-8.23664404e-02 3.75414295e-04 9.96602041e-01 -4.93211710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.389649246000005 meters 0.06011119077451901 Centerline is valid? [True, True] Translation: X:45.55, Y:-4.48, Z:-4.94 [[ 9.64663263e-01 2.51048337e-01 7.99970065e-02 4.55533562e+01] [-2.50159981e-01 9.67974490e-01 -2.11038184e-02 -4.47812648e+00] [-8.27331401e-02 3.46028664e-04 9.96571677e-01 -4.93670011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.419649246 meters 0.06007115326695257 Centerline is valid? [True, True] Translation: X:45.59, Y:-4.49, Z:-4.94 [[ 9.64672739e-01 2.51065375e-01 7.98290885e-02 4.55851301e+01] [-2.50179317e-01 9.67970065e-01 -2.10775349e-02 -4.48672530e+00] [-8.25640072e-02 3.61336462e-04 9.96585698e-01 -4.93963502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.449649246 meters 0.06010137440557253 Centerline is valid? [True, True] Translation: X:45.62, Y:-4.50, Z:-4.94 [[ 9.64723628e-01 2.50975184e-01 7.94970303e-02 4.56156987e+01] [-2.50094197e-01 9.67993442e-01 -2.10140105e-02 -4.49530807e+00] [-8.22265992e-02 3.90966519e-04 9.96613583e-01 -4.94374236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.479649246 meters 0.06017420909818125 Centerline is valid? [True, True] Translation: X:45.65, Y:-4.50, Z:-4.95 [[ 9.64538744e-01 2.51759984e-01 7.92585788e-02 4.56473718e+01] [-2.50885144e-01 9.67789642e-01 -2.09726577e-02 -4.50383550e+00] [-8.19857076e-02 3.44140887e-04 9.96633446e-01 -4.94766674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.509649246 meters 0.06027145598860013 Centerline is valid? [True, True] Translation: X:45.68, Y:-4.51, Z:-4.95 [[ 9.65053241e-01 2.50007380e-01 7.85401346e-02 4.56778793e+01] [-2.49140644e-01 9.68243796e-01 -2.08060366e-02 -4.51313691e+00] [-8.12476607e-02 5.11393405e-04 9.96693813e-01 -4.94944577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.539649246 meters 0.060637629324051055 Centerline is valid? [True, True] Translation: X:45.71, Y:-4.52, Z:-4.96 [[ 9.65021947e-01 2.50485120e-01 7.73940979e-02 4.57079522e+01] [-2.49643413e-01 9.68120328e-01 -2.05230689e-02 -4.51979001e+00] [-8.00675228e-02 4.84285131e-04 9.96789324e-01 -4.95637708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.569649246000004 meters 0.06058365269554676 Centerline is valid? [True, True] Translation: X:45.74, Y:-4.53, Z:-4.96 [[ 9.64994409e-01 2.50454836e-01 7.78342246e-02 4.57389841e+01] [-2.49601915e-01 9.68128151e-01 -2.06583315e-02 -4.52826349e+00] [-8.05274830e-02 5.07602851e-04 9.96752260e-01 -4.95901135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.599649246 meters 0.06041738018444443 Centerline is valid? [True, True] Translation: X:45.77, Y:-4.54, Z:-4.96 [[ 9.64733004e-01 2.51206652e-01 7.86476268e-02 4.57700750e+01] [-2.50336559e-01 9.67933364e-01 -2.08952175e-02 -4.53662559e+00] [-8.13746796e-02 4.69929659e-04 9.96683471e-01 -4.96145842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.629649246 meters 0.060282091665818154 Centerline is valid? [True, True] Translation: X:45.80, Y:-4.54, Z:-4.96 [[ 9.64647618e-01 2.51354991e-01 7.92189507e-02 4.58009362e+01] [-2.50470967e-01 9.67894848e-01 -2.10679248e-02 -4.54497419e+00] [-8.19711424e-02 4.81076273e-04 9.96634587e-01 -4.96305265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.659649246 meters 0.060066802957641385 Centerline is valid? [True, True] Translation: X:45.83, Y:-4.55, Z:-4.96 [[ 9.64282613e-01 2.52374594e-01 8.04121040e-02 4.58318841e+01] [-2.51465414e-01 9.67629519e-01 -2.14069822e-02 -4.55309785e+00] [-8.32117040e-02 4.21517740e-04 9.96531803e-01 -4.96494122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.689649246 meters 0.05984440245168246 Centerline is valid? [True, True] Translation: X:45.86, Y:-4.56, Z:-4.97 [[ 9.63955554e-01 2.53193100e-01 8.17492782e-02 4.58627624e+01] [-2.52254426e-01 9.67415687e-01 -2.17851742e-02 -4.56091243e+00] [-8.46013899e-02 3.78322493e-04 9.96414804e-01 -4.96697926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.719649246 meters 0.05997655507138816 Centerline is valid? [True, True] Translation: X:45.89, Y:-4.57, Z:-4.97 [[ 9.63843775e-01 2.53670142e-01 8.15882089e-02 4.58945064e+01] [-2.52735110e-01 9.67290718e-01 -2.17630869e-02 -4.56958847e+00] [-8.44401625e-02 3.56010907e-04 9.96428488e-01 -4.97077528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.749649246000004 meters 0.0601077850991143 Centerline is valid? [True, True] Translation: X:45.93, Y:-4.58, Z:-4.97 [[ 9.63678016e-01 2.53796021e-01 8.31400121e-02 4.59256387e+01] [-2.52823179e-01 9.67257689e-01 -2.22036644e-02 -4.57769032e+00] [-8.60530177e-02 3.77461016e-04 9.96290488e-01 -4.97470788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.779649246000005 meters 0.06024601939763187 Centerline is valid? [True, True] Translation: X:45.96, Y:-4.58, Z:-4.98 [[ 9.63435853e-01 2.54809084e-01 8.28473764e-02 4.59579396e+01] [-2.53845031e-01 9.66991332e-01 -2.21464063e-02 -4.58372061e+00] [-8.57558004e-02 3.06246953e-04 9.96316139e-01 -4.97978168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.809649246 meters 0.06020008222602572 Centerline is valid? [True, True] Translation: X:45.99, Y:-4.59, Z:-4.98 [[ 9.63353111e-01 2.55493128e-01 8.16948270e-02 4.59889885e+01] [-2.54556105e-01 9.66810835e-01 -2.18631803e-02 -4.59076587e+00] [-8.45693362e-02 2.66045795e-04 9.96417561e-01 -4.98388548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.839649246 meters 0.06046867351881814 Centerline is valid? [True, True] Translation: X:46.02, Y:-4.60, Z:-4.99 [[ 9.62616860e-01 2.59063362e-01 7.90882749e-02 4.60192560e+01] [-2.58195368e-01 9.65860328e-01 -2.11890975e-02 -4.59526530e+00] [-8.18775460e-02 -2.32437329e-05 9.96642397e-01 -4.98954196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.869649246 meters 0.06058350345557001 Centerline is valid? [True, True] Translation: X:46.05, Y:-4.60, Z:-4.99 [[ 9.62084679e-01 2.61146302e-01 7.87126378e-02 4.60509211e+01] [-2.60292881e-01 9.65299214e-01 -2.10960713e-02 -4.60146576e+00] [-8.14904084e-02 -1.92132273e-04 9.96674107e-01 -4.99357918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.899649246 meters 0.06088927024923542 Centerline is valid? [True, True] Translation: X:46.08, Y:-4.60, Z:-5.00 [[ 9.61344735e-01 2.64409659e-01 7.68364052e-02 4.60830997e+01] [-2.63605347e-01 9.64410359e-01 -2.06126425e-02 -4.60489761e+00] [-7.95520069e-02 -4.38631923e-04 9.96830620e-01 -4.99894304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.929649246000004 meters 0.060903926132971964 Centerline is valid? [True, True] Translation: X:46.12, Y:-4.61, Z:-5.00 [[ 9.61133417e-01 2.65073544e-01 7.71917806e-02 4.61150014e+01] [-2.64262349e-01 9.64228079e-01 -2.07273290e-02 -4.61212631e+00] [-7.99247488e-02 -4.77152702e-04 9.96800786e-01 -5.00374085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.959649246000005 meters 0.06101457886829714 Centerline is valid? [True, True] Translation: X:46.15, Y:-4.62, Z:-5.01 [[ 9.60790249e-01 2.66274604e-01 7.73300276e-02 4.61467058e+01] [-2.65462505e-01 9.63897052e-01 -2.07877806e-02 -4.61803960e+00] [-8.00734437e-02 -5.55525966e-04 9.96788812e-01 -5.00871189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.989649246 meters 0.06099002426118597 Centerline is valid? [True, True] Translation: X:46.18, Y:-4.63, Z:-5.01 [[ 9.60893969e-01 2.65975623e-01 7.70697659e-02 4.61782002e+01] [-2.65166204e-01 9.63979622e-01 -2.07406264e-02 -4.62657532e+00] [-7.98101848e-02 -5.06754380e-04 9.96809951e-01 -5.01151334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.019649246 meters 0.06110878932020668 Centerline is valid? [True, True] Translation: X:46.21, Y:-4.64, Z:-5.01 [[ 9.60635857e-01 2.66745655e-01 7.76241352e-02 4.62092827e+01] [-2.65925046e-01 9.63766804e-01 -2.09145347e-02 -4.63534278e+00] [-8.03904260e-02 -5.50949779e-04 9.96763300e-01 -5.01459504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.049649246 meters 0.06094841150495671 Centerline is valid? [True, True] Translation: X:46.24, Y:-4.65, Z:-5.02 [[ 9.60786942e-01 2.66326053e-01 7.71938199e-02 4.62404006e+01] [-2.65511636e-01 9.63882871e-01 -2.08178289e-02 -4.64637712e+00] [-7.99501309e-02 -4.94359262e-04 9.96798742e-01 -5.01695404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.079649246 meters 0.060834859409310944 Centerline is valid? [True, True] Translation: X:46.27, Y:-4.66, Z:-5.02 [[ 9.60903469e-01 2.65843201e-01 7.74074650e-02 4.62703307e+01] [-2.65020733e-01 9.64016186e-01 -2.08998812e-02 -4.65789360e+00] [-8.01781405e-02 -4.31814728e-04 9.96780457e-01 -5.01988723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.109649246000004 meters 0.06086718534428309 Centerline is valid? [True, True] Translation: X:46.30, Y:-4.67, Z:-5.02 [[ 9.61053322e-01 2.65139861e-01 7.79574709e-02 4.63005206e+01] [-2.64301658e-01 9.64209898e-01 -2.10690732e-02 -4.66806125e+00] [-8.07536163e-02 -3.55786035e-04 9.96734030e-01 -5.02260634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.139649246000005 meters 0.060538118488444224 Centerline is valid? [True, True] Translation: X:46.33, Y:-4.68, Z:-5.03 [[ 9.61665645e-01 2.62380809e-01 7.97213825e-02 4.63288342e+01] [-2.61492678e-01 9.64964404e-01 -2.15703191e-02 -4.68069925e+00] [-8.25879341e-02 -1.03122957e-04 9.96583776e-01 -5.02548306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.169649246 meters 0.06056178483410461 Centerline is valid? [True, True] Translation: X:46.36, Y:-4.69, Z:-5.03 [[ 9.61501983e-01 2.62831324e-01 8.02099193e-02 4.63593271e+01] [-2.61933028e-01 9.64841789e-01 -2.17120163e-02 -4.68958068e+00] [-8.30964800e-02 -1.33480303e-04 9.96541498e-01 -5.02838592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.199649246 meters 0.060506377727157785 Centerline is valid? [True, True] Translation: X:46.39, Y:-4.70, Z:-5.03 [[ 9.61499751e-01 2.62580194e-01 8.10547418e-02 4.63899894e+01] [-2.61660118e-01 9.64910169e-01 -2.19624539e-02 -4.69903898e+00] [-8.39774500e-02 -9.18993274e-05 9.96467651e-01 -5.03079260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.229649246 meters 0.060418349777052016 Centerline is valid? [True, True] Translation: X:46.42, Y:-4.71, Z:-5.03 [[ 9.61423816e-01 2.62888279e-01 8.09567734e-02 4.64221157e+01] [-2.61969816e-01 9.64826276e-01 -2.19561479e-02 -4.70728860e+00] [-8.38812362e-02 -9.90675834e-05 9.96475754e-01 -5.03386408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.259649246 meters 0.06035853142110658 Centerline is valid? [True, True] Translation: X:46.45, Y:-4.71, Z:-5.04 [[ 9.61182825e-01 2.63450824e-01 8.19831716e-02 4.64529058e+01] [-2.62508713e-01 9.64672819e-01 -2.22604467e-02 -4.71488313e+00] [-8.49514703e-02 -1.24937851e-04 9.96385082e-01 -5.03740456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.289649246 meters 0.06050707703496581 Centerline is valid? [True, True] Translation: X:46.48, Y:-4.72, Z:-5.04 [[ 9.61195947e-01 2.63595787e-01 8.13610073e-02 4.64829058e+01] [-2.62666580e-01 9.64633219e-01 -2.21137970e-02 -4.72290629e+00] [-8.43126341e-02 -1.15125495e-04 9.96439344e-01 -5.04293240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.319649246000004 meters 0.06040797522062365 Centerline is valid? [True, True] Translation: X:46.51, Y:-4.73, Z:-5.05 [[ 9.61114741e-01 2.63819661e-01 8.15943686e-02 4.65137568e+01] [-2.62884274e-01 9.64572015e-01 -2.21965212e-02 -4.73204314e+00] [-8.45595232e-02 -1.16472570e-04 9.96418423e-01 -5.04673254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.349649246 meters 0.060351810573042126 Centerline is valid? [True, True] Translation: X:46.54, Y:-4.74, Z:-5.05 [[ 9.61235738e-01 2.63549998e-01 8.10386049e-02 4.65441967e+01] [-2.62624281e-01 9.64645735e-01 -2.20701877e-02 -4.74209330e+00] [-8.39901425e-02 -6.80521609e-05 9.96466583e-01 -5.04934076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.379649246 meters 0.0603228952392266 Centerline is valid? [True, True] Translation: X:46.57, Y:-4.75, Z:-5.05 [[ 9.61445256e-01 2.62938877e-01 8.05367430e-02 4.65740648e+01] [-2.62020690e-01 9.64812493e-01 -2.19547496e-02 -4.75248790e+00] [-8.34756130e-02 5.99689496e-06 9.96509820e-01 -5.05304210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.409649246 meters 0.06029122979104819 Centerline is valid? [True, True] Translation: X:46.60, Y:-4.76, Z:-5.06 [[ 9.61780183e-01 2.61706523e-01 8.05517000e-02 4.66045898e+01] [-2.60781744e-01 9.65147490e-01 -2.19819127e-02 -4.76191470e+00] [-8.34970810e-02 1.35355232e-04 9.96508013e-01 -5.05773775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.439649246 meters 0.06058666811836702 Centerline is valid? [True, True] Translation: X:46.63, Y:-4.77, Z:-5.06 [[ 9.62035916e-01 2.61029905e-01 7.96886817e-02 4.66349217e+01] [-2.60121489e-01 9.65330693e-01 -2.17592240e-02 -4.77052631e+00] [-8.26057385e-02 2.04416446e-04 9.96582285e-01 -5.06217952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.469649246 meters 0.060613900725355906 Centerline is valid? [True, True] Translation: X:46.66, Y:-4.78, Z:-5.07 [[ 9.62267972e-01 2.60085077e-01 7.99756371e-02 4.66644382e+01] [-2.59165080e-01 9.65585656e-01 -2.18587034e-02 -4.78097131e+00] [-8.29084506e-02 3.07037819e-04 9.96557121e-01 -5.06561764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.499649246000004 meters 0.06058323460843631 Centerline is valid? [True, True] Translation: X:46.70, Y:-4.79, Z:-5.07 [[ 9.62213815e-01 2.60206399e-01 8.02321864e-02 4.66953771e+01] [-2.59279017e-01 9.65552965e-01 -2.19513964e-02 -4.79163202e+00] [-8.31803193e-02 3.19414458e-04 9.96534461e-01 -5.06785969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.529649246000005 meters 0.06040559476644307 Centerline is valid? [True, True] Translation: X:46.73, Y:-4.80, Z:-5.07 [[ 9.62144579e-01 2.60656983e-01 7.95974074e-02 4.67257707e+01] [-2.59743759e-01 9.65431430e-01 -2.18021394e-02 -4.80121871e+00] [-8.25287187e-02 3.01880403e-04 9.96588641e-01 -5.06927606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.559649246 meters 0.06041187838558396 Centerline is valid? [True, True] Translation: X:46.75, Y:-4.81, Z:-5.07 [[ 9.62097159e-01 2.60335917e-01 8.12050865e-02 4.67549299e+01] [-2.59382289e-01 9.65518038e-01 -2.22653643e-02 -4.81099210e+00] [-8.42014498e-02 3.58282601e-04 9.96448688e-01 -5.07398603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.589649246 meters 0.060271615520726414 Centerline is valid? [True, True] Translation: X:46.79, Y:-4.82, Z:-5.07 [[ 9.61876838e-01 2.61091606e-01 8.13887103e-02 4.67868066e+01] [-2.60134758e-01 9.65313978e-01 -2.23345318e-02 -4.81821378e+00] [-8.43970185e-02 3.11036427e-04 9.96432159e-01 -5.07378257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.619649246 meters 0.060332560757217095 Centerline is valid? [True, True] Translation: X:46.82, Y:-4.82, Z:-5.08 [[ 9.61715868e-01 2.61298047e-01 8.26191276e-02 4.68168524e+01] [-2.60310379e-01 9.65258114e-01 -2.26997928e-02 -4.82466546e+00] [-8.56801947e-02 3.24134471e-04 9.96322638e-01 -5.07863583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.649649246 meters 0.06029719389542611 Centerline is valid? [True, True] Translation: X:46.85, Y:-4.83, Z:-5.08 [[ 9.61516179e-01 2.61947919e-01 8.28850101e-02 4.68479201e+01] [-2.60954541e-01 9.65081968e-01 -2.27930196e-02 -4.83259450e+00] [-8.59614128e-02 2.86637345e-04 9.96298426e-01 -5.08229082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.679649246000004 meters 0.0603654248045243 Centerline is valid? [True, True] Translation: X:46.88, Y:-4.84, Z:-5.09 [[ 9.61362990e-01 2.62456073e-01 8.30542625e-02 4.68797046e+01] [-2.61458491e-01 9.64943905e-01 -2.28630195e-02 -4.84004884e+00] [-8.61432428e-02 2.64418655e-04 9.96282727e-01 -5.08604400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.709649246000005 meters 0.06038579437535613 Centerline is valid? [True, True] Translation: X:46.91, Y:-4.85, Z:-5.09 [[ 9.61383170e-01 2.62590975e-01 8.23916293e-02 4.69089378e+01] [-2.61607316e-01 9.64907199e-01 -2.27092452e-02 -4.84826506e+00] [-8.54635191e-02 2.78033136e-04 9.96341262e-01 -5.09057874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.739649246 meters 0.06025051322259855 Centerline is valid? [True, True] Translation: X:46.94, Y:-4.86, Z:-5.09 [[ 9.61211892e-01 2.62775805e-01 8.37888669e-02 4.69382586e+01] [-2.61758208e-01 9.64856881e-01 -2.31049932e-02 -4.85797551e+00] [-8.69156980e-02 2.76370619e-04 9.96215632e-01 -5.09256377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.769649246 meters 0.06017998446523471 Centerline is valid? [True, True] Translation: X:46.97, Y:-4.87, Z:-5.10 [[ 9.61130811e-01 2.63131898e-01 8.36012419e-02 4.69698033e+01] [-2.62118502e-01 9.64759833e-01 -2.30728283e-02 -4.86760500e+00] [-8.67263173e-02 2.62573907e-04 9.96232140e-01 -5.09554427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.799649246 meters 0.06009408057061377 Centerline is valid? [True, True] Translation: X:47.00, Y:-4.88, Z:-5.10 [[ 9.61064706e-01 2.63150246e-01 8.43005251e-02 4.70003612e+01] [-2.62117539e-01 9.64754821e-01 -2.32923029e-02 -4.87699454e+00] [-8.74587133e-02 2.88764091e-04 9.96168103e-01 -5.09930307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.829649246 meters 0.06017819329875259 Centerline is valid? [True, True] Translation: X:47.03, Y:-4.88, Z:-5.10 [[ 9.61103804e-01 2.63526055e-01 8.26649659e-02 4.70312820e+01] [-2.62532671e-01 9.64652241e-01 -2.28615676e-02 -4.88449984e+00] [-8.57675632e-02 2.70085272e-04 9.96315137e-01 -5.10427060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.859649246000004 meters 0.06028490083101068 Centerline is valid? [True, True] Translation: X:47.06, Y:-4.89, Z:-5.11 [[ 9.60662872e-01 2.65547190e-01 8.13113578e-02 4.70626124e+01] [-2.64591562e-01 9.64097857e-01 -2.25083798e-02 -4.89137508e+00] [-8.43691429e-02 1.08665582e-04 9.96434562e-01 -5.10905659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.889649246000005 meters 0.060346297626248054 Centerline is valid? [True, True] Translation: X:47.09, Y:-4.90, Z:-5.11 [[ 9.60534299e-01 2.66359661e-01 8.01647809e-02 4.70934536e+01] [-2.65431949e-01 9.63873710e-01 -2.22115468e-02 -4.89917160e+00] [-8.31849848e-02 5.66585554e-05 9.96534121e-01 -5.11321551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.919649246 meters 0.060346297626248054 Centerline is valid? [True, True] Translation: X:47.12, Y:-4.91, Z:-5.12 [[ 9.60459097e-01 2.66632280e-01 8.01595243e-02 4.71243801e+01] [-2.65703934e-01 9.63798332e-01 -2.22304988e-02 -4.90792731e+00] [-8.31849844e-02 5.27838878e-05 9.96534122e-01 -5.11671188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.949649246 meters 0.06045562056793369 Centerline is valid? [True, True] Translation: X:47.15, Y:-4.92, Z:-5.12 [[ 9.61321370e-01 2.63445846e-01 8.03586380e-02 4.71541386e+01] [-2.62499651e-01 9.64674122e-01 -2.23108078e-02 -4.91869918e+00] [-8.33975882e-02 3.53741952e-04 9.96516290e-01 -5.12070552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.979649246 meters 0.0603834943947669 Centerline is valid? [True, True] Translation: X:47.18, Y:-4.93, Z:-5.12 [[ 9.61474058e-01 2.62635570e-01 8.11799995e-02 4.71844085e+01] [-2.61665000e-01 9.64894996e-01 -2.25626836e-02 -4.92779002e+00] [-8.42559385e-02 4.51470403e-04 9.96444044e-01 -5.12339920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.009649246 meters 0.060196688951077514 Centerline is valid? [True, True] Translation: X:47.22, Y:-4.94, Z:-5.13 [[ 9.61663053e-01 2.61689638e-01 8.19921097e-02 4.72151770e+01] [-2.60694225e-01 9.65151915e-01 -2.28101319e-02 -4.93677244e+00] [-8.51040169e-02 5.60791619e-04 9.96371914e-01 -5.12656569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.039649246 meters 0.06029027098109577 Centerline is valid? [True, True] Translation: X:47.24, Y:-4.94, Z:-5.13 [[ 9.61276993e-01 2.63017487e-01 8.22699460e-02 4.72445077e+01] [-2.62018234e-01 9.64790954e-01 -2.29098441e-02 -4.94499009e+00] [-8.53989893e-02 4.66480059e-04 9.96346724e-01 -5.13127147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.069649246000004 meters 0.060162171160626485 Centerline is valid? [True, True] Translation: X:47.27, Y:-4.95, Z:-5.13 [[ 9.61091081e-01 2.63203602e-01 8.38319684e-02 4.72735309e+01] [-2.62164819e-01 9.64740190e-01 -2.33660661e-02 -4.95479949e+00] [-8.70261019e-02 4.79124882e-04 9.96205916e-01 -5.13319642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.099649246 meters 0.06001013831079694 Centerline is valid? [True, True] Translation: X:47.30, Y:-4.97, Z:-5.13 [[ 9.60931828e-01 2.63575588e-01 8.44862807e-02 4.73041805e+01] [-2.62520219e-01 9.64638632e-01 -2.35678608e-02 -4.96536858e+00] [-8.77106430e-02 4.67750697e-04 9.96145885e-01 -5.13243475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.129649246 meters 0.059920153524374686 Centerline is valid? [True, True] Translation: X:47.33, Y:-4.97, Z:-5.14 [[ 9.60846448e-01 2.63608851e-01 8.53491494e-02 4.73338451e+01] [-2.62529829e-01 9.64629531e-01 -2.38318553e-02 -4.97389337e+00] [-8.86125979e-02 4.92055837e-04 9.96066045e-01 -5.13609126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.159649246 meters 0.059928645306934855 Centerline is valid? [True, True] Translation: X:47.37, Y:-4.98, Z:-5.14 [[ 9.60672876e-01 2.63877537e-01 8.64654318e-02 4.73651547e+01] [-2.62769234e-01 9.64556064e-01 -2.41646059e-02 -4.98169606e+00] [-8.97772533e-02 4.93826115e-04 9.95961747e-01 -5.13895247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.189649246 meters 0.05993729233648991 Centerline is valid? [True, True] Translation: X:47.40, Y:-4.99, Z:-5.14 [[ 9.60292653e-01 2.65007090e-01 8.72310889e-02 4.73958084e+01] [-2.63881560e-01 9.64246375e-01 -2.44018780e-02 -4.98922904e+00] [-9.05789319e-02 4.14268358e-04 9.95889193e-01 -5.14218938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.219649246 meters 0.05996840685402121 Centerline is valid? [True, True] Translation: X:47.43, Y:-5.00, Z:-5.15 [[ 9.60124386e-01 2.65694793e-01 8.69910420e-02 4.74272394e+01] [-2.64576275e-01 9.64057125e-01 -2.43568073e-02 -4.99712732e+00] [-9.03358107e-02 3.69798790e-04 9.95911294e-01 -5.14616033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.249649246000004 meters 0.060155390304298284 Centerline is valid? [True, True] Translation: X:47.46, Y:-5.00, Z:-5.15 [[ 9.59654365e-01 2.67877820e-01 8.54691362e-02 4.74585126e+01] [-2.66804517e-01 9.63452873e-01 -2.39564390e-02 -5.00237488e+00] [-8.87628835e-02 1.86349648e-04 9.96052768e-01 -5.15157487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.279649246000005 meters 0.06019069856612534 Centerline is valid? [True, True] Translation: X:47.49, Y:-5.01, Z:-5.16 [[ 9.59475337e-01 2.68981199e-01 8.40011435e-02 4.74896953e+01] [-2.67946811e-01 9.63145422e-01 -2.35669830e-02 -5.00977230e+00] [-8.72443922e-02 1.04100438e-04 9.96186933e-01 -5.15686256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.309649246 meters 0.06047694890246099 Centerline is valid? [True, True] Translation: X:47.52, Y:-5.01, Z:-5.16 [[ 9.58921546e-01 2.71584995e-01 8.19210512e-02 4.75206273e+01] [-2.70608940e-01 9.62414453e-01 -2.30048471e-02 -5.01433099e+00] [-8.50897750e-02 -1.08725230e-04 9.96373283e-01 -5.16268031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.339649246 meters 0.06047846257408544 Centerline is valid? [True, True] Translation: X:47.55, Y:-5.02, Z:-5.17 [[ 9.58565650e-01 2.72797202e-01 8.20583971e-02 4.75521393e+01] [-2.71820664e-01 9.62071540e-01 -2.30625080e-02 -5.02114234e+00] [-8.52374361e-02 -1.98239986e-04 9.96360648e-01 -5.16756895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.369649246 meters 0.060578264789042546 Centerline is valid? [True, True] Translation: X:47.58, Y:-5.03, Z:-5.17 [[ 9.58248054e-01 2.73849011e-01 8.22641268e-02 4.75830563e+01] [-2.72869265e-01 9.61772659e-01 -2.31455627e-02 -5.02783025e+00] [-8.54577774e-02 -2.68161372e-04 9.96341757e-01 -5.17092657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.399649246 meters 0.06045157754061768 Centerline is valid? [True, True] Translation: X:47.61, Y:-5.04, Z:-5.17 [[ 9.58074175e-01 2.74484340e-01 8.21719053e-02 4.76140740e+01] [-2.73507193e-01 9.61591522e-01 -2.31421767e-02 -5.03658135e+00] [-8.53679726e-02 -3.02685239e-04 9.96349446e-01 -5.17427481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.429649246000004 meters 0.06048270491520585 Centerline is valid? [True, True] Translation: X:47.65, Y:-5.05, Z:-5.18 [[ 9.58005691e-01 2.74502629e-01 8.29059881e-02 4.76451930e+01] [-2.73505735e-01 9.61586308e-01 -2.33748991e-02 -5.04521081e+00] [-8.61377342e-02 -2.81976908e-04 9.96283198e-01 -5.17705803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.459649246000005 meters 0.06042150572509841 Centerline is valid? [True, True] Translation: X:47.68, Y:-5.05, Z:-5.18 [[ 9.58040219e-01 2.74202129e-01 8.34992839e-02 4.76760113e+01] [-2.73187779e-01 9.61672053e-01 -2.35648089e-02 -5.05479367e+00] [-8.67604485e-02 -2.34949271e-04 9.96229175e-01 -5.18076131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.489649246 meters 0.06036936163523001 Centerline is valid? [True, True] Translation: X:47.71, Y:-5.07, Z:-5.18 [[ 9.58151953e-01 2.73569390e-01 8.42889255e-02 4.77055572e+01] [-2.72531243e-01 9.61852257e-01 -2.38108671e-02 -5.06546362e+00] [-8.75874176e-02 -1.56936824e-04 9.96156825e-01 -5.18269992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.519649246 meters 0.060292488282343855 Centerline is valid? [True, True] Translation: X:47.74, Y:-5.08, Z:-5.19 [[ 9.58049782e-01 2.73540650e-01 8.55343623e-02 4.77356397e+01] [-2.72469544e-01 9.61860434e-01 -2.41837403e-02 -5.07530973e+00] [-8.88873549e-02 -1.36281534e-04 9.96041676e-01 -5.18518107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.549649246 meters 0.060128478848399364 Centerline is valid? [True, True] Translation: X:47.76, Y:-5.09, Z:-5.19 [[ 9.58385495e-01 2.72070602e-01 8.64570989e-02 4.77649373e+01] [-2.70968179e-01 9.62277292e-01 -2.44675107e-02 -5.08801314e+00] [-8.98525934e-02 2.21846908e-05 9.95955075e-01 -5.18646186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.579649246 meters 0.060056880871916234 Centerline is valid? [True, True] Translation: X:47.79, Y:-5.10, Z:-5.19 [[ 9.58902787e-01 2.70476470e-01 8.57200339e-02 4.77935421e+01] [-2.69384386e-01 9.62726567e-01 -2.42818887e-02 -5.10119693e+00] [-8.90926335e-02 1.92332047e-04 9.96023326e-01 -5.18969520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.609649246000004 meters 0.06024318954951818 Centerline is valid? [True, True] Translation: X:47.82, Y:-5.11, Z:-5.19 [[ 9.59162881e-01 2.69477531e-01 8.59559644e-02 4.78231974e+01] [-2.68373565e-01 9.63006629e-01 -2.43693049e-02 -5.11212967e+00] [-8.93431436e-02 3.05824077e-04 9.96000858e-01 -5.19470962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.639649246000005 meters 0.060266414502746515 Centerline is valid? [True, True] Translation: X:47.85, Y:-5.13, Z:-5.20 [[ 9.60157044e-01 2.65666495e-01 8.67165720e-02 4.78531730e+01] [-2.64525143e-01 9.64064748e-01 -2.46091655e-02 -5.12645979e+00] [-9.01382209e-02 6.89949995e-04 9.95929026e-01 -5.19676940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.669649246 meters 0.0604238189283298 Centerline is valid? [True, True] Translation: X:47.88, Y:-5.14, Z:-5.20 [[ 9.60676084e-01 2.62872767e-01 8.94391947e-02 4.78836983e+01] [-2.61643724e-01 9.64829979e-01 -2.54100894e-02 -5.13898629e+00] [-9.29732369e-02 1.00966120e-03 9.95668096e-01 -5.19539140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.699649246 meters 0.06062851329496751 Centerline is valid? [True, True] Translation: X:47.91, Y:-5.15, Z:-5.20 [[ 9.61355782e-01 2.60154250e-01 9.00823290e-02 4.79127405e+01] [-2.58893262e-01 9.65566188e-01 -2.56167080e-02 -5.14905089e+00] [-9.36447465e-02 1.30506234e-03 9.95604820e-01 -5.19689841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.729649246 meters 0.0612342649364519 Centerline is valid? [True, True] Translation: X:47.94, Y:-5.15, Z:-5.21 [[ 9.61590797e-01 2.61414847e-01 8.36983666e-02 4.79434717e+01] [-2.60329777e-01 9.65225898e-01 -2.38196068e-02 -5.15021539e+00] [-8.70146299e-02 1.11553763e-03 9.96206409e-01 -5.21141155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.759649246 meters 0.06133728584469839 Centerline is valid? [True, True] Translation: X:47.98, Y:-5.15, Z:-5.22 [[ 9.61146028e-01 2.64431151e-01 7.92116150e-02 4.79757125e+01] [-2.63468312e-01 9.64404223e-01 -2.25597877e-02 -5.15176201e+00] [-8.23575266e-02 8.13499815e-04 9.96602517e-01 -5.22071267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.789649246 meters 0.06193739815209249 Centerline is valid? [True, True] Translation: X:48.01, Y:-5.16, Z:-5.23 [[ 9.61511808e-01 2.64397580e-01 7.47593712e-02 4.80056862e+01] [-2.63538631e-01 9.64413449e-01 -2.13093967e-02 -5.15833870e+00] [-7.77330959e-02 7.87254269e-04 9.96973894e-01 -5.22913368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.819649246000004 meters 0.061924060621268776 Centerline is valid? [True, True] Translation: X:48.04, Y:-5.17, Z:-5.23 [[ 9.61430512e-01 2.64982778e-01 7.37258296e-02 4.80362976e+01] [-2.64147896e-01 9.64252856e-01 -2.10313511e-02 -5.16672695e+00] [-7.66632876e-02 7.45659891e-04 9.97056761e-01 -5.23124895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.849649246 meters 0.06164156362690337 Centerline is valid? [True, True] Translation: X:48.07, Y:-5.18, Z:-5.23 [[ 9.60840170e-01 2.67336280e-01 7.29210560e-02 4.80680005e+01] [-2.66524973e-01 9.63603129e-01 -2.08194382e-02 -5.17535144e+00] [-7.58327489e-02 5.68870102e-04 9.97120389e-01 -5.23190747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.879649246 meters 0.061464963998543225 Centerline is valid? [True, True] Translation: X:48.10, Y:-5.18, Z:-5.23 [[ 9.60573823e-01 2.68279997e-01 7.29641970e-02 4.80995933e+01] [-2.67468779e-01 9.63340842e-01 -2.08536679e-02 -5.18368779e+00] [-7.58840129e-02 5.15842876e-04 9.97116518e-01 -5.23407482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.909649246 meters 0.061488716789608766 Centerline is valid? [True, True] Translation: X:48.13, Y:-5.19, Z:-5.24 [[ 9.60153220e-01 2.69373201e-01 7.44571850e-02 4.81296750e+01] [-2.68529763e-01 9.63035755e-01 -2.13049534e-02 -5.19065779e+00] [-7.74439148e-02 4.62049374e-04 9.96996603e-01 -5.23997321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.939649246 meters 0.06126025723065472 Centerline is valid? [True, True] Translation: X:48.16, Y:-5.20, Z:-5.24 [[ 9.60020802e-01 2.69524635e-01 7.56077463e-02 4.81611493e+01] [-2.68653937e-01 9.62993378e-01 -2.16521555e-02 -5.19801992e+00] [-7.86455483e-02 4.74201001e-04 9.96902529e-01 -5.24060548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.969649246 meters 0.06077210451647719 Centerline is valid? [True, True] Translation: X:48.19, Y:-5.21, Z:-5.24 [[ 9.59686769e-01 2.69737564e-01 7.90123526e-02 4.81918485e+01] [-2.68785412e-01 9.62933745e-01 -2.26496030e-02 -5.20645566e+00] [-8.21931093e-02 4.99156576e-04 9.96616297e-01 -5.24027051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.999649246000004 meters 0.06057435877137819 Centerline is valid? [True, True] Translation: X:48.22, Y:-5.21, Z:-5.24 [[ 9.59083517e-01 2.71515941e-01 8.02365315e-02 4.82234655e+01] [-2.70538656e-01 9.62433872e-01 -2.30190976e-02 -5.21447562e+00] [-8.34724076e-02 3.70153755e-04 9.96510020e-01 -5.24032596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.029649246000005 meters 0.06057058350422682 Centerline is valid? [True, True] Translation: X:48.25, Y:-5.22, Z:-5.25 [[ 9.58843861e-01 2.72230279e-01 8.06791542e-02 4.82533661e+01] [-2.71242845e-01 9.62232075e-01 -2.31679390e-02 -5.22330840e+00] [-8.39390845e-02 3.30792779e-04 9.96470833e-01 -5.24506013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.059649246 meters 0.060570176716619 Centerline is valid? [True, True] Translation: X:48.28, Y:-5.23, Z:-5.25 [[ 9.58586820e-01 2.73071778e-01 8.08895052e-02 4.82848272e+01] [-2.72080400e-01 9.61993621e-01 -2.32492828e-02 -5.23156184e+00] [-8.41639110e-02 2.78007119e-04 9.96451885e-01 -5.24704677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.089649246 meters 0.06055265045389922 Centerline is valid? [True, True] Translation: X:48.32, Y:-5.24, Z:-5.25 [[ 9.58097856e-01 2.74875568e-01 8.05724568e-02 4.83167147e+01] [-2.73896365e-01 9.61479798e-01 -2.31814454e-02 -5.23814766e+00] [-8.38408025e-02 1.41590117e-04 9.96479152e-01 -5.24992207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.119649246 meters 0.060600645680849635 Centerline is valid? [True, True] Translation: X:48.35, Y:-5.24, Z:-5.25 [[ 9.57673676e-01 2.76249463e-01 8.09157834e-02 4.83482673e+01] [-2.75264638e-01 9.61085965e-01 -2.33055106e-02 -5.24493640e+00] [-8.42051586e-02 4.58201222e-05 9.96448438e-01 -5.25321113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.149649246 meters 0.060700313793313934 Centerline is valid? [True, True] Translation: X:48.38, Y:-5.25, Z:-5.26 [[ 9.56899882e-01 2.79142302e-01 8.01385792e-02 4.83791666e+01] [-2.78184649e-01 9.60249728e-01 -2.31032548e-02 -5.24801427e+00] [-8.34021447e-02 -1.85820686e-04 9.96515955e-01 -5.25869283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.179649246000004 meters 0.06080795727995568 Centerline is valid? [True, True] Translation: X:48.41, Y:-5.25, Z:-5.26 [[ 9.56290501e-01 2.81205533e-01 8.01992893e-02 4.84114428e+01] [-2.80252120e-01 9.59647501e-01 -2.31392011e-02 -5.25415769e+00] [-8.34699190e-02 -3.48222586e-04 9.96510236e-01 -5.26253743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.209649246000005 meters 0.06117496939749316 Centerline is valid? [True, True] Translation: X:48.44, Y:-5.26, Z:-5.27 [[ 9.55031517e-01 2.85659101e-01 7.94586671e-02 4.84429111e+01] [-2.84736550e-01 9.58331038e-01 -2.29503328e-02 -5.25586575e+00] [-8.27036784e-02 -7.06495608e-04 9.96573932e-01 -5.26796960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.239649246 meters 0.06137031150103152 Centerline is valid? [True, True] Translation: X:48.47, Y:-5.26, Z:-5.27 [[ 9.54230916e-01 2.88424594e-01 7.90861077e-02 4.84745834e+01] [-2.87518636e-01 9.57502167e-01 -2.28611962e-02 -5.26109569e+00] [-8.23188508e-02 -9.23869637e-04 9.96605616e-01 -5.27309177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.269649246 meters 0.06151296060453455 Centerline is valid? [True, True] Translation: X:48.51, Y:-5.27, Z:-5.28 [[ 9.53339583e-01 2.91406731e-01 7.89034623e-02 4.85056147e+01] [-2.90513447e-01 9.56598544e-01 -2.28289846e-02 -5.26696205e+00] [-8.21314570e-02 -1.15874212e-03 9.96620831e-01 -5.27515118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.299649246 meters 0.06189231921048445 Centerline is valid? [True, True] Translation: X:48.54, Y:-5.27, Z:-5.28 [[ 9.52914599e-01 2.92920475e-01 7.84306228e-02 4.85357400e+01] [-2.92041419e-01 9.56135974e-01 -2.27114380e-02 -5.27386843e+00] [-8.16429851e-02 -1.26292961e-03 9.96660839e-01 -5.27907902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.329649246 meters 0.062093480990745964 Centerline is valid? [True, True] Translation: X:48.57, Y:-5.28, Z:-5.28 [[ 9.52012414e-01 2.95618504e-01 7.92594700e-02 4.85669833e+01] [-2.94728455e-01 9.55304912e-01 -2.29708944e-02 -5.28113573e+00] [-8.25075825e-02 -1.49144453e-03 9.96589321e-01 -5.28119385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.359649246000004 meters 0.06276500555817063 Centerline is valid? [True, True] Translation: X:48.60, Y:-5.28, Z:-5.29 [[ 9.51814606e-01 2.96280848e-01 7.91619575e-02 4.85986552e+01] [-2.95393601e-01 9.55099642e-01 -2.29629010e-02 -5.28488198e+00] [-8.24110251e-02 -1.52751112e-03 9.96597255e-01 -5.28829053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.389649246000005 meters 0.06183037028731479 Centerline is valid? [True, True] Translation: X:48.63, Y:-5.30, Z:-5.29 [[ 9.52334697e-01 2.94435870e-01 7.97881196e-02 4.86290890e+01] [-2.93526133e-01 9.55670277e-01 -2.31674664e-02 -5.29687072e+00] [-8.30724674e-02 -1.35671614e-03 9.96542585e-01 -5.28720737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.419649246 meters 0.06205546411264721 Centerline is valid? [True, True] Translation: X:48.66, Y:-5.31, Z:-5.29 [[ 9.52596147e-01 2.93392265e-01 8.05081388e-02 4.86586661e+01] [-2.92460459e-01 9.55991318e-01 -2.33982752e-02 -5.30502808e+00] [-8.38299547e-02 -1.25634049e-03 9.96479282e-01 -5.29189947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.449649246 meters 0.061712805496711605 Centerline is valid? [True, True] Translation: X:48.69, Y:-5.32, Z:-5.30 [[ 9.52752351e-01 2.93532167e-01 7.81141802e-02 4.86883391e+01] [-2.92654048e-01 9.55948426e-01 -2.27203419e-02 -5.31563862e+00] [-8.13422789e-02 -1.21357192e-03 9.96685487e-01 -5.29518022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.479649246 meters 0.06183450992448998 Centerline is valid? [True, True] Translation: X:48.72, Y:-5.32, Z:-5.30 [[ 9.52460557e-01 2.94698482e-01 7.72767313e-02 4.87186761e+01] [-2.93841475e-01 9.55589432e-01 -2.24949982e-02 -5.32352828e+00] [-8.04740696e-02 -1.28151020e-03 9.96755879e-01 -5.29969973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.509649246 meters 0.06260199287524702 Centerline is valid? [True, True] Translation: X:48.75, Y:-5.33, Z:-5.31 [[ 9.51743581e-01 2.97090817e-01 7.69493501e-02 4.87485585e+01] [-2.96247179e-01 9.54848115e-01 -2.24206578e-02 -5.33079827e+00] [-8.01359134e-02 -1.45731077e-03 9.96782881e-01 -5.30533415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.539649246 meters 0.06228797056390443 Centerline is valid? [True, True] Translation: X:48.78, Y:-5.34, Z:-5.31 [[ 9.52094641e-01 2.95800326e-01 7.75755188e-02 4.87775917e+01] [-2.94937075e-01 9.55248851e-01 -2.26219959e-02 -5.34300566e+00] [-8.07955190e-02 -1.34161550e-03 9.96729795e-01 -5.30842590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.569649246000004 meters 0.06187569099239543 Centerline is valid? [True, True] Translation: X:48.81, Y:-5.36, Z:-5.31 [[ 9.52303996e-01 2.94744710e-01 7.90104779e-02 4.88063171e+01] [-2.93843759e-01 9.55575210e-01 -2.30621635e-02 -5.35568140e+00] [-8.22979047e-02 -1.25454535e-03 9.96606984e-01 -5.30842118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.599649246 meters 0.0615588430088346 Centerline is valid? [True, True] Translation: X:48.84, Y:-5.37, Z:-5.31 [[ 9.52434114e-01 2.93972020e-01 8.03100885e-02 4.88356780e+01] [-2.93036766e-01 9.55813286e-01 -2.34609422e-02 -5.36852777e+00] [-8.36583102e-02 -1.18880691e-03 9.96493790e-01 -5.30966543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.629649246 meters 0.06137757160329601 Centerline is valid? [True, True] Translation: X:48.87, Y:-5.38, Z:-5.31 [[ 9.52479794e-01 2.93505036e-01 8.14680043e-02 4.88661708e+01] [-2.92539039e-01 9.55956843e-01 -2.38206878e-02 -5.37891743e+00] [-8.48713880e-02 -1.14384785e-03 9.96391258e-01 -5.31304901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.659649246 meters 0.06129480901631048 Centerline is valid? [True, True] Translation: X:48.90, Y:-5.39, Z:-5.32 [[ 9.52650436e-01 2.92914740e-01 8.15971886e-02 4.88958096e+01] [-2.91941680e-01 9.56137963e-01 -2.38799245e-02 -5.38861349e+00] [-8.50129516e-02 -1.07239978e-03 9.96379269e-01 -5.31636876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.689649246 meters 0.06143263226655574 Centerline is valid? [True, True] Translation: X:48.93, Y:-5.40, Z:-5.32 [[ 9.52674414e-01 2.93110051e-01 8.06099205e-02 4.89255538e+01] [-2.92159596e-01 9.56078122e-01 -2.36092026e-02 -5.40054735e+00] [-8.39894761e-02 -1.05907858e-03 9.96466079e-01 -5.31996196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.719649246 meters 0.061505545961757564 Centerline is valid? [True, True] Translation: X:48.96, Y:-5.41, Z:-5.32 [[ 9.52764876e-01 2.92984901e-01 7.99933630e-02 4.89560257e+01] [-2.92046834e-01 9.56116523e-01 -2.34486928e-02 -5.41126365e+00] [-8.33530890e-02 -1.02071743e-03 9.96519554e-01 -5.32422633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.749649246000004 meters 0.061601324964150585 Centerline is valid? [True, True] Translation: X:48.99, Y:-5.42, Z:-5.33 [[ 9.52642203e-01 2.93844437e-01 7.82833376e-02 4.89853535e+01] [-2.92946961e-01 9.55852681e-01 -2.29723723e-02 -5.42052686e+00] [-8.15776419e-02 -1.04841450e-03 9.96666438e-01 -5.32801470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.779649246000005 meters 0.06174842413094036 Centerline is valid? [True, True] Translation: X:49.02, Y:-5.43, Z:-5.33 [[ 9.52198930e-01 2.95514216e-01 7.73856964e-02 4.90158565e+01] [-2.94641242e-01 9.55337638e-01 -2.27274299e-02 -5.42840425e+00] [-8.06457470e-02 -1.15998324e-03 9.96742152e-01 -5.33209934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.809649246 meters 0.06174842413094036 Centerline is valid? [True, True] Translation: X:49.05, Y:-5.44, Z:-5.34 [[ 9.52116860e-01 2.95779911e-01 7.73804228e-02 4.90466592e+01] [-2.94906355e-01 9.55255406e-01 -2.27453686e-02 -5.43764197e+00] [-8.06456902e-02 -1.16372955e-03 9.96742152e-01 -5.33559645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.839649246 meters 0.06184375480535799 Centerline is valid? [True, True] Translation: X:49.08, Y:-5.45, Z:-5.34 [[ 9.51918032e-01 2.96503225e-01 7.70577553e-02 4.90771923e+01] [-2.95637363e-01 9.55031102e-01 -2.26747408e-02 -5.44588684e+00] [-8.03156867e-02 -1.19665694e-03 9.96768759e-01 -5.33898190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.869649246 meters 0.06190494005821407 Centerline is valid? [True, True] Translation: X:49.11, Y:-5.45, Z:-5.34 [[ 9.51463334e-01 2.97807437e-01 7.76418317e-02 4.91078694e+01] [-2.96930876e-01 9.54625085e-01 -2.28692254e-02 -5.45297383e+00] [-8.09294656e-02 -1.29502762e-03 9.96718990e-01 -5.34397116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.899649246 meters 0.06220836940136273 Centerline is valid? [True, True] Translation: X:49.14, Y:-5.46, Z:-5.35 [[ 9.51048397e-01 2.98968023e-01 7.82628076e-02 4.91400135e+01] [-2.98080298e-01 9.54262113e-01 -2.30641785e-02 -5.46078111e+00] [-8.15786839e-02 -1.39345105e-03 9.96665930e-01 -5.34721329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.929649246000004 meters 0.06181903492370924 Centerline is valid? [True, True] Translation: X:49.17, Y:-5.47, Z:-5.35 [[ 9.50491502e-01 3.00444399e-01 7.93666626e-02 4.91717891e+01] [-2.99534604e-01 9.53798121e-01 -2.34129410e-02 -5.46998002e+00] [-8.27340606e-02 -1.51926044e-03 9.96570503e-01 -5.34708211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.959649246000005 meters 0.062086274474332674 Centerline is valid? [True, True] Translation: X:49.20, Y:-5.48, Z:-5.35 [[ 9.50732844e-01 2.99507362e-01 8.00149901e-02 4.92016323e+01] [-2.98577059e-01 9.54092927e-01 -2.36310661e-02 -5.47804396e+00] [-8.34194144e-02 -1.42380969e-03 9.96513509e-01 -5.35348209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.989649246 meters 0.061559695098345905 Centerline is valid? [True, True] Translation: X:49.23, Y:-5.49, Z:-5.35 [[ 9.50948790e-01 2.98669308e-01 8.05794204e-02 4.92317141e+01] [-2.97721101e-01 9.54355724e-01 -2.38180171e-02 -5.48974418e+00] [-8.40151418e-02 -1.34047920e-03 9.96463576e-01 -5.35364860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.019649246 meters 0.06123211278272725 Centerline is valid? [True, True] Translation: X:49.26, Y:-5.50, Z:-5.36 [[ 9.51188796e-01 2.97629299e-01 8.15884531e-02 4.92618060e+01] [-2.96651470e-01 9.54680708e-01 -2.41381594e-02 -5.50132830e+00] [-8.50751457e-02 -1.24338776e-03 9.96373762e-01 -5.35670710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.049649246 meters 0.06125686636013919 Centerline is valid? [True, True] Translation: X:49.29, Y:-5.51, Z:-5.36 [[ 9.51400958e-01 2.96753596e-01 8.23013948e-02 4.92911577e+01] [-2.95753369e-01 9.54953387e-01 -2.43715579e-02 -5.51140995e+00] [-8.58263432e-02 -1.15379124e-03 9.96309444e-01 -5.36265401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.079649246 meters 0.060697292413430734 Centerline is valid? [True, True] Translation: X:49.32, Y:-5.53, Z:-5.36 [[ 9.51754387e-01 2.95370577e-01 8.31853930e-02 4.93208051e+01] [-2.94341469e-01 9.55382219e-01 -2.46559228e-02 -5.52521387e+00] [-8.67564795e-02 -1.01852811e-03 9.96229028e-01 -5.36202297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.109649246000004 meters 0.06053244304688719 Centerline is valid? [True, True] Translation: X:49.35, Y:-5.54, Z:-5.36 [[ 9.51882992e-01 2.94740923e-01 8.39437791e-02 4.93513138e+01] [-2.93688214e-01 9.55576734e-01 -2.49065847e-02 -5.53687585e+00] [-8.75557121e-02 -9.45144179e-04 9.96159176e-01 -5.36419832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.139649246000005 meters 0.060074609896458235 Centerline is valid? [True, True] Translation: X:49.38, Y:-5.55, Z:-5.37 [[ 9.52984083e-01 2.90965502e-01 8.46192320e-02 4.93805091e+01] [-2.89880444e-01 9.56733358e-01 -2.51119455e-02 -5.55235599e+00] [-8.82647519e-02 -5.98176140e-04 9.96096871e-01 -5.36604260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.169649246 meters 0.060069287623550904 Centerline is valid? [True, True] Translation: X:49.41, Y:-5.56, Z:-5.37 [[ 9.53366130e-01 2.89904801e-01 8.39537242e-02 4.94099680e+01] [-2.88830731e-01 9.57055370e-01 -2.49364704e-02 -5.56411961e+00] [-8.75775651e-02 -4.74829272e-04 9.96157590e-01 -5.37121124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.199649246 meters 0.060097762081016866 Centerline is valid? [True, True] Translation: X:49.44, Y:-5.57, Z:-5.37 [[ 9.53480576e-01 2.89655763e-01 8.35124603e-02 4.94405030e+01] [-2.88589994e-01 9.57130794e-01 -2.48285921e-02 -5.57477402e+00] [-8.71240922e-02 -4.27280102e-04 9.96197375e-01 -5.37458902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.229649246 meters 0.05975276183706823 Centerline is valid? [True, True] Translation: X:49.47, Y:-5.58, Z:-5.38 [[ 9.53480704e-01 2.89422628e-01 8.43154129e-02 4.94697452e+01] [-2.88332930e-01 9.57201335e-01 -2.50943450e-02 -5.58375582e+00] [-8.79696970e-02 -3.83936345e-04 9.96123077e-01 -5.37760659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.259649246 meters 0.0595613911255389 Centerline is valid? [True, True] Translation: X:49.50, Y:-5.59, Z:-5.38 [[ 9.53319619e-01 2.89477778e-01 8.59320685e-02 4.94998574e+01] [-2.88344123e-01 9.57184661e-01 -2.55967238e-02 -5.59318050e+00] [-8.96625406e-02 -3.76147925e-04 9.95972132e-01 -5.37965392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.289649246 meters 0.05951975394791653 Centerline is valid? [True, True] Translation: X:49.53, Y:-5.60, Z:-5.38 [[ 9.53281547e-01 2.89572090e-01 8.60365960e-02 4.95310524e+01] [-2.88434079e-01 9.57156138e-01 -2.56497665e-02 -5.60285772e+00] [-8.97779124e-02 -3.64437229e-04 9.95961743e-01 -5.38331921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.319649246000004 meters 0.05945920243512334 Centerline is valid? [True, True] Translation: X:49.56, Y:-5.61, Z:-5.39 [[ 9.53244525e-01 2.89485689e-01 8.67347159e-02 4.95602989e+01] [-2.88326268e-01 9.57182284e-01 -2.58850997e-02 -5.61187926e+00] [-9.05142993e-02 -3.33067386e-04 9.95895100e-01 -5.38802884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.349649246000006 meters 0.05947430463472001 Centerline is valid? [True, True] Translation: X:49.59, Y:-5.62, Z:-5.39 [[ 9.53607942e-01 2.88317878e-01 8.66296406e-02 4.95910667e+01] [-2.87154661e-01 9.57534730e-01 -2.58735517e-02 -5.62261963e+00] [-9.04106971e-02 -2.02880687e-04 9.95904546e-01 -5.39037101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.379649246 meters 0.059369820932474546 Centerline is valid? [True, True] Translation: X:49.62, Y:-5.63, Z:-5.39 [[ 9.53827577e-01 2.87599891e-01 8.65982400e-02 4.96220818e+01] [-2.86432179e-01 9.57750641e-01 -2.58904697e-02 -5.63449581e+00] [-9.03856161e-02 -1.09478561e-04 9.95906837e-01 -5.39359329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.409649246 meters 0.05936677897833148 Centerline is valid? [True, True] Translation: X:49.65, Y:-5.65, Z:-5.40 [[ 9.54004019e-01 2.87076424e-01 8.63913072e-02 4.96529882e+01] [-2.85909793e-01 9.57907681e-01 -2.58546795e-02 -5.64596359e+00] [-9.01771657e-02 -3.46526422e-05 9.95925739e-01 -5.39537843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.439649246 meters 0.059308029298162 Centerline is valid? [True, True] Translation: X:49.68, Y:-5.66, Z:-5.40 [[ 9.54119235e-01 2.86491784e-01 8.70571310e-02 4.96828518e+01] [-2.85302079e-01 9.58082698e-01 -2.60819510e-02 -5.65623920e+00] [-9.08801955e-02 4.77106235e-05 9.95861832e-01 -5.39941158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.469649246 meters 0.059342122892206604 Centerline is valid? [True, True] Translation: X:49.71, Y:-5.67, Z:-5.40 [[ 9.54183078e-01 2.86290175e-01 8.70206270e-02 4.97133088e+01] [-2.85098500e-01 9.58142958e-01 -2.60943945e-02 -5.66553544e+00] [-9.08487697e-02 8.93793584e-05 9.95864696e-01 -5.40336391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.499649246000004 meters 0.05955961965782739 Centerline is valid? [True, True] Translation: X:49.74, Y:-5.68, Z:-5.41 [[ 9.54529996e-01 2.85305065e-01 8.64494427e-02 4.97431467e+01] [-2.84122691e-01 9.58436736e-01 -2.59483943e-02 -5.67635011e+00] [-9.02595300e-02 2.06272333e-04 9.95918257e-01 -5.40826877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.529649246000005 meters 0.059574321695983784 Centerline is valid? [True, True] Translation: X:49.77, Y:-5.69, Z:-5.41 [[ 9.54512421e-01 2.85292132e-01 8.66858604e-02 4.97740692e+01] [-2.84101143e-01 9.58440581e-01 -2.60421561e-02 -5.68690087e+00] [-9.05128686e-02 2.30009438e-04 9.95895259e-01 -5.41195107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.559649246 meters 0.05952644914865223 Centerline is valid? [True, True] Translation: X:49.80, Y:-5.70, Z:-5.41 [[ 9.54311214e-01 2.85967114e-01 8.66770777e-02 4.98049915e+01] [-2.84776741e-01 9.58239413e-01 -2.60659699e-02 -5.69833303e+00] [-9.05114022e-02 1.91431752e-04 9.95895401e-01 -5.41263060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.589649246 meters 0.059275702943337824 Centerline is valid? [True, True] Translation: X:49.83, Y:-5.71, Z:-5.42 [[ 9.54523112e-01 2.84871529e-01 8.79422511e-02 4.98347567e+01] [-2.83638863e-01 9.58565650e-01 -2.64743348e-02 -5.70931355e+00] [-9.18402053e-02 3.26524330e-04 9.95773704e-01 -5.41586782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.619649246 meters 0.059390220854602674 Centerline is valid? [True, True] Translation: X:49.86, Y:-5.72, Z:-5.42 [[ 9.54724003e-01 2.84220772e-01 8.78671223e-02 4.98646576e+01] [-2.82985293e-01 9.58758772e-01 -2.64752862e-02 -5.71936276e+00] [-9.17682006e-02 4.11487831e-04 9.95780311e-01 -5.42132899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.649649246 meters 0.059523123347160735 Centerline is valid? [True, True] Translation: X:49.89, Y:-5.73, Z:-5.42 [[ 9.55008437e-01 2.83535175e-01 8.69867254e-02 4.98946969e+01] [-2.82319248e-01 9.58961708e-01 -2.62351857e-02 -5.72946598e+00] [-9.08555367e-02 4.96796857e-04 9.95863959e-01 -5.42486227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.679649246000004 meters 0.05972936884326828 Centerline is valid? [True, True] Translation: X:49.92, Y:-5.74, Z:-5.43 [[ 9.55401323e-01 2.82565063e-01 8.58213152e-02 4.99231680e+01] [-2.81375576e-01 9.59247946e-01 -2.59068371e-02 -5.74116824e+00] [-8.96442874e-02 6.03404450e-04 9.95973663e-01 -5.43099310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.709649246000005 meters 0.05965762064027165 Centerline is valid? [True, True] Translation: X:49.95, Y:-5.75, Z:-5.44 [[ 9.55794103e-01 2.81896493e-01 8.36181810e-02 4.99534857e+01] [-2.80763126e-01 9.59444590e-01 -2.52615492e-02 -5.75173129e+00] [-8.73481535e-02 6.67937795e-04 9.96177622e-01 -5.43522734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.739649246 meters 0.0595815570478664 Centerline is valid? [True, True] Translation: X:49.98, Y:-5.76, Z:-5.44 [[ 9.55967628e-01 2.81179788e-01 8.40465385e-02 4.99848152e+01] [-2.80030099e-01 9.59654809e-01 -2.54124272e-02 -5.76155358e+00] [-8.78011257e-02 7.57897285e-04 9.96137735e-01 -5.43740105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.769649246 meters 0.059592925701025 Centerline is valid? [True, True] Translation: X:50.02, Y:-5.77, Z:-5.44 [[ 9.56040456e-01 2.80469116e-01 8.55787459e-02 5.00152254e+01] [-2.79271701e-01 9.59862660e-01 -2.59034809e-02 -5.77231510e+00] [-8.94089691e-02 8.65053739e-04 9.95994622e-01 -5.44026338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.799649246 meters 0.05969712442237682 Centerline is valid? [True, True] Translation: X:50.05, Y:-5.78, Z:-5.44 [[ 9.56149023e-01 2.79941747e-01 8.60910219e-02 5.00451081e+01] [-2.78725575e-01 9.60016525e-01 -2.60830565e-02 -5.78218482e+00] [-8.99505400e-02 9.43519436e-04 9.95945787e-01 -5.44393042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.829649246 meters 0.059576265245367695 Centerline is valid? [True, True] Translation: X:50.08, Y:-5.79, Z:-5.45 [[ 9.56000912e-01 2.80516624e-01 8.58643087e-02 5.00766147e+01] [-2.79307894e-01 9.59848745e-01 -2.60285948e-02 -5.79031258e+00] [-8.97182024e-02 9.00781141e-04 9.95966783e-01 -5.44652204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.859649246000004 meters 0.05950619179236132 Centerline is valid? [True, True] Translation: X:50.11, Y:-5.80, Z:-5.45 [[ 9.55602379e-01 2.81788833e-01 8.61344703e-02 5.01077916e+01] [-2.80575164e-01 9.59476106e-01 -2.61377125e-02 -5.79844667e+00] [-9.00092816e-02 8.10067137e-04 9.95940597e-01 -5.45027306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.889649246000005 meters 0.059443490265771455 Centerline is valid? [True, True] Translation: X:50.14, Y:-5.81, Z:-5.45 [[ 9.55336121e-01 2.82559141e-01 8.65634286e-02 5.01372726e+01] [-2.81334306e-01 9.59249575e-01 -2.62918397e-02 -5.80640542e+00] [-9.04649318e-02 7.64282085e-04 9.95899348e-01 -5.45419460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.919649246 meters 0.059428357888432204 Centerline is valid? [True, True] Translation: X:50.17, Y:-5.81, Z:-5.46 [[ 9.54593420e-01 2.84890298e-01 8.71144107e-02 5.01685332e+01] [-2.83657476e-01 9.58559959e-01 -2.64809519e-02 -5.81201426e+00] [-9.10485522e-02 5.67888606e-04 9.95846293e-01 -5.45760732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.949649246 meters 0.05935306544108652 Centerline is valid? [True, True] Translation: X:50.20, Y:-5.82, Z:-5.46 [[ 9.53920247e-01 2.87321641e-01 8.65010788e-02 5.02006087e+01] [-2.86114083e-01 9.57834092e-01 -2.63169649e-02 -5.81770600e+00] [-9.04151159e-02 3.55108804e-04 9.95904102e-01 -5.46263508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.979649246 meters 0.05938164265337191 Centerline is valid? [True, True] Translation: X:50.23, Y:-5.83, Z:-5.47 [[ 9.53612056e-01 2.88554279e-01 8.57932121e-02 5.02316297e+01] [-2.87369088e-01 9.57463503e-01 -2.61275228e-02 -5.82601732e+00] [-8.96830779e-02 2.61203701e-04 9.95970319e-01 -5.46679397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.009649246 meters 0.0593925187982224 Centerline is valid? [True, True] Translation: X:50.26, Y:-5.83, Z:-5.47 [[ 9.53466299e-01 2.89246716e-01 8.50785199e-02 5.02624745e+01] [-2.88081622e-01 9.57254558e-01 -2.59362652e-02 -5.83462274e+00] [-8.89437805e-02 2.19796735e-04 9.96036624e-01 -5.47112897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.039649246 meters 0.059521054766800224 Centerline is valid? [True, True] Translation: X:50.29, Y:-5.84, Z:-5.48 [[ 9.53360435e-01 2.90066974e-01 8.34567680e-02 5.02931283e+01] [-2.88947197e-01 9.57006335e-01 -2.54635613e-02 -5.84213367e+00] [-8.72547938e-02 1.61352710e-04 9.96186014e-01 -5.47580884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.069649246000004 meters 0.05958951688692199 Centerline is valid? [True, True] Translation: X:50.32, Y:-5.86, Z:-5.48 [[ 9.54035227e-01 2.87554528e-01 8.44344632e-02 5.03228084e+01] [-2.86396439e-01 9.57764177e-01 -2.57849025e-02 -5.85540210e+00] [-8.82828696e-02 4.17975789e-04 9.96095357e-01 -5.47781128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.099649246000006 meters 0.05967821749730675 Centerline is valid? [True, True] Translation: X:50.35, Y:-5.86, Z:-5.48 [[ 9.54070287e-01 2.87572829e-01 8.39747258e-02 5.03544381e+01] [-2.86425501e-01 9.57758675e-01 -2.56661966e-02 -5.86472447e+00] [-8.78084229e-02 4.34852727e-04 9.96137286e-01 -5.48246863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.129649246 meters 0.059765095969197754 Centerline is valid? [True, True] Translation: X:50.38, Y:-5.87, Z:-5.49 [[ 9.54663622e-01 2.85950046e-01 8.27643657e-02 5.03839473e+01] [-2.84827268e-01 9.58244337e-01 -2.53222673e-02 -5.87446250e+00] [-8.65493883e-02 6.00699268e-04 9.96247380e-01 -5.48844311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.159649246 meters 0.05980840425192091 Centerline is valid? [True, True] Translation: X:50.41, Y:-5.89, Z:-5.49 [[ 9.54855596e-01 2.85183255e-01 8.31943584e-02 5.04140927e+01] [-2.84043951e-01 9.58472758e-01 -2.54755907e-02 -5.88503464e+00] [-8.70047380e-02 6.94656133e-04 9.96207656e-01 -5.49285285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.189649246 meters 0.05998019879005257 Centerline is valid? [True, True] Translation: X:50.44, Y:-5.90, Z:-5.50 [[ 9.54951341e-01 2.84786478e-01 8.34541728e-02 5.04446652e+01] [-2.83637332e-01 9.58590687e-01 -2.55686947e-02 -5.89592441e+00] [-8.72800113e-02 7.46140332e-04 9.96183539e-01 -5.49555079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.219649246 meters 0.059743314945353725 Centerline is valid? [True, True] Translation: X:50.47, Y:-5.91, Z:-5.50 [[ 9.55020119e-01 2.84088451e-01 8.50313111e-02 5.04745177e+01] [-2.82890215e-01 9.58797699e-01 -2.60786997e-02 -5.90747829e+00] [-8.89364828e-02 8.51157011e-04 9.96036936e-01 -5.49632050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.249649246000004 meters 0.05981385462770159 Centerline is valid? [True, True] Translation: X:50.50, Y:-5.92, Z:-5.50 [[ 9.54943831e-01 2.83937589e-01 8.63812786e-02 5.05047220e+01] [-2.82698180e-01 9.58842340e-01 -2.65161537e-02 -5.91831557e+00] [-9.03549600e-02 9.01607175e-04 9.95909217e-01 -5.49773135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.279649246000005 meters 0.05979211482162391 Centerline is valid? [True, True] Translation: X:50.54, Y:-5.93, Z:-5.50 [[ 9.54821568e-01 2.84208573e-01 8.68404291e-02 5.05362407e+01] [-2.82954980e-01 9.58762052e-01 -2.66797088e-02 -5.92870832e+00] [-9.08419100e-02 9.02429482e-04 9.95864917e-01 -5.50047546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.309649246 meters 0.059639314994252325 Centerline is valid? [True, True] Translation: X:50.57, Y:-5.94, Z:-5.50 [[ 9.54714942e-01 2.84558195e-01 8.68677892e-02 5.05670764e+01] [-2.83302838e-01 9.58658350e-01 -2.67145918e-02 -5.93896082e+00] [-9.08783875e-02 8.94928736e-04 9.95861596e-01 -5.50460599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.339649246 meters 0.05961934440047679 Centerline is valid? [True, True] Translation: X:50.60, Y:-5.95, Z:-5.51 [[ 9.54749012e-01 2.84800933e-01 8.56898593e-02 5.05979859e+01] [-2.83578102e-01 9.58586274e-01 -2.63782971e-02 -5.94809380e+00] [-8.96536866e-02 8.84885407e-04 9.95972607e-01 -5.50711737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.369649246 meters 0.05988311331604082 Centerline is valid? [True, True] Translation: X:50.63, Y:-5.96, Z:-5.51 [[ 9.54968884e-01 2.84012078e-01 8.58578472e-02 5.06278641e+01] [-2.82778993e-01 9.58820197e-01 -2.64550872e-02 -5.95749424e+00] [-8.98358023e-02 9.84989554e-04 9.95956103e-01 -5.51371538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.399649246 meters 0.059903224384772615 Centerline is valid? [True, True] Translation: X:50.66, Y:-5.97, Z:-5.52 [[ 9.55063897e-01 2.83871185e-01 8.52648990e-02 5.06580850e+01] [-2.82653187e-01 9.58861898e-01 -2.62875913e-02 -5.96643673e+00] [-8.92195526e-02 1.00593395e-03 9.96011476e-01 -5.51661199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.429649246000004 meters 0.05991014732089286 Centerline is valid? [True, True] Translation: X:50.69, Y:-5.98, Z:-5.52 [[ 9.55162086e-01 2.83469670e-01 8.55005023e-02 5.06886688e+01] [-2.82241273e-01 9.58980607e-01 -2.63829205e-02 -5.97718821e+00] [-8.94720814e-02 1.06819480e-03 9.95988758e-01 -5.52051504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.459649246000005 meters 0.06007275843055232 Centerline is valid? [True, True] Translation: X:50.72, Y:-5.99, Z:-5.52 [[ 9.55350713e-01 2.83303239e-01 8.39302657e-02 5.07178996e+01] [-2.82116652e-01 9.59029764e-01 -2.59250275e-02 -5.98814414e+00] [-8.78362672e-02 1.08936800e-03 9.96134330e-01 -5.52481157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.489649246 meters 0.06028022162841879 Centerline is valid? [True, True] Translation: X:50.75, Y:-6.00, Z:-5.53 [[ 9.55284421e-01 2.83445303e-01 8.42047171e-02 5.07486174e+01] [-2.82249506e-01 9.58987772e-01 -2.60320807e-02 -5.99685388e+00] [-8.81299651e-02 1.10130128e-03 9.96108376e-01 -5.52993745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.519649246 meters 0.06027053740872396 Centerline is valid? [True, True] Translation: X:50.78, Y:-6.01, Z:-5.53 [[ 9.55010672e-01 2.84099833e-01 8.50993631e-02 5.07788464e+01] [-2.82879672e-01 9.58794111e-01 -2.63238312e-02 -6.00556039e+00] [-8.90713642e-02 1.06665976e-03 9.96024676e-01 -5.53355363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.549649246 meters 0.0602563808849862 Centerline is valid? [True, True] Translation: X:50.81, Y:-6.01, Z:-5.54 [[ 9.55029845e-01 2.84192125e-01 8.45744165e-02 5.08094197e+01] [-2.82985384e-01 9.58766752e-01 -2.61837180e-02 -6.01436094e+00] [-8.85283451e-02 1.07290842e-03 9.96073080e-01 -5.53648794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.579649246 meters 0.05997950503008543 Centerline is valid? [True, True] Translation: X:50.84, Y:-6.02, Z:-5.54 [[ 9.54591061e-01 2.85607059e-01 8.47615113e-02 5.08407552e+01] [-2.84398530e-01 9.58346323e-01 -2.62640550e-02 -6.02190862e+00] [-8.87320822e-02 9.65382904e-04 9.96055062e-01 -5.53995368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.609649246000004 meters 0.05992094888941486 Centerline is valid? [True, True] Translation: X:50.87, Y:-6.03, Z:-5.54 [[ 9.54375882e-01 2.86311558e-01 8.48078263e-02 5.08723344e+01] [-2.85102512e-01 9.58136129e-01 -2.63004811e-02 -6.03067781e+00] [-8.87875741e-02 9.21620600e-04 9.96050158e-01 -5.54339289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.639649246000005 meters 0.059877068670857785 Centerline is valid? [True, True] Translation: X:50.90, Y:-6.04, Z:-5.55 [[ 9.53936964e-01 2.87955507e-01 8.41777507e-02 5.09030398e+01] [-2.86768469e-01 9.57643464e-01 -2.61312189e-02 -6.03889857e+00] [-8.81369012e-02 7.88010938e-04 9.96108059e-01 -5.54704039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.669649246 meters 0.05972707314131148 Centerline is valid? [True, True] Translation: X:50.93, Y:-6.05, Z:-5.55 [[ 9.53468569e-01 2.89446997e-01 8.43689770e-02 5.09337445e+01] [-2.88258196e-01 9.57193805e-01 -2.62151207e-02 -6.04615243e+00] [-8.83453500e-02 6.75244451e-04 9.96089676e-01 -5.54949634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.699649246 meters 0.05972707314131148 Centerline is valid? [True, True] Translation: X:50.96, Y:-6.06, Z:-5.55 [[ 9.53388126e-01 2.89713657e-01 8.43627821e-02 5.09643874e+01] [-2.88524135e-01 9.57113131e-01 -2.62350396e-02 -6.05585567e+00] [-8.83453758e-02 6.71476541e-04 9.96089677e-01 -5.55299251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.729649246 meters 0.05973552651618063 Centerline is valid? [True, True] Translation: X:51.00, Y:-6.06, Z:-5.56 [[ 9.53134033e-01 2.90588068e-01 8.42264233e-02 5.09956578e+01] [-2.89403523e-01 9.56848053e-01 -2.62183835e-02 -6.06461847e+00] [-8.82106386e-02 6.14210018e-04 9.96101654e-01 -5.55761549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.759649246 meters 0.0597567147615346 Centerline is valid? [True, True] Translation: X:51.03, Y:-6.07, Z:-5.56 [[ 9.53076984e-01 2.90879594e-01 8.38649244e-02 5.10265692e+01] [-2.89704101e-01 9.56759474e-01 -2.61312577e-02 -6.07330648e+00] [-8.78396106e-02 6.09087718e-04 9.96134445e-01 -5.56242869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.789649246 meters 0.0597819704733127 Centerline is valid? [True, True] Translation: X:51.06, Y:-6.08, Z:-5.57 [[ 9.52882225e-01 2.91592742e-01 8.36010623e-02 5.10576886e+01] [-2.90425144e-01 9.56542395e-01 -2.60745730e-02 -6.08305711e+00] [-8.75711165e-02 5.66146665e-04 9.96158109e-01 -5.56504522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.819649246000004 meters 0.05948395929964638 Centerline is valid? [True, True] Translation: X:51.09, Y:-6.09, Z:-5.57 [[ 9.52249084e-01 2.93192701e-01 8.52039986e-02 5.10882643e+01] [-2.91983736e-01 9.56053259e-01 -2.66019444e-02 -6.09118453e+00] [-8.92590565e-02 4.53495401e-04 9.96008341e-01 -5.56670720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.849649246000006 meters 0.05942388272012145 Centerline is valid? [True, True] Translation: X:51.12, Y:-6.10, Z:-5.57 [[ 9.51766756e-01 2.94580435e-01 8.58044810e-02 5.11191122e+01] [-2.93357864e-01 9.55626625e-01 -2.68126440e-02 -6.09953335e+00] [-8.98955269e-02 3.47964004e-04 9.95951140e-01 -5.56897989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.879649246 meters 0.05934776824748384 Centerline is valid? [True, True] Translation: X:51.15, Y:-6.11, Z:-5.57 [[ 9.51196994e-01 2.96299836e-01 8.62014232e-02 5.11499052e+01] [-2.95070836e-01 9.55094950e-01 -2.69599324e-02 -6.10760888e+00] [-9.03187675e-02 2.08680640e-04 9.95912886e-01 -5.57171350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.909649246 meters 0.059358208488384266 Centerline is valid? [True, True] Translation: X:51.18, Y:-6.11, Z:-5.58 [[ 9.50765074e-01 2.97548897e-01 8.66627214e-02 5.11810078e+01] [-2.96309718e-01 9.54706573e-01 -2.71276520e-02 -6.11447705e+00] [-9.08092727e-02 1.13017488e-04 9.95868296e-01 -5.57522409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.939649246 meters 0.05933723421169893 Centerline is valid? [True, True] Translation: X:51.21, Y:-6.12, Z:-5.58 [[ 9.51182727e-01 2.95721680e-01 8.83182138e-02 5.12103244e+01] [-2.94424454e-01 9.55274090e-01 -2.76704398e-02 -6.12353176e+00] [-9.25508503e-02 3.16602491e-04 9.95707909e-01 -5.57732044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.969649246 meters 0.05931728022855175 Centerline is valid? [True, True] Translation: X:51.24, Y:-6.13, Z:-5.58 [[ 9.50928697e-01 2.96682120e-01 8.78312772e-02 5.12420679e+01] [-2.95401355e-01 9.54976262e-01 -2.75386676e-02 -6.13219878e+00] [-9.20470151e-02 2.41830979e-04 9.95754633e-01 -5.58026817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.999649246000004 meters 0.059323073105413744 Centerline is valid? [True, True] Translation: X:51.27, Y:-6.14, Z:-5.58 [[ 9.50333573e-01 2.99014689e-01 8.63499647e-02 5.12732269e+01] [-2.97784057e-01 9.54248507e-01 -2.71005853e-02 -6.13837535e+00] [-9.05027980e-02 4.09532863e-05 9.95896200e-01 -5.58498945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.029649246000005 meters 0.05949793538090846 Centerline is valid? [True, True] Translation: X:51.30, Y:-6.15, Z:-5.59 [[ 9.49897779e-01 3.00609803e-01 8.56034793e-02 5.13041331e+01] [-2.99404817e-01 9.53747209e-01 -2.68889754e-02 -6.14563585e+00] [-8.97271691e-02 -8.83160578e-05 9.95966379e-01 -5.59017978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.059649246 meters 0.05974434331327162 Centerline is valid? [True, True] Translation: X:51.33, Y:-6.15, Z:-5.60 [[ 9.50024276e-01 3.00792233e-01 8.35338732e-02 5.13332059e+01] [-2.99643495e-01 9.53689691e-01 -2.62630908e-02 -6.15374627e+00] [-8.75651274e-02 -7.98078421e-05 9.96158794e-01 -5.59683337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.089649246 meters 0.05981532015505246 Centerline is valid? [True, True] Translation: X:51.36, Y:-6.16, Z:-5.60 [[ 9.50037754e-01 3.00980834e-01 8.26970613e-02 5.13628372e+01] [-2.99854915e-01 9.53630185e-01 -2.60096154e-02 -6.16297393e+00] [-8.66908096e-02 -8.70036835e-05 9.96235261e-01 -5.60244884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.119649246 meters 0.06003376832965112 Centerline is valid? [True, True] Translation: X:51.39, Y:-6.17, Z:-5.61 [[ 9.50099404e-01 3.01146323e-01 8.13757611e-02 5.13914727e+01] [-3.00055078e-01 9.53577939e-01 -2.56137664e-02 -6.17408327e+00] [-8.53116221e-02 -8.15861247e-05 9.96354315e-01 -5.60767200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.149649246 meters 0.05987860629904373 Centerline is valid? [True, True] Translation: X:51.42, Y:-6.19, Z:-5.61 [[ 9.50132590e-01 3.01105565e-01 8.11387705e-02 5.14226106e+01] [-3.00018984e-01 9.53590811e-01 -2.55572659e-02 -6.18558666e+00] [-8.50686210e-02 -6.03803094e-05 9.96375093e-01 -5.60837347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.179649246000004 meters 0.05984080713149117 Centerline is valid? [True, True] Translation: X:51.45, Y:-6.20, Z:-5.61 [[ 9.50456599e-01 3.00164125e-01 8.08316245e-02 5.14523294e+01] [-2.99080174e-01 9.53887570e-01 -2.54863387e-02 -6.19747171e+00] [-8.47543664e-02 4.85224094e-05 9.96401874e-01 -5.61253945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.209649246000005 meters 0.05992816391935867 Centerline is valid? [True, True] Translation: X:51.48, Y:-6.21, Z:-5.62 [[ 9.50769202e-01 2.98883168e-01 8.18949056e-02 5.14810918e+01] [-2.97763522e-01 9.54289692e-01 -2.58470343e-02 -6.20847227e+00] [-8.58767078e-02 1.89248720e-04 9.96305754e-01 -5.61893102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.239649246 meters 0.05988220944090154 Centerline is valid? [True, True] Translation: X:51.51, Y:-6.22, Z:-5.62 [[ 9.50789948e-01 2.98750363e-01 8.21382734e-02 5.15123684e+01] [-2.97621858e-01 9.54331269e-01 -2.59433645e-02 -6.22013949e+00] [-8.61377123e-02 2.20544650e-04 9.96283216e-01 -5.61964901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.269649246 meters 0.05983735470631739 Centerline is valid? [True, True] Translation: X:51.54, Y:-6.23, Z:-5.62 [[ 9.50904158e-01 2.98107960e-01 8.31440155e-02 5.15429552e+01] [-2.96946833e-01 9.54532110e-01 -2.62874273e-02 -6.23043708e+00] [-8.72001239e-02 3.07471870e-04 9.96190767e-01 -5.62237894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.299649246 meters 0.059914937820905935 Centerline is valid? [True, True] Translation: X:51.57, Y:-6.24, Z:-5.63 [[ 9.51115536e-01 2.97591209e-01 8.25754777e-02 5.15730400e+01] [-2.96442098e-01 9.54693319e-01 -2.61294836e-02 -6.24195901e+00] [-8.66101615e-02 3.73309972e-04 9.96242210e-01 -5.62606534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.329649246 meters 0.05984293208304163 Centerline is valid? [True, True] Translation: X:51.60, Y:-6.25, Z:-5.63 [[ 9.50840860e-01 2.98566530e-01 8.22173116e-02 5.16045529e+01] [-2.97429214e-01 9.54388776e-01 -2.60370454e-02 -6.25257638e+00] [-8.62410697e-02 3.03256233e-04 9.96274252e-01 -5.62852585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.359649246000004 meters 0.05997573519182108 Centerline is valid? [True, True] Translation: X:51.63, Y:-6.26, Z:-5.63 [[ 9.50878354e-01 2.98725581e-01 8.11996482e-02 5.16347389e+01] [-2.97614721e-01 9.54339003e-01 -2.57399716e-02 -6.26148232e+00] [-8.51811792e-02 3.09371166e-04 9.96365430e-01 -5.63264133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.389649246000005 meters 0.05995575277268148 Centerline is valid? [True, True] Translation: X:51.66, Y:-6.27, Z:-5.64 [[ 9.50900179e-01 2.98807531e-01 8.06406181e-02 5.16638501e+01] [-2.97710377e-01 9.54313343e-01 -2.55846687e-02 -6.27104054e+00] [-8.46013095e-02 3.20917279e-04 9.96414831e-01 -5.63697895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.419649246 meters 0.06007231461263482 Centerline is valid? [True, True] Translation: X:51.69, Y:-6.28, Z:-5.64 [[ 9.50794996e-01 2.99328695e-01 7.99450366e-02 5.16945400e+01] [-2.98250636e-01 9.54150013e-01 -2.53832664e-02 -6.28003239e+00] [-8.38774977e-02 2.90624666e-04 9.96476031e-01 -5.64134959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.449649246 meters 0.06020227975607362 Centerline is valid? [True, True] Translation: X:51.73, Y:-6.29, Z:-5.64 [[ 9.50647275e-01 2.99934448e-01 7.94297480e-02 5.17261170e+01] [-2.98870701e-01 9.53959780e-01 -2.52396873e-02 -6.28905869e+00] [-8.33430367e-02 2.54815495e-04 9.96520885e-01 -5.64443527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.479649246 meters 0.06031240243681761 Centerline is valid? [True, True] Translation: X:51.76, Y:-6.30, Z:-5.65 [[ 9.50431260e-01 3.00678480e-01 7.92014643e-02 5.17563783e+01] [-2.99621348e-01 9.53725540e-01 -2.51920843e-02 -6.29830928e+00] [-8.31111770e-02 2.12894876e-04 9.96540259e-01 -5.64925034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.509649246 meters 0.06024814353151665 Centerline is valid? [True, True] Translation: X:51.79, Y:-6.31, Z:-5.65 [[ 9.49991667e-01 3.01915374e-01 7.97680317e-02 5.17861258e+01] [-3.00845170e-01 9.53334721e-01 -2.53986964e-02 -6.30645365e+00] [-8.37138911e-02 1.30722894e-04 9.96489823e-01 -5.65258491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.539649246 meters 0.06009663985612701 Centerline is valid? [True, True] Translation: X:51.82, Y:-6.31, Z:-5.65 [[ 9.49492132e-01 3.03318644e-01 8.03896291e-02 5.18171536e+01] [-3.02235863e-01 9.52889186e-01 -2.56063117e-02 -6.31479070e+00] [-8.43692800e-02 1.63626096e-05 9.96434556e-01 -5.65339923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.569649246000004 meters 0.0600843827270023 Centerline is valid? [True, True] Translation: X:51.85, Y:-6.32, Z:-5.66 [[ 9.48680589e-01 3.05471932e-01 8.18048848e-02 5.18476194e+01] [-3.04356619e-01 9.52201068e-01 -2.60801545e-02 -6.32084267e+00] [-8.58614539e-02 -1.56121791e-04 9.96307074e-01 -5.65630941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.599649246000006 meters 0.06004705940900447 Centerline is valid? [True, True] Translation: X:51.88, Y:-6.33, Z:-5.66 [[ 9.48160252e-01 3.07039102e-01 8.19702723e-02 5.18795900e+01] [-3.05923450e-01 9.51696859e-01 -2.61520846e-02 -6.32803295e+00] [-8.60405632e-02 -2.80261332e-04 9.96291595e-01 -5.65895539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.629649246 meters 0.05996547973836222 Centerline is valid? [True, True] Translation: X:51.91, Y:-6.34, Z:-5.66 [[ 9.47799623e-01 3.08054841e-01 8.23291587e-02 5.19111396e+01] [-3.06930977e-01 9.51368537e-01 -2.62922519e-02 -6.33693736e+00] [-8.64248267e-02 -3.49582742e-04 9.96258313e-01 -5.66225544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.659649246 meters 0.05995229329540983 Centerline is valid? [True, True] Translation: X:51.94, Y:-6.35, Z:-5.67 [[ 9.47866472e-01 3.07872813e-01 8.22403926e-02 5.19410524e+01] [-3.06748444e-01 9.51427473e-01 -2.62898433e-02 -6.34608015e+00] [-8.63396969e-02 -3.07851486e-04 9.96265709e-01 -5.66580523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.689649246 meters 0.059997075165495094 Centerline is valid? [True, True] Translation: X:51.97, Y:-6.35, Z:-5.67 [[ 9.47037434e-01 3.10283528e-01 8.27298695e-02 5.19717947e+01] [-3.09152778e-01 9.50643926e-01 -2.64704574e-02 -6.35357806e+00] [-8.68599949e-02 -5.07655001e-04 9.96220399e-01 -5.66802217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.719649246 meters 0.059970538460028956 Centerline is valid? [True, True] Translation: X:52.00, Y:-6.36, Z:-5.67 [[ 9.46753740e-01 3.11013750e-01 8.32334277e-02 5.20034482e+01] [-3.09869902e-01 9.50405250e-01 -2.66552954e-02 -6.36255109e+00] [-8.73956500e-02 -5.55533498e-04 9.96173525e-01 -5.67152454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.749649246000004 meters 0.05998431620442206 Centerline is valid? [True, True] Translation: X:52.03, Y:-6.37, Z:-5.68 [[ 9.46277335e-01 3.12130334e-01 8.44621755e-02 5.20343684e+01] [-3.10954450e-01 9.50039074e-01 -2.70756137e-02 -6.37035488e+00] [-8.86934873e-02 -6.42849733e-04 9.96058759e-01 -5.67565316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.779649246000005 meters 0.060083637305681566 Centerline is valid? [True, True] Translation: X:52.06, Y:-6.38, Z:-5.68 [[ 9.46354558e-01 3.11885984e-01 8.44996052e-02 5.20639883e+01] [-3.10706114e-01 9.50119347e-01 -2.71097207e-02 -6.37935617e+00] [-8.87398516e-02 -5.99136233e-04 9.96054657e-01 -5.68105045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.809649246 meters 0.05998931208499698 Centerline is valid? [True, True] Translation: X:52.09, Y:-6.39, Z:-5.68 [[ 9.46504749e-01 3.11640604e-01 8.37191417e-02 5.20938833e+01] [-3.10479415e-01 9.50199891e-01 -2.68830664e-02 -6.39183443e+00] [-8.79277744e-02 -5.48120105e-04 9.96126702e-01 -5.68280432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.839649246 meters 0.059903433864625384 Centerline is valid? [True, True] Translation: X:52.12, Y:-6.40, Z:-5.69 [[ 9.46914702e-01 3.10534407e-01 8.31921224e-02 5.21234726e+01] [-3.09381609e-01 9.50562047e-01 -2.67360380e-02 -6.40454437e+00] [-8.73817338e-02 -4.21365230e-04 9.96174811e-01 -5.68657851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.869649246 meters 0.05974808620235721 Centerline is valid? [True, True] Translation: X:52.15, Y:-6.42, Z:-5.69 [[ 9.47378412e-01 3.08932921e-01 8.38724947e-02 5.21513288e+01] [-3.07752477e-01 9.51083796e-01 -2.69819449e-02 -6.41728390e+00] [-8.81053817e-02 -2.49855807e-04 9.96111128e-01 -5.69022148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.899649246 meters 0.059571323332872295 Centerline is valid? [True, True] Translation: X:52.18, Y:-6.43, Z:-5.69 [[ 9.47453658e-01 3.08640738e-01 8.40979223e-02 5.21817227e+01] [-3.07451894e-01 9.51178663e-01 -2.70644310e-02 -6.43039525e+00] [-8.83453352e-02 -2.13771341e-04 9.96089884e-01 -5.69096293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.929649246000004 meters 0.05952378481496591 Centerline is valid? [True, True] Translation: X:52.21, Y:-6.44, Z:-5.70 [[ 9.48400139e-01 3.05646072e-01 8.43661956e-02 5.22101819e+01] [-3.04435418e-01 9.52145194e-01 -2.71773021e-02 -6.44380201e+00] [-8.86355033e-02 9.08990728e-05 9.96064124e-01 -5.69672973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.959649246000005 meters 0.05962706857685061 Centerline is valid? [True, True] Translation: X:52.24, Y:-6.46, Z:-5.70 [[ 9.48610399e-01 3.04952870e-01 8.45106931e-02 5.22406589e+01] [-3.03733169e-01 9.52367427e-01 -2.72478825e-02 -6.45586459e+00] [-8.87945513e-02 1.78924111e-04 9.96049946e-01 -5.70105411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.989649246 meters 0.059619024205634225 Centerline is valid? [True, True] Translation: X:52.27, Y:-6.47, Z:-5.70 [[ 9.49246701e-01 3.03229281e-01 8.35625760e-02 5.22694014e+01] [-3.02027900e-01 9.52917558e-01 -2.69680347e-02 -6.47081556e+00] [-8.78057437e-02 3.61088628e-04 9.96137551e-01 -5.70450352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.019649246 meters 0.0596050105950733 Centerline is valid? [True, True] Translation: X:52.30, Y:-6.48, Z:-5.71 [[ 9.49144527e-01 3.03506064e-01 8.37181930e-02 5.22985328e+01] [-3.02299312e-01 9.52829440e-01 -2.70404196e-02 -6.48233240e+00] [-8.79760903e-02 3.57314134e-04 9.96122523e-01 -5.70842427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.049649246 meters 0.059578349493052185 Centerline is valid? [True, True] Translation: X:52.33, Y:-6.49, Z:-5.71 [[ 9.49175668e-01 3.03401271e-01 8.37449691e-02 5.23293627e+01] [-3.02191258e-01 9.52862801e-01 -2.70726160e-02 -6.49289244e+00] [-8.80113319e-02 3.89670784e-04 9.96119397e-01 -5.71095781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.079649246 meters 0.05966974523129334 Centerline is valid? [True, True] Translation: X:52.36, Y:-6.51, Z:-5.71 [[ 9.50162285e-01 3.00220958e-01 8.40179041e-02 5.23582352e+01] [-2.98988233e-01 9.53869419e-01 -2.71876349e-02 -6.50855920e+00] [-8.83044072e-02 7.12300637e-04 9.96093281e-01 -5.71088468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.109649246000004 meters 0.059652641749115366 Centerline is valid? [True, True] Translation: X:52.39, Y:-6.52, Z:-5.71 [[ 9.50526347e-01 2.98903168e-01 8.45964506e-02 5.23892963e+01] [-2.97646141e-01 9.54283057e-01 -2.73974826e-02 -6.51945950e+00] [-8.89181538e-02 8.62221938e-04 9.96038563e-01 -5.71444367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.139649246000005 meters 0.06000224900761736 Centerline is valid? [True, True] Translation: X:52.42, Y:-6.53, Z:-5.72 [[ 9.51023911e-01 2.98047785e-01 8.19819402e-02 5.24181824e+01] [-2.96861793e-01 9.54550488e-01 -2.65789697e-02 -6.52675354e+00] [-8.61777041e-02 9.39929950e-04 9.96279338e-01 -5.72429985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.169649246 meters 0.06009430757462996 Centerline is valid? [True, True] Translation: X:52.45, Y:-6.54, Z:-5.73 [[ 9.50961953e-01 2.98149442e-01 8.23302784e-02 5.24494011e+01] [-2.96953030e-01 9.54518739e-01 -2.66997227e-02 -6.53677802e+00] [-8.65463009e-02 9.42194839e-04 9.96247384e-01 -5.72736363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.199649246 meters 0.06014180117625183 Centerline is valid? [True, True] Translation: X:52.48, Y:-6.55, Z:-5.73 [[ 9.50956068e-01 2.98157741e-01 8.23681856e-02 5.24801140e+01] [-2.96958063e-01 9.54516123e-01 -2.67372468e-02 -6.54613416e+00] [-8.65936783e-02 9.66050172e-04 9.96243244e-01 -5.73166754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.229649246 meters 0.06019906202305529 Centerline is valid? [True, True] Translation: X:52.51, Y:-6.56, Z:-5.74 [[ 9.50965878e-01 2.98181934e-01 8.21671107e-02 5.25101749e+01] [-2.96985831e-01 9.54508543e-01 -2.66993858e-02 -6.55550660e+00] [-8.63904836e-02 9.87737124e-04 9.96260864e-01 -5.73663874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.259649246 meters 0.06014606901232669 Centerline is valid? [True, True] Translation: X:52.54, Y:-6.57, Z:-5.74 [[ 9.50674824e-01 2.98953170e-01 8.27307710e-02 5.25405928e+01] [-2.97742232e-01 9.54267322e-01 -2.68968554e-02 -6.56522263e+00] [-8.69881715e-02 9.37718852e-04 9.96208903e-01 -5.73768112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.289649246 meters 0.0600525161392986 Centerline is valid? [True, True] Translation: X:52.57, Y:-6.57, Z:-5.74 [[ 9.50420862e-01 2.99845956e-01 8.24171592e-02 5.25715232e+01] [-2.98645696e-01 9.53987233e-01 -2.68161797e-02 -6.57498065e+00] [-8.66656407e-02 8.73126675e-04 9.96237072e-01 -5.73941967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.319649246000004 meters 0.060041512691063316 Centerline is valid? [True, True] Translation: X:52.60, Y:-6.58, Z:-5.74 [[ 9.49705874e-01 3.01965592e-01 8.29188436e-02 5.26015581e+01] [-3.00756333e-01 9.53318560e-01 -2.70064979e-02 -6.58282621e+00] [-8.72031057e-02 7.09862327e-04 9.96190300e-01 -5.74403277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.349649246000006 meters 0.05981733589491792 Centerline is valid? [True, True] Translation: X:52.63, Y:-6.59, Z:-5.75 [[ 9.49282003e-01 3.02974434e-01 8.40843081e-02 5.26331772e+01] [-3.01732673e-01 9.52998463e-01 -2.74102778e-02 -6.59067074e+00] [-8.84368298e-02 6.49100343e-04 9.96081576e-01 -5.74672351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.379649246 meters 0.059669544625127996 Centerline is valid? [True, True] Translation: X:52.66, Y:-6.60, Z:-5.75 [[ 9.48341506e-01 3.05572939e-01 8.52852114e-02 5.26638950e+01] [-3.04305340e-01 9.52168580e-01 -2.78074787e-02 -6.59630665e+00] [-8.97031117e-02 4.18241016e-04 9.95968462e-01 -5.75053440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.409649246 meters 0.059444456667574426 Centerline is valid? [True, True] Translation: X:52.70, Y:-6.60, Z:-5.75 [[ 9.47560889e-01 3.07552044e-01 8.68337554e-02 5.26954273e+01] [-3.06244228e-01 9.51531226e-01 -2.83336873e-02 -6.60409349e+00] [-9.13391132e-02 2.55557533e-04 9.95819814e-01 -5.74958062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.439649246 meters 0.059302015956006066 Centerline is valid? [True, True] Translation: X:52.73, Y:-6.61, Z:-5.75 [[ 9.47103219e-01 3.08770698e-01 8.74994262e-02 5.27262763e+01] [-3.07445679e-01 9.51136494e-01 -2.85748920e-02 -6.61341202e+00] [-9.20469868e-02 1.62051640e-04 9.95754651e-01 -5.75259340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.469649246 meters 0.05943137919545343 Centerline is valid? [True, True] Translation: X:52.76, Y:-6.62, Z:-5.76 [[ 9.46741333e-01 3.09784330e-01 8.78323261e-02 5.27573309e+01] [-3.08451367e-01 9.50806848e-01 -2.87070224e-02 -6.62280045e+00] [-9.24045628e-02 8.61236073e-05 9.95721542e-01 -5.75551017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.499649246000004 meters 0.0594644223821914 Centerline is valid? [True, True] Translation: X:52.79, Y:-6.63, Z:-5.76 [[ 9.46084236e-01 3.11758768e-01 8.79266147e-02 5.27883214e+01] [-3.10428871e-01 9.50161283e-01 -2.87654654e-02 -6.62961847e+00] [-9.25123511e-02 -8.04063337e-05 9.95711534e-01 -5.75991630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.529649246000005 meters 0.059542602858906946 Centerline is valid? [True, True] Translation: X:52.82, Y:-6.64, Z:-5.76 [[ 9.45611804e-01 3.13291527e-01 8.75598922e-02 5.28184740e+01] [-3.11976906e-01 9.49656979e-01 -2.86711223e-02 -6.63729879e+00] [-9.21342824e-02 -2.04912565e-04 9.95746570e-01 -5.76450052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.559649246 meters 0.05968406194210566 Centerline is valid? [True, True] Translation: X:52.85, Y:-6.64, Z:-5.77 [[ 9.45010511e-01 3.15126586e-01 8.74663860e-02 5.28501516e+01] [-3.13820503e-01 9.49049579e-01 -2.86633581e-02 -6.64345417e+00] [-9.20425231e-02 -3.61570505e-04 9.95755012e-01 -5.76976553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.589649246 meters 0.059788922707432614 Centerline is valid? [True, True] Translation: X:52.88, Y:-6.65, Z:-5.77 [[ 9.45108440e-01 3.15165060e-01 8.62613497e-02 5.28791821e+01] [-3.13892376e-01 9.49036814e-01 -2.82966956e-02 -6.65376228e+00] [-9.07833263e-02 -3.33334182e-04 9.95870612e-01 -5.77493790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.619649246 meters 0.05970945875153581 Centerline is valid? [True, True] Translation: X:52.91, Y:-6.67, Z:-5.78 [[ 9.45168714e-01 3.15059301e-01 8.59868538e-02 5.29102328e+01] [-3.13793412e-01 9.49071935e-01 -2.82162381e-02 -6.66500673e+00] [-9.04974980e-02 -3.13002724e-04 9.95896634e-01 -5.77643194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.649649246 meters 0.05970945875153581 Centerline is valid? [True, True] Translation: X:52.94, Y:-6.68, Z:-5.78 [[ 9.45079887e-01 3.15327833e-01 8.59788694e-02 5.29407190e+01] [-3.14060841e-01 9.48982750e-01 -2.82405449e-02 -6.67519386e+00] [-9.04974937e-02 -3.13025033e-04 9.95896634e-01 -5.77993046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.679649246000004 meters 0.05981232916552219 Centerline is valid? [True, True] Translation: X:52.97, Y:-6.69, Z:-5.78 [[ 9.44974607e-01 3.15564133e-01 8.62685974e-02 5.29704014e+01] [-3.14287045e-01 9.48904201e-01 -2.83632120e-02 -6.68514572e+00] [-9.08110468e-02 -3.10587423e-04 9.95868092e-01 -5.78469958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.709649246000005 meters 0.05967935023451398 Centerline is valid? [True, True] Translation: X:53.00, Y:-6.70, Z:-5.79 [[ 9.45825522e-01 3.12780227e-01 8.70781881e-02 5.29995083e+01] [-3.11464827e-01 9.49825526e-01 -2.86554009e-02 -6.70065330e+00] [-9.16719286e-02 -1.87833239e-05 9.95789263e-01 -5.78519338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.739649246 meters 0.05967581368044146 Centerline is valid? [True, True] Translation: X:53.03, Y:-6.71, Z:-5.79 [[ 9.46499562e-01 3.10820534e-01 8.67708154e-02 5.30292590e+01] [-3.09504105e-01 9.50468600e-01 -2.85770916e-02 -6.71395838e+00] [-9.13552823e-02 1.92281109e-04 9.95818345e-01 -5.78732373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.769649246 meters 0.059732986495252764 Centerline is valid? [True, True] Translation: X:53.06, Y:-6.73, Z:-5.79 [[ 9.47097632e-01 3.08928742e-01 8.70006146e-02 5.30586554e+01] [-3.07594863e-01 9.51085102e-01 -2.86797778e-02 -6.72606037e+00] [-9.16049961e-02 4.01607552e-04 9.95795342e-01 -5.79207576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.799649246 meters 0.059808367085766596 Centerline is valid? [True, True] Translation: X:53.09, Y:-6.74, Z:-5.80 [[ 9.47474923e-01 3.07941769e-01 8.63894476e-02 5.30882502e+01] [-3.06620251e-01 9.51405066e-01 -2.85030136e-02 -6.73761091e+00] [-9.09686266e-02 5.17136472e-04 9.95853625e-01 -5.79673084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.829649246 meters 0.059750527696739685 Centerline is valid? [True, True] Translation: X:53.12, Y:-6.75, Z:-5.80 [[ 9.47621821e-01 3.07303909e-01 8.70470638e-02 5.31169461e+01] [-3.05957353e-01 9.51611235e-01 -2.87429317e-02 -6.75055141e+00] [-9.16677791e-02 6.04740046e-04 9.95789462e-01 -5.79954896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.859649246000004 meters 0.059793583528205234 Centerline is valid? [True, True] Translation: X:53.15, Y:-6.76, Z:-5.80 [[ 9.47484583e-01 3.07718598e-01 8.70759942e-02 5.31482290e+01] [-3.06370653e-01 9.51477230e-01 -2.87768075e-02 -6.76083430e+00] [-9.17059846e-02 5.88052307e-04 9.95785954e-01 -5.80313854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.889649246000005 meters 0.059667542115477035 Centerline is valid? [True, True] Translation: X:53.18, Y:-6.77, Z:-5.81 [[ 9.47348574e-01 3.07996217e-01 8.75728841e-02 5.31796136e+01] [-3.06631295e-01 9.51387397e-01 -2.89701426e-02 -6.76949841e+00] [-9.22384326e-02 5.92236428e-04 9.95736773e-01 -5.80579228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.919649246000006 meters 0.05974392541969256 Centerline is valid? [True, True] Translation: X:53.21, Y:-6.78, Z:-5.81 [[ 9.47052401e-01 3.09082121e-01 8.69482171e-02 5.32105962e+01] [-3.07740742e-01 9.51035228e-01 -2.87685718e-02 -6.77883295e+00] [-9.15826687e-02 4.87836150e-04 9.95797357e-01 -5.80945982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.949649246 meters 0.059640874728059005 Centerline is valid? [True, True] Translation: X:53.24, Y:-6.79, Z:-5.81 [[ 9.46761270e-01 3.10115865e-01 8.64363781e-02 5.32405133e+01] [-3.08792104e-01 9.50698680e-01 -2.86261310e-02 -6.78781865e+00] [-9.10523680e-02 4.11241063e-04 9.95846021e-01 -5.81396201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.979649246 meters 0.05958419958563199 Centerline is valid? [True, True] Translation: X:53.27, Y:-6.80, Z:-5.82 [[ 9.46637853e-01 3.10411477e-01 8.67265316e-02 5.32708304e+01] [-3.09077731e-01 9.50602203e-01 -2.87473088e-02 -6.79731511e+00] [-9.13659266e-02 4.08051103e-04 9.95817303e-01 -5.81758876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.009649246 meters 0.059389588226998344 Centerline is valid? [True, True] Translation: X:53.30, Y:-6.81, Z:-5.82 [[ 9.46074220e-01 3.11750966e-01 8.80619368e-02 5.33013315e+01] [-3.10379124e-01 9.50163797e-01 -2.92157334e-02 -6.80582417e+00] [-9.27812973e-02 3.07665382e-04 9.95686465e-01 -5.82030706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.039649246 meters 0.059383037305557655 Centerline is valid? [True, True] Translation: X:53.33, Y:-6.82, Z:-5.82 [[ 9.46035696e-01 3.11925155e-01 8.78587515e-02 5.33311182e+01] [-3.10558155e-01 9.50106625e-01 -2.91724699e-02 -6.81516659e+00] [-9.25748091e-02 3.12946087e-04 9.95705683e-01 -5.82412613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.069649246000004 meters 0.059365053905374054 Centerline is valid? [True, True] Translation: X:53.36, Y:-6.82, Z:-5.83 [[ 9.45500197e-01 3.13447739e-01 8.82037036e-02 5.33612914e+01] [-3.12075090e-01 9.49605435e-01 -2.93028200e-02 -6.82330156e+00] [-9.29436190e-02 1.79643256e-04 9.95671357e-01 -5.82807973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.099649246000006 meters 0.05940020869153865 Centerline is valid? [True, True] Translation: X:53.39, Y:-6.83, Z:-5.83 [[ 9.45441198e-01 3.13730990e-01 8.78282853e-02 5.33922461e+01] [-3.12369368e-01 9.49511894e-01 -2.91983062e-02 -6.83281843e+00] [-9.25544151e-02 1.70415630e-04 9.95707613e-01 -5.83212712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.129649246 meters 0.05942632032345082 Centerline is valid? [True, True] Translation: X:53.42, Y:-6.84, Z:-5.84 [[ 9.44531860e-01 3.16216325e-01 8.86949938e-02 5.34231657e+01] [-3.14836059e-01 9.48687110e-01 -2.95130894e-02 -6.84024891e+00] [-9.34763181e-02 -4.83291421e-05 9.95621502e-01 -5.83530456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.159649246 meters 0.05940241841602392 Centerline is valid? [True, True] Translation: X:53.45, Y:-6.85, Z:-5.84 [[ 9.43945599e-01 3.17968964e-01 8.86704237e-02 5.34544290e+01] [-3.16595012e-01 9.48101101e-01 -2.95279581e-02 -6.84929187e+00] [-9.34575006e-02 -1.99827737e-04 9.95623250e-01 -5.83905204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.189649246 meters 0.059380510296572445 Centerline is valid? [True, True] Translation: X:53.48, Y:-6.85, Z:-5.84 [[ 9.42809511e-01 3.21487776e-01 8.80672179e-02 5.34847608e+01] [-3.20145227e-01 9.46913587e-01 -2.93545989e-02 -6.85448921e+00] [-9.28291899e-02 -5.18504443e-04 9.95681913e-01 -5.84296924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.219649246 meters 0.0598205010181384 Centerline is valid? [True, True] Translation: X:53.52, Y:-6.86, Z:-5.85 [[ 9.41907700e-01 3.24124822e-01 8.80510363e-02 5.35161358e+01] [-3.22792245e-01 9.46014020e-01 -2.93707452e-02 -6.86169046e+00] [-9.28173023e-02 -7.57660610e-04 9.95682868e-01 -5.84668949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.249649246000004 meters 0.059946300817965585 Centerline is valid? [True, True] Translation: X:53.55, Y:-6.87, Z:-5.85 [[ 9.41570792e-01 3.25191426e-01 8.77210336e-02 5.35454394e+01] [-3.23871295e-01 9.45647839e-01 -2.92839415e-02 -6.87012393e+00] [-9.24760926e-02 -8.37420716e-04 9.95714553e-01 -5.85142816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.279649246000005 meters 0.05975993990505658 Centerline is valid? [True, True] Translation: X:53.57, Y:-6.88, Z:-5.85 [[ 9.41848061e-01 3.24762576e-01 8.63220618e-02 5.35748613e+01] [-3.23480668e-01 9.45795267e-01 -2.88369807e-02 -6.88154322e+00] [-9.10081696e-02 -7.63463824e-04 9.95849853e-01 -5.85482277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.309649246 meters 0.059747808239710674 Centerline is valid? [True, True] Translation: X:53.60, Y:-6.89, Z:-5.86 [[ 9.42527823e-01 3.22869137e-01 8.60047909e-02 5.36029047e+01] [-3.21586614e-01 9.46443454e-01 -2.87547927e-02 -6.89424073e+00] [-9.06827064e-02 -5.55797396e-04 9.95879680e-01 -5.86052277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.339649246 meters 0.05983207307037328 Centerline is valid? [True, True] Translation: X:53.63, Y:-6.91, Z:-5.87 [[ 9.42989846e-01 3.21751984e-01 8.51223334e-02 5.36319839e+01] [-3.20489300e-01 9.46823891e-01 -2.84803044e-02 -6.90672997e+00] [-8.97594533e-02 -4.24159242e-04 9.95963383e-01 -5.86540737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.369649246 meters 0.05984158996456478 Centerline is valid? [True, True] Translation: X:53.66, Y:-6.92, Z:-5.87 [[ 9.43281823e-01 3.21019374e-01 8.46520118e-02 5.36604228e+01] [-3.19765369e-01 9.47072571e-01 -2.83488047e-02 -6.92095811e+00] [-8.92721140e-02 -3.27869568e-04 9.96007220e-01 -5.86771627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.399649246 meters 0.059827343005776926 Centerline is valid? [True, True] Translation: X:53.69, Y:-6.93, Z:-5.87 [[ 9.43141535e-01 3.21512446e-01 8.43433011e-02 5.36908263e+01] [-3.20268299e-01 9.46905285e-01 -2.82594893e-02 -6.93171736e+00] [-8.89508951e-02 -3.59787502e-04 9.96035948e-01 -5.87118185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.429649246000004 meters 0.059823118271398565 Centerline is valid? [True, True] Translation: X:53.72, Y:-6.94, Z:-5.87 [[ 9.42968791e-01 3.21965433e-01 8.45465432e-02 5.37216202e+01] [-3.20714775e-01 9.46751349e-01 -2.83534263e-02 -6.94235721e+00] [-8.91733770e-02 -3.78929514e-04 9.96016047e-01 -5.87487647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.459649246000005 meters 0.05977586937773356 Centerline is valid? [True, True] Translation: X:53.75, Y:-6.95, Z:-5.88 [[ 9.43015967e-01 3.21967454e-01 8.40109838e-02 5.37520622e+01] [-3.20730389e-01 9.46750672e-01 -2.81989939e-02 -6.95276291e+00] [-8.86166136e-02 -3.52773991e-04 9.96065747e-01 -5.87863793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.489649246 meters 0.05974678810407342 Centerline is valid? [True, True] Translation: X:53.78, Y:-6.96, Z:-5.88 [[ 9.43094442e-01 3.21633989e-01 8.44064600e-02 5.37820939e+01] [-3.20381546e-01 9.46864028e-01 -2.83580151e-02 -6.96339638e+00] [-8.90423423e-02 -2.97985667e-04 9.96027797e-01 -5.88249081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.519649246 meters 0.05987371909552121 Centerline is valid? [True, True] Translation: X:53.81, Y:-6.97, Z:-5.89 [[ 9.43154819e-01 3.21624936e-01 8.37638802e-02 5.38113045e+01] [-3.20389382e-01 9.46867111e-01 -2.81658923e-02 -6.97411402e+00] [-8.83721166e-02 -2.72260776e-04 9.96087494e-01 -5.88687456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.549649246 meters 0.05949312138327888 Centerline is valid? [True, True] Translation: X:53.84, Y:-6.99, Z:-5.88 [[ 9.44325801e-01 3.17183873e-01 8.74252408e-02 5.38395688e+01] [-3.15817630e-01 9.48364047e-01 -2.94084994e-02 -6.99261402e+00] [-9.22388569e-02 1.60772433e-04 9.95736897e-01 -5.88427016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.579649246 meters 0.05927038447395218 Centerline is valid? [True, True] Translation: X:53.87, Y:-7.01, Z:-5.88 [[ 9.45253378e-01 3.14195722e-01 8.81878680e-02 5.38696232e+01] [-3.12790411e-01 9.49358109e-01 -2.96873578e-02 -7.00701509e+00] [-9.30495085e-02 4.77755792e-04 9.95661368e-01 -5.88497694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.609649246000004 meters 0.059558086572013495 Centerline is valid? [True, True] Translation: X:53.90, Y:-7.01, Z:-5.89 [[ 9.45481273e-01 3.14317799e-01 8.52612674e-02 5.38990300e+01] [-3.13002659e-01 9.49317701e-01 -2.87269692e-02 -7.01407534e+00] [-8.99694280e-02 4.73808037e-04 9.95944415e-01 -5.89416168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.639649246000005 meters 0.05989252227354304 Centerline is valid? [True, True] Translation: X:53.93, Y:-7.02, Z:-5.90 [[ 9.46292291e-01 3.12467637e-01 8.30353826e-02 5.39288543e+01] [-3.11211682e-01 9.49928183e-01 -2.79952843e-02 -7.02442032e+00] [-8.76252704e-02 6.50140652e-04 9.96153296e-01 -5.90092934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.669649246000006 meters 0.06025930552822504 Centerline is valid? [True, True] Translation: X:53.96, Y:-7.04, Z:-5.91 [[ 9.46870975e-01 3.11019407e-01 8.18674877e-02 5.39565969e+01] [-3.09791331e-01 9.50403229e-01 -2.76230503e-02 -7.03615810e+00] [-8.63984295e-02 7.93626654e-04 9.96260348e-01 -5.90801906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.699649246 meters 0.06017724477413408 Centerline is valid? [True, True] Translation: X:53.99, Y:-7.05, Z:-5.91 [[ 9.47261608e-01 3.09962353e-01 8.13559216e-02 5.39871283e+01] [-3.08744087e-01 9.50748403e-01 -2.74693161e-02 -7.04669328e+00] [-8.58634664e-02 9.02468762e-04 9.96306504e-01 -5.90842733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.729649246 meters 0.06050748957306491 Centerline is valid? [True, True] Translation: X:54.02, Y:-7.06, Z:-5.91 [[ 9.47458968e-01 3.09378314e-01 8.12807664e-02 5.40163302e+01] [-3.08158290e-01 9.50938540e-01 -2.74656272e-02 -7.05992610e+00] [-8.57902828e-02 9.75212815e-04 9.96312740e-01 -5.91356526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.759649246 meters 0.060296697462693144 Centerline is valid? [True, True] Translation: X:54.05, Y:-7.07, Z:-5.92 [[ 9.47020112e-01 3.10967913e-01 8.03234973e-02 5.40462702e+01] [-3.09780077e-01 9.50420035e-01 -2.71672917e-02 -7.06989119e+00] [-8.47892171e-02 8.45352466e-04 9.96398552e-01 -5.91733739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.789649246 meters 0.06024137214092245 Centerline is valid? [True, True] Translation: X:54.08, Y:-7.08, Z:-5.92 [[ 9.46968440e-01 3.11004632e-01 8.07891867e-02 5.40764034e+01] [-3.09801955e-01 9.50408007e-01 -2.73380449e-02 -7.08003782e+00] [-8.52849486e-02 8.59617688e-04 9.96356231e-01 -5.92016725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.819649246000004 meters 0.060040868043102394 Centerline is valid? [True, True] Translation: X:54.11, Y:-7.09, Z:-5.92 [[ 9.46534039e-01 3.12085554e-01 8.17063001e-02 5.41066129e+01] [-3.10857566e-01 9.50053673e-01 -2.76693367e-02 -7.08930326e+00] [-8.62605708e-02 7.90947522e-04 9.96272296e-01 -5.92330937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.849649246000006 meters 0.05983838309149773 Centerline is valid? [True, True] Translation: X:54.14, Y:-7.10, Z:-5.92 [[ 9.46583101e-01 3.12064957e-01 8.12151215e-02 5.41377457e+01] [-3.10849921e-01 9.50060425e-01 -2.75230018e-02 -7.09860009e+00] [-8.57482372e-02 8.07094309e-04 9.96316510e-01 -5.92448234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.879649246 meters 0.05982759595184654 Centerline is valid? [True, True] Translation: X:54.17, Y:-7.11, Z:-5.93 [[ 9.46201055e-01 3.13002993e-01 8.20529672e-02 5.41676477e+01] [-3.11764330e-01 9.49751843e-01 -2.78287474e-02 -7.10753454e+00] [-8.66404381e-02 7.50401807e-04 9.96239365e-01 -5.92871449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.909649246 meters 0.05977750404109749 Centerline is valid? [True, True] Translation: X:54.20, Y:-7.12, Z:-5.93 [[ 9.45876047e-01 3.13911267e-01 8.23299539e-02 5.41978745e+01] [-3.12665768e-01 9.49452074e-01 -2.79441756e-02 -7.11733248e+00] [-8.69403370e-02 6.89968056e-04 9.96213281e-01 -5.93176330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.939649246 meters 0.059726189540101574 Centerline is valid? [True, True] Translation: X:54.23, Y:-7.13, Z:-5.93 [[ 9.45693922e-01 3.14526477e-01 8.20737587e-02 5.42292862e+01] [-3.13289287e-01 9.49248477e-01 -2.78774250e-02 -7.12661475e+00] [-8.66765788e-02 6.50682008e-04 9.96236291e-01 -5.93330952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.969649246 meters 0.05970929805961638 Centerline is valid? [True, True] Translation: X:54.26, Y:-7.14, Z:-5.94 [[ 9.45329204e-01 3.15682736e-01 8.18358474e-02 5.42589773e+01] [-3.14454836e-01 9.48864631e-01 -2.78220727e-02 -7.13720388e+00] [-8.64340892e-02 5.67339853e-04 9.96257410e-01 -5.93921138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.999649246000004 meters 0.059252115019488856 Centerline is valid? [True, True] Translation: X:54.29, Y:-7.15, Z:-5.94 [[ 9.44782881e-01 3.16947390e-01 8.32445735e-02 5.42898198e+01] [-3.15679502e-01 9.48442997e-01 -2.83254793e-02 -7.14603385e+00] [-8.79304195e-02 4.82822393e-04 9.96126502e-01 -5.93911372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.029649246000005 meters 0.05913595499433675 Centerline is valid? [True, True] Translation: X:54.32, Y:-7.16, Z:-5.94 [[ 9.44446332e-01 3.17852569e-01 8.36114259e-02 5.43203229e+01] [-3.16575006e-01 9.48140056e-01 -2.84727790e-02 -7.15555040e+00] [-8.83254881e-02 4.21724074e-04 9.96091577e-01 -5.94302947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.059649246 meters 0.05908768671233938 Centerline is valid? [True, True] Translation: X:54.35, Y:-7.16, Z:-5.95 [[ 9.43857665e-01 3.19528949e-01 8.38686973e-02 5.43504044e+01] [-3.18247925e-01 9.47576471e-01 -2.85848024e-02 -7.16338970e+00] [-8.86056761e-02 2.88946007e-04 9.96066740e-01 -5.94852784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.089649246 meters 0.05915693085887714 Centerline is valid? [True, True] Translation: X:54.38, Y:-7.17, Z:-5.95 [[ 9.43573351e-01 3.20217071e-01 8.44414457e-02 5.43801153e+01] [-3.18920183e-01 9.47344167e-01 -2.87914234e-02 -7.17223748e+00] [-8.92146164e-02 2.36738628e-04 9.96012398e-01 -5.95260329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.119649246 meters 0.05914358920261042 Centerline is valid? [True, True] Translation: X:54.41, Y:-7.18, Z:-5.95 [[ 9.42556327e-01 3.23360287e-01 8.38194246e-02 5.44119560e+01] [-3.22093282e-01 9.46275923e-01 -2.85971056e-02 -7.17932712e+00] [-8.85634717e-02 -4.32907764e-05 9.96070534e-01 -5.95398693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.149649246 meters 0.05914187329881245 Centerline is valid? [True, True] Translation: X:54.44, Y:-7.19, Z:-5.96 [[ 9.41883434e-01 3.25231039e-01 8.41449216e-02 5.44432247e+01] [-3.23959370e-01 9.45634566e-01 -2.87331414e-02 -7.18816399e+00] [-8.89152559e-02 -1.96265918e-04 9.96039175e-01 -5.95724703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.179649246000004 meters 0.05956935629990017 Centerline is valid? [True, True] Translation: X:54.48, Y:-7.19, Z:-5.96 [[ 9.41003660e-01 3.28291530e-01 8.20779077e-02 5.44752603e+01] [-3.27091197e-01 9.44576343e-01 -2.80513971e-02 -7.19315103e+00] [-8.67378860e-02 -4.50493768e-04 9.96231066e-01 -5.96226131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.209649246000005 meters 0.05997312910399826 Centerline is valid? [True, True] Translation: X:54.51, Y:-7.20, Z:-5.97 [[ 9.40210566e-01 3.30823791e-01 8.09920361e-02 5.45051717e+01] [-3.29662563e-01 9.43692318e-01 -2.77020521e-02 -7.19915711e+00] [-8.55960602e-02 -6.54280080e-04 9.96329708e-01 -5.96941079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.239649246 meters 0.060112915974609375 Centerline is valid? [True, True] Translation: X:54.54, Y:-7.21, Z:-5.97 [[ 9.39539931e-01 3.33092603e-01 7.94609009e-02 5.45360091e+01] [-3.31981212e-01 9.42893758e-01 -2.71999332e-02 -7.20611892e+00] [-8.39832841e-02 -8.24102816e-04 9.96466823e-01 -5.97324851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.269649246 meters 0.059858774486792096 Centerline is valid? [True, True] Translation: X:54.57, Y:-7.22, Z:-5.98 [[ 9.40277306e-01 3.30971577e-01 7.96015243e-02 5.45660052e+01] [-3.29847612e-01 9.43640517e-01 -2.72603575e-02 -7.21926129e+00] [-8.41376271e-02 -6.24077175e-04 9.96453948e-01 -5.97507084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.299649246 meters 0.059471967494006024 Centerline is valid? [True, True] Translation: X:54.59, Y:-7.23, Z:-5.98 [[ 9.41236939e-01 3.27950200e-01 8.07569806e-02 5.45941011e+01] [-3.26781783e-01 9.44694946e-01 -2.76609052e-02 -7.23268503e+00] [-8.53621108e-02 -3.54444386e-04 9.96349931e-01 -5.97502115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.329649246 meters 0.059565728623109236 Centerline is valid? [True, True] Translation: X:54.62, Y:-7.24, Z:-5.98 [[ 9.41334194e-01 3.27983849e-01 7.94765948e-02 5.46245401e+01] [-3.26850747e-01 9.44683272e-01 -2.72416177e-02 -7.24118272e+00] [-8.40150202e-02 -3.33518133e-04 9.96464432e-01 -5.98186877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.359649246000004 meters 0.05989784438882467 Centerline is valid? [True, True] Translation: X:54.65, Y:-7.25, Z:-5.99 [[ 9.40510677e-01 3.30413390e-01 7.91622248e-02 5.46548444e+01] [-3.29296016e-01 9.43836168e-01 -2.71554954e-02 -7.24888514e+00] [-8.36887102e-02 -5.27771850e-04 9.96491807e-01 -5.98731047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.389649246000005 meters 0.05992389212925914 Centerline is valid? [True, True] Translation: X:54.68, Y:-7.26, Z:-5.99 [[ 9.40367689e-01 3.30593121e-01 8.01049177e-02 5.46834020e+01] [-3.29447865e-01 9.43773228e-01 -2.74990587e-02 -7.26131374e+00] [-8.46918764e-02 -5.31167790e-04 9.96407047e-01 -5.98961473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.419649246000006 meters 0.05979862919438111 Centerline is valid? [True, True] Translation: X:54.71, Y:-7.27, Z:-5.99 [[ 9.40217547e-01 3.31132684e-01 7.96373668e-02 5.47132478e+01] [-3.30001088e-01 9.43584036e-01 -2.73577754e-02 -7.27233156e+00] [-8.42036017e-02 -5.58157254e-04 9.96448414e-01 -5.99304025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.449649246 meters 0.059875189297976056 Centerline is valid? [True, True] Translation: X:54.74, Y:-7.28, Z:-6.00 [[ 9.40090595e-01 3.31545424e-01 7.94185403e-02 5.47424567e+01] [-3.30419799e-01 9.43439082e-01 -2.73030065e-02 -7.28356867e+00] [-8.39787417e-02 -5.74158502e-04 9.96467381e-01 -5.99638433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.479649246 meters 0.05980190746578722 Centerline is valid? [True, True] Translation: X:54.77, Y:-7.30, Z:-6.00 [[ 9.39901980e-01 3.31836143e-01 8.04303572e-02 5.47724232e+01] [-3.30680685e-01 9.43336860e-01 -2.76740551e-02 -7.29575940e+00] [-8.50561723e-02 -5.85866394e-04 9.96375985e-01 -5.99700399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.509649246 meters 0.05960205257121654 Centerline is valid? [True, True] Translation: X:54.80, Y:-7.31, Z:-6.00 [[ 9.40029097e-01 3.31614196e-01 7.98581359e-02 5.48024884e+01] [-3.30472616e-01 9.43414930e-01 -2.74976222e-02 -7.30775153e+00] [-8.44579596e-02 -5.42362175e-04 9.96426896e-01 -5.99982619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.539649246 meters 0.05960205257121654 Centerline is valid? [True, True] Translation: X:54.83, Y:-7.32, Z:-6.00 [[ 9.39936468e-01 3.31878498e-01 7.98504741e-02 5.48328297e+01] [-3.30735982e-01 9.43321985e-01 -2.75198509e-02 -7.31838487e+00] [-8.44579545e-02 -5.42513499e-04 9.96426896e-01 -6.00332511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.569649246000004 meters 0.059549532005051344 Centerline is valid? [True, True] Translation: X:54.86, Y:-7.33, Z:-6.01 [[ 9.39977193e-01 3.31513876e-01 8.08790876e-02 5.48619648e+01] [-3.30338014e-01 9.43450215e-01 -2.79013917e-02 -7.32900693e+00] [-8.55550911e-02 -4.90765281e-04 9.96333321e-01 -6.00860461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.599649246000006 meters 0.05961319771458103 Centerline is valid? [True, True] Translation: X:54.89, Y:-7.34, Z:-6.01 [[ 9.39953264e-01 3.31588498e-01 8.08512798e-02 5.48925959e+01] [-3.30412073e-01 9.43423997e-01 -2.79109935e-02 -7.34000819e+00] [-8.55320019e-02 -4.79209553e-04 9.96335309e-01 -6.01206483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.629649246 meters 0.059304087672256346 Centerline is valid? [True, True] Translation: X:54.92, Y:-7.35, Z:-6.01 [[ 9.39437421e-01 3.32801969e-01 8.18546348e-02 5.49224721e+01] [-3.31598403e-01 9.42996565e-01 -2.82838614e-02 -7.35107529e+00] [-8.66015643e-02 -5.71948367e-04 9.96242863e-01 -6.01274079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.659649246 meters 0.05957280146804918 Centerline is valid? [True, True] Translation: X:54.95, Y:-7.36, Z:-6.02 [[ 9.38673136e-01 3.34856343e-01 8.22433761e-02 5.49534999e+01] [-3.33647183e-01 9.42268898e-01 -2.84408287e-02 -7.35956979e+00] [-8.70189673e-02 -7.43628951e-04 9.96206377e-01 -6.01640981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.689649246 meters 0.059568933729567126 Centerline is valid? [True, True] Translation: X:54.98, Y:-7.37, Z:-6.02 [[ 9.38434403e-01 3.35549461e-01 8.21427504e-02 5.49845646e+01] [-3.34343822e-01 9.42022263e-01 -2.84299880e-02 -7.36940429e+00] [-8.69199668e-02 -7.84242343e-04 9.96214989e-01 -6.02055915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.719649246 meters 0.059679779654291595 Centerline is valid? [True, True] Translation: X:55.02, Y:-7.38, Z:-6.02 [[ 9.38090197e-01 3.36371470e-01 8.27104326e-02 5.50152503e+01] [-3.35150000e-01 9.41729008e-01 -2.86522717e-02 -7.37882773e+00] [-8.75286204e-02 -8.41986243e-04 9.96161649e-01 -6.02479246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.749649246000004 meters 0.06006473231482984 Centerline is valid? [True, True] Translation: X:55.04, Y:-7.39, Z:-6.03 [[ 9.37670738e-01 3.37947132e-01 8.10266823e-02 5.50447401e+01] [-3.36778620e-01 9.41164621e-01 -2.80947796e-02 -7.38622680e+00] [-8.57539969e-02 -9.44401576e-04 9.96315894e-01 -6.03028250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.779649246000005 meters 0.05986580356765403 Centerline is valid? [True, True] Translation: X:55.08, Y:-7.40, Z:-6.03 [[ 9.37745528e-01 3.37765121e-01 8.09200102e-02 5.50752282e+01] [-3.36597398e-01 9.41229992e-01 -2.80765787e-02 -7.39866394e+00] [-8.56476296e-02 -9.08778828e-04 9.96325076e-01 -6.03208153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.809649246 meters 0.05992913194381942 Centerline is valid? [True, True] Translation: X:55.10, Y:-7.41, Z:-6.04 [[ 9.37902131e-01 3.37512430e-01 8.01558045e-02 5.51033849e+01] [-3.36363447e-01 9.41320686e-01 -2.78387653e-02 -7.40969701e+00] [-8.48482462e-02 -8.51445401e-04 9.96393522e-01 -6.03701178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.839649246 meters 0.0599290687264701 Centerline is valid? [True, True] Translation: X:55.13, Y:-7.42, Z:-6.04 [[ 9.38078788e-01 3.37099323e-01 7.98262729e-02 5.51335742e+01] [-3.35956991e-01 9.41468753e-01 -2.77396415e-02 -7.42188265e+00] [-8.45049559e-02 -7.96225158e-04 9.96422741e-01 -6.04162597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.869649246 meters 0.05965030796152875 Centerline is valid? [True, True] Translation: X:55.16, Y:-7.44, Z:-6.05 [[ 9.38372088e-01 3.36385307e-01 7.93898546e-02 5.51634043e+01] [-3.35250880e-01 9.41724178e-01 -2.76119442e-02 -7.43587891e+00] [-8.40515979e-02 -7.05240947e-04 9.96461154e-01 -6.04505670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.899649246 meters 0.059518933358203165 Centerline is valid? [True, True] Translation: X:55.19, Y:-7.45, Z:-6.05 [[ 9.38596937e-01 3.35611436e-01 8.00047111e-02 5.51924631e+01] [-3.34454316e-01 9.42000310e-01 -2.78518573e-02 -7.44908025e+00] [-8.47118645e-02 -6.16253048e-04 9.96405299e-01 -6.04794308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.929649246000004 meters 0.05936639146403573 Centerline is valid? [True, True] Translation: X:55.22, Y:-7.46, Z:-6.05 [[ 9.38991291e-01 3.34154534e-01 8.14622824e-02 5.52203344e+01] [-3.32947322e-01 9.42518183e-01 -2.83823178e-02 -7.46324761e+00] [-8.62637626e-02 -4.71899567e-04 9.96272222e-01 -6.05011145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.959649246000005 meters 0.059104223828470484 Centerline is valid? [True, True] Translation: X:55.25, Y:-7.48, Z:-6.05 [[ 9.39281463e-01 3.33374931e-01 8.13110557e-02 5.52500794e+01] [-3.32167651e-01 9.42794256e-01 -2.83485806e-02 -7.47636397e+00] [-8.61103024e-02 -3.81606103e-04 9.96285536e-01 -6.05172339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.989649246 meters 0.05904306399119859 Centerline is valid? [True, True] Translation: X:55.28, Y:-7.49, Z:-6.05 [[ 9.39614972e-01 3.32085693e-01 8.27212027e-02 5.52776528e+01] [-3.30828672e-01 9.43249190e-01 -2.88678998e-02 -7.49038594e+00] [-8.76133240e-02 -2.41834859e-04 9.96154530e-01 -6.05369390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.019649246 meters 0.05890869409100325 Centerline is valid? [True, True] Translation: X:55.31, Y:-7.50, Z:-6.06 [[ 9.39876653e-01 3.31313169e-01 8.28460055e-02 5.53078129e+01] [-3.30047585e-01 9.43520833e-01 -2.89314721e-02 -7.50326399e+00] [-8.77523098e-02 -1.51108852e-04 9.96142314e-01 -6.05558558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.049649246 meters 0.05893723457655393 Centerline is valid? [True, True] Translation: X:55.34, Y:-7.52, Z:-6.06 [[ 9.40118338e-01 3.30734850e-01 8.24134018e-02 5.53365310e+01] [-3.29477744e-01 9.43723717e-01 -2.88090621e-02 -7.51539041e+00] [-8.73036427e-02 -6.94541150e-05 9.96181745e-01 -6.06057068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.079649246 meters 0.05904286024799056 Centerline is valid? [True, True] Translation: X:55.37, Y:-7.53, Z:-6.07 [[ 9.40067579e-01 3.30993595e-01 8.19523417e-02 5.53671028e+01] [-3.29750667e-01 9.43632997e-01 -2.86577175e-02 -7.52625542e+00] [-8.68184548e-02 -8.36482212e-05 9.96224146e-01 -6.06547512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.109649246000004 meters 0.059048437013758184 Centerline is valid? [True, True] Translation: X:55.40, Y:-7.54, Z:-6.07 [[ 9.40418558e-01 3.30280937e-01 8.07925641e-02 5.53965989e+01] [-3.29068263e-01 9.43882674e-01 -2.82767626e-02 -7.53858760e+00] [-8.55979771e-02 5.72353445e-06 9.96329758e-01 -6.06871398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.139649246000005 meters 0.0589926250064886 Centerline is valid? [True, True] Translation: X:55.43, Y:-7.55, Z:-6.07 [[ 9.41037251e-01 3.28698973e-01 8.00367268e-02 5.54254417e+01] [-3.27501363e-01 9.44434729e-01 -2.80339137e-02 -7.55094043e+00] [-8.48041831e-02 1.68819992e-04 9.96397622e-01 -6.07340353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.169649246000006 meters 0.0591029490800621 Centerline is valid? [True, True] Translation: X:55.45, Y:-7.56, Z:-6.08 [[ 9.41277918e-01 3.28129976e-01 7.95399288e-02 5.54549094e+01] [-3.26943362e-01 9.44632554e-01 -2.78814776e-02 -7.56229084e+00] [-8.42847546e-02 2.39167483e-04 9.96441681e-01 -6.07762365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.199649246 meters 0.05902307563015379 Centerline is valid? [True, True] Translation: X:55.48, Y:-7.57, Z:-6.08 [[ 9.40923093e-01 3.29010008e-01 8.01008582e-02 5.54845619e+01] [-3.27807868e-01 9.44326417e-01 -2.81001900e-02 -7.57340718e+00] [-8.48866001e-02 1.82426150e-04 9.96390602e-01 -6.07933262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.229649246 meters 0.059124312334809095 Centerline is valid? [True, True] Translation: X:55.51, Y:-7.58, Z:-6.08 [[ 9.40913822e-01 3.28955100e-01 8.04345777e-02 5.55139714e+01] [-3.27740585e-01 9.44345539e-01 -2.82420170e-02 -7.58410810e+00] [-8.52483902e-02 2.11628537e-04 9.96359708e-01 -6.08276713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.259649246 meters 0.05895828556680325 Centerline is valid? [True, True] Translation: X:55.55, Y:-7.59, Z:-6.09 [[ 9.40694750e-01 3.29586205e-01 8.04134349e-02 5.55451233e+01] [-3.28373863e-01 9.44125472e-01 -2.82435726e-02 -7.59454201e+00] [-8.52290641e-02 1.62910256e-04 9.96361370e-01 -6.08535464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.289649246 meters 0.05890606968618531 Centerline is valid? [True, True] Translation: X:55.58, Y:-7.60, Z:-6.09 [[ 9.40361058e-01 3.30603285e-01 8.01408071e-02 5.55761257e+01] [-3.29400708e-01 9.43769812e-01 -2.81729401e-02 -7.60464767e+00] [-8.49485410e-02 9.42970884e-05 9.96385335e-01 -6.08941300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.319649246000004 meters 0.05909288678650432 Centerline is valid? [True, True] Translation: X:55.61, Y:-7.62, Z:-6.09 [[ 9.40668625e-01 3.29943936e-01 7.92435310e-02 5.56059796e+01] [-3.28763691e-01 9.44000513e-01 -2.78831145e-02 -7.61552356e+00] [-8.40057984e-02 1.76375254e-04 9.96465250e-01 -6.09336572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.349649246000006 meters 0.05924139750380686 Centerline is valid? [True, True] Translation: X:55.63, Y:-7.63, Z:-6.10 [[ 9.40958391e-01 3.29301329e-01 7.84725459e-02 5.56342648e+01] [-3.28139679e-01 9.44224851e-01 -2.76365997e-02 -7.62766368e+00] [-8.31964970e-02 2.54934390e-04 9.96533129e-01 -6.09847606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.379649246 meters 0.05939998928594768 Centerline is valid? [True, True] Translation: X:55.66, Y:-7.64, Z:-6.10 [[ 9.41051850e-01 3.29369576e-01 7.70525617e-02 5.56636719e+01] [-3.28249208e-01 9.44201048e-01 -2.71447715e-02 -7.63976875e+00] [-8.16937713e-02 2.52195044e-04 9.96657446e-01 -6.10084900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.409649246 meters 0.05922893896668161 Centerline is valid? [True, True] Translation: X:55.69, Y:-7.65, Z:-6.11 [[ 9.41023207e-01 3.29350620e-01 7.74822149e-02 5.56924134e+01] [-3.28215547e-01 9.44207652e-01 -2.73214895e-02 -7.65037091e+00] [-8.21576498e-02 2.79288065e-04 9.96619307e-01 -6.10617183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.439649246 meters 0.058960620134788436 Centerline is valid? [True, True] Translation: X:55.72, Y:-7.66, Z:-6.11 [[ 9.40770946e-01 3.29873774e-01 7.83155158e-02 5.57227905e+01] [-3.28715065e-01 9.44025017e-01 -2.76255875e-02 -7.66011451e+00] [-8.30447630e-02 2.45860201e-04 9.96545788e-01 -6.10775920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.469649246 meters 0.05895608575571379 Centerline is valid? [True, True] Translation: X:55.75, Y:-7.67, Z:-6.11 [[ 9.40672912e-01 3.30058988e-01 7.87117332e-02 5.57527969e+01] [-3.28887342e-01 9.43960275e-01 -2.77869557e-02 -7.67028357e+00] [-8.34720838e-02 2.51143828e-04 9.96510084e-01 -6.11003813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.499649246000004 meters 0.0588749193222115 Centerline is valid? [True, True] Translation: X:55.78, Y:-7.68, Z:-6.11 [[ 9.40559854e-01 3.30414438e-01 7.85713734e-02 5.57835107e+01] [-3.29246435e-01 9.43835919e-01 -2.77586564e-02 -7.68144654e+00] [-8.33303453e-02 2.39333161e-04 9.96521950e-01 -6.11349691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.529649246000005 meters 0.05902910409284211 Centerline is valid? [True, True] Translation: X:55.81, Y:-7.69, Z:-6.12 [[ 9.40455424e-01 3.30803118e-01 7.81849859e-02 5.58127047e+01] [-3.29645826e-01 9.43699764e-01 -2.76475081e-02 -7.69190400e+00] [-8.29290346e-02 2.27894727e-04 9.96555429e-01 -6.11908354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.559649246 meters 0.05906526280659776 Centerline is valid? [True, True] Translation: X:55.84, Y:-7.70, Z:-6.12 [[ 9.40363582e-01 3.30795387e-01 7.93142193e-02 5.58429790e+01] [-3.29602270e-01 9.43702467e-01 -2.80712877e-02 -7.70184801e+00] [-8.41348769e-02 2.55069980e-04 9.96454343e-01 -6.12166061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.589649246 meters 0.058931216201155115 Centerline is valid? [True, True] Translation: X:55.87, Y:-7.71, Z:-6.12 [[ 9.40256179e-01 3.30887249e-01 8.01994113e-02 5.58727875e+01] [-3.29665706e-01 9.43670257e-01 -2.84071746e-02 -7.71313962e+00] [-8.50813710e-02 2.71025941e-04 9.96373969e-01 -6.12479355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.619649246 meters 0.05872508142074629 Centerline is valid? [True, True] Translation: X:55.90, Y:-7.72, Z:-6.13 [[ 9.40163703e-01 3.31056144e-01 8.05856160e-02 5.59035980e+01] [-3.29821594e-01 9.43611018e-01 -2.85650662e-02 -7.72471782e+00] [-8.54981158e-02 2.76962022e-04 9.96338294e-01 -6.12626074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.649649246 meters 0.05895182888690737 Centerline is valid? [True, True] Translation: X:55.93, Y:-7.73, Z:-6.13 [[ 9.39981958e-01 3.31747887e-01 7.98577359e-02 5.59320822e+01] [-3.30535698e-01 9.43368053e-01 -2.83349569e-02 -7.73457500e+00] [-8.47352988e-02 2.38515789e-04 9.96403469e-01 -6.13192086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.679649246000004 meters 0.05910847786319752 Centerline is valid? [True, True] Translation: X:55.96, Y:-7.75, Z:-6.13 [[ 9.40073357e-01 3.31520581e-01 7.97257071e-02 5.59612945e+01] [-3.30310206e-01 9.43447947e-01 -2.83043881e-02 -7.74683766e+00] [-8.46005419e-02 2.73986398e-04 9.96414910e-01 -6.13381492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.709649246000005 meters 0.059343954621653185 Centerline is valid? [True, True] Translation: X:55.99, Y:-7.76, Z:-6.14 [[ 9.40114940e-01 3.31496869e-01 7.93330104e-02 5.59906465e+01] [-3.30296392e-01 9.43456273e-01 -2.81878593e-02 -7.75850316e+00] [-8.41914133e-02 2.96420541e-04 9.96449556e-01 -6.13840091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.739649246 meters 0.05946630017461734 Centerline is valid? [True, True] Translation: X:56.02, Y:-7.77, Z:-6.14 [[ 9.40189897e-01 3.31341285e-01 7.90943119e-02 5.60201816e+01] [-3.30145387e-01 9.43510912e-01 -2.81279474e-02 -7.76934059e+00] [-8.39462966e-02 3.32989754e-04 9.96470225e-01 -6.14212633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.769649246 meters 0.05964766256438692 Centerline is valid? [True, True] Translation: X:56.05, Y:-7.78, Z:-6.15 [[ 9.40073863e-01 3.31852689e-01 7.83257598e-02 5.60503355e+01] [-3.30680651e-01 9.43331174e-01 -2.78675858e-02 -7.77901900e+00] [-8.31350643e-02 2.96775793e-04 9.96538245e-01 -6.14808164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.799649246 meters 0.05932688012849081 Centerline is valid? [True, True] Translation: X:56.08, Y:-7.79, Z:-6.15 [[ 9.39925762e-01 3.32124696e-01 7.89477616e-02 5.60807935e+01] [-3.30933182e-01 9.43235442e-01 -2.81092378e-02 -7.78946716e+00] [-8.38020989e-02 2.94162760e-04 9.96482374e-01 -6.14822117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.829649246 meters 0.059296339507082775 Centerline is valid? [True, True] Translation: X:56.11, Y:-7.80, Z:-6.15 [[ 9.39700710e-01 3.32655610e-01 7.93903043e-02 5.61111525e+01] [-3.31450710e-01 9.43048341e-01 -2.82887630e-02 -7.80058408e+00] [-8.42793104e-02 2.68997986e-04 9.96442134e-01 -6.15126076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.859649246000004 meters 0.05923280126321434 Centerline is valid? [True, True] Translation: X:56.14, Y:-7.81, Z:-6.15 [[ 9.39643876e-01 3.32770599e-01 7.95808701e-02 5.61415272e+01] [-3.31558543e-01 9.43007768e-01 -2.83774891e-02 -7.81175702e+00] [-8.44885727e-02 2.79016524e-04 9.96424409e-01 -6.15329789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.889649246000005 meters 0.059155721429177785 Centerline is valid? [True, True] Translation: X:56.17, Y:-7.82, Z:-6.16 [[ 9.39469069e-01 3.33079158e-01 8.03501284e-02 5.61715883e+01] [-3.31842344e-01 9.42898826e-01 -2.86786038e-02 -7.82197614e+00] [-8.53142869e-02 2.79086266e-04 9.96354051e-01 -6.15649166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.919649246000006 meters 0.059441935023909175 Centerline is valid? [True, True] Translation: X:56.20, Y:-7.83, Z:-6.16 [[ 9.39233162e-01 3.33512753e-01 8.13038192e-02 5.62007355e+01] [-3.32245919e-01 9.42745551e-01 -2.90426576e-02 -7.83219099e+00] [-8.63349105e-02 2.64965045e-04 9.96266136e-01 -6.16031038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.949649246 meters 0.059693210170372775 Centerline is valid? [True, True] Translation: X:56.23, Y:-7.84, Z:-6.17 [[ 9.39235790e-01 3.33591569e-01 8.09493375e-02 5.62304638e+01] [-3.32334324e-01 9.42717661e-01 -2.89362816e-02 -7.84297044e+00] [-8.59652697e-02 2.75748045e-04 9.96298096e-01 -6.16621568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.979649246 meters 0.05964404844103599 Centerline is valid? [True, True] Translation: X:56.26, Y:-7.85, Z:-6.17 [[ 9.39512001e-01 3.32805791e-01 8.09784252e-02 5.62606563e+01] [-3.31542686e-01 9.42995317e-01 -2.89703072e-02 -7.85460839e+00] [-8.60037617e-02 3.70146724e-04 9.96294744e-01 -6.16907862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.009649246 meters 0.059608215165759405 Centerline is valid? [True, True] Translation: X:56.29, Y:-7.87, Z:-6.17 [[ 9.39478258e-01 3.32902399e-01 8.09728115e-02 5.62912851e+01] [-3.31637650e-01 9.42961210e-01 -2.89935324e-02 -7.86637609e+00] [-8.60062368e-02 3.85160422e-04 9.96294524e-01 -6.17182032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.039649246 meters 0.059576034201556154 Centerline is valid? [True, True] Translation: X:56.32, Y:-7.88, Z:-6.17 [[ 9.39622147e-01 3.32611681e-01 8.04965206e-02 5.63195813e+01] [-3.31358289e-01 9.43063773e-01 -2.88514311e-02 -7.87975536e+00] [-8.55096754e-02 4.36254395e-04 9.96337245e-01 -6.17404136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.069649246000004 meters 0.059612128053434986 Centerline is valid? [True, True] Translation: X:56.35, Y:-7.89, Z:-6.18 [[ 9.39556627e-01 3.32642205e-01 8.11326615e-02 5.63497248e+01] [-3.31368157e-01 9.43053002e-01 -2.90891782e-02 -7.89063232e+00] [-8.61886883e-02 4.46149657e-04 9.96278732e-01 -6.17783179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.099649246000006 meters 0.05983298735182996 Centerline is valid? [True, True] Translation: X:56.38, Y:-7.90, Z:-6.18 [[ 9.39652040e-01 3.32735117e-01 7.96328132e-02 5.63782094e+01] [-3.31506262e-01 9.43020222e-01 -2.85737615e-02 -7.90055263e+00] [-8.46028470e-02 4.50617126e-04 9.96414650e-01 -6.18341195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.129649246 meters 0.05996023278506198 Centerline is valid? [True, True] Translation: X:56.41, Y:-7.91, Z:-6.19 [[ 9.39735995e-01 3.32607298e-01 7.91747757e-02 5.64079486e+01] [-3.31390828e-01 9.43065300e-01 -2.84246007e-02 -7.91154558e+00] [-8.41212133e-02 4.73825951e-04 9.96455416e-01 -6.18671039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.159649246 meters 0.06011411137388481 Centerline is valid? [True, True] Translation: X:56.44, Y:-7.92, Z:-6.19 [[ 9.39697529e-01 3.33044611e-01 7.77807304e-02 5.64373673e+01] [-3.31870398e-01 9.42910965e-01 -2.79455150e-02 -7.92120773e+00] [-8.26474066e-02 4.47209423e-04 9.96578751e-01 -6.19260916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.189649246 meters 0.06018338286837093 Centerline is valid? [True, True] Translation: X:56.47, Y:-7.93, Z:-6.20 [[ 9.39582642e-01 3.33394980e-01 7.76675378e-02 5.64672213e+01] [-3.32223823e-01 9.42787144e-01 -2.79236847e-02 -7.93087321e+00] [-8.25335724e-02 4.33603120e-04 9.96588190e-01 -6.19844172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.219649246 meters 0.06023611266167626 Centerline is valid? [True, True] Translation: X:56.50, Y:-7.94, Z:-6.20 [[ 9.39892709e-01 3.32724332e-01 7.67868141e-02 5.64966098e+01] [-3.31575593e-01 9.43023998e-01 -2.76290571e-02 -7.94192590e+00] [-8.16046680e-02 5.07715824e-04 9.96664648e-01 -6.20243285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.249649246000004 meters 0.06032291238311836 Centerline is valid? [True, True] Translation: X:56.53, Y:-7.95, Z:-6.21 [[ 9.39968697e-01 3.32780827e-01 7.56027124e-02 5.65263445e+01] [-3.31665894e-01 9.43004060e-01 -2.72227345e-02 -7.95366942e+00] [-8.03528689e-02 5.13677129e-04 9.96766348e-01 -6.20664781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.279649246000005 meters 0.060235556028245534 Centerline is valid? [True, True] Translation: X:56.55, Y:-7.96, Z:-6.21 [[ 9.40484470e-01 3.31569144e-01 7.45041241e-02 5.65549989e+01] [-3.30481038e-01 9.43430713e-01 -2.68472433e-02 -7.96488957e+00] [-7.91911964e-02 6.27215172e-04 9.96859248e-01 -6.21163064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.309649246 meters 0.06066991525002942 Centerline is valid? [True, True] Translation: X:56.58, Y:-7.98, Z:-6.22 [[ 9.40566151e-01 3.31506600e-01 7.37474705e-02 5.65843905e+01] [-3.30438917e-01 9.43452681e-01 -2.65925051e-02 -7.97526437e+00] [-7.83928397e-02 6.42975852e-04 9.96922339e-01 -6.21648002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.339649246 meters 0.060816383901990345 Centerline is valid? [True, True] Translation: X:56.62, Y:-7.99, Z:-6.22 [[ 9.40472230e-01 3.31838907e-01 7.34501516e-02 5.66154214e+01] [-3.30779566e-01 9.43335860e-01 -2.65015791e-02 -7.98620271e+00] [-7.80824170e-02 6.28189933e-04 9.96946709e-01 -6.22017103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.369649246 meters 0.06101039237081948 Centerline is valid? [True, True] Translation: X:56.64, Y:-8.00, Z:-6.22 [[ 9.40424740e-01 3.32090240e-01 7.29203753e-02 5.66446809e+01] [-3.31044868e-01 9.43247411e-01 -2.63366173e-02 -7.99574042e+00] [-7.75280888e-02 6.27690439e-04 9.96989971e-01 -6.22496921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.399649246 meters 0.06095448274032785 Centerline is valid? [True, True] Translation: X:56.67, Y:-8.00, Z:-6.23 [[ 9.40022450e-01 3.32961022e-01 7.41265924e-02 5.66738428e+01] [-3.31882770e-01 9.42940417e-01 -2.67805466e-02 -8.00456731e+00] [-7.88138381e-02 5.72976259e-04 9.96889187e-01 -6.22856451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.429649246000004 meters 0.06085474187933913 Centerline is valid? [True, True] Translation: X:56.70, Y:-8.02, Z:-6.23 [[ 9.39906906e-01 3.33047473e-01 7.51956688e-02 5.67031067e+01] [-3.31936674e-01 9.42909875e-01 -2.71847939e-02 -8.01593954e+00] [-7.99565656e-02 5.90975322e-04 9.96798173e-01 -6.23218897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.459649246000005 meters 0.06085474187933913 Centerline is valid? [True, True] Translation: X:56.73, Y:-8.03, Z:-6.24 [[ 9.39820476e-01 3.33292608e-01 7.51898218e-02 5.67332856e+01] [-3.32181299e-01 9.42823256e-01 -2.72009547e-02 -8.02705753e+00] [-7.99565898e-02 5.87361487e-04 9.96798174e-01 -6.23568590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.489649246000006 meters 0.060686671017459504 Centerline is valid? [True, True] Translation: X:56.76, Y:-8.04, Z:-6.24 [[ 9.39774942e-01 3.33436949e-01 7.51189714e-02 5.67644184e+01] [-3.32326436e-01 9.42772214e-01 -2.71973027e-02 -8.03916301e+00] [-7.98886646e-02 5.95323539e-04 9.96803615e-01 -6.23654808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.519649246 meters 0.060321903404296585 Centerline is valid? [True, True] Translation: X:56.80, Y:-8.05, Z:-6.24 [[ 9.39926114e-01 3.32987632e-01 7.52205922e-02 5.67953477e+01] [-3.31870897e-01 9.42930966e-01 -2.72562044e-02 -8.04963015e+00] [-8.00038047e-02 6.55292911e-04 9.96794343e-01 -6.23649539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.549649246 meters 0.06039361046634108 Centerline is valid? [True, True] Translation: X:56.82, Y:-8.06, Z:-6.24 [[ 9.39685248e-01 3.33573091e-01 7.56348328e-02 5.68239520e+01] [-3.32443823e-01 9.42724028e-01 -2.74319542e-02 -8.05938182e+00] [-8.04533359e-02 6.33069702e-04 9.96758175e-01 -6.24133017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.579649246 meters 0.06048510622559653 Centerline is valid? [True, True] Translation: X:56.85, Y:-8.07, Z:-6.24 [[ 9.39428975e-01 3.34045715e-01 7.67245848e-02 5.68530063e+01] [-3.32883561e-01 9.42556670e-01 -2.78470690e-02 -8.07002233e+00] [-8.16194632e-02 6.19990519e-04 9.96663373e-01 -6.24451836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.609649246000004 meters 0.06035768828589894 Centerline is valid? [True, True] Translation: X:56.88, Y:-8.08, Z:-6.25 [[ 9.38989466e-01 3.35619215e-01 7.52231639e-02 5.68838823e+01] [-3.34505796e-01 9.41997612e-01 -2.73197849e-02 -8.07927424e+00] [-8.00290855e-02 4.90405898e-04 9.96792408e-01 -6.24582490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.639649246000005 meters 0.06023109707629108 Centerline is valid? [True, True] Translation: X:56.91, Y:-8.09, Z:-6.25 [[ 9.38577428e-01 3.36786687e-01 7.51474530e-02 5.69138297e+01] [-3.35677636e-01 9.41580883e-01 -2.73123589e-02 -8.08911427e+00] [-7.99558440e-02 4.09444180e-04 9.96798322e-01 -6.25009348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.669649246000006 meters 0.06004291102051081 Centerline is valid? [True, True] Translation: X:56.94, Y:-8.10, Z:-6.25 [[ 9.37968498e-01 3.38302877e-01 7.59359001e-02 5.69444092e+01] [-3.37173492e-01 9.41037231e-01 -2.76218431e-02 -8.09742418e+00] [-8.08030581e-02 3.04846124e-04 9.96730040e-01 -6.25268109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.699649246 meters 0.059871700380166364 Centerline is valid? [True, True] Translation: X:56.98, Y:-8.11, Z:-6.26 [[ 9.37626994e-01 3.39004886e-01 7.70149847e-02 5.69750694e+01] [-3.37843741e-01 9.40784575e-01 -2.80355287e-02 -8.10679542e+00] [-8.19586908e-02 2.67837885e-04 9.96635691e-01 -6.25503864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.729649246 meters 0.05981838142679758 Centerline is valid? [True, True] Translation: X:57.01, Y:-8.12, Z:-6.26 [[ 9.37185214e-01 3.40164238e-01 7.72797904e-02 5.70055973e+01] [-3.38997263e-01 9.40366023e-01 -2.81531358e-02 -8.11622170e+00] [-8.22479791e-02 1.87065130e-04 9.96611878e-01 -6.25762681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.759649246 meters 0.060118456868206493 Centerline is valid? [True, True] Translation: X:57.04, Y:-8.13, Z:-6.26 [[ 9.37217665e-01 3.40184863e-01 7.67939277e-02 5.70354262e+01] [-3.39030872e-01 9.40358558e-01 -2.79973239e-02 -8.12858003e+00] [-8.17380929e-02 2.04074259e-04 9.96653823e-01 -6.26014904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.789649246 meters 0.06009242495046502 Centerline is valid? [True, True] Translation: X:57.06, Y:-8.14, Z:-6.26 [[ 9.37237522e-01 3.39984571e-01 7.74358986e-02 5.70640151e+01] [-3.38808449e-01 9.40430981e-01 -2.82560530e-02 -8.14021564e+00] [-8.24297402e-02 2.46696480e-04 9.96596848e-01 -6.26331226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.819649246000004 meters 0.06000662961874178 Centerline is valid? [True, True] Translation: X:57.09, Y:-8.15, Z:-6.27 [[ 9.37352544e-01 3.39380913e-01 7.86816612e-02 5.70922643e+01] [-3.38163562e-01 9.40648977e-01 -2.87212161e-02 -8.15180619e+00] [-8.37592567e-02 3.14634151e-04 9.96485970e-01 -6.26710501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.849649246000006 meters 0.05980833268731493 Centerline is valid? [True, True] Translation: X:57.12, Y:-8.16, Z:-6.27 [[ 9.37220965e-01 3.39299692e-01 8.05765622e-02 5.71225030e+01] [-3.38020805e-01 9.40678264e-01 -2.94336265e-02 -8.16337568e+00] [-8.57834411e-02 3.49257445e-04 9.96313745e-01 -6.26782790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.879649246 meters 0.05951751461777161 Centerline is valid? [True, True] Translation: X:57.15, Y:-8.17, Z:-6.27 [[ 9.37105548e-01 3.39363285e-01 8.16440591e-02 5.71532758e+01] [-3.38048180e-01 9.40655315e-01 -2.98497256e-02 -8.17409579e+00] [-8.69288191e-02 3.72717828e-04 9.96214456e-01 -6.26939011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.909649246 meters 0.05958557536577486 Centerline is valid? [True, True] Translation: X:57.18, Y:-8.19, Z:-6.27 [[ 9.36888092e-01 3.39871038e-01 8.20267049e-02 5.71827337e+01] [-3.38545069e-01 9.40471992e-01 -2.99944830e-02 -8.18513869e+00] [-8.73380746e-02 3.31737506e-04 9.96178674e-01 -6.27237810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.939649246 meters 0.05972704052579985 Centerline is valid? [True, True] Translation: X:57.21, Y:-8.20, Z:-6.28 [[ 9.36659073e-01 3.40627288e-01 8.15035618e-02 5.72130496e+01] [-3.39319151e-01 9.40198368e-01 -2.98251952e-02 -8.19599329e+00] [-8.67887912e-02 2.80320315e-04 9.96226695e-01 -6.27545915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.969649246 meters 0.05987344438385432 Centerline is valid? [True, True] Translation: X:57.24, Y:-8.21, Z:-6.28 [[ 9.36545490e-01 3.41149249e-01 8.06209401e-02 5.72427818e+01] [-3.39869206e-01 9.40009110e-01 -2.95262047e-02 -8.20582871e+00] [-8.58572607e-02 2.52059001e-04 9.96307416e-01 -6.28119013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.999649246000004 meters 0.05989486806726943 Centerline is valid? [True, True] Translation: X:57.27, Y:-8.22, Z:-6.29 [[ 9.36569688e-01 3.41125651e-01 8.04394770e-02 5.72733282e+01] [-3.39849455e-01 9.40017668e-01 -2.94810576e-02 -8.21729205e+00] [-8.56712745e-02 2.73752516e-04 9.96323420e-01 -6.28554530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.029649246000005 meters 0.05993273543507831 Centerline is valid? [True, True] Translation: X:57.30, Y:-8.23, Z:-6.29 [[ 9.36349770e-01 3.41707150e-01 8.05315651e-02 5.73025798e+01] [-3.40427967e-01 9.39806450e-01 -2.95404021e-02 -8.22842484e+00] [-8.57782509e-02 2.44951682e-04 9.96314223e-01 -6.28981895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.059649246 meters 0.0599934462976659 Centerline is valid? [True, True] Translation: X:57.33, Y:-8.24, Z:-6.29 [[ 9.36459171e-01 3.41546668e-01 7.99380727e-02 5.73324600e+01] [-3.40283717e-01 9.39864775e-01 -2.93461544e-02 -8.23938471e+00] [-8.51540600e-02 2.79850929e-04 9.96367757e-01 -6.29409655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.089649246 meters 0.06000337889987966 Centerline is valid? [True, True] Translation: X:57.36, Y:-8.25, Z:-6.30 [[ 9.36556005e-01 3.41598056e-01 7.85723737e-02 5.73613009e+01] [-3.40376346e-01 9.39846096e-01 -2.88662327e-02 -8.25046432e+00] [-8.37065876e-02 2.90666136e-04 9.96490403e-01 -6.29800772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.119649246 meters 0.06027970032787297 Centerline is valid? [True, True] Translation: X:57.39, Y:-8.26, Z:-6.30 [[ 9.36845265e-01 3.41165778e-01 7.69861137e-02 5.73903108e+01] [-3.39990001e-01 9.40003083e-01 -2.83019973e-02 -8.26230211e+00] [-8.20228572e-02 3.40083283e-04 9.96630390e-01 -6.30337342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.149649246 meters 0.06030863922224278 Centerline is valid? [True, True] Translation: X:57.42, Y:-8.27, Z:-6.31 [[ 9.37032633e-01 3.40614382e-01 7.71471851e-02 5.74208282e+01] [-3.39430190e-01 9.40202998e-01 -2.83807914e-02 -8.27473648e+00] [-8.22009204e-02 4.07643967e-04 9.96615695e-01 -6.30602707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.179649246000004 meters 0.06039095966022395 Centerline is valid? [True, True] Translation: X:57.45, Y:-8.28, Z:-6.31 [[ 9.36815493e-01 3.41462365e-01 7.60275309e-02 5.74504087e+01] [-3.40312892e-01 9.39895381e-01 -2.79965635e-02 -8.28444060e+00] [-8.10176979e-02 3.54465504e-04 9.96712600e-01 -6.31220904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.209649246000005 meters 0.06040427574794838 Centerline is valid? [True, True] Translation: X:57.48, Y:-8.30, Z:-6.32 [[ 9.36659900e-01 3.42123070e-01 7.49669020e-02 5.74805134e+01] [-3.41006993e-01 9.39655104e-01 -2.76136968e-02 -8.29502745e+00] [-7.98903148e-02 3.00404667e-04 9.96803615e-01 -6.31670061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.239649246000006 meters 0.06047297438571109 Centerline is valid? [True, True] Translation: X:57.51, Y:-8.31, Z:-6.32 [[ 9.36569567e-01 3.42495963e-01 7.43906053e-02 5.75108035e+01] [-3.41396581e-01 9.39519257e-01 -2.74215292e-02 -8.30603472e+00] [-7.92831692e-02 2.85471352e-04 9.96852094e-01 -6.32040614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.269649246 meters 0.06046494729081531 Centerline is valid? [True, True] Translation: X:57.54, Y:-8.32, Z:-6.33 [[ 9.36143164e-01 3.43725445e-01 7.40863979e-02 5.75405331e+01] [-3.42637336e-01 9.39070167e-01 -2.73290619e-02 -8.31555476e+00] [-7.89660201e-02 1.99148462e-04 9.96877288e-01 -6.32759433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.299649246 meters 0.06043318021011255 Centerline is valid? [True, True] Translation: X:57.57, Y:-8.32, Z:-6.33 [[ 9.35576012e-01 3.45350386e-01 7.36928613e-02 5.75721019e+01] [-3.44277242e-01 9.38473817e-01 -2.72043373e-02 -8.32421897e+00] [-7.85538491e-02 8.09503155e-05 9.96909869e-01 -6.32735381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.329649246 meters 0.06049815534672596 Centerline is valid? [True, True] Translation: X:57.60, Y:-8.33, Z:-6.33 [[ 9.35262795e-01 3.46421313e-01 7.26345449e-02 5.76022713e+01] [-3.45380204e-01 9.38079034e-01 -2.68373048e-02 -8.33493984e+00] [-7.74339580e-02 1.33987770e-05 9.96997483e-01 -6.32998625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.359649246000004 meters 0.060765636143182436 Centerline is valid? [True, True] Translation: X:57.63, Y:-8.35, Z:-6.33 [[ 9.34885739e-01 3.47602390e-01 7.18417228e-02 5.76329385e+01] [-3.46585869e-01 9.37642029e-01 -2.65642829e-02 -8.34506475e+00] [-7.65956270e-02 -6.47566630e-05 9.97062238e-01 -6.33344692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.389649246000005 meters 0.06077180582400807 Centerline is valid? [True, True] Translation: X:57.66, Y:-8.36, Z:-6.34 [[ 9.34758206e-01 3.47742430e-01 7.28168888e-02 5.76611432e+01] [-3.46696841e-01 9.37590102e-01 -2.69462582e-02 -8.35581754e+00] [-7.76427515e-02 -5.71493674e-05 9.96981243e-01 -6.33994698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.419649246000006 meters 0.06041596857750622 Centerline is valid? [True, True] Translation: X:57.69, Y:-8.37, Z:-6.34 [[ 9.35222310e-01 3.46266955e-01 7.38811640e-02 5.76910470e+01] [-3.45184428e-01 9.38136018e-01 -2.73591325e-02 -8.36875856e+00] [-7.87841446e-02 8.42437984e-05 9.96891695e-01 -6.34044817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.449649246 meters 0.06084898485576892 Centerline is valid? [True, True] Translation: X:57.72, Y:-8.38, Z:-6.35 [[ 9.35386299e-01 3.45798173e-01 7.40006409e-02 5.77190236e+01] [-3.44709065e-01 9.38308906e-01 -2.74236733e-02 -8.38152769e+00] [-7.89185165e-02 1.43036572e-04 9.96881060e-01 -6.35030868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.479649246 meters 0.06044462283016146 Centerline is valid? [True, True] Translation: X:57.75, Y:-8.39, Z:-6.35 [[ 9.35732768e-01 3.44660946e-01 7.49200884e-02 5.77488400e+01] [-3.43539052e-01 9.38727204e-01 -2.77877178e-02 -8.39462683e+00] [-7.99068662e-02 2.63902008e-04 9.96802299e-01 -6.34756614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.509649246 meters 0.06016025219196856 Centerline is valid? [True, True] Translation: X:57.78, Y:-8.41, Z:-6.35 [[ 9.35942293e-01 3.43884694e-01 7.58639698e-02 5.77780963e+01] [-3.42730082e-01 9.39011817e-01 -2.81584693e-02 -8.40859933e+00] [-8.09204307e-02 3.53837743e-04 9.96720502e-01 -6.34693590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.539649246 meters 0.06024330954583853 Centerline is valid? [True, True] Translation: X:57.81, Y:-8.42, Z:-6.35 [[ 9.35765395e-01 3.44221698e-01 7.65150163e-02 5.78061439e+01] [-3.43046467e-01 9.38888333e-01 -2.84221801e-02 -8.42102155e+00] [-8.16225872e-02 3.48286530e-04 9.96663249e-01 -6.35137012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.569649246000004 meters 0.06006272152164634 Centerline is valid? [True, True] Translation: X:57.84, Y:-8.43, Z:-6.35 [[ 9.35445533e-01 3.44894993e-01 7.73892617e-02 5.78357108e+01] [-3.43693386e-01 9.38641224e-01 -2.87664630e-02 -8.43220920e+00] [-8.25621604e-02 3.11281916e-04 9.96585868e-01 -6.35284041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.599649246000006 meters 0.05990095739683415 Centerline is valid? [True, True] Translation: X:57.87, Y:-8.44, Z:-6.36 [[ 9.34793473e-01 3.46423903e-01 7.84324049e-02 5.78661959e+01] [-3.45193137e-01 9.38078056e-01 -2.91763263e-02 -8.44298226e+00] [-8.36830948e-02 1.99511476e-04 9.96492398e-01 -6.35513465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.629649246 meters 0.059984968485001094 Centerline is valid? [True, True] Translation: X:57.90, Y:-8.45, Z:-6.36 [[ 9.34636539e-01 3.46970845e-01 7.78830708e-02 5.78960670e+01] [-3.45757404e-01 9.37875900e-01 -2.89933402e-02 -8.45319680e+00] [-8.31044989e-02 1.69586803e-04 9.96540824e-01 -6.35936273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.659649246 meters 0.05973738281011182 Centerline is valid? [True, True] Translation: X:57.93, Y:-8.46, Z:-6.36 [[ 9.34313670e-01 3.47899797e-01 7.76124769e-02 5.79277287e+01] [-3.46696318e-01 9.37531717e-01 -2.89126735e-02 -8.46265196e+00] [-8.28228720e-02 1.05546092e-04 9.96564278e-01 -6.36082678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.689649246 meters 0.05968253188865744 Centerline is valid? [True, True] Translation: X:57.96, Y:-8.47, Z:-6.36 [[ 9.34380346e-01 3.47529758e-01 7.84629590e-02 5.79581419e+01] [-3.46295789e-01 9.37668939e-01 -2.92606834e-02 -8.47388753e+00] [-8.37412377e-02 1.69215130e-04 9.96487519e-01 -6.36402124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.719649246 meters 0.059678120893248976 Centerline is valid? [True, True] Translation: X:57.98, Y:-8.49, Z:-6.37 [[ 9.35770817e-01 3.43258607e-01 8.06629247e-02 5.79846025e+01] [-3.41938011e-01 9.39240758e-01 -3.00864650e-02 -8.49122910e+00] [-8.60893445e-02 5.72315904e-04 9.96287256e-01 -6.36556467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.749649246000004 meters 0.05978761020117583 Centerline is valid? [True, True] Translation: X:58.01, Y:-8.50, Z:-6.37 [[ 9.35699349e-01 3.43486558e-01 8.05215056e-02 5.80142889e+01] [-3.42169611e-01 9.39157420e-01 -3.00549203e-02 -8.50175161e+00] [-8.59458306e-02 5.70357134e-04 9.96299648e-01 -6.37166459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.779649246000005 meters 0.060225045756826516 Centerline is valid? [True, True] Translation: X:58.04, Y:-8.51, Z:-6.38 [[ 9.35248691e-01 3.45045254e-01 7.90800783e-02 5.80447812e+01] [-3.43778715e-01 9.38585946e-01 -2.95400957e-02 -8.50901568e+00] [-8.44161199e-02 4.41288191e-04 9.96430491e-01 -6.37783248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.809649246 meters 0.06002721857431074 Centerline is valid? [True, True] Translation: X:58.07, Y:-8.52, Z:-6.38 [[ 9.35466372e-01 3.44542699e-01 7.86955864e-02 5.80747360e+01] [-3.43284853e-01 9.38770512e-01 -2.94182928e-02 -8.52107475e+00] [-8.40129540e-02 5.04820796e-04 9.96464535e-01 -6.38043412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.839649246 meters 0.06001123811767967 Centerline is valid? [True, True] Translation: X:58.10, Y:-8.53, Z:-6.38 [[ 9.35003874e-01 3.45844673e-01 7.84806792e-02 5.81040815e+01] [-3.44596285e-01 9.38291690e-01 -2.93616323e-02 -8.53187791e+00] [-8.37923332e-02 4.09089471e-04 9.96483155e-01 -6.38376957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.869649246 meters 0.05991952002636109 Centerline is valid? [True, True] Translation: X:58.14, Y:-8.54, Z:-6.39 [[ 9.34777130e-01 3.46446680e-01 7.85265317e-02 5.81352618e+01] [-3.45197846e-01 9.38069594e-01 -2.93919111e-02 -8.54192431e+00] [-8.38460817e-02 3.67696691e-04 9.96478650e-01 -6.38785060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.899649246 meters 0.05982616295623742 Centerline is valid? [True, True] Translation: X:58.17, Y:-8.55, Z:-6.39 [[ 9.33808353e-01 3.48754055e-01 7.98283685e-02 5.81669725e+01] [-3.47469236e-01 9.37214262e-01 -2.99091570e-02 -8.54993094e+00] [-8.52472253e-02 1.91518467e-04 9.96359811e-01 -6.39081265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.929649246000004 meters 0.06005576186472838 Centerline is valid? [True, True] Translation: X:58.20, Y:-8.56, Z:-6.40 [[ 9.33184168e-01 3.50647740e-01 7.88255707e-02 5.81970353e+01] [-3.49401471e-01 9.36507428e-01 -2.95372611e-02 -8.55907167e+00] [-8.41779063e-02 2.19340701e-05 9.96450741e-01 -6.39521764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.959649246000005 meters 0.060104519527932006 Centerline is valid? [True, True] Translation: X:58.23, Y:-8.57, Z:-6.40 [[ 9.32991514e-01 3.51092222e-01 7.91270269e-02 5.82278548e+01] [-3.49836187e-01 9.36340884e-01 -2.96713787e-02 -8.56984441e+00] [-8.45072606e-02 1.64711653e-06 9.96422864e-01 -6.39877167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.989649246000006 meters 0.059978597717600286 Centerline is valid? [True, True] Translation: X:58.26, Y:-8.58, Z:-6.40 [[ 9.32403269e-01 3.52407373e-01 8.02071572e-02 5.82571992e+01] [-3.51119273e-01 9.35846694e-01 -3.01035177e-02 -8.58055752e+00] [-8.56703045e-02 -9.36603893e-05 9.96323537e-01 -6.40132994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.019649246 meters 0.05985403676827555 Centerline is valid? [True, True] Translation: X:58.29, Y:-8.59, Z:-6.40 [[ 9.31957492e-01 3.53579190e-01 8.02308526e-02 5.82885448e+01] [-3.52293008e-01 9.35404577e-01 -3.01316046e-02 -8.59148752e+00] [-8.57022151e-02 -1.83393743e-04 9.96320780e-01 -6.40428828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.049649246 meters 0.059842479636938326 Centerline is valid? [True, True] Translation: X:58.32, Y:-8.60, Z:-6.41 [[ 9.31570080e-01 3.54585843e-01 8.02873901e-02 5.83194157e+01] [-3.53299419e-01 9.35023431e-01 -3.01778883e-02 -8.60166399e+00] [-8.57712430e-02 -2.52670386e-04 9.96314825e-01 -6.40854850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.079649246 meters 0.05979956738999973 Centerline is valid? [True, True] Translation: X:58.35, Y:-8.61, Z:-6.41 [[ 9.31026437e-01 3.55801061e-01 8.12119322e-02 5.83492116e+01] [-3.54487071e-01 9.34561655e-01 -3.05520759e-02 -8.60959901e+00] [-8.67680188e-02 -3.43789674e-04 9.96228484e-01 -6.41268865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.109649246000004 meters 0.05985396447614049 Centerline is valid? [True, True] Translation: X:58.38, Y:-8.62, Z:-6.42 [[ 9.30744138e-01 3.56657338e-01 8.06901025e-02 5.83793659e+01] [-3.55361740e-01 9.34235185e-01 -3.03751999e-02 -8.62092773e+00] [-8.62170708e-02 -4.02635947e-04 9.96276294e-01 -6.41504762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.139649246000005 meters 0.05998093845815674 Centerline is valid? [True, True] Translation: X:58.41, Y:-8.63, Z:-6.42 [[ 9.30779445e-01 3.56770412e-01 7.97778037e-02 5.84090478e+01] [-3.55502543e-01 9.34192016e-01 -3.00536057e-02 -8.63353489e+00] [-8.52500246e-02 -3.87933626e-04 9.96359515e-01 -6.41826078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.169649246000006 meters 0.06006043088820902 Centerline is valid? [True, True] Translation: X:58.44, Y:-8.65, Z:-6.42 [[ 9.31513646e-01 3.55084325e-01 7.87238774e-02 5.84371160e+01] [-3.53841934e-01 9.34834252e-01 -2.96784029e-02 -8.64599279e+00] [-8.41321127e-02 -2.09971743e-04 9.96454587e-01 -6.42423301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.199649246 meters 0.060243861128235855 Centerline is valid? [True, True] Translation: X:58.47, Y:-8.66, Z:-6.43 [[ 9.31864226e-01 3.54259997e-01 7.82874165e-02 5.84660521e+01] [-3.53026858e-01 9.35146962e-01 -2.95329708e-02 -8.65928737e+00] [-8.36725899e-02 -1.16841690e-04 9.96493294e-01 -6.43026315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.229649246 meters 0.06016503531147783 Centerline is valid? [True, True] Translation: X:58.49, Y:-8.67, Z:-6.44 [[ 9.32165873e-01 3.53443801e-01 7.83853632e-02 5.84941625e+01] [-3.52202742e-01 9.35455760e-01 -2.95930554e-02 -8.67266348e+00] [-8.37855214e-02 -2.19035846e-05 9.96483811e-01 -6.43524870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.259649246 meters 0.059952562192746736 Centerline is valid? [True, True] Translation: X:58.52, Y:-8.69, Z:-6.44 [[ 9.32433290e-01 3.52531601e-01 7.93071814e-02 5.85228799e+01] [-3.51255921e-01 9.35799906e-01 -2.99635485e-02 -8.68643604e+00] [-8.47787506e-02 8.18930046e-05 9.96399798e-01 -6.43735295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.289649246 meters 0.05976621191374605 Centerline is valid? [True, True] Translation: X:58.55, Y:-8.70, Z:-6.44 [[ 9.32706336e-01 3.51762598e-01 7.95107896e-02 5.85513972e+01] [-3.50475823e-01 9.36089230e-01 -3.00608000e-02 -8.70025534e+00] [-8.50034588e-02 1.71289186e-04 9.96380641e-01 -6.44056867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.319649246000004 meters 0.05982057757642836 Centerline is valid? [True, True] Translation: X:58.58, Y:-8.72, Z:-6.44 [[ 9.33304455e-01 3.50055111e-01 8.00263266e-02 5.85809771e+01] [-3.48743428e-01 9.36729041e-01 -3.02774599e-02 -8.71632782e+00] [-8.55617638e-02 3.49432772e-04 9.96332807e-01 -6.44192776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.349649246000006 meters 0.05982057757642836 Centerline is valid? [True, True] Translation: X:58.61, Y:-8.73, Z:-6.45 [[ 9.33212481e-01 3.50302049e-01 8.00183665e-02 5.86109822e+01] [-3.48989469e-01 9.36636724e-01 -3.02984806e-02 -8.72788804e+00] [-8.55617605e-02 3.49352986e-04 9.96332807e-01 -6.44542660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.379649246 meters 0.05980780125748488 Centerline is valid? [True, True] Translation: X:58.64, Y:-8.74, Z:-6.45 [[ 9.33093795e-01 3.50746838e-01 7.94520272e-02 5.86405700e+01] [-3.49452321e-01 9.36470260e-01 -3.01086071e-02 -8.73971922e+00] [-8.49649593e-02 3.29459097e-04 9.96383885e-01 -6.44900405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.409649246 meters 0.05975631548798773 Centerline is valid? [True, True] Translation: X:58.67, Y:-8.75, Z:-6.45 [[ 9.33117002e-01 3.50586965e-01 7.98839160e-02 5.86685350e+01] [-3.49275878e-01 9.36530110e-01 -3.02938165e-02 -8.75222563e+00] [-8.54343098e-02 3.66150401e-04 9.96343738e-01 -6.45245363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.439649246 meters 0.059421740208968774 Centerline is valid? [True, True] Translation: X:58.70, Y:-8.76, Z:-6.45 [[ 9.33268440e-01 3.50208691e-01 7.97739998e-02 5.86999923e+01] [-3.48898328e-01 9.36671607e-01 -3.02697413e-02 -8.76292513e+00] [-8.53227671e-02 4.16779082e-04 9.96353277e-01 -6.45379542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.469649246 meters 0.05956369736909847 Centerline is valid? [True, True] Translation: X:58.73, Y:-8.77, Z:-6.46 [[ 9.33241003e-01 3.50189951e-01 8.01762334e-02 5.87284228e+01] [-3.48863925e-01 9.36678600e-01 -3.04493488e-02 -8.77413326e+00] [-8.57624180e-02 4.45985403e-04 9.96315517e-01 -6.46122246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.499649246000004 meters 0.059414788277181455 Centerline is valid? [True, True] Translation: X:58.76, Y:-8.78, Z:-6.46 [[ 9.32893282e-01 3.51182116e-01 7.98826945e-02 5.87598128e+01] [-3.49867806e-01 9.36307099e-01 -3.03567984e-02 -8.78439089e+00] [-8.54554987e-02 3.71270272e-04 9.96341919e-01 -6.46050980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.529649246000005 meters 0.05960814742442089 Centerline is valid? [True, True] Translation: X:58.79, Y:-8.80, Z:-6.47 [[ 9.32781687e-01 3.51426854e-01 8.01092387e-02 5.87886560e+01] [-3.50103713e-01 9.36215267e-01 -3.04690649e-02 -8.79653620e+00] [-8.57071399e-02 3.74443792e-04 9.96320303e-01 -6.46864447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.559649246 meters 0.0595825844079612 Centerline is valid? [True, True] Translation: X:58.82, Y:-8.81, Z:-6.47 [[ 9.32527050e-01 3.52091398e-01 8.01557760e-02 5.88186686e+01] [-3.50767087e-01 9.35965563e-01 -3.05109178e-02 -8.80816162e+00] [-8.57656777e-02 3.36248111e-04 9.96315279e-01 -6.47240122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.589649246 meters 0.05961464708295681 Centerline is valid? [True, True] Translation: X:58.85, Y:-8.82, Z:-6.48 [[ 9.32427956e-01 3.52598787e-01 7.90708745e-02 5.88474917e+01] [-3.51309961e-01 9.35774546e-01 -3.01215945e-02 -8.81887919e+00] [-8.46133493e-02 3.07830994e-04 9.96413813e-01 -6.47765402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.619649246 meters 0.05943047912406655 Centerline is valid? [True, True] Translation: X:58.88, Y:-8.83, Z:-6.48 [[ 9.32297428e-01 3.52977945e-01 7.89181551e-02 5.88784752e+01] [-3.51694059e-01 9.35631598e-01 -3.00799270e-02 -8.82972314e+00] [-8.44558704e-02 2.88392319e-04 9.96427179e-01 -6.47799847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.649649246 meters 0.05928897420842445 Centerline is valid? [True, True] Translation: X:58.91, Y:-8.84, Z:-6.48 [[ 9.32305510e-01 3.53110575e-01 7.82263242e-02 5.89082141e+01] [-3.51847509e-01 9.35581548e-01 -2.98411963e-02 -8.84102904e+00] [-8.37243475e-02 2.97374458e-04 9.96488909e-01 -6.48096474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.679649246000004 meters 0.05942596291725483 Centerline is valid? [True, True] Translation: X:58.94, Y:-8.85, Z:-6.48 [[ 9.32339902e-01 3.53336673e-01 7.67821783e-02 5.89376618e+01] [-3.52118953e-01 9.35496184e-01 -2.93109605e-02 -8.85331951e+00] [-8.21860721e-02 2.91317847e-04 9.96616960e-01 -6.48436830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.709649246000005 meters 0.05957407989938927 Centerline is valid? [True, True] Translation: X:58.97, Y:-8.87, Z:-6.49 [[ 9.32161589e-01 3.53792834e-01 7.68466182e-02 5.89666416e+01] [-3.52572855e-01 9.35323771e-01 -2.93568583e-02 -8.86520233e+00] [-8.22627149e-02 2.71304097e-04 9.96610642e-01 -6.48966821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.739649246000006 meters 0.059564039150251574 Centerline is valid? [True, True] Translation: X:59.00, Y:-8.88, Z:-6.49 [[ 9.32164536e-01 3.54085758e-01 7.54490182e-02 5.89965194e+01] [-3.52908954e-01 9.35212921e-01 -2.88454969e-02 -8.87699769e+00] [-8.07746763e-02 2.62115069e-04 9.96732353e-01 -6.49296321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.769649246 meters 0.05965624970760243 Centerline is valid? [True, True] Translation: X:59.03, Y:-8.89, Z:-6.50 [[ 9.32159311e-01 3.54235412e-01 7.48083640e-02 5.90252401e+01] [-3.53077331e-01 9.35156245e-01 -2.86216116e-02 -8.88774207e+00] [-8.00962972e-02 2.66764279e-04 9.96787095e-01 -6.49718210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.799649246 meters 0.05964424393184274 Centerline is valid? [True, True] Translation: X:59.05, Y:-8.90, Z:-6.50 [[ 9.32636206e-01 3.52884658e-01 7.52470896e-02 5.90549332e+01] [-3.51707078e-01 9.35666744e-01 -2.88075434e-02 -8.90143012e+00] [-8.05719395e-02 4.02023969e-04 9.96748715e-01 -6.50043329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.829649246 meters 0.059759914701297955 Centerline is valid? [True, True] Translation: X:59.08, Y:-8.91, Z:-6.50 [[ 9.32952425e-01 3.51936309e-01 7.57667896e-02 5.90845695e+01] [-3.50737262e-01 9.36023811e-01 -2.90309987e-02 -8.91353991e+00] [-8.11365816e-02 5.10304313e-04 9.96702862e-01 -6.50407961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.859649246000004 meters 0.05945231202105426 Centerline is valid? [True, True] Translation: X:59.11, Y:-8.93, Z:-6.51 [[ 9.33163486e-01 3.51128791e-01 7.69056643e-02 5.91145007e+01] [-3.49888692e-01 9.36326972e-01 -2.94907560e-02 -8.92564277e+00] [-8.23639012e-02 6.11274371e-04 9.96602134e-01 -6.50563159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.889649246000005 meters 0.059557167661344106 Centerline is valid? [True, True] Translation: X:59.14, Y:-8.94, Z:-6.51 [[ 9.33635476e-01 3.49756317e-01 7.74294334e-02 5.91436829e+01] [-3.48492786e-01 9.36840406e-01 -2.97124952e-02 -8.93863774e+00] [-8.29311547e-02 7.57040598e-04 9.96554991e-01 -6.50914899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.919649246000006 meters 0.05918031977612272 Centerline is valid? [True, True] Translation: X:59.17, Y:-8.95, Z:-6.51 [[ 9.33236886e-01 3.50557900e-01 7.86007278e-02 5.91739061e+01] [-3.49256644e-01 9.36540786e-01 -3.01853234e-02 -8.94898248e+00] [-8.41944910e-02 7.18230775e-04 9.96449081e-01 -6.50948485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.949649246 meters 0.0590758785010394 Centerline is valid? [True, True] Translation: X:59.20, Y:-8.96, Z:-6.51 [[ 9.32940944e-01 3.51388236e-01 7.84060068e-02 5.92040698e+01] [-3.50094588e-01 9.36229603e-01 -3.01315437e-02 -8.96028422e+00] [-8.39938946e-02 6.61432189e-04 9.96466050e-01 -6.51264780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.979649246 meters 0.05907998622709522 Centerline is valid? [True, True] Translation: X:59.23, Y:-8.97, Z:-6.52 [[ 9.32692291e-01 3.52075120e-01 7.82828187e-02 5.92337266e+01] [-3.50785815e-01 9.35971539e-01 -3.01096253e-02 -8.97170901e+00] [-8.38713403e-02 6.22513095e-04 9.96476397e-01 -6.51753462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.009649246 meters 0.05892165409418162 Centerline is valid? [True, True] Translation: X:59.26, Y:-8.98, Z:-6.52 [[ 9.32259799e-01 3.53216820e-01 7.82914117e-02 5.92646945e+01] [-3.51929310e-01 9.35541333e-01 -3.01359537e-02 -8.98202594e+00] [-8.38893774e-02 5.41495628e-04 9.96474927e-01 -6.51897352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.039649246 meters 0.05867639286218126 Centerline is valid? [True, True] Translation: X:59.30, Y:-8.99, Z:-6.52 [[ 9.32068105e-01 3.53694226e-01 7.84183832e-02 5.92957379e+01] [-3.52402127e-01 9.35360958e-01 -3.02095917e-02 -8.99261225e+00] [-8.40344521e-02 5.22591843e-04 9.96462713e-01 -6.52168174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.069649246000004 meters 0.058578548333671605 Centerline is valid? [True, True] Translation: X:59.33, Y:-9.00, Z:-6.53 [[ 9.31955911e-01 3.54095729e-01 7.79384015e-02 5.93265668e+01] [-3.52818725e-01 9.35209045e-01 -3.00497916e-02 -9.00447314e+00] [-8.35292009e-02 5.06953505e-04 9.96505201e-01 -6.52563205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.099649246000006 meters 0.058660916106437706 Centerline is valid? [True, True] Translation: X:59.36, Y:-9.01, Z:-6.53 [[ 9.31651829e-01 3.54864474e-01 7.80773667e-02 5.93575325e+01] [-3.53583482e-01 9.34917639e-01 -3.01285629e-02 -9.01477180e+00] [-8.36874639e-02 4.62463529e-04 9.96491944e-01 -6.53024863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.129649246 meters 0.058499657040368636 Centerline is valid? [True, True] Translation: X:59.39, Y:-9.02, Z:-6.53 [[ 9.31018112e-01 3.56342329e-01 7.89013265e-02 5.93879539e+01] [-3.55037149e-01 9.34355402e-01 -3.04730404e-02 -9.02435941e+00] [-8.45807148e-02 3.58050502e-04 9.96416567e-01 -6.53232850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.159649246 meters 0.058465981068879104 Centerline is valid? [True, True] Translation: X:59.42, Y:-9.04, Z:-6.54 [[ 9.30571981e-01 3.57551717e-01 7.86928054e-02 5.94190942e+01] [-3.56255957e-01 9.33893301e-01 -3.04137299e-02 -9.03547526e+00] [-8.43651652e-02 2.67384185e-04 9.96434869e-01 -6.53584444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.189649246 meters 0.058405924316698984 Centerline is valid? [True, True] Translation: X:59.45, Y:-9.05, Z:-6.54 [[ 9.30037661e-01 3.59038244e-01 7.82399365e-02 5.94496474e+01] [-3.57760542e-01 9.33322835e-01 -3.02634999e-02 -9.04598827e+00] [-8.38888732e-02 1.55032570e-04 9.96475104e-01 -6.53866044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.219649246 meters 0.058304203439768644 Centerline is valid? [True, True] Translation: X:59.48, Y:-9.05, Z:-6.54 [[ 9.28878638e-01 3.61642839e-01 7.99933318e-02 5.94801971e+01] [-3.60314208e-01 9.32316713e-01 -3.09712348e-02 -9.05320368e+00] [-8.57796454e-02 -5.42156501e-05 9.96314132e-01 -6.54164683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.249649246000004 meters 0.05824965993752249 Centerline is valid? [True, True] Translation: X:59.51, Y:-9.06, Z:-6.55 [[ 9.28516611e-01 3.62552928e-01 8.00766950e-02 5.95113389e+01] [-3.61224066e-01 9.31963174e-01 -3.10131620e-02 -9.06430221e+00] [-8.58724435e-02 -1.29393289e-04 9.96306131e-01 -6.54536409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.279649246000005 meters 0.05815891886865653 Centerline is valid? [True, True] Translation: X:59.54, Y:-9.08, Z:-6.55 [[ 9.28556297e-01 3.62462517e-01 8.00257906e-02 5.95420139e+01] [-3.61132851e-01 9.31998345e-01 -3.10185356e-02 -9.07654399e+00] [-8.58269609e-02 -9.74853278e-05 9.96310054e-01 -6.54844282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.309649246 meters 0.05804147146053951 Centerline is valid? [True, True] Translation: X:59.57, Y:-9.09, Z:-6.55 [[ 9.28728864e-01 3.61999143e-01 8.01206493e-02 5.95721413e+01] [-3.60662446e-01 9.32178427e-01 -3.10802319e-02 -9.08907447e+00] [-8.59377581e-02 -3.14008363e-05 9.96300507e-01 -6.55216811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.339649246 meters 0.05840383862510348 Centerline is valid? [True, True] Translation: X:59.60, Y:-9.10, Z:-6.56 [[ 9.28792260e-01 3.62312044e-01 7.79417768e-02 5.96008341e+01] [-3.61046174e-01 9.32056856e-01 -3.02601799e-02 -9.10009228e+00] [-8.36097950e-02 -3.51593532e-05 9.96498570e-01 -6.56024418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.369649246 meters 0.05847796206677981 Centerline is valid? [True, True] Translation: X:59.63, Y:-9.11, Z:-6.56 [[ 9.29061944e-01 3.61739823e-01 7.73834868e-02 5.96297878e+01] [-3.60488497e-01 9.32279089e-01 -3.00623354e-02 -9.11324990e+00] [-8.30177505e-02 3.39149003e-05 9.96548068e-01 -6.56197157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.399649246 meters 0.05852408133449583 Centerline is valid? [True, True] Translation: X:59.66, Y:-9.13, Z:-6.57 [[ 9.29378894e-01 3.61256409e-01 7.58200359e-02 5.96569652e+01] [-3.60051873e-01 9.32466513e-01 -2.94762776e-02 -9.12727456e+00] [-8.13481387e-02 9.54843541e-05 9.96685743e-01 -6.56762404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.429649246000004 meters 0.058573429132889765 Centerline is valid? [True, True] Translation: X:59.69, Y:-9.14, Z:-6.57 [[ 9.29563957e-01 3.60851821e-01 7.54772320e-02 5.96874085e+01] [-3.59655381e-01 9.32623151e-01 -2.93609511e-02 -9.14026549e+00] [-8.09867666e-02 1.47089326e-04 9.96715166e-01 -6.56947195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.459649246000005 meters 0.058616946476940615 Centerline is valid? [True, True] Translation: X:59.72, Y:-9.15, Z:-6.57 [[ 9.29955376e-01 3.60109036e-01 7.41921816e-02 5.97151925e+01] [-3.58948668e-01 9.32910193e-01 -2.88864220e-02 -9.15370589e+00] [-7.96169040e-02 2.31898635e-04 9.96825509e-01 -6.57487650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.489649246000006 meters 0.05859869223460794 Centerline is valid? [True, True] Translation: X:59.75, Y:-9.17, Z:-6.58 [[ 9.30121932e-01 3.59714998e-01 7.40156126e-02 5.97450633e+01] [-3.58557482e-01 9.33062185e-01 -2.88355880e-02 -9.16713053e+00] [-7.94337627e-02 2.81761065e-04 9.96840107e-01 -6.57870914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.519649246 meters 0.058499583872807695 Centerline is valid? [True, True] Translation: X:59.78, Y:-9.18, Z:-6.58 [[ 9.30031174e-01 3.59759230e-01 7.49353887e-02 5.97750556e+01] [-3.58570546e-01 9.33045123e-01 -2.92226381e-02 -9.17968754e+00] [-8.04312128e-02 3.08341183e-04 9.96760114e-01 -6.58159615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.549649246 meters 0.05883474318386613 Centerline is valid? [True, True] Translation: X:59.80, Y:-9.19, Z:-6.59 [[ 9.30269257e-01 3.59175698e-01 7.47791951e-02 5.98029276e+01] [-3.57989447e-01 9.33269888e-01 -2.91697024e-02 -9.19297866e+00] [-8.02662192e-02 3.65514662e-04 9.96773395e-01 -6.58851304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.579649246 meters 0.05844273783855138 Centerline is valid? [True, True] Translation: X:59.83, Y:-9.20, Z:-6.59 [[ 9.30053618e-01 3.59809906e-01 7.44116852e-02 5.98334945e+01] [-3.58635763e-01 9.33025575e-01 -2.90459171e-02 -9.20426225e+00] [-7.98790141e-02 3.27568786e-04 9.96804512e-01 -6.58838736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.609649246000004 meters 0.05871789620119891 Centerline is valid? [True, True] Translation: X:59.86, Y:-9.21, Z:-6.59 [[ 9.29913160e-01 3.60418871e-01 7.32103258e-02 5.98622775e+01] [-3.59282319e-01 9.32790518e-01 -2.86018218e-02 -9.21407068e+00] [-7.85985341e-02 2.94034854e-04 9.96906307e-01 -6.59225516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.639649246000005 meters 0.058695027611417004 Centerline is valid? [True, True] Translation: X:59.89, Y:-9.22, Z:-6.60 [[ 9.29639718e-01 3.61171573e-01 7.29732135e-02 5.98923081e+01] [-3.60043638e-01 9.32499349e-01 -2.85226679e-02 -9.22492750e+00] [-7.83490510e-02 2.42263678e-04 9.96925959e-01 -6.59624912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.669649246000006 meters 0.0588085385553761 Centerline is valid? [True, True] Translation: X:59.92, Y:-9.23, Z:-6.60 [[ 9.29170499e-01 3.62295422e-01 7.33771891e-02 5.99220532e+01] [-3.61156710e-01 9.32063302e-01 -2.87024681e-02 -9.23467289e+00] [-7.87909579e-02 1.68822411e-04 9.96891146e-01 -6.60044422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.699649246 meters 0.058582588018358 Centerline is valid? [True, True] Translation: X:59.95, Y:-9.24, Z:-6.60 [[ 9.28658491e-01 3.63482679e-01 7.39847846e-02 5.99515691e+01] [-3.62327133e-01 9.31600952e-01 -2.89605694e-02 -9.24418414e+00] [-7.94509611e-02 8.77838010e-05 9.96838772e-01 -6.60353202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.729649246 meters 0.05851669851322423 Centerline is valid? [True, True] Translation: X:59.98, Y:-9.26, Z:-6.61 [[ 9.28470450e-01 3.63840181e-01 7.45851591e-02 5.99812075e+01] [-3.62665467e-01 9.31461388e-01 -2.92137296e-02 -9.25533724e+00] [-8.01023245e-02 7.46232056e-05 9.96786643e-01 -6.60638439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.759649246 meters 0.05839099797630829 Centerline is valid? [True, True] Translation: X:60.01, Y:-9.27, Z:-6.61 [[ 9.28111399e-01 3.64522339e-01 7.57145588e-02 6.00105442e+01] [-3.63312320e-01 9.31194643e-01 -2.96765059e-02 -9.26705730e+00] [-8.13227409e-02 3.50713627e-05 9.96687820e-01 -6.60900217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.789649246 meters 0.05833775361120035 Centerline is valid? [True, True] Translation: X:60.04, Y:-9.28, Z:-6.61 [[ 9.28529095e-01 3.63284751e-01 7.65369767e-02 6.00387198e+01] [-3.62042339e-01 9.31678143e-01 -3.00196917e-02 -9.27968777e+00] [-8.22135246e-02 1.64531072e-04 9.96614725e-01 -6.61240823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.819649246000004 meters 0.05817062675575116 Centerline is valid? [True, True] Translation: X:60.07, Y:-9.29, Z:-6.61 [[ 9.28606941e-01 3.62933426e-01 7.72559235e-02 6.00681976e+01] [-3.61664781e-01 9.31815047e-01 -3.03200319e-02 -9.29230154e+00] [-8.29923850e-02 2.14645402e-04 9.96550158e-01 -6.61429168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.849649246000006 meters 0.058269098897579814 Centerline is valid? [True, True] Translation: X:60.10, Y:-9.31, Z:-6.62 [[ 9.28927696e-01 3.62270419e-01 7.65080312e-02 6.00957143e+01] [-3.61022310e-01 9.32072990e-01 -3.00471732e-02 -9.30678914e+00] [-8.21962714e-02 2.90545221e-04 9.96616119e-01 -6.61747901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.879649246 meters 0.05789807690369833 Centerline is valid? [True, True] Translation: X:60.13, Y:-9.32, Z:-6.62 [[ 9.28773847e-01 3.62467242e-01 7.74379668e-02 6.01252614e+01] [-3.61187686e-01 9.31996466e-01 -3.04309638e-02 -9.31860607e+00] [-8.32021389e-02 2.93843346e-04 9.96532648e-01 -6.61731101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.909649246 meters 0.058133599798198175 Centerline is valid? [True, True] Translation: X:60.15, Y:-9.33, Z:-6.62 [[ 9.28395152e-01 3.63220765e-01 7.84418119e-02 6.01540079e+01] [-3.61908534e-01 9.31703071e-01 -3.08480139e-02 -9.32903816e+00] [-8.42891163e-02 2.50385415e-04 9.96441309e-01 -6.62276686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.939649246 meters 0.05820088042353375 Centerline is valid? [True, True] Translation: X:60.18, Y:-9.34, Z:-6.63 [[ 9.28060671e-01 3.64090460e-01 7.83678987e-02 6.01836376e+01] [-3.62781973e-01 9.31363571e-01 -3.08405487e-02 -9.34042145e+00] [-8.42177555e-02 1.91439425e-04 9.96447356e-01 -6.62779303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.969649246 meters 0.057871812879244776 Centerline is valid? [True, True] Translation: X:60.21, Y:-9.35, Z:-6.63 [[ 9.27796212e-01 3.64677421e-01 7.87690746e-02 6.02147231e+01] [-3.63356534e-01 9.31133909e-01 -3.10108669e-02 -9.35057684e+00] [-8.46535193e-02 1.50506906e-04 9.96410437e-01 -6.62552986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.999649246000004 meters 0.057871759400134955 Centerline is valid? [True, True] Translation: X:60.24, Y:-9.36, Z:-6.63 [[ 9.27737886e-01 3.64996816e-01 7.79726818e-02 6.02445759e+01] [-3.63701860e-01 9.31008757e-01 -3.07189272e-02 -9.36143169e+00] [-8.38055601e-02 1.40303180e-04 9.96482116e-01 -6.62974951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.029649246000005 meters 0.05832613030623218 Centerline is valid? [True, True] Translation: X:60.27, Y:-9.37, Z:-6.64 [[ 9.27960703e-01 3.64862131e-01 7.59246908e-02 6.02719937e+01] [-3.63632014e-01 9.31061542e-01 -2.99359736e-02 -9.37408651e+00] [-8.16130629e-02 1.70758863e-04 9.96664075e-01 -6.63514182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.059649246000006 meters 0.058308522103955616 Centerline is valid? [True, True] Translation: X:60.30, Y:-9.39, Z:-6.64 [[ 9.28472025e-01 3.63781881e-01 7.48494660e-02 6.03011210e+01] [-3.62582382e-01 9.31484123e-01 -2.95185606e-02 -9.38787652e+00] [-8.04594067e-02 2.68060082e-04 9.96757850e-01 -6.63773425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.089649246 meters 0.058258308318346434 Centerline is valid? [True, True] Translation: X:60.33, Y:-9.40, Z:-6.64 [[ 9.28577769e-01 3.63672502e-01 7.40651005e-02 6.03300268e+01] [-3.62496045e-01 9.31526825e-01 -2.92299924e-02 -9.39982684e+00] [-7.96237724e-02 2.94015108e-04 9.96824944e-01 -6.64244603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.119649246 meters 0.058566702670554756 Centerline is valid? [True, True] Translation: X:60.36, Y:-9.41, Z:-6.65 [[ 9.28558503e-01 3.63926064e-01 7.30542636e-02 6.03579789e+01] [-3.62780660e-01 9.31427795e-01 -2.88523192e-02 -9.41228482e+00] [-7.85448826e-02 2.88392451e-04 9.96910537e-01 -6.64979096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.149649246 meters 0.05847722445156967 Centerline is valid? [True, True] Translation: X:60.39, Y:-9.42, Z:-6.65 [[ 9.28182057e-01 3.64904344e-01 7.29581364e-02 6.03889692e+01] [-3.63763582e-01 9.31044989e-01 -2.88320198e-02 -9.42427044e+00] [-7.84482365e-02 2.21850360e-04 9.96918164e-01 -6.65021212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.179649246000004 meters 0.05852234857975493 Centerline is valid? [True, True] Translation: X:60.42, Y:-9.44, Z:-6.65 [[ 9.29084977e-01 3.62495068e-01 7.34740207e-02 6.04185032e+01] [-3.61328664e-01 9.31985580e-01 -2.90598359e-02 -9.43932148e+00] [-7.90107750e-02 4.50787189e-04 9.96873660e-01 -6.65227370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.209649246000005 meters 0.058536611285934355 Centerline is valid? [True, True] Translation: X:60.45, Y:-9.45, Z:-6.66 [[ 9.29410587e-01 3.61677591e-01 7.33844783e-02 6.04484108e+01] [-3.60509622e-01 9.32303077e-01 -2.90479950e-02 -9.45094855e+00] [-7.89225837e-02 5.41703583e-04 9.96880601e-01 -6.65668202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.239649246000006 meters 0.05880717863927639 Centerline is valid? [True, True] Translation: X:60.48, Y:-9.46, Z:-6.66 [[ 9.29238623e-01 3.62305435e-01 7.24593273e-02 6.04782903e+01] [-3.61166828e-01 9.32059289e-01 -2.87054828e-02 -9.46184527e+00] [-7.79365415e-02 5.04337938e-04 9.96958194e-01 -6.66215469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.269649246 meters 0.05880717863927639 Centerline is valid? [True, True] Translation: X:60.51, Y:-9.47, Z:-6.67 [[ 9.29139493e-01 3.62560890e-01 7.24527672e-02 6.05081190e+01] [-3.61421768e-01 9.31959951e-01 -2.87220290e-02 -9.47385107e+00] [-7.79365618e-02 5.00764187e-04 9.96958194e-01 -6.66565180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.299649246 meters 0.058692393508328555 Centerline is valid? [True, True] Translation: X:60.54, Y:-9.49, Z:-6.67 [[ 9.29080470e-01 3.62686963e-01 7.25785555e-02 6.05380643e+01] [-3.61542447e-01 9.31910888e-01 -2.87950523e-02 -9.48668989e+00] [-7.80803363e-02 5.12692157e-04 9.96946939e-01 -6.66921344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.329649246 meters 0.058873111324217214 Centerline is valid? [True, True] Translation: X:60.57, Y:-9.50, Z:-6.67 [[ 9.29107045e-01 3.62482761e-01 7.32553528e-02 6.05662402e+01] [-3.61314150e-01 9.31990309e-01 -2.90886284e-02 -9.49820926e+00] [-7.88174053e-02 5.58254023e-04 9.96888913e-01 -6.67274776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.359649246000004 meters 0.058747462996731364 Centerline is valid? [True, True] Translation: X:60.59, Y:-9.51, Z:-6.68 [[ 9.28774082e-01 3.63204063e-01 7.39020501e-02 6.05947984e+01] [-3.62015442e-01 9.31709471e-01 -2.93646291e-02 -9.50954567e+00] [-7.95205926e-02 5.19423097e-04 9.96833088e-01 -6.67612348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.389649246000005 meters 0.058867459817695124 Centerline is valid? [True, True] Translation: X:60.62, Y:-9.52, Z:-6.68 [[ 9.28358185e-01 3.64199088e-01 7.42300764e-02 6.06236899e+01] [-3.63001530e-01 9.31321007e-01 -2.95139167e-02 -9.52148410e+00] [-7.98809711e-02 4.53854850e-04 9.96804306e-01 -6.67895991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.419649246000006 meters 0.05848258844824592 Centerline is valid? [True, True] Translation: X:60.65, Y:-9.53, Z:-6.68 [[ 9.27913966e-01 3.65258129e-01 7.45799639e-02 6.06541943e+01] [-3.64051195e-01 9.30906200e-01 -2.96710865e-02 -9.53219136e+00] [-8.02645564e-02 3.81290500e-04 9.96773523e-01 -6.67941918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.449649246 meters 0.05857561678570272 Centerline is valid? [True, True] Translation: X:60.68, Y:-9.54, Z:-6.69 [[ 9.27842090e-01 3.65281892e-01 7.53537990e-02 6.06824475e+01] [-3.64048034e-01 9.30896867e-01 -3.00008804e-02 -9.54339566e+00] [-8.11053938e-02 4.03677222e-04 9.96705449e-01 -6.68565572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.479649246 meters 0.05860441134151975 Centerline is valid? [True, True] Translation: X:60.71, Y:-9.55, Z:-6.69 [[ 9.27541419e-01 3.66244459e-01 7.43768267e-02 6.07113879e+01] [-3.65043775e-01 9.30518610e-01 -2.96337497e-02 -9.55358866e+00] [-8.00622180e-02 3.35732704e-04 9.96789812e-01 -6.68922246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.509649246 meters 0.058527715299667 Centerline is valid? [True, True] Translation: X:60.74, Y:-9.56, Z:-6.69 [[ 9.27172736e-01 3.67093490e-01 7.47869486e-02 6.07417129e+01] [-3.65881642e-01 9.30184012e-01 -2.98048297e-02 -9.56432836e+00] [-8.05067828e-02 2.71053925e-04 9.96754024e-01 -6.69095135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.539649246 meters 0.05860531735331389 Centerline is valid? [True, True] Translation: X:60.77, Y:-9.58, Z:-6.70 [[ 9.26796717e-01 3.68065308e-01 7.46711062e-02 6.07710953e+01] [-3.66858769e-01 9.29799918e-01 -2.97784558e-02 -9.57614151e+00] [-8.03896049e-02 2.04824929e-04 9.96763497e-01 -6.69649588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.569649246000004 meters 0.058683721038504694 Centerline is valid? [True, True] Translation: X:60.80, Y:-9.59, Z:-6.70 [[ 9.26347098e-01 3.69283290e-01 7.42354773e-02 6.08016228e+01] [-3.68092999e-01 9.29316866e-01 -2.96261074e-02 -9.58734719e+00] [-7.99287075e-02 1.18499182e-04 9.96800576e-01 -6.70019933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.599649246000006 meters 0.0588009198465775 Centerline is valid? [True, True] Translation: X:60.83, Y:-9.60, Z:-6.71 [[ 9.25882622e-01 3.70538536e-01 7.37737269e-02 6.08307703e+01] [-3.69365161e-01 9.28817093e-01 -2.94649935e-02 -9.59641982e+00] [-7.94402141e-02 3.16809072e-05 9.96839632e-01 -6.70513920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.629649246 meters 0.05845285459320093 Centerline is valid? [True, True] Translation: X:60.86, Y:-9.61, Z:-6.70 [[ 9.26711677e-01 3.68481504e-01 7.36671540e-02 6.08610679e+01] [-3.67303792e-01 9.29635053e-01 -2.94379447e-02 -9.61133759e+00] [-7.93309067e-02 2.22262072e-04 9.96848312e-01 -6.70309386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.659649246 meters 0.05901105057503662 Centerline is valid? [True, True] Translation: X:60.89, Y:-9.62, Z:-6.71 [[ 9.26562013e-01 3.68893383e-01 7.34881511e-02 6.08891737e+01] [-3.67720778e-01 9.29471693e-01 -2.93904930e-02 -9.62340318e+00] [-7.91471146e-02 2.08994255e-04 9.96862925e-01 -6.71337097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.689649246 meters 0.05880370071911681 Centerline is valid? [True, True] Translation: X:60.92, Y:-9.64, Z:-6.71 [[ 9.26733138e-01 3.68434880e-01 7.36303586e-02 6.09194037e+01] [-3.67254535e-01 9.29653520e-01 -2.94693025e-02 -9.63648818e+00] [-7.93082410e-02 2.69096064e-04 9.96850104e-01 -6.71479875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.719649246 meters 0.05870069448515986 Centerline is valid? [True, True] Translation: X:60.95, Y:-9.65, Z:-6.72 [[ 9.26995089e-01 3.67685311e-01 7.40784528e-02 6.09487123e+01] [-3.66486281e-01 9.29950205e-01 -2.96718961e-02 -9.64994842e+00] [-7.97991927e-02 3.56965312e-04 9.96810896e-01 -6.71634781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.749649246000004 meters 0.058588042687365734 Centerline is valid? [True, True] Translation: X:60.98, Y:-9.67, Z:-6.72 [[ 9.28141218e-01 3.64264823e-01 7.65834082e-02 6.09757164e+01] [-3.62969735e-01 9.31295150e-01 -3.06971390e-02 -9.66779628e+00] [-8.25036446e-02 6.93820605e-04 9.96590521e-01 -6.71648099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.779649246000005 meters 0.05862352071966881 Centerline is valid? [True, True] Translation: X:61.01, Y:-9.68, Z:-6.72 [[ 9.27971878e-01 3.64662931e-01 7.67407295e-02 6.10056651e+01] [-3.63361799e-01 9.31139345e-01 -3.07851137e-02 -9.68060220e+00] [-8.26825024e-02 6.83070277e-04 9.96575706e-01 -6.71882070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.809649246000006 meters 0.05853583734781866 Centerline is valid? [True, True] Translation: X:61.04, Y:-9.69, Z:-6.72 [[ 9.28108212e-01 3.64232449e-01 7.71354006e-02 6.10356373e+01] [-3.62916160e-01 9.31307787e-01 -3.09462041e-02 -9.69446223e+00] [-8.31084109e-02 7.27742743e-04 9.96540246e-01 -6.72160148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.839649246 meters 0.058292616675123025 Centerline is valid? [True, True] Translation: X:61.06, Y:-9.71, Z:-6.72 [[ 9.28541209e-01 3.62823003e-01 7.85537461e-02 6.10643164e+01] [-3.61450596e-01 9.31857645e-01 -3.15403816e-02 -9.70833962e+00] [-8.46444848e-02 8.93245686e-04 9.96410816e-01 -6.72155922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.869649246 meters 0.0584777911359391 Centerline is valid? [True, True] Translation: X:61.09, Y:-9.72, Z:-6.73 [[ 9.28605442e-01 3.62704268e-01 7.83424910e-02 6.10946178e+01] [-3.61337065e-01 9.31903839e-01 -3.14763390e-02 -9.72122744e+00] [-8.44242707e-02 9.21053932e-04 9.96429473e-01 -6.72544815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.899649246 meters 0.058474628078759625 Centerline is valid? [True, True] Translation: X:61.12, Y:-9.73, Z:-6.73 [[ 9.28203151e-01 3.63649988e-01 7.87248191e-02 6.11237249e+01] [-3.62270520e-01 9.31535260e-01 -3.16564453e-02 -9.73151625e+00] [-8.48468107e-02 8.63931164e-04 9.96393633e-01 -6.72925347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.929649246000004 meters 0.05837024148375173 Centerline is valid? [True, True] Translation: X:61.15, Y:-9.74, Z:-6.73 [[ 9.27955826e-01 3.64287855e-01 7.86914490e-02 6.11534807e+01] [-3.62910203e-01 9.31286036e-01 -3.16623335e-02 -9.74263716e+00] [-8.48184512e-02 8.23317097e-04 9.96396082e-01 -6.73352900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.959649246000005 meters 0.0585318736472754 Centerline is valid? [True, True] Translation: X:61.18, Y:-9.75, Z:-6.74 [[ 9.27367179e-01 3.65992090e-01 7.77168337e-02 6.11844508e+01] [-3.64652547e-01 9.30617713e-01 -3.12920423e-02 -9.75144375e+00] [-8.37773021e-02 6.79571688e-04 9.96484271e-01 -6.73912682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.989649246000006 meters 0.05847715042250228 Centerline is valid? [True, True] Translation: X:61.21, Y:-9.76, Z:-6.74 [[ 9.27001246e-01 3.67170052e-01 7.65169378e-02 6.12141537e+01] [-3.65873635e-01 9.30153648e-01 -3.08330135e-02 -9.76142915e+00] [-8.24934680e-02 5.86711775e-04 9.96591433e-01 -6.74378073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.019649246 meters 0.05860045943144063 Centerline is valid? [True, True] Translation: X:61.24, Y:-9.77, Z:-6.75 [[ 9.26155939e-01 3.69419552e-01 7.59234557e-02 6.12449407e+01] [-3.68149102e-01 9.29262629e-01 -3.06138147e-02 -9.77044479e+00] [-8.18621717e-02 4.02014290e-04 9.96643579e-01 -6.74784978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.049649246 meters 0.05845093347212713 Centerline is valid? [True, True] Translation: X:61.28, Y:-9.78, Z:-6.75 [[ 9.25674505e-01 3.70459991e-01 7.67209642e-02 6.12750942e+01] [-3.69164309e-01 9.28848364e-01 -3.09585214e-02 -9.78148372e+00] [-8.27310356e-02 3.34872225e-04 9.96571856e-01 -6.75088580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.079649246 meters 0.05823706156456473 Centerline is valid? [True, True] Translation: X:61.31, Y:-9.79, Z:-6.75 [[ 9.25032753e-01 3.71844746e-01 7.77553196e-02 6.13058417e+01] [-3.70516949e-01 9.28294905e-01 -3.13968170e-02 -9.79171790e+00] [-8.38546085e-02 2.33420290e-04 9.96477973e-01 -6.75218714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.109649246000004 meters 0.05819232798982135 Centerline is valid? [True, True] Translation: X:61.34, Y:-9.80, Z:-6.76 [[ 9.24609403e-01 3.72737231e-01 7.85137455e-02 6.13351179e+01] [-3.71384740e-01 9.27936919e-01 -3.17245721e-02 -9.80199494e+00] [-8.46807323e-02 1.74030689e-04 9.96408121e-01 -6.75594163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.139649246000005 meters 0.058090310967464975 Centerline is valid? [True, True] Translation: X:61.37, Y:-9.81, Z:-6.76 [[ 9.23748752e-01 3.74750835e-01 7.90572890e-02 6.13664265e+01] [-3.73385259e-01 9.27125564e-01 -3.19630511e-02 -9.81108802e+00] [-8.52742138e-02 7.00229005e-06 9.96357520e-01 -6.75648454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.169649246000006 meters 0.058117803733420285 Centerline is valid? [True, True] Translation: X:61.40, Y:-9.82, Z:-6.76 [[ 9.23413840e-01 3.75440810e-01 7.96936470e-02 6.13959051e+01] [-3.74053775e-01 9.26846372e-01 -3.22424670e-02 -9.82203258e+00] [-8.59689055e-02 -3.65692444e-05 9.96297820e-01 -6.75919584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.199649246 meters 0.05819896801592688 Centerline is valid? [True, True] Translation: X:61.43, Y:-9.83, Z:-6.76 [[ 9.23229033e-01 3.75995618e-01 7.92177272e-02 6.14252859e+01] [-3.74625294e-01 9.26621439e-01 -3.20717679e-02 -9.83258512e+00] [-8.54636885e-02 -6.73771017e-05 9.96341284e-01 -6.76312252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.229649246 meters 0.05816536763773096 Centerline is valid? [True, True] Translation: X:61.46, Y:-9.84, Z:-6.77 [[ 9.22975526e-01 3.76675566e-01 7.89410964e-02 6.14563026e+01] [-3.75315742e-01 9.26345241e-01 -3.19779375e-02 -9.84381445e+00] [-8.51720166e-02 -1.12982459e-04 9.96366255e-01 -6.76552728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.259649246 meters 0.05826977304478189 Centerline is valid? [True, True] Translation: X:61.49, Y:-9.85, Z:-6.77 [[ 9.22971378e-01 3.76780371e-01 7.84881383e-02 6.14850764e+01] [-3.75434066e-01 9.26302619e-01 -3.18232483e-02 -9.85402205e+00] [-8.46941434e-02 -9.51736328e-05 9.96406992e-01 -6.77065458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.289649246 meters 0.05816864004988734 Centerline is valid? [True, True] Translation: X:61.51, Y:-9.87, Z:-6.78 [[ 9.22936230e-01 3.76904721e-01 7.83041925e-02 6.15145495e+01] [-3.75564228e-01 9.26252030e-01 -3.17598605e-02 -9.86573066e+00] [-8.44998585e-02 -9.59276595e-05 9.96423487e-01 -6.77584224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.319649246000004 meters 0.058102779342100744 Centerline is valid? [True, True] Translation: X:61.54, Y:-9.88, Z:-6.78 [[ 9.22791041e-01 3.77101611e-01 7.90637038e-02 6.15439383e+01] [-3.75734439e-01 9.26171887e-01 -3.20821870e-02 -9.87760011e+00] [-8.53248241e-02 -1.01801634e-04 9.96353182e-01 -6.77684653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.349649246000006 meters 0.05784721257557928 Centerline is valid? [True, True] Translation: X:61.57, Y:-9.89, Z:-6.78 [[ 9.22618762e-01 3.77356173e-01 7.98557332e-02 6.15736285e+01] [-3.75960464e-01 9.26068198e-01 -3.24256442e-02 -9.88957574e+00] [-8.61878719e-02 -1.06090810e-04 9.96278896e-01 -6.77843310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.379649246 meters 0.05775448859912223 Centerline is valid? [True, True] Translation: X:61.60, Y:-9.90, Z:-6.78 [[ 9.22408285e-01 3.77853991e-01 7.99332088e-02 6.16041866e+01] [-3.76455634e-01 9.25865187e-01 -3.24778632e-02 -9.90155723e+00] [-8.62792655e-02 -1.33456751e-04 9.96270982e-01 -6.77908613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.409649246 meters 0.05758358278080129 Centerline is valid? [True, True] Translation: X:61.63, Y:-9.91, Z:-6.78 [[ 9.22311483e-01 3.78007686e-01 8.03225824e-02 6.16339022e+01] [-3.76593898e-01 9.25802449e-01 -3.26628564e-02 -9.91361239e+00] [-8.67096543e-02 -1.23666859e-04 9.96233617e-01 -6.78160143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.439649246 meters 0.057592819276588235 Centerline is valid? [True, True] Translation: X:61.66, Y:-9.92, Z:-6.79 [[ 9.22140786e-01 3.78110361e-01 8.17858573e-02 6.16626079e+01] [-3.76642566e-01 9.25760521e-01 -3.32841498e-02 -9.92412574e+00] [-8.82991998e-02 -1.11363158e-04 9.96093991e-01 -6.78809744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.469649246 meters 0.05759725525944488 Centerline is valid? [True, True] Translation: X:61.69, Y:-9.94, Z:-6.79 [[ 9.21888248e-01 3.78735894e-01 8.17384958e-02 6.16936889e+01] [-3.77270386e-01 9.25504781e-01 -3.32859711e-02 -9.93551042e+00] [-8.82559607e-02 -1.51568344e-04 9.96097818e-01 -6.79029733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.499649246000004 meters 0.057732600653071585 Centerline is valid? [True, True] Translation: X:61.72, Y:-9.95, Z:-6.79 [[ 9.21480867e-01 3.79960870e-01 8.06396259e-02 6.17226901e+01] [-3.78536925e-01 9.25002529e-01 -3.28651386e-02 -9.94544311e+00] [-8.70793246e-02 -2.40479625e-04 9.96201352e-01 -6.79486985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.529649246000005 meters 0.057787568474052024 Centerline is valid? [True, True] Translation: X:61.75, Y:-9.96, Z:-6.80 [[ 9.21384816e-01 3.80305936e-01 8.01087742e-02 6.17513416e+01] [-3.78900230e-01 9.24860709e-01 -3.26693196e-02 -9.95674241e+00] [-8.65137939e-02 -2.52217925e-04 9.96250621e-01 -6.80103395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.559649246000006 meters 0.057762139216235256 Centerline is valid? [True, True] Translation: X:61.78, Y:-9.97, Z:-6.80 [[ 9.21412784e-01 3.80339044e-01 7.96284695e-02 6.17808896e+01] [-3.78948640e-01 9.24847099e-01 -3.24926568e-02 -9.96942384e+00] [-8.60023850e-02 -2.35950893e-04 9.96294903e-01 -6.80475159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.589649246 meters 0.05749831732212213 Centerline is valid? [True, True] Translation: X:61.81, Y:-9.98, Z:-6.80 [[ 9.21671592e-01 3.79890637e-01 7.87691590e-02 6.18098033e+01] [-3.78526558e-01 9.25031391e-01 -3.21647388e-02 -9.98392733e+00] [-8.50830279e-02 -1.70892610e-04 9.96373850e-01 -6.80372593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.619649246 meters 0.05754655708860295 Centerline is valid? [True, True] Translation: X:61.84, Y:-10.00, Z:-6.81 [[ 9.21684351e-01 3.79632569e-01 7.98565551e-02 6.18379710e+01] [-3.78227443e-01 9.25137339e-01 -3.26328737e-02 -9.99587113e+00] [-8.62667826e-02 -1.26731632e-04 9.96272064e-01 -6.80806840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.649649246 meters 0.05745106948288517 Centerline is valid? [True, True] Translation: X:61.87, Y:-10.01, Z:-6.81 [[ 9.21599015e-01 3.79735272e-01 8.03516004e-02 6.18663701e+01] [-3.78310950e-01 9.25095190e-01 -3.28590226e-02 -1.00078756e+01] [-8.68106089e-02 -1.15047406e-04 9.96224827e-01 -6.81245209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.679649246000004 meters 0.05737195504367442 Centerline is valid? [True, True] Translation: X:61.89, Y:-10.02, Z:-6.81 [[ 9.22526164e-01 3.77110764e-01 8.20545433e-02 6.18943532e+01] [-3.75613955e-01 9.26168155e-01 -3.35664410e-02 -1.00239836e+01] [-8.86545712e-02 1.45088477e-04 9.96062421e-01 -6.81147346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.709649246000005 meters 0.05731739054907689 Centerline is valid? [True, True] Translation: X:61.92, Y:-10.04, Z:-6.81 [[ 9.23379008e-01 3.75062652e-01 8.18487348e-02 6.19217928e+01] [-3.73563224e-01 9.26999393e-01 -3.35058578e-02 -1.00400621e+01] [-8.84405234e-02 3.62928461e-04 9.96081393e-01 -6.81436856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.739649246000006 meters 0.057349855405509416 Centerline is valid? [True, True] Translation: X:61.95, Y:-10.05, Z:-6.82 [[ 9.23672558e-01 3.74089898e-01 8.29804395e-02 6.19490265e+01] [-3.72542485e-01 9.27392319e-01 -3.39938856e-02 -1.00541035e+01] [-8.96721914e-02 4.85480178e-04 9.95971216e-01 -6.81824446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.769649246 meters 0.05755763466884347 Centerline is valid? [True, True] Translation: X:61.98, Y:-10.07, Z:-6.82 [[ 9.24420690e-01 3.72260442e-01 8.28767177e-02 6.19777103e+01] [-3.70707651e-01 9.28128061e-01 -3.39726305e-02 -1.00675256e+01] [-8.95668738e-02 6.81969257e-04 9.95980577e-01 -6.82161485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.799649246 meters 0.057419301956311446 Centerline is valid? [True, True] Translation: X:62.01, Y:-10.08, Z:-6.82 [[ 9.24281967e-01 3.72829342e-01 8.18604138e-02 6.20069542e+01] [-3.71314684e-01 9.27899710e-01 -3.35787669e-02 -1.00795789e+01] [-8.84774038e-02 6.40274967e-04 9.96077978e-01 -6.82423941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.829649246 meters 0.05779932938655601 Centerline is valid? [True, True] Translation: X:62.03, Y:-10.09, Z:-6.83 [[ 9.25475528e-01 3.69721095e-01 8.24703516e-02 6.20346602e+01] [-3.68169214e-01 9.29142280e-01 -3.38534136e-02 -1.00949526e+01] [-8.91430116e-02 9.67461241e-04 9.96018367e-01 -6.82664017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.859649246000004 meters 0.05790875741775899 Centerline is valid? [True, True] Translation: X:62.06, Y:-10.11, Z:-6.83 [[ 9.25233291e-01 3.70411380e-01 8.20899872e-02 6.20646233e+01] [-3.68874648e-01 9.28867358e-01 -3.37183154e-02 -1.01060504e+01] [-8.87403573e-02 9.16392772e-04 9.96054371e-01 -6.83249371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.889649246000005 meters 0.05810705581382034 Centerline is valid? [True, True] Translation: X:62.09, Y:-10.12, Z:-6.84 [[ 9.25131632e-01 3.70924171e-01 8.09118177e-02 6.20916469e+01] [-3.69430715e-01 9.28662739e-01 -3.32635682e-02 -1.01199360e+01] [-8.74780516e-02 8.81868473e-04 9.96166057e-01 -6.83751712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.919649246000006 meters 0.0578883521644985 Centerline is valid? [True, True] Translation: X:62.12, Y:-10.13, Z:-6.84 [[ 9.24881545e-01 3.71528741e-01 8.09970474e-02 6.21221704e+01] [-3.70033550e-01 9.28421078e-01 -3.33087709e-02 -1.01331156e+01] [-8.75745317e-02 8.35042453e-04 9.96157620e-01 -6.83884447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.949649246 meters 0.058138986945299974 Centerline is valid? [True, True] Translation: X:62.15, Y:-10.15, Z:-6.84 [[ 9.25093823e-01 3.71160986e-01 8.02554782e-02 6.21500444e+01] [-3.69689313e-01 9.28568110e-01 -3.30314552e-02 -1.01461603e+01] [-8.67826652e-02 8.87602575e-04 9.96226872e-01 -6.84320938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.979649246 meters 0.05829381641504863 Centerline is valid? [True, True] Translation: X:62.18, Y:-10.16, Z:-6.85 [[ 9.25134695e-01 3.70938761e-01 8.08098544e-02 6.21805498e+01] [-3.69443977e-01 9.28656860e-01 -3.32803963e-02 -1.01587144e+01] [-8.73896146e-02 9.34135252e-04 9.96173771e-01 -6.84675546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.009649246 meters 0.05820829252889068 Centerline is valid? [True, True] Translation: X:62.21, Y:-10.17, Z:-6.85 [[ 9.24497277e-01 3.72851262e-01 7.92888446e-02 6.22102659e+01] [-3.71417099e-01 9.27890809e-01 -3.26800391e-02 -1.01693712e+01] [-8.57561840e-02 7.63374573e-04 9.96315861e-01 -6.84975090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.039649246 meters 0.058132530621752596 Centerline is valid? [True, True] Translation: X:62.24, Y:-10.18, Z:-6.85 [[ 9.23953959e-01 3.74260845e-01 7.89803864e-02 6.22408264e+01] [-3.72841099e-01 9.27323243e-01 -3.25748065e-02 -1.01802621e+01] [-8.54318227e-02 6.50487351e-04 9.96343806e-01 -6.85315395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.069649246000004 meters 0.05818597519585828 Centerline is valid? [True, True] Translation: X:62.27, Y:-10.19, Z:-6.86 [[ 9.22768214e-01 3.77238052e-01 7.86783030e-02 6.22717353e+01] [-3.75837426e-01 9.26116241e-01 -3.24798128e-02 -1.01861529e+01] [-8.51178755e-02 4.01087982e-04 9.96370808e-01 -6.85920014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.099649246000006 meters 0.0581796953302161 Centerline is valid? [True, True] Translation: X:62.30, Y:-10.20, Z:-6.86 [[ 9.21995431e-01 3.79174713e-01 7.84280694e-02 6.23026461e+01] [-3.77789193e-01 9.25325069e-01 -3.23858325e-02 -1.01959951e+01] [-8.48513475e-02 2.30312577e-04 9.96393595e-01 -6.86389935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.129649246 meters 0.0581796953302161 Centerline is valid? [True, True] Translation: X:62.33, Y:-10.21, Z:-6.87 [[ 9.21888550e-01 3.79436382e-01 7.84189595e-02 6.23322910e+01] [-3.78049931e-01 9.25217801e-01 -3.24078740e-02 -1.02084251e+01] [-8.48513437e-02 2.30165727e-04 9.96393595e-01 -6.86739817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.159649246 meters 0.05827255342591283 Centerline is valid? [True, True] Translation: X:62.36, Y:-10.22, Z:-6.87 [[ 9.20558666e-01 3.82665124e-01 7.83526930e-02 6.23640872e+01] [-3.81290468e-01 9.23887115e-01 -3.24064529e-02 -1.02164768e+01] [-8.47898628e-02 -4.30939200e-05 9.96398855e-01 -6.87137162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.189649246 meters 0.05836886831985477 Centerline is valid? [True, True] Translation: X:62.39, Y:-10.23, Z:-6.88 [[ 9.19926713e-01 3.84309032e-01 7.77265157e-02 6.23933578e+01] [-3.82959894e-01 9.23204495e-01 -3.21742115e-02 -1.02260019e+01] [-8.41223088e-02 -1.68221617e-04 9.96455422e-01 -6.87589645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.219649246 meters 0.058361345984969955 Centerline is valid? [True, True] Translation: X:62.43, Y:-10.23, Z:-6.88 [[ 9.18759269e-01 3.86965402e-01 7.83529429e-02 6.24253062e+01] [-3.85602350e-01 9.22094150e-01 -3.24531474e-02 -1.02347323e+01] [-8.48070355e-02 -3.96448953e-04 9.96397315e-01 -6.88060505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.249649246000004 meters 0.058448665774197536 Centerline is valid? [True, True] Translation: X:62.46, Y:-10.25, Z:-6.88 [[ 9.18270962e-01 3.88147022e-01 7.82325394e-02 6.24561116e+01] [-3.86790285e-01 9.21597341e-01 -3.24286523e-02 -1.02464619e+01] [-8.46859851e-02 -4.81296447e-04 9.96407573e-01 -6.88407813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.279649246000005 meters 0.05852555840469621 Centerline is valid? [True, True] Translation: X:62.49, Y:-10.26, Z:-6.89 [[ 9.17346726e-01 3.90463707e-01 7.75440439e-02 6.24865186e+01] [-3.89136845e-01 9.20618081e-01 -3.21693089e-02 -1.02560850e+01] [-8.39493965e-02 -6.64834367e-04 9.96469797e-01 -6.88783392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.309649246000006 meters 0.058668079099861645 Centerline is valid? [True, True] Translation: X:62.51, Y:-10.27, Z:-6.89 [[ 9.17724859e-01 3.89498515e-01 7.79229736e-02 6.25145201e+01] [-3.88153208e-01 9.21026924e-01 -3.23495254e-02 -1.02686470e+01] [-8.43692489e-02 -5.58088505e-04 9.96434402e-01 -6.89210603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.339649246 meters 0.058300413529541656 Centerline is valid? [True, True] Translation: X:62.54, Y:-10.29, Z:-6.89 [[ 9.18729352e-01 3.86866833e-01 7.91860506e-02 6.25426658e+01] [-3.85465898e-01 9.22135545e-01 -3.28949667e-02 -1.02853852e+01] [-8.57462435e-02 -3.01950639e-04 9.96316963e-01 -6.89224751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.369649246 meters 0.058391756068339906 Centerline is valid? [True, True] Translation: X:62.57, Y:-10.30, Z:-6.90 [[ 9.19281388e-01 3.85993002e-01 7.70138372e-02 6.25700422e+01] [-3.84663069e-01 9.22501688e-01 -3.20149764e-02 -1.02978259e+01] [-8.34029517e-02 -1.93607001e-04 9.96515886e-01 -6.89823741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.399649246 meters 0.058602369573194514 Centerline is valid? [True, True] Translation: X:62.60, Y:-10.31, Z:-6.90 [[ 9.19389455e-01 3.85965698e-01 7.58518923e-02 6.25991579e+01] [-3.84674156e-01 9.22513117e-01 -3.15490576e-02 -1.03099029e+01] [-8.21512196e-02 -1.72391868e-04 9.96619861e-01 -6.90322562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.429649246000004 meters 0.05874411753089001 Centerline is valid? [True, True] Translation: X:62.63, Y:-10.32, Z:-6.91 [[ 9.19697276e-01 3.85558882e-01 7.41705447e-02 6.26270493e+01] [-3.84321020e-01 9.22683226e-01 -3.08709913e-02 -1.03223053e+01] [-8.03385024e-02 -1.13332731e-04 9.96767632e-01 -6.91049091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.459649246000005 meters 0.05882577988925401 Centerline is valid? [True, True] Translation: X:62.66, Y:-10.34, Z:-6.91 [[ 9.19728578e-01 3.85439527e-01 7.44023819e-02 6.26564625e+01] [-3.84192052e-01 9.22733094e-01 -3.09855356e-02 -1.03357373e+01] [-8.05965903e-02 -8.65211887e-05 9.96746799e-01 -6.91263207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.489649246000006 meters 0.058803218475561525 Centerline is valid? [True, True] Translation: X:62.69, Y:-10.35, Z:-6.92 [[ 9.19837033e-01 3.85131490e-01 7.46563305e-02 6.26861806e+01] [-3.83872424e-01 9.22861709e-01 -3.11163574e-02 -1.03499188e+01] [-8.08813578e-02 -3.65287029e-05 9.96723735e-01 -6.91674632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.519649246 meters 0.05879406682293317 Centerline is valid? [True, True] Translation: X:62.71, Y:-10.37, Z:-6.92 [[ 9.19962599e-01 3.84769616e-01 7.49743949e-02 6.27134518e+01] [-3.83496192e-01 9.23012645e-01 -3.12782440e-02 -1.03660260e+01] [-8.12372325e-02 2.24197317e-05 9.96694794e-01 -6.91954915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.549649246 meters 0.0587602501096208 Centerline is valid? [True, True] Translation: X:62.74, Y:-10.38, Z:-6.92 [[ 9.20190109e-01 3.84049442e-01 7.58695526e-02 6.27419342e+01] [-3.82742103e-01 9.23312524e-01 -3.16617333e-02 -1.03811163e+01] [-8.22109792e-02 9.63417075e-05 9.96614944e-01 -6.92211879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.579649246 meters 0.0588571579726118 Centerline is valid? [True, True] Translation: X:62.77, Y:-10.40, Z:-6.93 [[ 9.20659738e-01 3.83018810e-01 7.53806178e-02 6.27710033e+01] [-3.81723102e-01 9.23740520e-01 -3.14789685e-02 -1.03951710e+01] [-8.16891682e-02 2.06895661e-04 9.96657833e-01 -6.92618412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.609649246000004 meters 0.059010616116089924 Centerline is valid? [True, True] Translation: X:62.80, Y:-10.41, Z:-6.93 [[ 9.20820197e-01 3.82508799e-01 7.60077892e-02 6.27988207e+01] [-3.81187814e-01 9.23951808e-01 -3.17632979e-02 -1.04085401e+01] [-8.23772752e-02 2.75043211e-04 9.96601178e-01 -6.93239240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.639649246000005 meters 0.058869198722898294 Centerline is valid? [True, True] Translation: X:62.83, Y:-10.42, Z:-6.93 [[ 9.20724454e-01 3.82877168e-01 7.53097258e-02 6.28286366e+01] [-3.81580042e-01 9.23799225e-01 -3.14906815e-02 -1.04208258e+01] [-8.16281292e-02 2.57552154e-04 9.96662823e-01 -6.93463749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.669649246000006 meters 0.05883990179949917 Centerline is valid? [True, True] Translation: X:62.86, Y:-10.43, Z:-6.94 [[ 9.20467795e-01 3.83501539e-01 7.52702292e-02 6.28586042e+01] [-3.82206188e-01 9.23540211e-01 -3.14945891e-02 -1.04328589e+01] [-8.15933067e-02 2.21007618e-04 9.96665683e-01 -6.93836694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.699649246 meters 0.05879761195270794 Centerline is valid? [True, True] Translation: X:62.89, Y:-10.45, Z:-6.94 [[ 9.20122937e-01 3.84162752e-01 7.61101909e-02 6.28883030e+01] [-3.82838404e-01 9.23265370e-01 -3.18718109e-02 -1.04451085e+01] [-8.25138661e-02 1.88080235e-04 9.96589899e-01 -6.93948031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.729649246 meters 0.05880887638579995 Centerline is valid? [True, True] Translation: X:62.92, Y:-10.46, Z:-6.94 [[ 9.19417787e-01 3.85839499e-01 7.61499444e-02 6.29185744e+01] [-3.84517711e-01 9.22565920e-01 -3.19100655e-02 -1.04557126e+01] [-8.25655073e-02 5.76794022e-05 9.96585638e-01 -6.94390504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.759649246 meters 0.058789421660060716 Centerline is valid? [True, True] Translation: X:62.95, Y:-10.47, Z:-6.95 [[ 9.18801548e-01 3.87340079e-01 7.59695878e-02 6.29496826e+01] [-3.86027787e-01 9.21936907e-01 -3.18573030e-02 -1.04663880e+01] [-8.23787771e-02 -5.58324994e-05 9.96601091e-01 -6.94775452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.789649246 meters 0.05913154448917068 Centerline is valid? [True, True] Translation: X:62.98, Y:-10.47, Z:-6.95 [[ 9.17342193e-01 3.90855948e-01 7.55971447e-02 6.29806094e+01] [-3.89566272e-01 9.20451796e-01 -3.17271335e-02 -1.04726044e+01] [-8.19842664e-02 -3.45459591e-04 9.96633564e-01 -6.95415360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.819649246000004 meters 0.05901920189146795 Centerline is valid? [True, True] Translation: X:63.01, Y:-10.48, Z:-6.96 [[ 9.16961798e-01 3.91735603e-01 7.56589641e-02 6.30111494e+01] [-3.90445288e-01 9.20077742e-01 -3.17714618e-02 -1.04834397e+01] [-8.20581416e-02 -4.07469316e-04 9.96627461e-01 -6.95598919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.849649246000006 meters 0.05891223300500667 Centerline is valid? [True, True] Translation: X:63.04, Y:-10.49, Z:-6.96 [[ 9.16081089e-01 3.93559480e-01 7.68529399e-02 6.30417234e+01] [-3.92232229e-01 9.19298987e-01 -3.22994049e-02 -1.04936502e+01] [-8.33625668e-02 -5.55325936e-04 9.96519129e-01 -6.95919641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.879649246 meters 0.05898139457735156 Centerline is valid? [True, True] Translation: X:63.07, Y:-10.51, Z:-6.96 [[ 9.16084497e-01 3.93621683e-01 7.64929056e-02 6.30715191e+01] [-3.92305344e-01 9.19272365e-01 -3.21688850e-02 -1.05067910e+01] [-8.29801848e-02 -5.39158784e-04 9.96551052e-01 -6.96289878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.909649246 meters 0.05901510238651299 Centerline is valid? [True, True] Translation: X:63.10, Y:-10.52, Z:-6.97 [[ 9.16696298e-01 3.91974972e-01 7.76113285e-02 6.30987519e+01] [-3.90611618e-01 9.19975806e-01 -3.26661950e-02 -1.05211682e+01] [-8.42048754e-02 -3.70906496e-04 9.96448394e-01 -6.96592514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.939649246 meters 0.059071645474000345 Centerline is valid? [True, True] Translation: X:63.13, Y:-10.53, Z:-6.97 [[ 9.16706258e-01 3.91884370e-01 7.79504772e-02 6.31272596e+01] [-3.90507017e-01 9.20014413e-01 -3.28290897e-02 -1.05344692e+01] [-8.45807698e-02 -3.45576314e-04 9.96416566e-01 -6.96928038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.969649246 meters 0.05893911898919753 Centerline is valid? [True, True] Translation: X:63.16, Y:-10.55, Z:-6.97 [[ 9.17000467e-01 3.91219406e-01 7.78300742e-02 6.31560726e+01] [-3.89842175e-01 9.20297401e-01 -3.27989620e-02 -1.05514510e+01] [-8.44584054e-02 -2.64782010e-04 9.96426971e-01 -6.97126080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.999649246000004 meters 0.05878206316494827 Centerline is valid? [True, True] Translation: X:63.18, Y:-10.57, Z:-6.97 [[ 9.17467151e-01 3.90191893e-01 7.74875021e-02 6.31848954e+01] [-3.88820994e-01 9.20733547e-01 -3.26798002e-02 -1.05663924e+01] [-8.40967358e-02 -1.46124377e-04 9.96457584e-01 -6.97391665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.029649246000005 meters 0.0587960664024259 Centerline is valid? [True, True] Translation: X:63.21, Y:-10.58, Z:-6.98 [[ 9.18051513e-01 3.88477596e-01 7.91617074e-02 6.32123051e+01] [-3.87037923e-01 9.21458168e-01 -3.34139181e-02 -1.05821330e+01] [-8.59247605e-02 3.71151964e-05 9.96301628e-01 -6.97712877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.059649246000006 meters 0.058855889669675435 Centerline is valid? [True, True] Translation: X:63.24, Y:-10.60, Z:-6.98 [[ 9.18112954e-01 3.88324475e-01 7.92004212e-02 6.32414162e+01] [-3.86880920e-01 9.21522706e-01 -3.34523035e-02 -1.05963350e+01] [-8.59753347e-02 7.18613294e-05 9.96297263e-01 -6.98048964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.089649246 meters 0.058798662532858585 Centerline is valid? [True, True] Translation: X:63.27, Y:-10.61, Z:-6.98 [[ 9.18116716e-01 3.88154202e-01 7.99875657e-02 6.32693580e+01] [-3.86678522e-01 9.21594435e-01 -3.38144834e-02 -1.06098840e+01] [-8.68413292e-02 1.16168795e-04 9.96222149e-01 -6.98391824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.119649246 meters 0.05884203753955669 Centerline is valid? [True, True] Translation: X:63.30, Y:-10.62, Z:-6.99 [[ 9.18190134e-01 3.87958752e-01 8.00929732e-02 6.32985157e+01] [-3.86477564e-01 9.21676725e-01 -3.38689644e-02 -1.06238175e+01] [-8.69595904e-02 1.44011833e-04 9.96211829e-01 -6.98640021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.149649246 meters 0.058819965087506476 Centerline is valid? [True, True] Translation: X:63.33, Y:-10.64, Z:-6.99 [[ 9.18638235e-01 3.86846719e-01 8.03331145e-02 6.33282092e+01] [-3.85350035e-01 9.22143991e-01 -3.39972013e-02 -1.06378837e+01] [-8.72304045e-02 2.74760499e-04 9.96188125e-01 -6.98921727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.179649246000004 meters 0.05889172500667303 Centerline is valid? [True, True] Translation: X:63.36, Y:-10.65, Z:-6.99 [[ 9.18112655e-01 3.88226586e-01 7.96823142e-02 6.33586088e+01] [-3.86756994e-01 9.21563937e-01 -3.37481424e-02 -1.06470474e+01] [-8.65342733e-02 1.66904265e-04 9.96248860e-01 -6.99496455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.209649246000005 meters 0.059118013244236704 Centerline is valid? [True, True] Translation: X:63.39, Y:-10.66, Z:-7.00 [[ 9.17701539e-01 3.89294159e-01 7.92082192e-02 6.33884068e+01] [-3.87843920e-01 9.21113484e-01 -3.35714717e-02 -1.06572068e+01] [-8.60289366e-02 8.81650320e-05 9.96292635e-01 -7.00125952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.239649246000006 meters 0.05905895975268391 Centerline is valid? [True, True] Translation: X:63.42, Y:-10.67, Z:-7.00 [[ 9.17580737e-01 3.89819221e-01 7.80164454e-02 6.34186513e+01] [-3.88412270e-01 9.20891401e-01 -3.30898321e-02 -1.06683743e+01] [-8.47437262e-02 6.00478794e-05 9.96402779e-01 -7.00458453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.269649246 meters 0.05927381608985749 Centerline is valid? [True, True] Translation: X:63.45, Y:-10.68, Z:-7.01 [[ 9.17731214e-01 3.89575505e-01 7.74618969e-02 6.34470481e+01] [-3.88185749e-01 9.20994525e-01 -3.28771743e-02 -1.06796774e+01] [-8.41501247e-02 1.02804584e-04 9.96453083e-01 -7.00952116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.299649246 meters 0.059344230561483566 Centerline is valid? [True, True] Translation: X:63.48, Y:-10.69, Z:-7.02 [[ 9.17622938e-01 3.90060777e-01 7.62937321e-02 6.34758110e+01] [-3.88712713e-01 9.20789110e-01 -3.24012698e-02 -1.06900960e+01] [-8.28889021e-02 7.58048377e-05 9.96558791e-01 -7.01501578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.329649246 meters 0.05947980921460203 Centerline is valid? [True, True] Translation: X:63.51, Y:-10.70, Z:-7.02 [[ 9.17590049e-01 3.90332624e-01 7.52923936e-02 6.35055595e+01] [-3.89019136e-01 9.20673904e-01 -3.19948977e-02 -1.07018828e+01] [-8.18083944e-02 6.80178626e-05 9.96648073e-01 -7.01905020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.359649246000004 meters 0.059529245590634876 Centerline is valid? [True, True] Translation: X:63.53, Y:-10.72, Z:-7.02 [[ 9.19213948e-01 3.86657959e-01 7.44401814e-02 6.35334729e+01] [-3.85360123e-01 9.22223104e-01 -3.16563184e-02 -1.07169477e+01] [-8.08906225e-02 4.12651956e-04 9.96722899e-01 -7.02146311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.389649246000005 meters 0.059725455663164444 Centerline is valid? [True, True] Translation: X:63.56, Y:-10.73, Z:-7.03 [[ 9.19693914e-01 3.85542347e-01 7.42980755e-02 6.35612920e+01] [-3.84245057e-01 9.22689996e-01 -3.16054844e-02 -1.07302017e+01] [-8.07393437e-02 5.18703380e-04 9.96735115e-01 -7.02666482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.419649246000006 meters 0.05964260939665289 Centerline is valid? [True, True] Translation: X:63.59, Y:-10.74, Z:-7.03 [[ 9.19540017e-01 3.86083101e-01 7.33893527e-02 6.35908617e+01] [-3.84817635e-01 9.22463878e-01 -3.12374976e-02 -1.07420466e+01] [-7.97592969e-02 4.82611942e-04 9.96814036e-01 -7.03099389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.449649246 meters 0.05991073987922696 Centerline is valid? [True, True] Translation: X:63.62, Y:-10.75, Z:-7.04 [[ 9.18568718e-01 3.88698975e-01 7.17259879e-02 6.36206531e+01] [-3.87496731e-01 9.21364768e-01 -3.05491132e-02 -1.07492983e+01] [-7.79602072e-02 2.67873931e-04 9.96956436e-01 -7.03866851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.479649246 meters 0.05970353926698451 Centerline is valid? [True, True] Translation: X:63.65, Y:-10.76, Z:-7.04 [[ 9.18214636e-01 3.89293355e-01 7.30244243e-02 6.36503134e+01] [-3.88047546e-01 9.21113797e-01 -3.11203342e-02 -1.07610024e+01] [-7.93787440e-02 2.38197732e-04 9.96844501e-01 -7.03818212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.509649246 meters 0.05965602194656059 Centerline is valid? [True, True] Translation: X:63.68, Y:-10.77, Z:-7.04 [[ 9.18022248e-01 3.89736726e-01 7.30782901e-02 6.36801232e+01] [-3.88488923e-01 9.20926293e-01 -3.11627931e-02 -1.07738721e+01] [-7.94450037e-02 2.18031211e-04 9.96839227e-01 -7.04108348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.539649246 meters 0.05964952634961873 Centerline is valid? [True, True] Translation: X:63.71, Y:-10.79, Z:-7.04 [[ 9.17533338e-01 3.90806862e-01 7.35021806e-02 6.37093749e+01] [-3.89545948e-01 9.20472691e-01 -3.13684514e-02 -1.07866453e+01] [-7.99157560e-02 1.49123308e-04 9.96801610e-01 -7.04336410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.569649246000004 meters 0.05945029477650669 Centerline is valid? [True, True] Translation: X:63.74, Y:-10.80, Z:-7.04 [[ 9.17325835e-01 3.91090109e-01 7.45777449e-02 6.37385963e+01] [-3.89791152e-01 9.20352381e-01 -3.18489056e-02 -1.07997143e+01] [-8.10935970e-02 1.46078883e-04 9.96706480e-01 -7.04441827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.599649246000006 meters 0.05915884969560144 Centerline is valid? [True, True] Translation: X:63.77, Y:-10.81, Z:-7.05 [[ 9.16895577e-01 3.91556124e-01 7.73711992e-02 6.37671171e+01] [-3.90157340e-01 9.20154218e-01 -3.30675947e-02 -1.08114024e+01] [-8.41412545e-02 1.32590031e-04 9.96453828e-01 -7.04672352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62964924600001 meters 0.05909582111781243 Centerline is valid? [True, True] Translation: X:63.80, Y:-10.82, Z:-7.05 [[ 9.16484539e-01 3.92476786e-01 7.75761764e-02 6.37976038e+01] [-3.91073091e-01 9.19761909e-01 -3.31642628e-02 -1.08234742e+01] [-8.43678153e-02 5.65789790e-05 9.96434679e-01 -7.04853285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.659649246 meters 0.05896442841084234 Centerline is valid? [True, True] Translation: X:63.83, Y:-10.84, Z:-7.05 [[ 9.16245689e-01 3.92729693e-01 7.91026231e-02 6.38273250e+01] [-3.91268685e-01 9.19653948e-01 -3.38442207e-02 -1.08350284e+01] [-8.60386701e-02 5.92419913e-05 9.96291796e-01 -7.05163581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.689649246 meters 0.05898974879959602 Centerline is valid? [True, True] Translation: X:63.86, Y:-10.85, Z:-7.06 [[ 9.15757712e-01 3.93678364e-01 8.00322359e-02 6.38561880e+01] [-3.92184298e-01 9.19248250e-01 -3.42655902e-02 -1.08456480e+01] [-8.70591143e-02 -8.40777762e-06 9.96203147e-01 -7.05548556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.719649246 meters 0.058853834615016365 Centerline is valid? [True, True] Translation: X:63.89, Y:-10.86, Z:-7.06 [[ 9.14876772e-01 3.95694575e-01 8.01641774e-02 6.38870100e+01] [-3.94201541e-01 9.18382148e-01 -3.43420264e-02 -1.08576605e+01] [-8.72103030e-02 -1.82119946e-04 9.96189907e-01 -7.05801578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.749649246000004 meters 0.05875251576538732 Centerline is valid? [True, True] Translation: X:63.92, Y:-10.87, Z:-7.06 [[ 9.14562026e-01 3.96370576e-01 8.04155941e-02 6.39162888e+01] [-3.94868431e-01 9.18090582e-01 -3.44761514e-02 -1.08701751e+01] [-8.74941316e-02 -2.23000656e-04 9.96165010e-01 -7.06061507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.779649246000005 meters 0.05881428714409899 Centerline is valid? [True, True] Translation: X:63.95, Y:-10.88, Z:-7.06 [[ 9.13831063e-01 3.97930672e-01 8.10183252e-02 6.39452476e+01] [-3.96409767e-01 9.17415422e-01 -3.47597516e-02 -1.08805547e+01] [-8.81594324e-02 -3.51914631e-04 9.96106315e-01 -7.06422050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.809649246000006 meters 0.05889446680162383 Centerline is valid? [True, True] Translation: X:63.98, Y:-10.89, Z:-7.07 [[ 9.13529015e-01 3.98507021e-01 8.15897808e-02 6.39751179e+01] [-3.96964978e-01 9.17165199e-01 -3.50257718e-02 -1.08925341e+01] [-8.87893235e-02 -3.91226705e-04 9.96050352e-01 -7.06834216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.839649246 meters 0.05884423983923165 Centerline is valid? [True, True] Translation: X:64.01, Y:-10.91, Z:-7.07 [[ 9.13371289e-01 3.98897068e-01 8.14494830e-02 6.40053220e+01] [-3.97359991e-01 9.16995617e-01 -3.49867894e-02 -1.09050678e+01] [-8.86449466e-02 -4.08836925e-04 9.96063204e-01 -7.07108822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.869649246 meters 0.058824287996736654 Centerline is valid? [True, True] Translation: X:64.03, Y:-10.92, Z:-7.08 [[ 9.13487388e-01 3.98609155e-01 8.15569289e-02 6.40348047e+01] [-3.97064423e-01 9.17120829e-01 -3.50603693e-02 -1.09173826e+01] [-8.87729424e-02 -3.56149749e-04 9.96051825e-01 -7.07579422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.899649246 meters 0.058759060946722036 Centerline is valid? [True, True] Translation: X:64.06, Y:-10.93, Z:-7.08 [[ 9.13746582e-01 3.98008165e-01 8.15885089e-02 6.40636080e+01] [-3.96457659e-01 9.17381832e-01 -3.50984271e-02 -1.09333621e+01] [-8.88172763e-02 -2.75321428e-04 9.96047898e-01 -7.07632816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.929649246000004 meters 0.05863419355227557 Centerline is valid? [True, True] Translation: X:64.09, Y:-10.95, Z:-7.08 [[ 9.13487671e-01 3.98530148e-01 8.19389785e-02 6.40919770e+01] [-3.96965851e-01 9.17155183e-01 -3.52772353e-02 -1.09463384e+01] [-8.92098007e-02 -3.01656810e-04 9.96012811e-01 -7.08033336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.959649246000005 meters 0.058487674888592356 Centerline is valid? [True, True] Translation: X:64.12, Y:-10.96, Z:-7.08 [[ 9.13778962e-01 3.97276042e-01 8.47334360e-02 6.41196081e+01] [-3.95595033e-01 9.17699145e-01 -3.65082050e-02 -1.09623800e+01] [-9.22636370e-02 -1.59696680e-04 9.95734601e-01 -7.08056020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.989649246000006 meters 0.0582938935751963 Centerline is valid? [True, True] Translation: X:64.15, Y:-10.98, Z:-7.08 [[ 9.13988622e-01 3.96389330e-01 8.66042602e-02 6.41484519e+01] [-3.94626740e-01 9.18082511e-01 -3.73395148e-02 -1.09776404e+01] [-9.43108419e-02 -4.84651353e-05 9.95542798e-01 -7.08078926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.019649246 meters 0.058151433794055234 Centerline is valid? [True, True] Translation: X:64.18, Y:-10.99, Z:-7.08 [[ 9.13523652e-01 3.97268919e-01 8.74753855e-02 6.41771779e+01] [-3.95472147e-01 9.17702235e-01 -3.77410815e-02 -1.09892627e+01] [-9.52697155e-02 -1.16707880e-04 9.95451489e-01 -7.08331300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04964924600002 meters 0.058242767101892585 Centerline is valid? [True, True] Translation: X:64.21, Y:-11.00, Z:-7.09 [[ 9.13350355e-01 3.97570962e-01 8.79116490e-02 6.42073429e+01] [-3.95755367e-01 9.17571421e-01 -3.79522877e-02 -1.10012144e+01] [-9.57539443e-02 -1.27771455e-04 9.95405026e-01 -7.08756039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07964924600002 meters 0.058242767101892585 Centerline is valid? [True, True] Translation: X:64.24, Y:-11.01, Z:-7.09 [[ 9.13241062e-01 3.97824272e-01 8.79011487e-02 6.42367879e+01] [-3.96007508e-01 9.17461624e-01 -3.79765908e-02 -1.10141126e+01] [-9.57539403e-02 -1.27732703e-04 9.95405026e-01 -7.09105866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.109649246 meters 0.05857043808844234 Centerline is valid? [True, True] Translation: X:64.27, Y:-11.02, Z:-7.10 [[ 9.13398347e-01 3.98035654e-01 8.52706188e-02 6.42653982e+01] [-3.96324553e-01 9.17369938e-01 -3.68679367e-02 -1.10233624e+01] [-9.28994556e-02 -1.19727417e-04 9.95675488e-01 -7.10057281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.139649246 meters 0.05876014874346966 Centerline is valid? [True, True] Translation: X:64.29, Y:-11.04, Z:-7.10 [[ 9.13461186e-01 3.98078635e-01 8.43923147e-02 6.42946201e+01] [-3.96400867e-01 9.17351290e-01 -3.65097566e-02 -1.10357273e+01] [-9.19511529e-02 -1.02941180e-04 9.95763514e-01 -7.10460241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.169649246 meters 0.05888264726893545 Centerline is valid? [True, True] Translation: X:64.32, Y:-11.05, Z:-7.11 [[ 9.13317732e-01 3.98664355e-01 8.31712231e-02 6.43239770e+01] [-3.97035110e-01 9.17096894e-01 -3.60056624e-02 -1.10476825e+01] [-9.06302446e-02 -1.37285787e-04 9.95884602e-01 -7.10973428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.199649246 meters 0.05909760233257285 Centerline is valid? [True, True] Translation: X:64.35, Y:-11.06, Z:-7.11 [[ 9.13327319e-01 3.98867918e-01 8.20828396e-02 6.43528436e+01] [-3.97279825e-01 9.17008378e-01 -3.55580464e-02 -1.10604362e+01] [-8.94536156e-02 -1.33720956e-04 9.95990980e-01 -7.11411667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22964924600001 meters 0.0591896714181088 Centerline is valid? [True, True] Translation: X:64.38, Y:-11.07, Z:-7.12 [[ 9.13340155e-01 3.99514943e-01 7.87246597e-02 6.43814911e+01] [-3.98054716e-01 9.16726667e-01 -3.41271278e-02 -1.10733729e+01] [-8.58032924e-02 -1.67045831e-04 9.96312083e-01 -7.11929957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25964924600001 meters 0.05929545975539085 Centerline is valid? [True, True] Translation: X:64.41, Y:-11.08, Z:-7.13 [[ 9.13213509e-01 3.99892472e-01 7.82757773e-02 6.44093256e+01] [-3.98449038e-01 9.16562041e-01 -3.39468508e-02 -1.10848822e+01] [-8.53196963e-02 -1.88185464e-04 9.96353609e-01 -7.12533870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28964924600001 meters 0.05947260828432092 Centerline is valid? [True, True] Translation: X:64.44, Y:-11.10, Z:-7.13 [[ 9.13690420e-01 3.99202313e-01 7.62058329e-02 6.44382582e+01] [-3.97831312e-01 9.16862858e-01 -3.30567264e-02 -1.10991122e+01] [-8.30666194e-02 -1.13452200e-04 9.96543990e-01 -7.12886797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31964924600001 meters 0.059423335665211026 Centerline is valid? [True, True] Translation: X:64.47, Y:-11.11, Z:-7.13 [[ 9.13347113e-01 3.99984491e-01 7.62197999e-02 6.44681429e+01] [-3.98613892e-01 9.16521893e-01 -3.30845125e-02 -1.11114886e+01] [-8.30904072e-02 -1.64627146e-04 9.96542000e-01 -7.13304905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34964924600001 meters 0.05942062534887022 Centerline is valid? [True, True] Translation: X:64.49, Y:-11.13, Z:-7.14 [[ 9.15308125e-01 3.95268876e-01 7.72887518e-02 6.44949169e+01] [-3.93840160e-01 9.18565419e-01 -3.35782622e-02 -1.11281849e+01] [-8.42672166e-02 2.95041849e-04 9.96443149e-01 -7.13680539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37964924600001 meters 0.05946784002237975 Centerline is valid? [True, True] Translation: X:64.52, Y:-11.14, Z:-7.14 [[ 9.15439404e-01 3.94881047e-01 7.77152298e-02 6.45245012e+01] [-3.93434286e-01 9.18732193e-01 -3.37730745e-02 -1.11415603e+01] [-8.47358306e-02 3.41367255e-04 9.96403393e-01 -7.13866018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40964924600001 meters 0.05936109795613073 Centerline is valid? [True, True] Translation: X:64.55, Y:-11.15, Z:-7.14 [[ 9.15088335e-01 3.95674043e-01 7.78163898e-02 6.45536461e+01] [-3.94224140e-01 9.18390966e-01 -3.38431806e-02 -1.11534260e+01] [-8.48567375e-02 2.92400412e-04 9.96393120e-01 -7.14274329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43964924600002 meters 0.05928487988697082 Centerline is valid? [True, True] Translation: X:64.58, Y:-11.16, Z:-7.15 [[ 9.14063603e-01 3.97918890e-01 7.84110130e-02 6.45826658e+01] [-3.96452790e-01 9.17420594e-01 -3.41268230e-02 -1.11636733e+01] [-8.55155856e-02 1.07821923e-04 9.96336827e-01 -7.14666037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46964924600002 meters 0.05905803448287412 Centerline is valid? [True, True] Translation: X:64.61, Y:-11.18, Z:-7.15 [[ 9.13488325e-01 3.98708661e-01 8.10585185e-02 6.46114963e+01] [-3.97142853e-01 9.17077641e-01 -3.53008993e-02 -1.11776619e+01] [-8.84117293e-02 5.51480029e-05 9.96084014e-01 -7.14706132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.499649246 meters 0.058993388024630354 Centerline is valid? [True, True] Translation: X:64.64, Y:-11.19, Z:-7.15 [[ 9.13174818e-01 3.99181962e-01 8.22527361e-02 6.46396577e+01] [-3.97569201e-01 9.16871725e-01 -3.58464796e-02 -1.11907393e+01] [-8.97244761e-02 3.29479281e-05 9.95966625e-01 -7.14866514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.529649246 meters 0.05878590770208703 Centerline is valid? [True, True] Translation: X:64.67, Y:-11.20, Z:-7.15 [[ 9.13253569e-01 3.98662040e-01 8.38838322e-02 6.46671219e+01] [-3.96981227e-01 9.17097906e-01 -3.65696164e-02 -1.12048354e+01] [-9.15086047e-02 9.70259923e-05 9.95804281e-01 -7.15108482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.559649246 meters 0.058940638522274 Centerline is valid? [True, True] Translation: X:64.70, Y:-11.22, Z:-7.15 [[ 9.13241507e-01 3.98777980e-01 8.34630036e-02 6.46968251e+01] [-3.97112642e-01 9.17047497e-01 -3.64065562e-02 -1.12188351e+01] [-9.10576715e-02 1.03764359e-04 9.95845615e-01 -7.15469498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58964924600001 meters 0.05883550742303718 Centerline is valid? [True, True] Translation: X:64.73, Y:-11.23, Z:-7.16 [[ 9.13030397e-01 3.99262120e-01 8.34580922e-02 6.47267432e+01] [-3.97596610e-01 9.16836819e-01 -3.64305114e-02 -1.12322829e+01] [-9.10627750e-02 7.95097343e-05 9.95845151e-01 -7.15850787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61964924600001 meters 0.059156236818973966 Centerline is valid? [True, True] Translation: X:64.75, Y:-11.25, Z:-7.16 [[ 9.13376247e-01 3.98665018e-01 8.25229356e-02 6.47542790e+01] [-3.97031884e-01 9.17096602e-01 -3.60486678e-02 -1.12457692e+01] [-9.00528467e-02 1.61760354e-04 9.95936975e-01 -7.16341708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64964924600001 meters 0.05923235144809706 Centerline is valid? [True, True] Translation: X:64.78, Y:-11.26, Z:-7.17 [[ 9.13243405e-01 3.99175180e-01 8.15209117e-02 6.47836136e+01] [-3.97581786e-01 9.16874669e-01 -3.56309411e-02 -1.12585191e+01] [-8.89674463e-02 1.28492285e-04 9.96034526e-01 -7.16860134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67964924600001 meters 0.059237621734894705 Centerline is valid? [True, True] Translation: X:64.81, Y:-11.27, Z:-7.17 [[ 9.13370430e-01 3.98991570e-01 8.09949653e-02 6.48141880e+01] [-3.97416174e-01 9.16954579e-01 -3.54215297e-02 -1.12708623e+01] [-8.84015960e-02 1.64268583e-04 9.96084901e-01 -7.17129719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70964924600001 meters 0.05922701168493486 Centerline is valid? [True, True] Translation: X:64.84, Y:-11.28, Z:-7.17 [[ 9.12895295e-01 4.00023576e-01 8.12608117e-02 6.48445574e+01] [-3.98439521e-01 9.16504845e-01 -3.55642666e-02 -1.12829927e+01] [-8.87024727e-02 8.89327208e-05 9.96058163e-01 -7.17346497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73964924600001 meters 0.0590592262694166 Centerline is valid? [True, True] Translation: X:64.87, Y:-11.30, Z:-7.18 [[ 9.12520937e-01 4.00650705e-01 8.23683946e-02 6.48733839e+01] [-3.99023025e-01 9.16230871e-01 -3.60779184e-02 -1.12958680e+01] [-8.99231094e-02 5.49699520e-05 9.95948709e-01 -7.17583773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76964924600001 meters 0.059086002608824906 Centerline is valid? [True, True] Translation: X:64.90, Y:-11.31, Z:-7.18 [[ 9.12326420e-01 4.00888163e-01 8.33617639e-02 6.49013353e+01] [-3.99219608e-01 9.16126999e-01 -3.65380235e-02 -1.13092733e+01] [-9.10176237e-02 5.49535144e-05 9.95849280e-01 -7.17803527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79964924600002 meters 0.058984542496649285 Centerline is valid? [True, True] Translation: X:64.93, Y:-11.32, Z:-7.18 [[ 9.12070791e-01 4.01233942e-01 8.44878379e-02 6.49299754e+01] [-3.99519103e-01 9.15975612e-01 -3.70562428e-02 -1.13209500e+01] [-9.22570214e-02 4.34115659e-05 9.95735226e-01 -7.18360833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82964924600002 meters 0.058974645310583496 Centerline is valid? [True, True] Translation: X:64.96, Y:-11.33, Z:-7.18 [[ 9.11664648e-01 4.02169111e-01 8.44249710e-02 6.49610000e+01] [-4.00459750e-01 9.15565402e-01 -3.70403007e-02 -1.13333452e+01] [-9.21930473e-02 -4.04701270e-05 9.95741151e-01 -7.18457705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.859649246 meters 0.05908140963399532 Centerline is valid? [True, True] Translation: X:64.99, Y:-11.34, Z:-7.19 [[ 9.10811524e-01 4.04131045e-01 8.42642637e-02 6.49919279e+01] [-4.02434019e-01 9.14701073e-01 -3.69973961e-02 -1.13448419e+01] [-9.20284087e-02 -2.13151632e-04 9.95756359e-01 -7.18766505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.889649246 meters 0.05904518281854599 Centerline is valid? [True, True] Translation: X:65.02, Y:-11.36, Z:-7.19 [[ 9.10271366e-01 4.05281414e-01 8.45755051e-02 6.50216011e+01] [-4.03574058e-01 9.14191929e-01 -3.71631139e-02 -1.13566669e+01] [-9.23797635e-02 -3.03961389e-04 9.95723801e-01 -7.19172609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.919649246 meters 0.05912692001717741 Centerline is valid? [True, True] Translation: X:65.05, Y:-11.37, Z:-7.20 [[ 9.09973948e-01 4.05920001e-01 8.47134425e-02 6.50508970e+01] [-4.04207336e-01 9.13908548e-01 -3.72504499e-02 -1.13691780e+01] [-9.25410419e-02 -3.44855947e-04 9.95708811e-01 -7.19645148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.949649246 meters 0.059034770440820256 Centerline is valid? [True, True] Translation: X:65.08, Y:-11.38, Z:-7.20 [[ 9.09627620e-01 4.06623267e-01 8.50594613e-02 6.50800721e+01] [-4.04897157e-01 9.13595843e-01 -3.74289766e-02 -1.13834111e+01] [-9.29294630e-02 -3.93903159e-04 9.95672617e-01 -7.19909645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97964924600001 meters 0.05907912065441524 Centerline is valid? [True, True] Translation: X:65.11, Y:-11.40, Z:-7.20 [[ 9.09305966e-01 4.07436784e-01 8.46045379e-02 6.51090591e+01] [-4.05730022e-01 9.13233303e-01 -3.72569989e-02 -1.13964076e+01] [-9.24435534e-02 -4.48589657e-04 9.95717826e-01 -7.20228978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00964924600001 meters 0.05919883649799341 Centerline is valid? [True, True] Translation: X:65.14, Y:-11.41, Z:-7.21 [[ 9.09200962e-01 4.07703199e-01 8.44494623e-02 6.51393301e+01] [-4.06001465e-01 9.13114395e-01 -3.72144177e-02 -1.14096687e+01] [-9.22844568e-02 -4.51221059e-04 9.95732582e-01 -7.20660070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03964924600001 meters 0.059226584678212284 Centerline is valid? [True, True] Translation: X:65.17, Y:-11.42, Z:-7.21 [[ 9.09226771e-01 4.07765638e-01 8.38681342e-02 6.51689070e+01] [-4.06084979e-01 9.13086524e-01 -3.69863333e-02 -1.14227174e+01] [-9.16606189e-02 -4.28625148e-04 9.95790212e-01 -7.21120128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06964924600001 meters 0.05929332131777801 Centerline is valid? [True, True] Translation: X:65.20, Y:-11.43, Z:-7.22 [[ 9.09201915e-01 4.08108062e-01 8.24602239e-02 6.51965601e+01] [-4.06482160e-01 9.12933528e-01 -3.63954220e-02 -1.14348603e+01] [-9.01339683e-02 -4.27822552e-04 9.95929558e-01 -7.21715500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09964924600001 meters 0.05938817095158023 Centerline is valid? [True, True] Translation: X:65.23, Y:-11.45, Z:-7.22 [[ 9.09199539e-01 4.08264704e-01 8.17075841e-02 6.52254864e+01] [-4.06668004e-01 9.12863488e-01 -3.60747439e-02 -1.14483759e+01] [-8.93159149e-02 -4.28719547e-04 9.96003255e-01 -7.22112632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12964924600001 meters 0.05939911625003837 Centerline is valid? [True, True] Translation: X:65.25, Y:-11.46, Z:-7.22 [[ 9.09471983e-01 4.07767586e-01 8.11560760e-02 6.52525533e+01] [-4.06188136e-01 9.13085686e-01 -3.58570431e-02 -1.14623002e+01] [-8.87237913e-02 -3.53659156e-04 9.96056205e-01 -7.22466922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15964924600001 meters 0.059506197882251415 Centerline is valid? [True, True] Translation: X:65.28, Y:-11.47, Z:-7.23 [[ 9.08824369e-01 4.09097630e-01 8.17153264e-02 6.52827297e+01] [-4.07500860e-01 9.12490493e-01 -3.61130107e-02 -1.14746347e+01] [-8.93382056e-02 -4.78681576e-04 9.96001233e-01 -7.22857861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18964924600002 meters 0.05974567872382649 Centerline is valid? [True, True] Translation: X:65.31, Y:-11.49, Z:-7.24 [[ 9.08478885e-01 4.10022478e-01 8.09177506e-02 6.53118843e+01] [-4.08458020e-01 9.12075258e-01 -3.57878352e-02 -1.14850096e+01] [-8.84768952e-02 -5.39011542e-04 9.96078084e-01 -7.23542673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21964924600002 meters 0.05965560458820038 Centerline is valid? [True, True] Translation: X:65.34, Y:-11.50, Z:-7.24 [[ 9.08853738e-01 4.09200609e-01 8.08686888e-02 6.53407736e+01] [-4.07632985e-01 9.12444337e-01 -3.57866133e-02 -1.15001826e+01] [-8.84320810e-02 -4.39947774e-04 9.96082112e-01 -7.23715177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.249649246 meters 0.059690125645006815 Centerline is valid? [True, True] Translation: X:65.37, Y:-11.51, Z:-7.24 [[ 9.09291449e-01 4.08400448e-01 7.99883434e-02 6.53685453e+01] [-4.06861388e-01 9.12802806e-01 -3.54238348e-02 -1.15122085e+01] [-8.74806943e-02 -3.33578366e-04 9.96166159e-01 -7.24239811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.279649246 meters 0.05974697365544709 Centerline is valid? [True, True] Translation: X:65.40, Y:-11.53, Z:-7.25 [[ 9.09577138e-01 4.07807774e-01 7.97637137e-02 6.53983659e+01] [-4.06273375e-01 9.13067770e-01 -3.53439145e-02 -1.15258464e+01] [-8.72431993e-02 -2.57856591e-04 9.96187009e-01 -7.24736333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.309649246 meters 0.059879375758921126 Centerline is valid? [True, True] Translation: X:65.42, Y:-11.54, Z:-7.25 [[ 9.11523210e-01 4.03644075e-01 7.87203840e-02 6.54240499e+01] [-4.02131877e-01 9.14916080e-01 -3.49072914e-02 -1.15430081e+01] [-8.61126666e-02 1.62830465e-04 9.96285392e-01 -7.25172137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33964924600001 meters 0.0598212751607557 Centerline is valid? [True, True] Translation: X:65.45, Y:-11.56, Z:-7.26 [[ 9.11672783e-01 4.03410624e-01 7.81831457e-02 6.54520197e+01] [-4.01916466e-01 9.15019031e-01 -3.46890034e-02 -1.15571763e+01] [-8.55329788e-02 2.01926670e-04 9.96335319e-01 -7.25530356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36964924600001 meters 0.05976436364534701 Centerline is valid? [True, True] Translation: X:65.48, Y:-11.57, Z:-7.26 [[ 9.11631722e-01 4.03481439e-01 7.82964339e-02 6.54814320e+01] [-4.01981608e-01 9.14987805e-01 -3.47577896e-02 -1.15718121e+01] [-8.56644052e-02 2.12577211e-04 9.96324026e-01 -7.25847289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39964924600001 meters 0.05982296854299778 Centerline is valid? [True, True] Translation: X:65.51, Y:-11.59, Z:-7.26 [[ 9.11235007e-01 4.04356960e-01 7.83977766e-02 6.55104285e+01] [-4.02854249e-01 9.14601238e-01 -3.48285607e-02 -1.15850703e+01] [-8.57858745e-02 1.54126315e-04 9.96313585e-01 -7.26346280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42964924600001 meters 0.059576004407772165 Centerline is valid? [True, True] Translation: X:65.54, Y:-11.60, Z:-7.26 [[ 9.11906709e-01 4.02782625e-01 7.86912313e-02 6.55386161e+01] [-4.01260764e-01 9.15295609e-01 -3.49821160e-02 -1.16033401e+01] [-8.61159270e-02 3.24722757e-04 9.96285070e-01 -7.26188349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45964924600001 meters 0.05977517217982853 Centerline is valid? [True, True] Translation: X:65.57, Y:-11.62, Z:-7.27 [[ 9.12261100e-01 4.01981862e-01 7.86782619e-02 6.55663327e+01] [-4.00455235e-01 9.15647532e-01 -3.50028844e-02 -1.16186554e+01] [-8.61120810e-02 4.24647962e-04 9.96285365e-01 -7.26560928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48964924600001 meters 0.059813793547274605 Centerline is valid? [True, True] Translation: X:65.59, Y:-11.63, Z:-7.27 [[ 9.12841965e-01 4.00712199e-01 7.84173447e-02 6.55928865e+01] [-3.99188861e-01 9.16203806e-01 -3.49118894e-02 -1.16346097e+01] [-8.58358896e-02 5.65707276e-04 9.96309129e-01 -7.27055770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51964924600001 meters 0.05982244999747678 Centerline is valid? [True, True] Translation: X:65.62, Y:-11.65, Z:-7.27 [[ 9.13311912e-01 3.99578476e-01 7.87298782e-02 6.56224257e+01] [-3.98037102e-01 9.16698730e-01 -3.50699760e-02 -1.16487828e+01] [-8.61847870e-02 6.92414196e-04 9.96278928e-01 -7.27301106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54964924600002 meters 0.059881723888987784 Centerline is valid? [True, True] Translation: X:65.65, Y:-11.66, Z:-7.28 [[ 9.13750903e-01 3.98640404e-01 7.83907884e-02 6.56492618e+01] [-3.97106555e-01 9.17106965e-01 -3.49456511e-02 -1.16645302e+01] [-8.58234865e-02 8.02124336e-04 9.96310035e-01 -7.27642921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57964924600002 meters 0.059917131433933214 Centerline is valid? [True, True] Translation: X:65.68, Y:-11.68, Z:-7.28 [[ 9.13980953e-01 3.98055665e-01 7.86797641e-02 6.56783433e+01] [-3.96506605e-01 9.17360843e-01 -3.50941045e-02 -1.16801779e+01] [-8.61471418e-02 8.78296905e-04 9.96282038e-01 -7.28021382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.609649246 meters 0.06013043483236824 Centerline is valid? [True, True] Translation: X:65.71, Y:-11.70, Z:-7.28 [[ 9.14652480e-01 3.96485409e-01 7.88045805e-02 6.57055690e+01] [-3.94923303e-01 9.18040420e-01 -3.51762862e-02 -1.16958604e+01] [-8.62926744e-02 1.05231214e-03 9.96269274e-01 -7.28332499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.639649246 meters 0.06007143703541141 Centerline is valid? [True, True] Translation: X:65.74, Y:-11.71, Z:-7.29 [[ 9.14446827e-01 3.97019103e-01 7.85037055e-02 6.57356409e+01] [-3.95469243e-01 9.17809784e-01 -3.50610580e-02 -1.17092837e+01] [-8.59713788e-02 1.01567227e-03 9.96297089e-01 -7.28688299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.669649246 meters 0.059917653839426654 Centerline is valid? [True, True] Translation: X:65.77, Y:-11.72, Z:-7.29 [[ 9.13576633e-01 3.98985151e-01 7.86675604e-02 6.57653917e+01] [-3.97433628e-01 9.16956985e-01 -3.51624618e-02 -1.17191508e+01] [-8.61640692e-02 8.58469494e-04 9.96280591e-01 -7.29101404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.699649246 meters 0.05975666295226046 Centerline is valid? [True, True] Translation: X:65.80, Y:-11.73, Z:-7.29 [[ 9.12780871e-01 4.00874447e-01 7.82991688e-02 6.57958591e+01] [-3.99343521e-01 9.16132745e-01 -3.50077968e-02 -1.17294342e+01] [-8.57661637e-02 6.86181477e-04 9.96315058e-01 -7.29467316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72964924600001 meters 0.059512186550948455 Centerline is valid? [True, True] Translation: X:65.83, Y:-11.73, Z:-7.30 [[ 9.10578686e-01 4.06002283e-01 7.75151784e-02 6.58279635e+01] [-4.04518647e-01 9.13872035e-01 -3.46780476e-02 -1.17347803e+01] [-8.49183204e-02 2.20755851e-04 9.96387891e-01 -7.29723491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75964924600001 meters 0.059519444856394696 Centerline is valid? [True, True] Translation: X:65.86, Y:-11.74, Z:-7.30 [[ 9.09567958e-01 4.08267484e-01 7.74841385e-02 6.58597196e+01] [-4.06791434e-01 9.12862345e-01 -3.46852710e-02 -1.17445323e+01] [-8.48932206e-02 2.87272628e-05 9.96390054e-01 -7.30116024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78964924600001 meters 0.059736256933071184 Centerline is valid? [True, True] Translation: X:65.89, Y:-11.75, Z:-7.31 [[ 9.07306746e-01 4.13243757e-01 7.76148615e-02 6.58923957e+01] [-4.11778489e-01 9.10620353e-01 -3.47713681e-02 -1.17494838e+01] [-8.50467234e-02 -4.11833506e-04 9.96376879e-01 -7.30609867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81964924600001 meters 0.05972716215834324 Centerline is valid? [True, True] Translation: X:65.92, Y:-11.76, Z:-7.31 [[ 9.06536609e-01 4.15025785e-01 7.71036590e-02 6.59221721e+01] [-4.13585017e-01 9.09809475e-01 -3.45565069e-02 -1.17594750e+01] [-8.44914810e-02 -5.62179486e-04 9.96424043e-01 -7.31029176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84964924600001 meters 0.059782046918052396 Centerline is valid? [True, True] Translation: X:65.95, Y:-11.77, Z:-7.31 [[ 9.06053304e-01 4.15923836e-01 7.79408280e-02 6.59508367e+01] [-4.14453117e-01 9.09399230e-01 -3.49521671e-02 -1.17719244e+01] [-8.54167684e-02 -6.34292615e-04 9.96345108e-01 -7.31267106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87964924600001 meters 0.05971299773876468 Centerline is valid? [True, True] Translation: X:65.98, Y:-11.79, Z:-7.32 [[ 9.06001692e-01 4.15960408e-01 7.83445802e-02 6.59799488e+01] [-4.14472803e-01 9.09382511e-01 -3.51531548e-02 -1.17858776e+01] [-8.58675117e-02 -6.22880035e-04 9.96306370e-01 -7.31567359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90964924600001 meters 0.05965279501451759 Centerline is valid? [True, True] Translation: X:66.01, Y:-11.80, Z:-7.32 [[ 9.05774093e-01 4.16271863e-01 7.93160005e-02 6.60077462e+01] [-4.14746144e-01 9.09239973e-01 -3.56133056e-02 -1.17994108e+01] [-8.69420952e-02 -6.38395774e-04 9.96213162e-01 -7.31804743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93964924600002 meters 0.05941833309174552 Centerline is valid? [True, True] Translation: X:66.04, Y:-11.82, Z:-7.32 [[ 9.05881563e-01 4.16029228e-01 7.93616730e-02 6.60369100e+01] [-4.14500009e-01 9.09351040e-01 -3.56430757e-02 -1.18151877e+01] [-8.69961811e-02 -6.07009013e-04 9.96208460e-01 -7.31998501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96964924600002 meters 0.05941833309174552 Centerline is valid? [True, True] Translation: X:66.07, Y:-11.83, Z:-7.32 [[ 9.05770817e-01 4.16272102e-01 7.93521557e-02 6.60661687e+01] [-4.14741959e-01 9.09239885e-01 -3.56642497e-02 -1.18285313e+01] [-8.69961771e-02 -6.07031915e-04 9.96208460e-01 -7.32348378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.999649246 meters 0.059509891009208796 Centerline is valid? [True, True] Translation: X:66.09, Y:-11.84, Z:-7.33 [[ 9.05644620e-01 4.16518289e-01 7.95005548e-02 6.60947668e+01] [-4.14981078e-01 9.09127134e-01 -3.57569485e-02 -1.18412631e+01] [-8.71695345e-02 -6.08137916e-04 9.96193306e-01 -7.32838061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.029649246 meters 0.05941785200366408 Centerline is valid? [True, True] Translation: X:66.12, Y:-11.86, Z:-7.33 [[ 9.06133851e-01 4.15308418e-01 8.02518637e-02 6.61227297e+01] [-4.13735045e-01 9.09680545e-01 -3.61195183e-02 -1.18569173e+01] [-8.80042991e-02 -4.73890155e-04 9.96119982e-01 -7.32974852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.059649246 meters 0.05900195817684762 Centerline is valid? [True, True] Translation: X:66.15, Y:-11.87, Z:-7.33 [[ 9.06922122e-01 4.13550356e-01 8.04261599e-02 6.61497696e+01] [-4.11961255e-01 9.10481204e-01 -3.62201889e-02 -1.18747671e+01] [-8.82053789e-02 -2.83571206e-04 9.96102269e-01 -7.32876077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08964924600001 meters 0.05924380401330075 Centerline is valid? [True, True] Translation: X:66.18, Y:-11.89, Z:-7.34 [[ 9.06582223e-01 4.14616769e-01 7.87502832e-02 6.61781551e+01] [-4.13095384e-01 9.09996047e-01 -3.54880005e-02 -1.18858716e+01] [-8.63763666e-02 -3.58588086e-04 9.96262513e-01 -7.33634790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11964924600001 meters 0.059458522237822636 Centerline is valid? [True, True] Translation: X:66.21, Y:-11.90, Z:-7.34 [[ 9.06742404e-01 4.14313268e-01 7.85030506e-02 6.62073113e+01] [-4.12798578e-01 9.10134286e-01 -3.53965369e-02 -1.18990244e+01] [-8.61135728e-02 -3.10406709e-04 9.96285279e-01 -7.34240069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14964924600001 meters 0.0596539253297152 Centerline is valid? [True, True] Translation: X:66.23, Y:-11.91, Z:-7.35 [[ 9.06864083e-01 4.14197583e-01 7.77039089e-02 6.62345011e+01] [-4.12711032e-01 9.10186952e-01 -3.50616043e-02 -1.19124600e+01] [-8.52475158e-02 -2.73150795e-04 9.96359768e-01 -7.34727377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17964924600001 meters 0.05959091709102404 Centerline is valid? [True, True] Translation: X:66.26, Y:-11.93, Z:-7.35 [[ 9.06939337e-01 4.14072504e-01 7.74919325e-02 6.62637712e+01] [-4.12592072e-01 9.10243869e-01 -3.49840102e-02 -1.19277555e+01] [-8.50224732e-02 -2.44181957e-04 9.96379004e-01 -7.34924907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20964924600001 meters 0.05973627701905465 Centerline is valid? [True, True] Translation: X:66.29, Y:-11.94, Z:-7.35 [[ 9.07108921e-01 4.13932050e-01 7.62473809e-02 6.62906776e+01] [-4.12496205e-01 9.10307759e-01 -3.44479968e-02 -1.19415595e+01] [-8.36677123e-02 -2.03669988e-04 9.96493689e-01 -7.35404666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23964924600001 meters 0.05981690776036083 Centerline is valid? [True, True] Translation: X:66.32, Y:-11.96, Z:-7.36 [[ 9.07026829e-01 4.14124187e-01 7.61806342e-02 6.63205099e+01] [-4.12690147e-01 9.10220366e-01 -3.44343905e-02 -1.19559368e+01] [-8.36012787e-02 -2.06081178e-04 9.96499264e-01 -7.35738516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26964924600001 meters 0.060086041820400234 Centerline is valid? [True, True] Translation: X:66.35, Y:-11.97, Z:-7.36 [[ 9.07233592e-01 4.13854373e-01 7.51782384e-02 6.63480027e+01] [-4.12454888e-01 9.10343086e-01 -3.40063471e-02 -1.19695859e+01] [-8.25116650e-02 -1.55931443e-04 9.96590087e-01 -7.36424772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29964924600002 meters 0.06001018242545395 Centerline is valid? [True, True] Translation: X:66.38, Y:-11.98, Z:-7.37 [[ 9.07374899e-01 4.13659083e-01 7.45449850e-02 6.63767436e+01] [-4.12280936e-01 9.10431847e-01 -3.37384281e-02 -1.19844810e+01] [-8.18243356e-02 -1.20073354e-04 9.96646760e-01 -7.36559914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32964924600002 meters 0.0598476999274781 Centerline is valid? [True, True] Translation: X:66.41, Y:-12.00, Z:-7.37 [[ 9.07230839e-01 4.13936395e-01 7.47587107e-02 6.64069757e+01] [-4.12549662e-01 9.10305797e-01 -3.38545727e-02 -1.19984466e+01] [-8.20669275e-02 -1.27768370e-04 9.96626812e-01 -7.36686286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.359649246 meters 0.060014381577991084 Centerline is valid? [True, True] Translation: X:66.44, Y:-12.01, Z:-7.37 [[ 9.06894427e-01 4.14653130e-01 7.48684179e-02 6.64355455e+01] [-4.13262680e-01 9.09979534e-01 -3.39294064e-02 -1.20099535e+01] [-8.21976626e-02 -1.69933460e-04 9.96616032e-01 -7.37395747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.389649246 meters 0.06018957346971111 Centerline is valid? [True, True] Translation: X:66.47, Y:-12.02, Z:-7.38 [[ 9.06614880e-01 4.15305463e-01 7.46380026e-02 6.64652408e+01] [-4.13923924e-01 9.09681993e-01 -3.38475343e-02 -1.20237254e+01] [-8.19539129e-02 -2.07776713e-04 9.96636099e-01 -7.37709150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.419649246 meters 0.06012136824090592 Centerline is valid? [True, True] Translation: X:66.49, Y:-12.04, Z:-7.38 [[ 9.06866122e-01 4.14982171e-01 7.33732524e-02 6.64940224e+01] [-4.13644222e-01 9.09829530e-01 -3.32968970e-02 -1.20382953e+01] [-8.05747704e-02 -1.54594107e-04 9.96748555e-01 -7.37915427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.449649246 meters 0.06056830010043922 Centerline is valid? [True, True] Translation: X:66.52, Y:-12.06, Z:-7.39 [[ 9.08195384e-01 4.12370791e-01 7.16343240e-02 6.65194946e+01] [-4.11085897e-01 9.11016093e-01 -3.25278877e-02 -1.20555222e+01] [-7.86735727e-02 9.38171166e-05 9.96900426e-01 -7.38673003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47964924600001 meters 0.060679602460403714 Centerline is valid? [True, True] Translation: X:66.55, Y:-12.07, Z:-7.39 [[ 9.08667518e-01 4.11419741e-01 7.11135581e-02 6.65481802e+01] [-4.10149159e-01 9.11445972e-01 -3.23095493e-02 -1.20703272e+01] [-7.81089524e-02 1.91471914e-04 9.96944810e-01 -7.39064402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50964924600001 meters 0.06071236854635579 Centerline is valid? [True, True] Translation: X:66.58, Y:-12.09, Z:-7.39 [[ 9.10310715e-01 4.07816850e-01 7.08506857e-02 6.65754966e+01] [-4.06543312e-01 9.13063607e-01 -3.22084514e-02 -1.20867945e+01] [-7.78263318e-02 5.15826033e-04 9.96966798e-01 -7.39295018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53964924600001 meters 0.06067371961478215 Centerline is valid? [True, True] Translation: X:66.60, Y:-12.10, Z:-7.39 [[ 9.10172933e-01 4.08202346e-01 7.03994059e-02 6.66045143e+01] [-4.06944672e-01 9.12891339e-01 -3.20224341e-02 -1.20994547e+01] [-7.73386407e-02 4.97289648e-04 9.97004758e-01 -7.39490299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56964924600001 meters 0.06080807635044205 Centerline is valid? [True, True] Translation: X:66.63, Y:-12.11, Z:-7.40 [[ 9.10178406e-01 4.08100667e-01 7.09162496e-02 6.66318156e+01] [-4.06822250e-01 9.12936779e-01 -3.22814855e-02 -1.21140177e+01] [-7.79161483e-02 5.31602791e-04 9.96959774e-01 -7.39997358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59964924600001 meters 0.060520050790679576 Centerline is valid? [True, True] Translation: X:66.66, Y:-12.13, Z:-7.40 [[ 9.09934887e-01 4.08352856e-01 7.25702885e-02 6.66614438e+01] [-4.07014071e-01 9.12824005e-01 -3.30436492e-02 -1.21273880e+01] [-7.97373699e-02 5.30440706e-04 9.96815766e-01 -7.39923406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62964924600001 meters 0.06030576149948315 Centerline is valid? [True, True] Translation: X:66.69, Y:-12.14, Z:-7.40 [[ 9.09171001e-01 4.09618338e-01 7.49727162e-02 6.66903929e+01] [-4.08191736e-01 9.12256878e-01 -3.41598510e-02 -1.21403440e+01] [-8.23868774e-02 4.53902741e-04 9.96600319e-01 -7.39964248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65964924600001 meters 0.06003481492897295 Centerline is valid? [True, True] Translation: X:66.72, Y:-12.15, Z:-7.40 [[ 9.08412286e-01 4.11055228e-01 7.62936273e-02 6.67202340e+01] [-4.09581010e-01 9.11610376e-01 -3.47838820e-02 -1.21525529e+01] [-8.38481588e-02 3.49684817e-04 9.96478481e-01 -7.40250100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68964924600002 meters 0.059777958278667366 Centerline is valid? [True, True] Translation: X:66.75, Y:-12.16, Z:-7.41 [[ 9.07499126e-01 4.12861938e-01 7.73974015e-02 6.67510800e+01] [-4.11349029e-01 9.10793597e-01 -3.53128856e-02 -1.21633699e+01] [-8.50724041e-02 2.09066885e-04 9.96374750e-01 -7.40532843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71964924600002 meters 0.05982078820054461 Centerline is valid? [True, True] Translation: X:66.78, Y:-12.18, Z:-7.41 [[ 9.07011233e-01 4.13967901e-01 7.72088050e-02 6.67808196e+01] [-4.12466095e-01 9.10291473e-01 -3.52300373e-02 -1.21758744e+01] [-8.48666214e-02 1.08025253e-04 9.96392315e-01 -7.40816200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.749649246 meters 0.059708317859647704 Centerline is valid? [True, True] Translation: X:66.81, Y:-12.19, Z:-7.41 [[ 9.06071219e-01 4.15962042e-01 7.75275844e-02 6.68096178e+01] [-4.14452834e-01 9.09381975e-01 -3.54015702e-02 -1.21861417e+01] [-8.52278973e-02 -5.51832126e-05 9.96361482e-01 -7.41302409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.779649246 meters 0.05990762692820411 Centerline is valid? [True, True] Translation: X:66.84, Y:-12.20, Z:-7.42 [[ 9.06159459e-01 4.16048329e-01 7.60185614e-02 6.68388112e+01] [-4.14596143e-01 9.09342502e-01 -3.47311519e-02 -1.21986879e+01] [-8.35767465e-02 -4.50404694e-05 9.96501342e-01 -7.41907959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.809649246 meters 0.06013509282002337 Centerline is valid? [True, True] Translation: X:66.87, Y:-12.21, Z:-7.42 [[ 9.06604796e-01 4.15198998e-01 7.53494233e-02 6.68667560e+01] [-4.13767686e-01 9.09730614e-01 -3.44457870e-02 -1.22129895e+01] [-8.28495333e-02 5.15591753e-05 9.96562066e-01 -7.42398625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83964924600001 meters 0.060417173709818514 Centerline is valid? [True, True] Translation: X:66.89, Y:-12.23, Z:-7.43 [[ 9.08337229e-01 4.11421464e-01 7.52054356e-02 6.68925179e+01] [-4.09980943e-01 9.11445120e-01 -3.44008633e-02 -1.22307739e+01] [-8.26988809e-02 4.14789382e-04 9.96574494e-01 -7.42784071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86964924600001 meters 0.06035653154631211 Centerline is valid? [True, True] Translation: X:66.92, Y:-12.25, Z:-7.43 [[ 9.09272651e-01 4.09468396e-01 7.45578854e-02 6.69198639e+01] [-4.08044599e-01 9.12324103e-01 -3.41223856e-02 -1.22476048e+01] [-8.19929944e-02 6.03609578e-04 9.96632723e-01 -7.42809015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89964924600001 meters 0.06091953694078369 Centerline is valid? [True, True] Translation: X:66.95, Y:-12.26, Z:-7.44 [[ 9.10001705e-01 4.08039554e-01 7.34889109e-02 6.69455951e+01] [-4.06649794e-01 9.12963948e-01 -3.36567321e-02 -1.22636841e+01] [-8.08260042e-02 7.43433108e-04 9.96727949e-01 -7.43673091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92964924600001 meters 0.0606444945281379 Centerline is valid? [True, True] Translation: X:66.98, Y:-12.28, Z:-7.44 [[ 9.10221753e-01 4.07525169e-01 7.36179097e-02 6.69753085e+01] [-4.06128196e-01 9.13193627e-01 -3.37237086e-02 -1.22777662e+01] [-8.09706660e-02 7.97744323e-04 9.96716166e-01 -7.43816004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95964924600001 meters 0.060648360041892356 Centerline is valid? [True, True] Translation: X:67.00, Y:-12.29, Z:-7.44 [[ 9.10048713e-01 4.07727122e-01 7.46319872e-02 6.70029544e+01] [-4.06289883e-01 9.13103461e-01 -3.42140397e-02 -1.22918008e+01] [-8.20967178e-02 8.14221487e-04 9.96624034e-01 -7.44134506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98964924600001 meters 0.06068465117356054 Centerline is valid? [True, True] Translation: X:67.03, Y:-12.31, Z:-7.44 [[ 9.10172858e-01 4.07306864e-01 7.54087970e-02 6.70311379e+01] [-4.05836448e-01 9.13290943e-01 -3.45894645e-02 -1.23064507e+01] [-8.29586977e-02 8.78753430e-04 9.96552599e-01 -7.44343460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01964924600001 meters 0.0603502513284814 Centerline is valid? [True, True] Translation: X:67.06, Y:-12.32, Z:-7.44 [[ 9.09369966e-01 4.08895692e-01 7.64890671e-02 6.70599782e+01] [-4.07386561e-01 9.12580807e-01 -3.51064211e-02 -1.23205867e+01] [-8.41573189e-02 7.64106952e-04 9.96452187e-01 -7.44333695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04964924600002 meters 0.06019563309002937 Centerline is valid? [True, True] Translation: X:67.09, Y:-12.33, Z:-7.45 [[ 9.08883527e-01 4.09825696e-01 7.72892833e-02 6.70881817e+01] [-4.08286230e-01 9.12163583e-01 -3.54958105e-02 -1.23330035e+01] [-8.50475648e-02 7.05407324e-04 9.96376643e-01 -7.44688778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07964924600002 meters 0.059794295562122075 Centerline is valid? [True, True] Translation: X:67.12, Y:-12.34, Z:-7.45 [[ 9.07663726e-01 4.12187519e-01 7.90443489e-02 6.71192950e+01] [-4.10584365e-01 9.11098889e-01 -3.63220919e-02 -1.23432181e+01] [-8.69887314e-02 5.13871530e-04 9.96209163e-01 -7.44658343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.109649246 meters 0.059620497407814596 Centerline is valid? [True, True] Translation: X:67.15, Y:-12.35, Z:-7.45 [[ 9.06695517e-01 4.14370588e-01 7.87417009e-02 6.71498420e+01] [-4.12786062e-01 9.10108187e-01 -3.62043586e-02 -1.23541120e+01] [-8.66654880e-02 3.22852940e-04 9.96237416e-01 -7.45040195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.139649246 meters 0.05970447546250087 Centerline is valid? [True, True] Translation: X:67.18, Y:-12.36, Z:-7.45 [[ 9.05935071e-01 4.15976345e-01 7.90273826e-02 6.71804580e+01] [-4.14384061e-01 9.09375413e-01 -3.63621698e-02 -1.23646619e+01] [-8.69913612e-02 1.94077184e-04 9.96209047e-01 -7.45355437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.169649246 meters 0.05988227916519026 Centerline is valid? [True, True] Translation: X:67.21, Y:-12.37, Z:-7.46 [[ 9.04289330e-01 4.19690239e-01 7.82362496e-02 6.72113532e+01] [-4.18141663e-01 9.07667386e-01 -3.60203550e-02 -1.23699403e+01] [-8.61298835e-02 -1.41012865e-04 9.96283907e-01 -7.46058308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.199649246 meters 0.06025791782389846 Centerline is valid? [True, True] Translation: X:67.24, Y:-12.38, Z:-7.47 [[ 9.03430210e-01 4.22095606e-01 7.51608603e-02 6.72422886e+01] [-4.20673344e-01 9.06551259e-01 -3.46230153e-02 -1.23774255e+01] [-8.27513951e-02 -3.38692477e-04 9.96570164e-01 -7.46648477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22964924600001 meters 0.060561800139882 Centerline is valid? [True, True] Translation: X:67.27, Y:-12.39, Z:-7.47 [[ 9.03320837e-01 4.22500679e-01 7.41932763e-02 6.72716964e+01] [-4.21114704e-01 9.06362538e-01 -3.41958401e-02 -1.23888464e+01] [-8.16937719e-02 -3.54064661e-04 9.96657415e-01 -7.47179527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25964924600001 meters 0.06028152698900671 Centerline is valid? [True, True] Translation: X:67.30, Y:-12.40, Z:-7.47 [[ 9.04201663e-01 4.20516615e-01 7.47337233e-02 6.73006929e+01] [-4.19101880e-01 9.07284824e-01 -3.44653833e-02 -1.24016496e+01] [-8.22980393e-02 -1.57387040e-04 9.96607750e-01 -7.47356060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28964924600001 meters 0.06037710914038533 Centerline is valid? [True, True] Translation: X:67.33, Y:-12.41, Z:-7.48 [[ 9.03930537e-01 4.20955188e-01 7.55401469e-02 6.73286999e+01] [-4.19509345e-01 9.07081417e-01 -3.48598927e-02 -1.24132947e+01] [-8.31955162e-02 -1.78876022e-04 9.96533228e-01 -7.47934158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31964924600001 meters 0.06009362054469962 Centerline is valid? [True, True] Translation: X:67.36, Y:-12.43, Z:-7.48 [[ 9.03665450e-01 4.21384620e-01 7.63135445e-02 6.73583648e+01] [-4.19908813e-01 9.06881999e-01 -3.52367394e-02 -1.24263592e+01] [-8.40555999e-02 -2.02505947e-04 9.96461045e-01 -7.47698777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34964924600001 meters 0.06006026027815744 Centerline is valid? [True, True] Translation: X:67.39, Y:-12.44, Z:-7.48 [[ 9.02751802e-01 4.23056868e-01 7.78593030e-02 6.73873008e+01] [-4.21524523e-01 9.06103068e-01 -3.59764776e-02 -1.24377172e+01] [-8.57686492e-02 -3.41775602e-04 9.96315021e-01 -7.47913677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37964924600001 meters 0.059885242889739176 Centerline is valid? [True, True] Translation: X:67.42, Y:-12.45, Z:-7.48 [[ 9.01972803e-01 4.24692652e-01 7.79821359e-02 6.74166259e+01] [-4.23160658e-01 9.05337458e-01 -3.60436509e-02 -1.24491955e+01] [-8.59076224e-02 -4.88579144e-04 9.96302987e-01 -7.48219072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40964924600001 meters 0.060132211718437106 Centerline is valid? [True, True] Translation: X:67.45, Y:-12.46, Z:-7.49 [[ 9.00860795e-01 4.27018636e-01 7.81339438e-02 6.74475691e+01] [-4.25487301e-01 9.04242561e-01 -3.61378972e-02 -1.24581235e+01] [-8.60835930e-02 -6.89786051e-04 9.96287679e-01 -7.48588759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43964924600002 meters 0.06038664657597911 Centerline is valid? [True, True] Translation: X:67.48, Y:-12.47, Z:-7.49 [[ 9.00251990e-01 4.28300156e-01 7.81366215e-02 6.74771385e+01] [-4.26771677e-01 9.03636181e-01 -3.61605888e-02 -1.24693763e+01] [-8.60946641e-02 -7.92854970e-04 9.96286646e-01 -7.49018021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46964924600002 meters 0.06061605596721026 Centerline is valid? [True, True] Translation: X:67.51, Y:-12.48, Z:-7.49 [[ 8.99273748e-01 4.30554592e-01 7.70030456e-02 6.75075039e+01] [-4.29076503e-01 9.02564012e-01 -3.56589135e-02 -1.24800243e+01] [-8.48532868e-02 -9.73072737e-04 9.96392981e-01 -7.49415468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.499649246 meters 0.0607629135386941 Centerline is valid? [True, True] Translation: X:67.54, Y:-12.49, Z:-7.50 [[ 8.98895435e-01 4.31372315e-01 7.68434953e-02 6.75362829e+01] [-4.29901486e-01 9.02173414e-01 -3.56067969e-02 -1.24910405e+01] [-8.46859449e-02 -1.02834558e-03 9.96407162e-01 -7.49918557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.529649246 meters 0.0607283069630208 Centerline is valid? [True, True] Translation: X:67.57, Y:-12.50, Z:-7.50 [[ 8.98186565e-01 4.32930364e-01 7.63687997e-02 6.75653570e+01] [-4.31481690e-01 9.01426634e-01 -3.54058651e-02 -1.25034230e+01] [-8.41691441e-02 -1.15066640e-03 9.96450817e-01 -7.50088578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.559649246 meters 0.06092039873887708 Centerline is valid? [True, True] Translation: X:67.59, Y:-12.52, Z:-7.50 [[ 8.97865762e-01 4.33573827e-01 7.64905874e-02 6.75944487e+01] [-4.32120984e-01 9.01117258e-01 -3.54843918e-02 -1.25165817e+01] [-8.43120919e-02 -1.19296744e-03 9.96438683e-01 -7.50497852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58964924600001 meters 0.06096720930997487 Centerline is valid? [True, True] Translation: X:67.62, Y:-12.53, Z:-7.51 [[ 8.97331352e-01 4.34591900e-01 7.69826334e-02 6.76233642e+01] [-4.33122808e-01 9.00626577e-01 -3.57267636e-02 -1.25288312e+01] [-8.48591677e-02 -1.28418927e-03 9.96392128e-01 -7.50835315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61964924600001 meters 0.06106216119879372 Centerline is valid? [True, True] Translation: X:67.65, Y:-12.54, Z:-7.51 [[ 8.97068405e-01 4.34972127e-01 7.78943171e-02 6.76518335e+01] [-4.33467227e-01 9.00442960e-01 -3.61751169e-02 -1.25407048e+01] [-8.58745570e-02 -1.31307920e-03 9.96305092e-01 -7.51167742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64964924600001 meters 0.061310592261960936 Centerline is valid? [True, True] Translation: X:67.68, Y:-12.55, Z:-7.51 [[ 8.96154399e-01 4.37117837e-01 7.63890687e-02 6.76810819e+01] [-4.35676554e-01 8.99403045e-01 -3.54979197e-02 -1.25524979e+01] [-8.42213349e-02 -1.46930936e-03 9.96445988e-01 -7.51467264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67964924600001 meters 0.061640060925885753 Centerline is valid? [True, True] Translation: X:67.71, Y:-12.56, Z:-7.52 [[ 8.95789854e-01 4.37944267e-01 7.59299478e-02 6.77101872e+01] [-4.36522341e-01 8.99000826e-01 -3.52953443e-02 -1.25638313e+01] [-8.37184794e-02 -1.52790725e-03 9.96488275e-01 -7.51944522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70964924600001 meters 0.061285312657070136 Centerline is valid? [True, True] Translation: X:67.74, Y:-12.58, Z:-7.52 [[ 8.95406860e-01 4.38503846e-01 7.72070689e-02 6.77396210e+01] [-4.37034886e-01 8.98727891e-01 -3.58982849e-02 -1.25773253e+01] [-8.51296821e-02 -1.59861204e-03 9.96368597e-01 -7.52051978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73964924600001 meters 0.06144202981041374 Centerline is valid? [True, True] Translation: X:67.77, Y:-12.59, Z:-7.52 [[ 8.94945582e-01 4.39382668e-01 7.75582114e-02 6.77691012e+01] [-4.37901704e-01 8.98298437e-01 -3.60834626e-02 -1.25911448e+01] [-8.55248681e-02 -1.67013749e-03 9.96334636e-01 -7.52425811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76964924600001 meters 0.06058994098193117 Centerline is valid? [True, True] Translation: X:67.79, Y:-12.61, Z:-7.53 [[ 8.96909465e-01 4.35355994e-01 7.75794459e-02 6.77945562e+01] [-4.33856819e-01 9.00257501e-01 -3.61205422e-02 -1.26105488e+01] [-8.55667726e-02 -1.26151541e-03 9.96331640e-01 -7.52542865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79964924600002 meters 0.06015302944817225 Centerline is valid? [True, True] Translation: X:67.82, Y:-12.63, Z:-7.53 [[ 8.98017967e-01 4.32924865e-01 7.83568246e-02 6.78221711e+01] [-4.31384385e-01 9.01429430e-01 -3.65033510e-02 -1.26269182e+01] [-8.64363561e-02 -1.02124546e-03 9.96256851e-01 -7.52745018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82964924600002 meters 0.06019003737822111 Centerline is valid? [True, True] Translation: X:67.85, Y:-12.64, Z:-7.54 [[ 8.99522982e-01 4.29967023e-01 7.73741879e-02 6.78485195e+01] [-4.28451933e-01 9.02844318e-01 -3.60704660e-02 -1.26415001e+01] [-8.53659568e-02 -7.04907239e-04 9.96349415e-01 -7.53640213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.859649246 meters 0.05999761628459582 Centerline is valid? [True, True] Translation: X:67.88, Y:-12.66, Z:-7.54 [[ 9.00041191e-01 4.29090045e-01 7.62075350e-02 6.78762112e+01] [-4.27616387e-01 9.03261518e-01 -3.55366856e-02 -1.26576610e+01] [-8.40837717e-02 -6.03110002e-04 9.96458507e-01 -7.53760783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.889649246 meters 0.05999761628459582 Centerline is valid? [True, True] Translation: X:67.91, Y:-12.67, Z:-7.54 [[ 8.99928435e-01 4.29327878e-01 7.61996398e-02 6.79052837e+01] [-4.27853639e-01 9.03148496e-01 -3.55536056e-02 -1.26714222e+01] [-8.40837441e-02 -6.06592547e-04 9.96458507e-01 -7.54110454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.919649246 meters 0.060099114748637626 Centerline is valid? [True, True] Translation: X:67.93, Y:-12.68, Z:-7.55 [[ 8.99899404e-01 4.29609953e-01 7.49423173e-02 6.79339990e+01] [-4.28182987e-01 9.03014357e-01 -3.49914455e-02 -1.26840077e+01] [-8.27066617e-02 -6.00244372e-04 9.96573754e-01 -7.54685929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.949649246 meters 0.06033222698910475 Centerline is valid? [True, True] Translation: X:67.96, Y:-12.70, Z:-7.55 [[ 8.99478698e-01 4.30568840e-01 7.44885539e-02 6.79622227e+01] [-4.29160665e-01 9.02557495e-01 -3.48007519e-02 -1.26957050e+01] [-8.22143220e-02 -6.65022262e-04 9.96614451e-01 -7.55189725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97964924600001 meters 0.060065642801033034 Centerline is valid? [True, True] Translation: X:67.99, Y:-12.71, Z:-7.55 [[ 8.99128894e-01 4.31227865e-01 7.48983346e-02 6.79912283e+01] [-4.29804958e-01 9.02242772e-01 -3.50096950e-02 -1.27128854e+01] [-8.26736371e-02 -7.13447212e-04 9.96576420e-01 -7.55066740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00964924600001 meters 0.06004836608929125 Centerline is valid? [True, True] Translation: X:68.02, Y:-12.73, Z:-7.56 [[ 8.98668331e-01 4.31944113e-01 7.62857432e-02 6.80186899e+01] [-4.30468075e-01 9.01900046e-01 -3.56867278e-02 -1.27261669e+01] [-8.42167873e-02 -7.68044982e-04 9.96447160e-01 -7.55555092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03964924600001 meters 0.0598131640130546 Centerline is valid? [True, True] Translation: X:68.05, Y:-12.74, Z:-7.56 [[ 8.98659623e-01 4.31719523e-01 7.76475116e-02 6.80470690e+01] [-4.30187482e-01 9.02007597e-01 -3.63458976e-02 -1.27404305e+01] [-8.57298789e-02 -7.40396944e-04 9.96318142e-01 -7.55762179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06964924600001 meters 0.05948750074535171 Centerline is valid? [True, True] Translation: X:68.07, Y:-12.76, Z:-7.56 [[ 8.98973124e-01 4.30861467e-01 7.87763857e-02 6.80747717e+01] [-4.29279221e-01 9.02417850e-01 -3.68967997e-02 -1.27565433e+01] [-8.69866259e-02 -6.47834271e-04 9.96209269e-01 -7.55836357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09964924600001 meters 0.05937314569665049 Centerline is valid? [True, True] Translation: X:68.10, Y:-12.77, Z:-7.56 [[ 8.98932632e-01 4.30781858e-01 7.96687730e-02 6.81033509e+01] [-4.29161080e-01 9.02455871e-01 -3.73385656e-02 -1.27704946e+01] [-8.79823286e-02 -6.25881629e-04 9.96121839e-01 -7.56138411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12964924600001 meters 0.05930852371086275 Centerline is valid? [True, True] Translation: X:68.13, Y:-12.78, Z:-7.56 [[ 8.98841718e-01 4.30878236e-01 8.01717678e-02 6.81320300e+01] [-4.29235171e-01 9.02409865e-01 -3.75979288e-02 -1.27840950e+01] [-8.85479234e-02 -6.17955566e-04 9.96071726e-01 -7.56440057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15964924600001 meters 0.05936556002436607 Centerline is valid? [True, True] Translation: X:68.16, Y:-12.80, Z:-7.57 [[ 8.98557430e-01 4.31480295e-01 8.01205408e-02 6.81601272e+01] [-4.29839666e-01 9.02122123e-01 -3.75970265e-02 -1.27976669e+01] [-8.85008884e-02 -6.55898995e-04 9.96075882e-01 -7.56897457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18964924600002 meters 0.05945056503756093 Centerline is valid? [True, True] Translation: X:68.19, Y:-12.81, Z:-7.57 [[ 8.98466820e-01 4.31805785e-01 7.93797053e-02 6.81883076e+01] [-4.30194488e-01 9.01966368e-01 -3.72742952e-02 -1.28117850e+01] [-8.76930808e-02 -6.58994231e-04 9.96147323e-01 -7.57238352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21964924600002 meters 0.05961316757178425 Centerline is valid? [True, True] Translation: X:68.22, Y:-12.82, Z:-7.58 [[ 8.98101249e-01 4.32691542e-01 7.86903857e-02 6.82166772e+01] [-4.31109558e-01 9.01541743e-01 -3.69734392e-02 -1.28239559e+01] [-8.69407618e-02 -7.18285466e-04 9.96213224e-01 -7.57815920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.249649246 meters 0.059970348132062694 Centerline is valid? [True, True] Translation: X:68.25, Y:-12.83, Z:-7.58 [[ 8.97409307e-01 4.34392613e-01 7.71984000e-02 6.82451230e+01] [-4.32874725e-01 9.00723231e-01 -3.62923386e-02 -1.28343158e+01] [-8.52995160e-02 -8.48153742e-04 9.96354994e-01 -7.58453076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.279649246 meters 0.06000893856156166 Centerline is valid? [True, True] Translation: X:68.27, Y:-12.85, Z:-7.59 [[ 8.97320486e-01 4.34702739e-01 7.64818565e-02 6.82742576e+01] [-4.33212430e-01 9.00573596e-01 -3.59748203e-02 -1.28472423e+01] [-8.45158935e-02 -8.51947667e-04 9.96421767e-01 -7.58959397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.309649246 meters 0.06008112466531884 Centerline is valid? [True, True] Translation: X:68.30, Y:-12.86, Z:-7.60 [[ 8.97448664e-01 4.34583103e-01 7.56533062e-02 6.83018344e+01] [-4.33122746e-01 9.00631371e-01 -3.56064550e-02 -1.28601664e+01] [-8.36097046e-02 -8.12202297e-04 9.96498248e-01 -7.59517526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33964924600001 meters 0.06006890023207969 Centerline is valid? [True, True] Translation: X:68.33, Y:-12.87, Z:-7.60 [[ 8.97210479e-01 4.35255017e-01 7.46084810e-02 6.83304990e+01] [-4.33835600e-01 9.00306811e-01 -3.51328631e-02 -1.28744938e+01] [-8.24622786e-02 -8.46242198e-04 9.96593827e-01 -7.59772815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36964924600001 meters 0.060043785829665915 Centerline is valid? [True, True] Translation: X:68.36, Y:-12.89, Z:-7.60 [[ 8.97281159e-01 4.35071364e-01 7.48293444e-02 6.83585094e+01] [-4.33641060e-01 9.00395607e-01 -3.52587840e-02 -1.28896645e+01] [-8.27161002e-02 -8.12033695e-04 9.96572821e-01 -7.60108908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39964924600001 meters 0.059936159267927704 Centerline is valid? [True, True] Translation: X:68.39, Y:-12.91, Z:-7.60 [[ 8.96968043e-01 4.35783823e-01 7.44364869e-02 6.83865565e+01] [-4.34369192e-01 9.00050960e-01 -3.50952041e-02 -1.29050321e+01] [-8.22905537e-02 -8.53640146e-04 9.96608015e-01 -7.60274352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42964924600001 meters 0.06001589443244046 Centerline is valid? [True, True] Translation: X:68.41, Y:-12.92, Z:-7.61 [[ 8.97166949e-01 4.35398439e-01 7.42944439e-02 6.84142832e+01] [-4.33986112e-01 9.00237504e-01 -3.50498270e-02 -1.29204371e+01] [-8.21432847e-02 -7.97210500e-04 9.96620211e-01 -7.60739991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45964924600001 meters 0.059825463437246616 Centerline is valid? [True, True] Translation: X:68.44, Y:-12.94, Z:-7.61 [[ 8.97365450e-01 4.34994730e-01 7.42619228e-02 6.84431155e+01] [-4.33580360e-01 9.00432695e-01 -3.50575592e-02 -1.29367084e+01] [-8.21177168e-02 -7.39068869e-04 9.96622363e-01 -7.60842204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48964924600001 meters 0.0595297054722378 Centerline is valid? [True, True] Translation: X:68.47, Y:-12.95, Z:-7.61 [[ 8.97815872e-01 4.33872784e-01 7.53728591e-02 6.84709379e+01] [-4.32409487e-01 9.00973929e-01 -3.56091903e-02 -1.29528523e+01] [-8.33588395e-02 -6.21443103e-04 9.96519402e-01 -7.61194033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51964924600001 meters 0.05956988104477591 Centerline is valid? [True, True] Translation: X:68.50, Y:-12.97, Z:-7.62 [[ 8.97874312e-01 4.33767227e-01 7.52842147e-02 6.84991311e+01] [-4.32305182e-01 9.01024774e-01 -3.55891299e-02 -1.29671666e+01] [-8.32703408e-02 -5.91190575e-04 9.96526819e-01 -7.61667377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54964924600002 meters 0.05938540959809353 Centerline is valid? [True, True] Translation: X:68.53, Y:-12.98, Z:-7.62 [[ 8.98287280e-01 4.32882010e-01 7.54528252e-02 6.85262912e+01] [-4.31408203e-01 9.01450458e-01 -3.56936294e-02 -1.29821412e+01] [-8.34681138e-02 -4.87834477e-04 9.96510329e-01 -7.62007976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57964924600002 meters 0.05935577926020646 Centerline is valid? [True, True] Translation: X:68.55, Y:-13.00, Z:-7.62 [[ 8.98491649e-01 4.32381911e-01 7.58856999e-02 6.85545050e+01] [-4.30887637e-01 9.01690469e-01 -3.59185590e-02 -1.29971068e+01] [-8.39559476e-02 -4.25684560e-04 9.96469376e-01 -7.62380455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.609649246 meters 0.0595963593655628 Centerline is valid? [True, True] Translation: X:68.58, Y:-13.01, Z:-7.63 [[ 8.99143115e-01 4.31319953e-01 7.41940565e-02 6.85816841e+01] [-4.29886349e-01 9.02198985e-01 -3.51385611e-02 -1.30133483e+01] [-8.20937650e-02 -3.00416774e-04 9.96624565e-01 -7.62795913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.639649246 meters 0.05940698502208557 Centerline is valid? [True, True] Translation: X:68.61, Y:-13.03, Z:-7.63 [[ 8.99247948e-01 4.31262085e-01 7.32539550e-02 6.86096264e+01] [-4.29862760e-01 9.02226656e-01 -3.47140831e-02 -1.30282472e+01] [-8.10625388e-02 -2.72579274e-04 9.96708980e-01 -7.63193737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.669649246 meters 0.059441543162619355 Centerline is valid? [True, True] Translation: X:68.64, Y:-13.05, Z:-7.64 [[ 8.99868689e-01 4.29943048e-01 7.33847277e-02 6.86379303e+01] [-4.28532703e-01 9.02856000e-01 -3.47960511e-02 -1.30454615e+01] [-8.12161620e-02 -1.35878796e-04 9.96696502e-01 -7.63672455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.699649246 meters 0.059545663111247885 Centerline is valid? [True, True] Translation: X:68.67, Y:-13.06, Z:-7.64 [[ 8.99966487e-01 4.29857975e-01 7.26804206e-02 6.86665994e+01] [-4.28472382e-01 9.02896511e-01 -3.44863396e-02 -1.30600119e+01] [-8.04471263e-02 -1.05003030e-04 9.96758872e-01 -7.64048451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72964924600001 meters 0.059370246276482026 Centerline is valid? [True, True] Translation: X:68.69, Y:-13.08, Z:-7.64 [[ 9.02110481e-01 4.25259036e-01 7.31534899e-02 6.86912484e+01] [-4.23838260e-01 9.05071624e-01 -3.47344936e-02 -1.30797179e+01] [-8.09803052e-02 3.29102788e-04 9.96715647e-01 -7.64147928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75964924600001 meters 0.059120598949008465 Centerline is valid? [True, True] Translation: X:68.72, Y:-13.10, Z:-7.64 [[ 9.03172235e-01 4.22974081e-01 7.32996669e-02 6.87206033e+01] [-4.21539477e-01 9.06141618e-01 -3.48114383e-02 -1.30954878e+01] [-8.11442149e-02 5.42021276e-04 9.96702224e-01 -7.63997320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78964924600001 meters 0.05983737008853567 Centerline is valid? [True, True] Translation: X:68.75, Y:-13.11, Z:-7.65 [[ 9.02970065e-01 4.23559655e-01 7.24035939e-02 6.87488542e+01] [-4.22159740e-01 9.05868071e-01 -3.44120907e-02 -1.31063038e+01] [-8.01636772e-02 5.07205381e-04 9.96781585e-01 -7.65049007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81964924600001 meters 0.059335556929773825 Centerline is valid? [True, True] Translation: X:68.78, Y:-13.11, Z:-7.65 [[ 9.00862435e-01 4.28093268e-01 7.19932454e-02 6.87814967e+01] [-4.26722162e-01 9.03734551e-01 -3.42353234e-02 -1.31132795e+01] [-7.97186948e-02 1.20203437e-04 9.96817393e-01 -7.65110762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84964924600001 meters 0.059418725319719035 Centerline is valid? [True, True] Translation: X:68.81, Y:-13.13, Z:-7.66 [[ 9.00545188e-01 4.28711257e-01 7.22843154e-02 6.88090413e+01] [-4.27328914e-01 9.03441559e-01 -3.43998409e-02 -1.31258514e+01] [-8.00522536e-02 8.94332078e-05 9.96790664e-01 -7.65609961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87964924600001 meters 0.05889592427967467 Centerline is valid? [True, True] Translation: X:68.84, Y:-13.14, Z:-7.65 [[ 8.99621266e-01 4.30387998e-01 7.38088672e-02 6.88387533e+01] [-4.28950608e-01 9.02643988e-01 -3.51455098e-02 -1.31395188e+01] [-8.17493358e-02 -4.27104031e-05 9.96652921e-01 -7.65196422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90964924600001 meters 0.05869811145530031 Centerline is valid? [True, True] Translation: X:68.87, Y:-13.15, Z:-7.65 [[ 8.99140110e-01 4.31303566e-01 7.43256187e-02 6.88677603e+01] [-4.29847250e-01 9.02206863e-01 -3.54135432e-02 -1.31527916e+01] [-8.23310707e-02 -1.06925626e-04 9.96605029e-01 -7.65268814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93964924600002 meters 0.05875927054091031 Centerline is valid? [True, True] Translation: X:68.90, Y:-13.17, Z:-7.66 [[ 8.98972102e-01 4.31437369e-01 7.55708756e-02 6.88959076e+01] [-4.29930266e-01 9.02142886e-01 -3.60302583e-02 -1.31653548e+01] [-8.37205277e-02 -1.00009659e-04 9.96489269e-01 -7.65632862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96964924600002 meters 0.05872824647220762 Centerline is valid? [True, True] Translation: X:68.92, Y:-13.18, Z:-7.66 [[ 8.98659012e-01 4.31942319e-01 7.64055783e-02 6.89249434e+01] [-4.30401697e-01 9.01901223e-01 -3.64494608e-02 -1.31763342e+01] [-8.46543491e-02 -1.29454030e-04 9.96410369e-01 -7.66163649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.999649246 meters 0.059082501180489126 Centerline is valid? [True, True] Translation: X:68.95, Y:-13.19, Z:-7.67 [[ 8.98446228e-01 4.32813983e-01 7.39353169e-02 6.89536646e+01] [-4.31372957e-01 9.01483234e-01 -3.52895272e-02 -1.31890027e+01] [-8.19252494e-02 -1.87953743e-04 9.96638459e-01 -7.66808336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.029649246 meters 0.05911038506609591 Centerline is valid? [True, True] Translation: X:68.98, Y:-13.20, Z:-7.67 [[ 8.98314343e-01 4.33108305e-01 7.38142091e-02 6.89835884e+01] [-4.31671336e-01 9.01341865e-01 -3.52519538e-02 -1.32033685e+01] [-8.17997509e-02 -1.96142536e-04 9.96648766e-01 -7.67108807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.059649246 meters 0.05914588871720932 Centerline is valid? [True, True] Translation: X:69.01, Y:-13.22, Z:-7.67 [[ 8.97506724e-01 4.34579666e-01 7.49812901e-02 6.90121996e+01] [-4.33099732e-01 9.00633342e-01 -3.58358126e-02 -1.32151075e+01] [-8.31041653e-02 -3.11493851e-04 9.96540817e-01 -7.67495308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08964924600001 meters 0.05916724588921781 Centerline is valid? [True, True] Translation: X:69.04, Y:-13.23, Z:-7.68 [[ 8.97052400e-01 4.35578834e-01 7.46195101e-02 6.90409551e+01] [-4.34115027e-01 9.00150505e-01 -3.56820869e-02 -1.32288973e+01] [-8.27111515e-02 -3.84748948e-04 9.96573488e-01 -7.67735701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11964924600001 meters 0.05892997670847978 Centerline is valid? [True, True] Translation: X:69.07, Y:-13.24, Z:-7.68 [[ 8.96244675e-01 4.37294125e-01 7.42922051e-02 6.90709060e+01] [-4.35847344e-01 8.99318395e-01 -3.55459805e-02 -1.32408682e+01] [-8.23563951e-02 -5.22164615e-04 9.96602805e-01 -7.67791770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14964924600001 meters 0.059026265231928984 Centerline is valid? [True, True] Translation: X:69.10, Y:-13.25, Z:-7.68 [[ 8.95476783e-01 4.38781290e-01 7.47817545e-02 6.91014630e+01] [-4.37318685e-01 8.98593660e-01 -3.58022615e-02 -1.32529186e+01] [-8.29077730e-02 -6.43364605e-04 9.96557017e-01 -7.68205827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17964924600001 meters 0.05915200745826928 Centerline is valid? [True, True] Translation: X:69.13, Y:-13.26, Z:-7.69 [[ 8.94765863e-01 4.39955603e-01 7.63748493e-02 6.91303426e+01] [-4.38431550e-01 8.98019220e-01 -3.65958587e-02 -1.32635962e+01] [-8.46866357e-02 -7.40418543e-04 9.96407359e-01 -7.68659841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20964924600001 meters 0.05922246647560008 Centerline is valid? [True, True] Translation: X:69.16, Y:-13.28, Z:-7.69 [[ 8.94229555e-01 4.41023384e-01 7.64975624e-02 6.91600522e+01] [-4.39497485e-01 8.97495225e-01 -3.66644468e-02 -1.32775883e+01] [-8.48260754e-02 -8.34054306e-04 9.96395424e-01 -7.68810288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23964924600001 meters 0.0594402676650698 Centerline is valid? [True, True] Translation: X:69.19, Y:-13.29, Z:-7.69 [[ 8.93173416e-01 4.43336769e-01 7.54570003e-02 6.91885404e+01] [-4.41858117e-01 8.96354550e-01 -3.61928933e-02 -1.32881693e+01] [-8.36818659e-02 -1.01475794e-03 9.96492005e-01 -7.69274163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26964924600001 meters 0.05986841090421451 Centerline is valid? [True, True] Translation: X:69.22, Y:-13.30, Z:-7.70 [[ 8.92918882e-01 4.43927598e-01 7.49943904e-02 6.92171029e+01] [-4.42467580e-01 8.96062047e-01 -3.59895674e-02 -1.32994184e+01] [-8.31763892e-02 -1.04682219e-03 9.96534291e-01 -7.69999673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29964924600002 meters 0.06016958237738047 Centerline is valid? [True, True] Translation: X:69.25, Y:-13.31, Z:-7.70 [[ 8.92766498e-01 4.44449433e-01 7.37067309e-02 6.92455964e+01] [-4.43039381e-01 8.95803315e-01 -3.53910607e-02 -1.33139940e+01] [-8.17562707e-02 -1.05903109e-03 9.96651790e-01 -7.70442370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32964924600002 meters 0.059842597201774886 Centerline is valid? [True, True] Translation: X:69.27, Y:-13.33, Z:-7.71 [[ 8.92759791e-01 4.44471247e-01 7.36564084e-02 6.92745595e+01] [-4.43061609e-01 8.95792511e-01 -3.53862627e-02 -1.33301346e+01] [-8.17090354e-02 -1.04289433e-03 9.96655681e-01 -7.70624546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35964924600002 meters 0.05951337148363607 Centerline is valid? [True, True] Translation: X:69.30, Y:-13.35, Z:-7.71 [[ 8.94881368e-01 4.40160579e-01 7.37970301e-02 6.93008707e+01] [-4.38728768e-01 8.97918856e-01 -3.54795239e-02 -1.33487519e+01] [-8.18804326e-02 -6.26915220e-04 9.96641963e-01 -7.71102968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.389649246 meters 0.059580388973406444 Centerline is valid? [True, True] Translation: X:69.33, Y:-13.36, Z:-7.72 [[ 8.95473113e-01 4.39312939e-01 7.16382930e-02 6.93283322e+01] [-4.37959498e-01 8.98333945e-01 -3.44616036e-02 -1.33641969e+01] [-7.94945387e-02 -5.15231342e-04 9.96835168e-01 -7.71610460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.419649246 meters 0.06000325508134678 Centerline is valid? [True, True] Translation: X:69.36, Y:-13.38, Z:-7.72 [[ 8.95905868e-01 4.38730638e-01 6.97717878e-02 6.93553012e+01] [-4.37443366e-01 8.98618519e-01 -3.35866012e-02 -1.33791036e+01] [-7.74336916e-02 -4.30772581e-04 9.96997411e-01 -7.72261328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.449649246 meters 0.05985153418074185 Centerline is valid? [True, True] Translation: X:69.38, Y:-13.39, Z:-7.73 [[ 8.96435560e-01 4.37508583e-01 7.06365750e-02 6.93824631e+01] [-4.36184718e-01 8.99214177e-01 -3.40111034e-02 -1.33946892e+01] [-7.83975593e-02 -3.21832032e-04 9.96922123e-01 -7.72648895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47964924600001 meters 0.05975704013966928 Centerline is valid? [True, True] Translation: X:69.41, Y:-13.41, Z:-7.73 [[ 8.96444008e-01 4.37482771e-01 7.06892167e-02 6.94106186e+01] [-4.36155352e-01 8.99226742e-01 -3.40554728e-02 -1.34105647e+01] [-7.84643166e-02 -3.02655654e-04 9.96916877e-01 -7.72988574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50964924600001 meters 0.05957111716833688 Centerline is valid? [True, True] Translation: X:69.44, Y:-13.43, Z:-7.73 [[ 8.96486516e-01 4.37372526e-01 7.08321986e-02 6.94398961e+01] [-4.36037615e-01 8.99280378e-01 -3.41467343e-02 -1.34266258e+01] [-7.86328498e-02 -2.73416072e-04 9.96903606e-01 -7.73063521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53964924600001 meters 0.059428336804904724 Centerline is valid? [True, True] Translation: X:69.47, Y:-13.44, Z:-7.73 [[ 8.96036707e-01 4.38129439e-01 7.18388092e-02 6.94685240e+01] [-4.36756628e-01 8.98911837e-01 -3.46577058e-02 -1.34406742e+01] [-7.97613172e-02 -3.21499484e-04 9.96813939e-01 -7.73186334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56964924600001 meters 0.05941460947489577 Centerline is valid? [True, True] Translation: X:69.50, Y:-13.45, Z:-7.74 [[ 8.95785492e-01 4.38599627e-01 7.21021398e-02 6.94976416e+01] [-4.37216631e-01 8.98682506e-01 -3.48047535e-02 -1.34545997e+01] [-8.00622836e-02 -3.46661421e-04 9.96789803e-01 -7.73572659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59964924600001 meters 0.05943479252537653 Centerline is valid? [True, True] Translation: X:69.53, Y:-13.47, Z:-7.74 [[ 8.95309218e-01 4.39417205e-01 7.30337177e-02 6.95253884e+01] [-4.37998752e-01 8.98283006e-01 -3.52807987e-02 -1.34676008e+01] [-8.11079374e-02 -4.01452889e-04 9.96705243e-01 -7.73858826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62964924600001 meters 0.059337436760426875 Centerline is valid? [True, True] Translation: X:69.55, Y:-13.48, Z:-7.74 [[ 8.95182489e-01 4.39630769e-01 7.33014177e-02 6.95543943e+01] [-4.38201093e-01 8.98178503e-01 -3.54285188e-02 -1.34818782e+01] [-8.14132245e-02 -4.05771638e-04 9.96680351e-01 -7.74120089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65964924600001 meters 0.05939908378077503 Centerline is valid? [True, True] Translation: X:69.58, Y:-13.50, Z:-7.74 [[ 8.94637109e-01 4.40625287e-01 7.39851313e-02 6.95829576e+01] [-4.39170048e-01 8.97690998e-01 -3.57846481e-02 -1.34956181e+01] [-8.21834072e-02 -4.77779526e-04 9.96617108e-01 -7.74391083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68964924600002 meters 0.05942410231434611 Centerline is valid? [True, True] Translation: X:69.61, Y:-13.51, Z:-7.75 [[ 8.94092863e-01 4.41727260e-01 7.39931084e-02 6.96119953e+01] [-4.40273807e-01 8.97149215e-01 -3.58086877e-02 -1.35093838e+01] [-8.22005326e-02 -5.60935364e-04 9.96615652e-01 -7.74798801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71964924600002 meters 0.0597499010244848 Centerline is valid? [True, True] Translation: X:69.64, Y:-13.52, Z:-7.75 [[ 8.93896041e-01 4.42308430e-01 7.28911597e-02 6.96396268e+01] [-4.40897916e-01 8.96862818e-01 -3.53003391e-02 -1.35220312e+01] [-8.09870084e-02 -5.82727088e-04 9.96714987e-01 -7.75391706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.749649246 meters 0.05963274642143351 Centerline is valid? [True, True] Translation: X:69.67, Y:-13.54, Z:-7.76 [[ 8.93808421e-01 4.42528527e-01 7.26292583e-02 6.96692076e+01] [-4.41127469e-01 8.96754236e-01 -3.51908449e-02 -1.35369733e+01] [-8.07035478e-02 -5.84887401e-04 9.96737977e-01 -7.75719197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.779649246 meters 0.05963274642143351 Centerline is valid? [True, True] Translation: X:69.70, Y:-13.55, Z:-7.76 [[ 8.93688220e-01 4.42772797e-01 7.26196687e-02 6.96980638e+01] [-4.41370937e-01 8.96633653e-01 -3.52106207e-02 -1.35511653e+01] [-8.07035438e-02 -5.84894274e-04 9.96737978e-01 -7.76069126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.809649246 meters 0.05975718221523636 Centerline is valid? [True, True] Translation: X:69.73, Y:-13.57, Z:-7.77 [[ 8.94059392e-01 4.42327844e-01 7.07381240e-02 6.97263246e+01] [-4.40994507e-01 8.96853288e-01 -3.43223799e-02 -1.35665452e+01] [-7.86234634e-02 -5.08877997e-04 9.96904254e-01 -7.76515655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83964924600001 meters 0.06004579346785775 Centerline is valid? [True, True] Translation: X:69.75, Y:-13.58, Z:-7.77 [[ 8.94097228e-01 4.42362182e-01 7.00417427e-02 6.97533161e+01] [-4.41053470e-01 8.96836363e-01 -3.40055150e-02 -1.35802681e+01] [-7.78587356e-02 -4.87916910e-04 9.96964282e-01 -7.77152003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86964924600001 meters 0.05999232692505593 Centerline is valid? [True, True] Translation: X:69.78, Y:-13.60, Z:-7.77 [[ 8.94841862e-01 4.41019396e-01 6.89922700e-02 6.97805751e+01] [-4.39744303e-01 8.97497504e-01 -3.35138443e-02 -1.35964990e+01] [-7.67006455e-02 -3.49366852e-04 9.97054105e-01 -7.77347632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89964924600001 meters 0.059654621380573 Centerline is valid? [True, True] Translation: X:69.81, Y:-13.61, Z:-7.77 [[ 8.94683084e-01 4.41290797e-01 6.93153035e-02 6.98089922e+01] [-4.40003020e-01 8.97364087e-01 -3.36903214e-02 -1.36116994e+01] [-7.70682928e-02 -3.56782243e-04 9.97025752e-01 -7.77357401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92964924600001 meters 0.059832966089781746 Centerline is valid? [True, True] Translation: X:69.84, Y:-13.62, Z:-7.78 [[ 8.94589502e-01 4.41345364e-01 7.01704539e-02 6.98374495e+01] [-4.40023785e-01 8.97337257e-01 -3.41308754e-02 -1.36230027e+01] [-7.80300662e-02 -3.43545940e-04 9.96950947e-01 -7.78066363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95964924600001 meters 0.05962926489219203 Centerline is valid? [True, True] Translation: X:69.87, Y:-13.64, Z:-7.78 [[ 8.94348402e-01 4.41717855e-01 7.08962140e-02 6.98663844e+01] [-4.40369202e-01 8.97153944e-01 -3.44930072e-02 -1.36362054e+01] [-7.88409951e-02 -3.71743309e-04 9.96887135e-01 -7.78233006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98964924600001 meters 0.05948620553846171 Centerline is valid? [True, True] Translation: X:69.90, Y:-13.65, Z:-7.78 [[ 8.94308787e-01 4.41821850e-01 7.07477706e-02 6.98960413e+01] [-4.40477636e-01 8.97102738e-01 -3.44402516e-02 -1.36503826e+01] [-7.86844743e-02 -3.62591120e-04 9.96899504e-01 -7.78438137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01964924600001 meters 0.05924619057619256 Centerline is valid? [True, True] Translation: X:69.92, Y:-13.67, Z:-7.79 [[ 8.94367034e-01 4.41462837e-01 7.22369110e-02 6.99242829e+01] [-4.40058047e-01 8.97279480e-01 -3.51916211e-02 -1.36661993e+01] [-8.03524908e-02 -3.14208238e-04 9.96766461e-01 -7.78620701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04964924600002 meters 0.05921550421581544 Centerline is valid? [True, True] Translation: X:69.95, Y:-13.68, Z:-7.79 [[ 8.94320001e-01 4.41463681e-01 7.28117744e-02 6.99508048e+01] [-4.40034551e-01 8.97279071e-01 -3.54945565e-02 -1.36815838e+01] [-8.10020388e-02 -2.96204686e-04 9.96713892e-01 -7.78851477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07964924600002 meters 0.0588656871679645 Centerline is valid? [True, True] Translation: X:69.98, Y:-13.70, Z:-7.79 [[ 8.95470493e-01 4.39141505e-01 7.27140587e-02 6.99776932e+01] [-4.37707029e-01 8.98417906e-01 -3.54657991e-02 -1.37004934e+01] [-8.09021168e-02 -6.88779276e-05 9.96722049e-01 -7.79162808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10964924600002 meters 0.059147429318186916 Centerline is valid? [True, True] Translation: X:70.01, Y:-13.72, Z:-7.80 [[ 8.95722552e-01 4.38690051e-01 7.23335965e-02 7.00050921e+01] [-4.37267062e-01 8.98638436e-01 -3.53054817e-02 -1.37152085e+01] [-8.04899136e-02 -5.18311153e-06 9.96755423e-01 -7.79705105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.139649246 meters 0.059053784592938655 Centerline is valid? [True, True] Translation: X:70.03, Y:-13.73, Z:-7.80 [[ 8.96329031e-01 4.37379421e-01 7.27565116e-02 7.00328487e+01] [-4.35933431e-01 8.99277056e-01 -3.55361723e-02 -1.37305655e+01] [-8.09710520e-02 1.35107112e-04 9.96716444e-01 -7.80186923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.169649246 meters 0.0591519687139083 Centerline is valid? [True, True] Translation: X:70.06, Y:-13.75, Z:-7.80 [[ 8.96799272e-01 4.36551095e-01 7.19319686e-02 7.00609961e+01] [-4.35133418e-01 8.99679438e-01 -3.51541986e-02 -1.37467392e+01] [-8.00623170e-02 2.26256304e-04 9.96789835e-01 -7.80433821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.199649246 meters 0.0590922344654353 Centerline is valid? [True, True] Translation: X:70.09, Y:-13.76, Z:-7.81 [[ 8.96920045e-01 4.35919046e-01 7.42227580e-02 7.00877944e+01] [-4.34405094e-01 8.99985825e-01 -3.63005270e-02 -1.37630800e+01] [-8.26235212e-02 3.15926188e-04 9.96580781e-01 -7.80714627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22964924600001 meters 0.05908374634803851 Centerline is valid? [True, True] Translation: X:70.12, Y:-13.78, Z:-7.81 [[ 8.96850650e-01 4.36095778e-01 7.40228694e-02 7.01171428e+01] [-4.34589824e-01 8.99900205e-01 -3.62119599e-02 -1.37781143e+01] [-8.24050782e-02 3.07133902e-04 9.96598871e-01 -7.80986460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25964924600001 meters 0.05894232718776727 Centerline is valid? [True, True] Translation: X:70.15, Y:-13.79, Z:-7.81 [[ 8.96989100e-01 4.35674425e-01 7.48221163e-02 7.01451400e+01] [-4.34132012e-01 9.00104247e-01 -3.66297821e-02 -1.37936050e+01] [-8.33063639e-02 3.73839428e-04 9.96523913e-01 -7.81248532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28964924600001 meters 0.058967765841641324 Centerline is valid? [True, True] Translation: X:70.17, Y:-13.81, Z:-7.82 [[ 8.97005455e-01 4.35484720e-01 7.57249824e-02 7.01728178e+01] [-4.33902088e-01 9.00196026e-01 -3.70957312e-02 -1.38074500e+01] [-8.43219523e-02 4.17845224e-04 9.96438475e-01 -7.81643774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31964924600001 meters 0.05891036935239961 Centerline is valid? [True, True] Translation: X:70.20, Y:-13.82, Z:-7.82 [[ 8.97247598e-01 4.34843517e-01 7.65366786e-02 7.01998480e+01] [-4.33222512e-01 9.00505893e-01 -3.75152277e-02 -1.38217916e+01] [-8.52349836e-02 5.03035737e-04 9.96360750e-01 -7.81941656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34964924600001 meters 0.0589934831077953 Centerline is valid? [True, True] Translation: X:70.23, Y:-13.84, Z:-7.82 [[ 8.97043989e-01 4.35187008e-01 7.69697939e-02 7.02270638e+01] [-4.33546977e-01 9.00339950e-01 -3.77490831e-02 -1.38365561e+01] [-8.57268909e-02 4.92566653e-04 9.96318552e-01 -7.82482321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37964924600001 meters 0.058843386012291825 Centerline is valid? [True, True] Translation: X:70.26, Y:-13.85, Z:-7.82 [[ 8.97036583e-01 4.35170273e-01 7.71505195e-02 7.02562854e+01] [-4.33520738e-01 9.00348027e-01 -3.78576163e-02 -1.38509468e+01] [-8.59368273e-02 5.13316606e-04 9.96300456e-01 -7.82473615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40964924600001 meters 0.059086220137658595 Centerline is valid? [True, True] Translation: X:70.28, Y:-13.87, Z:-7.83 [[ 8.98172105e-01 4.32865471e-01 7.69048330e-02 7.02826461e+01] [-4.31215455e-01 9.01458213e-01 -3.77666842e-02 -1.38681427e+01] [-8.56743868e-02 7.58429740e-04 9.96322902e-01 -7.82654407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43964924600002 meters 0.05914636829318979 Centerline is valid? [True, True] Translation: X:70.31, Y:-13.88, Z:-7.83 [[ 8.98052053e-01 4.33336536e-01 7.56436244e-02 7.03114287e+01] [-4.31741117e-01 9.01231902e-01 -3.71573159e-02 -1.38806792e+01] [-8.42740701e-02 7.10740931e-04 9.96442360e-01 -7.83132818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46964924600002 meters 0.059257943043670394 Centerline is valid? [True, True] Translation: X:70.34, Y:-13.89, Z:-7.84 [[ 8.98050575e-01 4.33311496e-01 7.58044369e-02 7.03391781e+01] [-4.31707106e-01 9.01243921e-01 -3.72608333e-02 -1.38949871e+01] [-8.44638353e-02 7.36798688e-04 9.96426273e-01 -7.83698343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.499649246 meters 0.05929979013846766 Centerline is valid? [True, True] Translation: X:70.37, Y:-13.91, Z:-7.84 [[ 8.98257118e-01 4.33037907e-01 7.49154220e-02 7.03665259e+01] [-4.31468833e-01 9.01375384e-01 -3.68383379e-02 -1.39080273e+01] [-8.34793141e-02 7.66629566e-04 9.96509215e-01 -7.84186273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.529649246 meters 0.059249817130549005 Centerline is valid? [True, True] Translation: X:70.40, Y:-13.92, Z:-7.84 [[ 8.98063894e-01 4.33397021e-01 7.51549422e-02 7.03963316e+01] [-4.31817576e-01 9.01202783e-01 -3.69746478e-02 -1.39217523e+01] [-8.37545453e-02 7.52371175e-04 9.96486131e-01 -7.84436840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.559649246 meters 0.05879380533567415 Centerline is valid? [True, True] Translation: X:70.43, Y:-13.93, Z:-7.84 [[ 8.97733289e-01 4.33867784e-01 7.63785891e-02 7.04256838e+01] [-4.32235826e-01 9.00976244e-01 -3.76031652e-02 -1.39344956e+01] [-8.51300963e-02 7.44050633e-04 9.96369567e-01 -7.84409905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58964924600001 meters 0.05896226613714945 Centerline is valid? [True, True] Translation: X:70.45, Y:-13.95, Z:-7.85 [[ 8.97548465e-01 4.33997061e-01 7.78029865e-02 7.04536316e+01] [-4.32301696e-01 9.00913958e-01 -3.83312535e-02 -1.39484944e+01] [-8.67294478e-02 7.69794779e-04 9.96231605e-01 -7.84720087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61964924600001 meters 0.05864345280306281 Centerline is valid? [True, True] Translation: X:70.48, Y:-13.96, Z:-7.85 [[ 8.96961048e-01 4.35042399e-01 7.87336574e-02 7.04837456e+01] [-4.33309135e-01 9.00409706e-01 -3.88014806e-02 -1.39599608e+01] [-8.77728385e-02 6.87403713e-04 9.96140279e-01 -7.84727594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64964924600001 meters 0.05857322581722868 Centerline is valid? [True, True] Translation: X:70.51, Y:-13.97, Z:-7.85 [[ 8.96309847e-01 4.36278096e-01 7.93100312e-02 7.05138599e+01] [-4.34521800e-01 8.99811686e-01 -3.91118399e-02 -1.39724327e+01] [-8.84277319e-02 5.94389755e-04 9.96082418e-01 -7.84943365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67964924600001 meters 0.05839061308002164 Centerline is valid? [True, True] Translation: X:70.54, Y:-13.98, Z:-7.85 [[ 8.95243124e-01 4.38280849e-01 8.03096913e-02 7.05427719e+01] [-4.36486582e-01 8.98837986e-01 -3.96199358e-02 -1.39828173e+01] [-8.95500603e-02 4.15372446e-04 9.95982236e-01 -7.85298963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70964924600001 meters 0.058156467174607186 Centerline is valid? [True, True] Translation: X:70.57, Y:-13.99, Z:-7.85 [[ 8.94317826e-01 4.40076941e-01 8.07954933e-02 7.05725990e+01] [-4.38267063e-01 8.97960035e-01 -3.98717533e-02 -1.39943385e+01] [-9.00977632e-02 2.48016158e-04 9.95932895e-01 -7.85414165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73964924600001 meters 0.058262913074589376 Centerline is valid? [True, True] Translation: X:70.60, Y:-14.00, Z:-7.86 [[ 8.92355556e-01 4.43923183e-01 8.14479540e-02 7.06038496e+01] [-4.42097517e-01 8.96064838e-01 -4.02192995e-02 -1.40015990e+01] [-9.08369272e-02 -1.18022849e-04 9.95865773e-01 -7.85820092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76964924600001 meters 0.05839206377560167 Centerline is valid? [True, True] Translation: X:70.63, Y:-14.01, Z:-7.86 [[ 8.91306154e-01 4.46113828e-01 8.09678412e-02 7.06341324e+01] [-4.44316660e-01 8.94976173e-01 -4.00044367e-02 -1.40125767e+01] [-9.03108211e-02 -3.19160181e-04 9.95913577e-01 -7.86136653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79964924600002 meters 0.0588403782694779 Centerline is valid? [True, True] Translation: X:70.66, Y:-14.02, Z:-7.87 [[ 8.89481963e-01 4.49805518e-01 8.06029382e-02 7.06639566e+01] [-4.48037158e-01 8.93126281e-01 -3.98516251e-02 -1.40207832e+01] [-8.99140833e-02 -6.65809585e-04 9.95949303e-01 -7.86574897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82964924600002 meters 0.059153238218206936 Centerline is valid? [True, True] Translation: X:70.69, Y:-14.03, Z:-7.87 [[ 8.88412465e-01 4.52106777e-01 7.95157530e-02 7.06931112e+01] [-4.50394003e-01 8.91963394e-01 -3.93261566e-02 -1.40317981e+01] [-8.87047628e-02 -8.75570583e-04 9.96057578e-01 -7.86983955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85964924600002 meters 0.05941200831399517 Centerline is valid? [True, True] Translation: X:70.72, Y:-14.04, Z:-7.87 [[ 8.86195376e-01 4.56336048e-01 8.00947349e-02 7.07244628e+01] [-4.54613385e-01 8.89806581e-01 -3.96348100e-02 -1.40405132e+01] [-8.93556148e-02 -1.28795312e-03 9.95998953e-01 -7.87263889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.889649246 meters 0.05962207559120983 Centerline is valid? [True, True] Translation: X:70.75, Y:-14.05, Z:-7.88 [[ 8.85460012e-01 4.57824067e-01 7.97351276e-02 7.07545897e+01] [-4.56120702e-01 8.89041696e-01 -3.94812498e-02 -1.40511738e+01] [-8.89633194e-02 -1.40977442e-03 9.96033905e-01 -7.87699881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.919649246 meters 0.06001191561047347 Centerline is valid? [True, True] Translation: X:70.78, Y:-14.06, Z:-7.88 [[ 8.85002748e-01 4.58724148e-01 7.96385061e-02 7.07824048e+01] [-4.57026148e-01 8.88577505e-01 -3.94603340e-02 -1.40633533e+01] [-8.88663931e-02 -1.47437560e-03 9.96042464e-01 -7.88141811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.949649246 meters 0.06005523459381467 Centerline is valid? [True, True] Translation: X:70.81, Y:-14.08, Z:-7.89 [[ 8.84792239e-01 4.59093358e-01 7.98497519e-02 7.08112531e+01] [-4.57386976e-01 8.88386750e-01 -3.95744464e-02 -1.40770266e+01] [-8.91058270e-02 -1.50707352e-03 9.96021024e-01 -7.88507431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97964924600001 meters 0.05977535117837017 Centerline is valid? [True, True] Translation: X:70.84, Y:-14.09, Z:-7.89 [[ 8.85026080e-01 4.58487210e-01 8.07360883e-02 7.08388759e+01] [-4.56737728e-01 8.88699842e-01 -4.00404533e-02 -1.40925041e+01] [-9.01081846e-02 -1.43837212e-03 9.95930944e-01 -7.88658608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00964924600001 meters 0.06003248929683098 Centerline is valid? [True, True] Translation: X:70.87, Y:-14.11, Z:-7.89 [[ 8.84625842e-01 4.59493003e-01 7.93933227e-02 7.08674496e+01] [-4.57803292e-01 8.88180133e-01 -3.93979374e-02 -1.41064842e+01] [-8.86186485e-02 -1.49409098e-03 9.96064507e-01 -7.89109821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03964924600001 meters 0.06025884669435998 Centerline is valid? [True, True] Translation: X:70.90, Y:-14.12, Z:-7.90 [[ 8.84412567e-01 4.60036656e-01 7.86173394e-02 7.08952752e+01] [-4.58379875e-01 8.87898637e-01 -3.90371554e-02 -1.41193747e+01] [-8.77627510e-02 -1.51165539e-03 9.96140258e-01 -7.89624800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06964924600001 meters 0.060538544331621126 Centerline is valid? [True, True] Translation: X:70.92, Y:-14.13, Z:-7.90 [[ 8.83944060e-01 4.61171577e-01 7.72248395e-02 7.09238785e+01] [-4.59575586e-01 8.87309580e-01 -3.83665269e-02 -1.41324126e+01] [-8.62158916e-02 -1.57678736e-03 9.96275230e-01 -7.90116455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09964924600001 meters 0.060677090059188955 Centerline is valid? [True, True] Translation: X:70.95, Y:-14.15, Z:-7.91 [[ 8.83589929e-01 4.62076053e-01 7.58588032e-02 7.09529302e+01] [-4.60537517e-01 8.86838831e-01 -3.77105249e-02 -1.41462524e+01] [-8.46996629e-02 -1.61518479e-03 9.96405218e-01 -7.90532705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12964924600001 meters 0.0602121518980412 Centerline is valid? [True, True] Translation: X:70.98, Y:-14.16, Z:-7.91 [[ 8.84763827e-01 4.59645704e-01 7.69337163e-02 7.09786445e+01] [-4.58051895e-01 8.88101301e-01 -3.82693023e-02 -1.41634171e+01] [-8.59152539e-02 -1.38034019e-03 9.96301492e-01 -7.90784112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15964924600001 meters 0.0598519074825478 Centerline is valid? [True, True] Translation: X:71.01, Y:-14.18, Z:-7.91 [[ 8.85656590e-01 4.57940919e-01 7.68278567e-02 7.10052723e+01] [-4.56343276e-01 8.88981827e-01 -3.82377556e-02 -1.41808052e+01] [-8.58092013e-02 -1.19435565e-03 9.96310872e-01 -7.90936037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18964924600002 meters 0.059811143850408865 Centerline is valid? [True, True] Translation: X:71.03, Y:-14.20, Z:-7.91 [[ 8.85988398e-01 4.57274616e-01 7.69706701e-02 7.10324303e+01] [-4.55666411e-01 8.89324852e-01 -3.83331312e-02 -1.41956340e+01] [-8.59806977e-02 -1.11023950e-03 9.96296184e-01 -7.91354900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21964924600002 meters 0.05973905158089502 Centerline is valid? [True, True] Translation: X:71.06, Y:-14.21, Z:-7.92 [[ 8.86483430e-01 4.56267547e-01 7.72467092e-02 7.10600674e+01] [-4.54642071e-01 8.89842082e-01 -3.84922851e-02 -1.42116108e+01] [-8.63001530e-02 -9.96830920e-04 9.96268684e-01 -7.91672702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.249649246 meters 0.0595036978505857 Centerline is valid? [True, True] Translation: X:71.09, Y:-14.23, Z:-7.92 [[ 8.86668177e-01 4.55611419e-01 7.89796069e-02 7.10879447e+01] [-4.53907285e-01 8.90178278e-01 -3.93803277e-02 -1.42281032e+01] [-8.82480574e-02 -9.32135601e-04 9.96098093e-01 -7.91882126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.279649246 meters 0.05935060007030194 Centerline is valid? [True, True] Translation: X:71.12, Y:-14.25, Z:-7.92 [[ 8.87393979e-01 4.54058836e-01 7.97652788e-02 7.11151870e+01] [-4.52312095e-01 8.90971375e-01 -3.97967121e-02 -1.42450701e+01] [-8.91386289e-02 -7.63437645e-04 9.96018937e-01 -7.92184192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.309649246 meters 0.059066157077513434 Centerline is valid? [True, True] Translation: X:71.14, Y:-14.26, Z:-7.92 [[ 8.87767753e-01 4.53109701e-01 8.09939260e-02 7.11421803e+01] [-4.51302395e-01 8.91454524e-01 -4.04348809e-02 -1.42632249e+01] [-9.05238386e-02 -6.55969460e-04 9.95894073e-01 -7.92239184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33964924600001 meters 0.05893994461350058 Centerline is valid? [True, True] Translation: X:71.17, Y:-14.28, Z:-7.93 [[ 8.87438228e-01 4.53765773e-01 8.09321645e-02 7.11707796e+01] [-4.51961661e-01 8.91120718e-01 -4.04292333e-02 -1.42774151e+01] [-9.04657308e-02 -6.99788366e-04 9.95899323e-01 -7.92743708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36964924600001 meters 0.059263977043664706 Centerline is valid? [True, True] Translation: X:71.20, Y:-14.29, Z:-7.93 [[ 8.87322179e-01 4.54201387e-01 7.97524330e-02 7.11973632e+01] [-4.52448909e-01 8.90898758e-01 -3.98671178e-02 -1.42919651e+01] [-8.91590437e-02 -7.08923491e-04 9.96017150e-01 -7.93276877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39964924600001 meters 0.059432932063604595 Centerline is valid? [True, True] Translation: X:71.23, Y:-14.31, Z:-7.94 [[ 8.87591930e-01 4.53686374e-01 7.96821199e-02 7.12259465e+01] [-4.51932975e-01 8.91161191e-01 -3.98537076e-02 -1.43075292e+01] [-8.90906970e-02 -6.37148219e-04 9.96023314e-01 -7.93731372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42964924600001 meters 0.05951381437217594 Centerline is valid? [True, True] Translation: X:71.25, Y:-14.32, Z:-7.94 [[ 8.87339743e-01 4.54514757e-01 7.77464892e-02 7.12539294e+01] [-4.52846492e-01 8.90738949e-01 -3.89124635e-02 -1.43223220e+01] [-8.69381150e-02 -6.78649636e-04 9.96213483e-01 -7.94244308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45964924600001 meters 0.059521461148007576 Centerline is valid? [True, True] Translation: X:71.28, Y:-14.34, Z:-7.95 [[ 8.87179177e-01 4.54828326e-01 7.77451022e-02 7.12832353e+01] [-4.53159338e-01 8.90578867e-01 -3.89345035e-02 -1.43360929e+01] [-8.69466602e-02 -6.89038257e-04 9.96212730e-01 -7.94708564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48964924600001 meters 0.05954999372809198 Centerline is valid? [True, True] Translation: X:71.31, Y:-14.35, Z:-7.95 [[ 8.86528964e-01 4.56185895e-01 7.72063829e-02 7.13123078e+01] [-4.54542768e-01 8.89884151e-01 -3.86919942e-02 -1.43488922e+01] [-8.63554785e-02 -7.92029418e-04 9.96264073e-01 -7.95017932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51964924600001 meters 0.059571029656003034 Centerline is valid? [True, True] Translation: X:71.34, Y:-14.36, Z:-7.95 [[ 8.86905680e-01 4.55509418e-01 7.68731755e-02 7.13415447e+01] [-4.53875979e-01 8.90230687e-01 -3.85476259e-02 -1.43642498e+01] [-8.59936665e-02 -7.02779439e-04 9.96295436e-01 -7.95472299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54964924600002 meters 0.0594822159092131 Centerline is valid? [True, True] Translation: X:71.37, Y:-14.38, Z:-7.96 [[ 8.88254859e-01 4.52778493e-01 7.74270134e-02 7.13679348e+01] [-4.51108344e-01 8.91622939e-01 -3.88561072e-02 -1.43812887e+01] [-8.66289109e-02 -4.13845832e-04 9.96240564e-01 -7.95799119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57964924600002 meters 0.05952876764395005 Centerline is valid? [True, True] Translation: X:71.40, Y:-14.40, Z:-7.96 [[ 8.88531606e-01 4.52362243e-01 7.66810648e-02 7.13963067e+01] [-4.50721709e-01 8.91834217e-01 -3.84924629e-02 -1.43957158e+01] [-8.57993343e-02 -3.60050674e-04 9.96312373e-01 -7.96133445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60964924600002 meters 0.05972534857371384 Centerline is valid? [True, True] Translation: X:71.42, Y:-14.41, Z:-7.97 [[ 8.88264145e-01 4.53053557e-01 7.56920320e-02 7.14242874e+01] [-4.51455747e-01 8.91483210e-01 -3.80183444e-02 -1.44103955e+01] [-8.47025218e-02 -4.01270668e-04 9.96406203e-01 -7.96646190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.639649246 meters 0.05955825890901782 Centerline is valid? [True, True] Translation: X:71.45, Y:-14.43, Z:-7.97 [[ 8.88269032e-01 4.52869073e-01 7.67315415e-02 7.14514225e+01] [-4.51224242e-01 8.91576955e-01 -3.85644470e-02 -1.44250792e+01] [-8.58767195e-02 -3.67527651e-04 9.96305703e-01 -7.96944221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.669649246 meters 0.05929810216060907 Centerline is valid? [True, True] Translation: X:71.48, Y:-14.44, Z:-7.97 [[ 8.88566009e-01 4.51872417e-01 7.91313212e-02 7.14778477e+01] [-4.50116912e-01 8.92082536e-01 -3.97933898e-02 -1.44422272e+01] [-8.85732049e-02 -2.59292383e-04 9.96069636e-01 -7.96984562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.699649246 meters 0.05929810216060907 Centerline is valid? [True, True] Translation: X:71.51, Y:-14.46, Z:-7.97 [[ 8.88445767e-01 4.52110248e-01 7.91229614e-02 7.15064908e+01] [-4.50354205e-01 8.91962025e-01 -3.98100040e-02 -1.44568375e+01] [-8.85731877e-02 -2.64328859e-04 9.96069636e-01 -7.97334076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72964924600001 meters 0.058998574792472856 Centerline is valid? [True, True] Translation: X:71.54, Y:-14.47, Z:-7.98 [[ 8.88428544e-01 4.52103247e-01 7.93560139e-02 7.15355532e+01] [-4.50334417e-01 8.91965580e-01 -3.99539299e-02 -1.44729173e+01] [-8.88461344e-02 -2.40532448e-04 9.96045334e-01 -7.97569450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75964924600001 meters 0.058919246740632286 Centerline is valid? [True, True] Translation: X:71.56, Y:-14.49, Z:-7.98 [[ 8.88118799e-01 4.52573209e-01 8.01404354e-02 7.15634727e+01] [-4.50768586e-01 8.91727212e-01 -4.03765000e-02 -1.44878621e+01] [-8.97367292e-02 -2.65662037e-04 9.95965486e-01 -7.97692288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78964924600001 meters 0.058982159918151034 Centerline is valid? [True, True] Translation: X:71.59, Y:-14.50, Z:-7.98 [[ 8.87676016e-01 4.53572704e-01 7.93920196e-02 7.15924854e+01] [-4.51803536e-01 8.91219213e-01 -4.00234893e-02 -1.45010426e+01] [-8.89092555e-02 -3.41703596e-04 9.96039672e-01 -7.98246147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81964924600001 meters 0.059572502445238575 Centerline is valid? [True, True] Translation: X:71.62, Y:-14.51, Z:-7.99 [[ 8.86990357e-01 4.55164940e-01 7.79293529e-02 7.16208468e+01] [-4.53464513e-01 8.90407017e-01 -3.93100473e-02 -1.45120680e+01] [-8.72813980e-02 -4.70563167e-04 9.96183586e-01 -7.98934640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84964924600001 meters 0.05967365474651022 Centerline is valid? [True, True] Translation: X:71.65, Y:-14.53, Z:-7.99 [[ 8.86550135e-01 4.56132296e-01 7.72799205e-02 7.16496036e+01] [-4.54461969e-01 8.89911813e-01 -3.90036467e-02 -1.45258733e+01] [-8.65631370e-02 -5.42096535e-04 9.96246219e-01 -7.99235395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87964924600001 meters 0.05976648680145895 Centerline is valid? [True, True] Translation: X:71.68, Y:-14.54, Z:-8.00 [[ 8.86126222e-01 4.57090563e-01 7.64757269e-02 7.16790694e+01] [-4.55456389e-01 8.89419950e-01 -3.86216215e-02 -1.45386181e+01] [-8.56726159e-02 -6.07726893e-04 9.96323157e-01 -7.99676274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90964924600001 meters 0.05987468789705672 Centerline is valid? [True, True] Translation: X:71.71, Y:-14.55, Z:-8.00 [[ 8.86192826e-01 4.56999698e-01 7.62466462e-02 7.17071674e+01] [-4.55372972e-01 8.89466663e-01 -3.85293666e-02 -1.45526095e+01] [-8.54267588e-02 -5.76213594e-04 9.96344286e-01 -8.00125971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93964924600002 meters 0.05946078125925407 Centerline is valid? [True, True] Translation: X:71.73, Y:-14.57, Z:-8.00 [[ 8.87949107e-01 4.53540113e-01 7.64705771e-02 7.17331864e+01] [-4.51888712e-01 8.91235837e-01 -3.86687761e-02 -1.45715223e+01] [-8.56911598e-02 -2.20285406e-04 9.96321723e-01 -8.00346895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96964924600002 meters 0.059433418242629245 Centerline is valid? [True, True] Translation: X:71.76, Y:-14.59, Z:-8.01 [[ 8.88414135e-01 4.52805585e-01 7.54150291e-02 7.17618185e+01] [-4.51194959e-01 8.91609268e-01 -3.81578727e-02 -1.45857726e+01] [-8.45188367e-02 -1.26887429e-04 9.96421874e-01 -8.00840408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.999649246 meters 0.059690325941857955 Centerline is valid? [True, True] Translation: X:71.79, Y:-14.60, Z:-8.01 [[ 8.88256999e-01 4.53219970e-01 7.47740818e-02 7.17903790e+01] [-4.51636209e-01 8.91398698e-01 -3.78562641e-02 -1.45992456e+01] [-8.38107340e-02 -1.44591294e-04 9.96481681e-01 -8.01357324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.029649246 meters 0.05992983104295366 Centerline is valid? [True, True] Translation: X:71.82, Y:-14.61, Z:-8.02 [[ 8.87678814e-01 4.54597414e-01 7.32633291e-02 7.18192730e+01] [-4.53079995e-01 8.90696991e-01 -3.71131916e-02 -1.46114266e+01] [-8.21269877e-02 -2.49554853e-04 9.96621842e-01 -8.01843517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.059649246 meters 0.06015047708511204 Centerline is valid? [True, True] Translation: X:71.85, Y:-14.62, Z:-8.02 [[ 8.86518026e-01 4.56842115e-01 7.33557807e-02 7.18486678e+01] [-4.55326698e-01 8.89547688e-01 -3.71821024e-02 -1.46228189e+01] [-8.22398155e-02 -4.38241347e-04 9.96612473e-01 -8.02267118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08964924600001 meters 0.060240433214187886 Centerline is valid? [True, True] Translation: X:71.88, Y:-14.64, Z:-8.03 [[ 8.85938537e-01 4.57969932e-01 7.33242807e-02 7.18783109e+01] [-4.56457746e-01 8.88967530e-01 -3.71894745e-02 -1.46362304e+01] [-8.22145658e-02 -5.21847187e-04 9.96614516e-01 -8.02568242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11964924600001 meters 0.06009683680314885 Centerline is valid? [True, True] Translation: X:71.91, Y:-14.65, Z:-8.03 [[ 8.84547285e-01 4.60489904e-01 7.43313472e-02 7.19077337e+01] [-4.58942428e-01 8.87664631e-01 -3.77273079e-02 -1.46482724e+01] [-8.33543523e-02 -7.42221150e-04 9.96519694e-01 -8.02650620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14964924600001 meters 0.06028315843269185 Centerline is valid? [True, True] Translation: X:71.94, Y:-14.66, Z:-8.03 [[ 8.83660431e-01 4.62139075e-01 7.46439387e-02 7.19367740e+01] [-4.60582472e-01 8.86807025e-01 -3.79089420e-02 -1.46600520e+01] [-8.37139726e-02 -8.81057800e-04 9.96489435e-01 -8.03041794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17964924600001 meters 0.06018240121829404 Centerline is valid? [True, True] Translation: X:71.96, Y:-14.67, Z:-8.04 [[ 8.84006575e-01 4.61463007e-01 7.47279617e-02 7.19643746e+01] [-4.59898294e-01 8.87159096e-01 -3.79775890e-02 -1.46725393e+01] [-8.38208433e-02 -7.94823671e-04 9.96480524e-01 -8.03538164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20964924600001 meters 0.059839083423753235 Centerline is valid? [True, True] Translation: X:71.99, Y:-14.69, Z:-8.04 [[ 8.84634055e-01 4.60246022e-01 7.48076692e-02 7.19922676e+01] [-4.58671949e-01 8.87791169e-01 -3.80379229e-02 -1.46891586e+01] [-8.39203909e-02 -6.62537441e-04 9.96472242e-01 -8.03560173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23964924600001 meters 0.060197982122174594 Centerline is valid? [True, True] Translation: X:72.02, Y:-14.70, Z:-8.04 [[ 8.84305646e-01 4.61084808e-01 7.35141023e-02 7.20209709e+01] [-4.59565784e-01 8.87355789e-01 -3.74031117e-02 -1.47010594e+01] [-8.24791709e-02 -7.08783171e-04 9.96592537e-01 -8.04128349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26964924600001 meters 0.06041004705939837 Centerline is valid? [True, True] Translation: X:72.05, Y:-14.71, Z:-8.04 [[ 8.83192132e-01 4.63211439e-01 7.35310885e-02 7.20505844e+01] [-4.61697344e-01 8.86247354e-01 -3.74324791e-02 -1.47135742e+01] [-8.25058851e-02 -8.89037192e-04 9.96590181e-01 -8.04479642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29964924600002 meters 0.060527471371762134 Centerline is valid? [True, True] Translation: X:72.08, Y:-14.73, Z:-8.05 [[ 8.81850270e-01 4.65686312e-01 7.40024353e-02 7.20796513e+01] [-4.64159534e-01 8.84949169e-01 -3.76947735e-02 -1.47276456e+01] [-8.30423337e-02 -1.10778973e-03 9.96545405e-01 -8.04565880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32964924600002 meters 0.06062234899463536 Centerline is valid? [True, True] Translation: X:72.11, Y:-14.74, Z:-8.05 [[ 8.81436796e-01 4.66484883e-01 7.38987735e-02 7.21088364e+01] [-4.64963324e-01 8.84528408e-01 -3.76643349e-02 -1.47430616e+01] [-8.29354074e-02 -1.16148873e-03 9.96554248e-01 -8.04882198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35964924600002 meters 0.06098365986121696 Centerline is valid? [True, True] Translation: X:72.14, Y:-14.75, Z:-8.06 [[ 8.80582309e-01 4.68175752e-01 7.33911641e-02 7.21384665e+01] [-4.66678405e-01 8.83634435e-01 -3.74359663e-02 -1.47527723e+01] [-8.23775715e-02 -1.28462175e-03 9.96600364e-01 -8.05591635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.389649246 meters 0.06081051748436426 Centerline is valid? [True, True] Translation: X:72.17, Y:-14.77, Z:-8.06 [[ 8.80148164e-01 4.68869149e-01 7.41682505e-02 7.21674880e+01] [-4.67341444e-01 8.83266600e-01 -3.78429504e-02 -1.47663591e+01] [-8.32537304e-02 -1.35449391e-03 9.96527462e-01 -8.05790640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.419649246 meters 0.06108121050280551 Centerline is valid? [True, True] Translation: X:72.20, Y:-14.78, Z:-8.06 [[ 8.79299820e-01 4.70412085e-01 7.44600391e-02 7.21967348e+01] [-4.68875898e-01 8.82445614e-01 -3.80148592e-02 -1.47798400e+01] [-8.35895841e-02 -1.48605892e-03 9.96499159e-01 -8.06169929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.449649246 meters 0.06123012987691653 Centerline is valid? [True, True] Translation: X:72.22, Y:-14.79, Z:-8.07 [[ 8.79187187e-01 4.70644420e-01 7.43217348e-02 7.22245626e+01] [-4.69112899e-01 8.82321723e-01 -3.79666220e-02 -1.47947320e+01] [-8.34444599e-02 -1.48551690e-03 9.96511322e-01 -8.06547539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47964924600001 meters 0.061352764765540295 Centerline is valid? [True, True] Translation: X:72.25, Y:-14.81, Z:-8.07 [[ 8.78885758e-01 4.71188537e-01 7.44391436e-02 7.22532145e+01] [-4.69652095e-01 8.82031211e-01 -3.80506609e-02 -1.48111998e+01] [-8.35866832e-02 -1.51831573e-03 9.96499353e-01 -8.06874221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50964924600001 meters 0.06128481671327081 Centerline is valid? [True, True] Translation: X:72.28, Y:-14.83, Z:-8.07 [[ 8.78992723e-01 4.70931276e-01 7.48032527e-02 7.22807794e+01] [-4.69376505e-01 8.82168664e-01 -3.82641536e-02 -1.48266474e+01] [-8.40088722e-02 -1.47697672e-03 9.96463912e-01 -8.07206973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53964924600001 meters 0.06077891492719065 Centerline is valid? [True, True] Translation: X:72.31, Y:-14.85, Z:-8.07 [[ 8.79614004e-01 4.69696885e-01 7.52598187e-02 7.23076925e+01] [-4.68116684e-01 8.82826721e-01 -3.85194979e-02 -1.48457097e+01] [-8.45338671e-02 -1.34808691e-03 9.96419695e-01 -8.07476135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56964924600001 meters 0.0600776293713998 Centerline is valid? [True, True] Translation: X:72.33, Y:-14.87, Z:-8.08 [[ 8.80728513e-01 4.67548529e-01 7.56019797e-02 7.23338225e+01] [-4.65943490e-01 8.83966694e-01 -3.87239946e-02 -1.48650678e+01] [-8.49349788e-02 -1.12092414e-03 9.96385865e-01 -8.07739639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59964924600001 meters 0.06011020290878836 Centerline is valid? [True, True] Translation: X:72.36, Y:-14.88, Z:-8.08 [[ 8.81393710e-01 4.66285842e-01 7.56481377e-02 7.23604312e+01] [-4.64672026e-01 8.84633573e-01 -3.87730596e-02 -1.48813612e+01] [-8.50002111e-02 -9.77242462e-04 9.96380454e-01 -8.08150204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62964924600001 meters 0.059751341038733405 Centerline is valid? [True, True] Translation: X:72.38, Y:-14.90, Z:-8.09 [[ 8.82954770e-01 4.63380053e-01 7.52980745e-02 7.23844794e+01] [-4.61769674e-01 8.86159386e-01 -3.86045289e-02 -1.49024705e+01] [-8.46146642e-02 -6.84314401e-04 9.96413514e-01 -8.08586282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65964924600001 meters 0.05946212485329179 Centerline is valid? [True, True] Translation: X:72.41, Y:-14.92, Z:-8.09 [[ 8.84777155e-01 4.59939473e-01 7.50004465e-02 7.24096506e+01] [-4.58327784e-01 8.87950206e-01 -3.84717305e-02 -1.49235610e+01] [-8.42913294e-02 -3.35880186e-04 9.96441097e-01 -8.08878625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68964924600002 meters 0.05919671158398832 Centerline is valid? [True, True] Translation: X:72.44, Y:-14.94, Z:-8.09 [[ 8.86247947e-01 4.56927068e-01 7.60409820e-02 7.24352524e+01] [-4.55257244e-01 8.89504162e-01 -3.90280500e-02 -1.49431350e+01] [-8.54717424e-02 -2.96786973e-05 9.96340595e-01 -8.09097607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71964924600002 meters 0.05914708498002812 Centerline is valid? [True, True] Translation: X:72.46, Y:-14.96, Z:-8.09 [[ 8.87225259e-01 4.55099124e-01 7.56050752e-02 7.24617025e+01] [-4.53439970e-01 8.90440767e-01 -3.88256874e-02 -1.49606293e+01] [-8.49913775e-02 1.64767495e-04 9.96381673e-01 -8.09418132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.749649246 meters 0.05933304119350447 Centerline is valid? [True, True] Translation: X:72.49, Y:-14.98, Z:-8.10 [[ 8.87831696e-01 4.54055867e-01 7.47539195e-02 7.24872385e+01] [-4.52428302e-01 8.90973170e-01 -3.84114758e-02 -1.49771962e+01] [-8.40446926e-02 2.82136843e-04 9.96461946e-01 -8.10110712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.779649246 meters 0.05924708949096356 Centerline is valid? [True, True] Translation: X:72.51, Y:-14.99, Z:-8.10 [[ 8.88068294e-01 4.53766056e-01 7.36958015e-02 7.25148041e+01] [-4.52181697e-01 8.91120790e-01 -3.78873412e-02 -1.49927077e+01] [-8.28638502e-02 3.22653904e-04 9.96560825e-01 -8.10271216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.809649246 meters 0.05937839676830532 Centerline is valid? [True, True] Translation: X:72.54, Y:-15.01, Z:-8.11 [[ 8.87952951e-01 4.54066245e-01 7.32352549e-02 7.25422738e+01] [-4.52500829e-01 8.90967871e-01 -3.76729732e-02 -1.50075383e+01] [-8.23562846e-02 3.12814154e-04 9.96602902e-01 -8.10784253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83964924600001 meters 0.05954368877688856 Centerline is valid? [True, True] Translation: X:72.57, Y:-15.02, Z:-8.12 [[ 8.87426960e-01 4.55184273e-01 7.26682099e-02 7.25690677e+01] [-4.53645093e-01 8.90397230e-01 -3.74019160e-02 -1.50215414e+01] [-8.17283367e-02 2.25891825e-04 9.96654618e-01 -8.11507134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86964924600001 meters 0.059582244145889106 Centerline is valid? [True, True] Translation: X:72.60, Y:-15.03, Z:-8.12 [[ 8.87410985e-01 4.55464908e-01 7.10876985e-02 7.25982116e+01] [-4.53991072e-01 8.90253711e-01 -3.66119652e-02 -1.50340749e+01] [-7.99615527e-02 2.16679652e-04 9.96797925e-01 -8.11769964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89964924600001 meters 0.059657061101169806 Centerline is valid? [True, True] Translation: X:72.63, Y:-15.05, Z:-8.12 [[ 8.87722934e-01 4.54987001e-01 7.02482821e-02 7.26266730e+01] [-4.53546127e-01 8.90498041e-01 -3.61821622e-02 -1.50480394e+01] [-7.90183711e-02 2.58898904e-04 9.96873126e-01 -8.12160994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92964924600001 meters 0.059617201095887404 Centerline is valid? [True, True] Translation: X:72.66, Y:-15.06, Z:-8.13 [[ 8.86522575e-01 4.57310632e-01 7.03186352e-02 7.26582264e+01] [-4.55872589e-01 8.89307023e-01 -3.62381170e-02 -1.50572793e+01] [-7.91069323e-02 6.95704591e-05 9.96866134e-01 -8.12511474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95964924600001 meters 0.05977107651778614 Centerline is valid? [True, True] Translation: X:72.69, Y:-15.07, Z:-8.13 [[ 8.86084481e-01 4.58256930e-01 6.96769600e-02 7.26859879e+01] [-4.56845740e-01 8.88819771e-01 -3.59358248e-02 -1.50693203e+01] [-7.83981004e-02 1.05542699e-05 9.96922132e-01 -8.13033483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98964924600001 meters 0.05940897874150524 Centerline is valid? [True, True] Translation: X:72.72, Y:-15.08, Z:-8.13 [[ 8.84853098e-01 4.60269588e-01 7.20201372e-02 7.27163406e+01] [-4.58767741e-01 8.87779183e-01 -3.71521363e-02 -1.50800272e+01] [-8.10379771e-02 -1.66332780e-04 9.96711001e-01 -8.13032574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01964924600001 meters 0.05935859060632193 Centerline is valid? [True, True] Translation: X:72.75, Y:-15.09, Z:-8.13 [[ 8.83947650e-01 4.61809458e-01 7.32705756e-02 7.27458023e+01] [-4.60258374e-01 8.86979109e-01 -3.78191778e-02 -1.50919219e+01] [-8.24547238e-02 -2.93222664e-04 9.96594768e-01 -8.13231936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04964924600002 meters 0.05948389989574095 Centerline is valid? [True, True] Translation: X:72.78, Y:-15.10, Z:-8.13 [[ 8.81381574e-01 4.66590859e-01 7.38883684e-02 7.27775791e+01] [-4.65028400e-01 8.84472974e-01 -3.81594724e-02 -1.51012426e+01] [-8.31571260e-02 -7.27133916e-04 9.96536183e-01 -8.13133006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07964924600002 meters 0.059652919385104884 Centerline is valid? [True, True] Translation: X:72.81, Y:-15.11, Z:-8.14 [[ 8.80507414e-01 4.68083636e-01 7.48625620e-02 7.28065953e+01] [-4.66482861e-01 8.83683753e-01 -3.86880527e-02 -1.51121600e+01] [-8.42640742e-02 -8.56984856e-04 9.96443090e-01 -8.13549584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10964924600002 meters 0.059859173741067806 Centerline is valid? [True, True] Translation: X:72.84, Y:-15.12, Z:-8.14 [[ 8.78563309e-01 4.71627839e-01 7.54565709e-02 7.28382245e+01] [-4.70012746e-01 8.81796899e-01 -3.90159817e-02 -1.51220694e+01] [-8.49383934e-02 -1.18754008e-03 9.96385497e-01 -8.13541224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.139649246 meters 0.06061900907637994 Centerline is valid? [True, True] Translation: X:72.87, Y:-15.13, Z:-8.14 [[ 8.77748206e-01 4.73044991e-01 7.60691968e-02 7.28677970e+01] [-4.71406837e-01 8.81037291e-01 -3.93558997e-02 -1.51323520e+01] [-8.56369103e-02 -1.31496911e-03 9.96325544e-01 -8.14243133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.169649246 meters 0.06047061113281597 Centerline is valid? [True, True] Translation: X:72.90, Y:-15.15, Z:-8.14 [[ 8.77300266e-01 4.73991613e-01 7.53405228e-02 7.28963264e+01] [-4.72386109e-01 8.80528290e-01 -3.90037786e-02 -1.51465404e+01] [-8.48269256e-02 -1.37179111e-03 9.96394757e-01 -8.14487836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.199649246 meters 0.06029521299325287 Centerline is valid? [True, True] Translation: X:72.92, Y:-15.16, Z:-8.15 [[ 8.77469098e-01 4.73629197e-01 7.56529312e-02 7.29239656e+01] [-4.72007046e-01 8.80723359e-01 -3.91881832e-02 -1.51616306e+01] [-8.51899714e-02 -1.32229683e-03 9.96363849e-01 -8.14838985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22964924600001 meters 0.06045003533589964 Centerline is valid? [True, True] Translation: X:72.95, Y:-15.18, Z:-8.15 [[ 8.77589262e-01 4.73387899e-01 7.57692840e-02 7.29515765e+01] [-4.71757918e-01 8.80853141e-01 -3.92709858e-02 -1.51764853e+01] [-8.53320213e-02 -1.28096425e-03 9.96351748e-01 -8.15265391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25964924600001 meters 0.06019166485824882 Centerline is valid? [True, True] Translation: X:72.98, Y:-15.19, Z:-8.16 [[ 8.78336038e-01 4.72031891e-01 7.55757727e-02 7.29779560e+01] [-4.70403276e-01 8.81580754e-01 -3.91935200e-02 -1.51935564e+01] [-8.51267380e-02 -1.12600994e-03 9.96369495e-01 -8.15599986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28964924600001 meters 0.05999249444094032 Centerline is valid? [True, True] Translation: X:73.00, Y:-15.21, Z:-8.16 [[ 8.78257632e-01 4.72313962e-01 7.47198305e-02 7.30049093e+01] [-4.70721449e-01 8.81429669e-01 -3.87692733e-02 -1.52106138e+01] [-8.41715445e-02 -1.12281675e-03 9.96450646e-01 -8.15711578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31964924600001 meters 0.059714895171829166 Centerline is valid? [True, True] Translation: X:73.03, Y:-15.23, Z:-8.16 [[ 8.78468145e-01 4.71731803e-01 7.59132678e-02 7.30326392e+01] [-4.70083753e-01 8.81741444e-01 -3.94118098e-02 -1.52260022e+01] [-8.55276785e-02 -1.06357439e-03 9.96335227e-01 -8.15987592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34964924600001 meters 0.059380329471228496 Centerline is valid? [True, True] Translation: X:73.06, Y:-15.24, Z:-8.16 [[ 8.78620319e-01 4.71307025e-01 7.67855697e-02 7.30599577e+01] [-4.69617188e-01 8.81968628e-01 -3.98877924e-02 -1.52439665e+01] [-8.65218603e-02 -1.01359842e-03 9.96249437e-01 -8.16048627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37964924600001 meters 0.05912014553572449 Centerline is valid? [True, True] Translation: X:73.09, Y:-15.26, Z:-8.16 [[ 8.78915193e-01 4.70702778e-01 7.71166476e-02 7.30873217e+01] [-4.68993875e-01 8.82291345e-01 -4.00840099e-02 -1.52600853e+01] [-8.69070055e-02 -9.36790069e-04 9.96215988e-01 -8.16319419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40964924600001 meters 0.05923872801748916 Centerline is valid? [True, True] Translation: X:73.11, Y:-15.28, Z:-8.17 [[ 8.79583110e-01 4.69490918e-01 7.68884346e-02 7.31140341e+01] [-4.67785387e-01 8.82936945e-01 -3.99897807e-02 -1.52759833e+01] [-8.66624784e-02 -7.92950498e-04 9.96237415e-01 -8.16892483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43964924600002 meters 0.05902129874325293 Centerline is valid? [True, True] Translation: X:73.14, Y:-15.29, Z:-8.17 [[ 8.79625961e-01 4.69270261e-01 7.77405340e-02 7.31409595e+01] [-4.67523821e-01 8.83054270e-01 -4.04553144e-02 -1.52930128e+01] [-8.76335865e-02 -7.60006718e-04 9.96152487e-01 -8.17063512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46964924600002 meters 0.058914226679666344 Centerline is valid? [True, True] Translation: X:73.17, Y:-15.31, Z:-8.17 [[ 8.79680817e-01 4.69042690e-01 7.84895863e-02 7.31668985e+01] [-4.67259261e-01 8.83175200e-01 -4.08699090e-02 -1.53096593e+01] [-8.84897881e-02 -7.22511166e-04 9.96076822e-01 -8.17174979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.499649246 meters 0.05891474780000896 Centerline is valid? [True, True] Translation: X:73.20, Y:-15.32, Z:-8.17 [[ 8.79485171e-01 4.69465211e-01 7.81552904e-02 7.31959091e+01] [-4.67696783e-01 8.82950658e-01 -4.07167681e-02 -1.53244960e+01] [-8.81223711e-02 -7.43184157e-04 9.96109379e-01 -8.17499140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.529649246 meters 0.05893428510973228 Centerline is valid? [True, True] Translation: X:73.22, Y:-15.34, Z:-8.18 [[ 8.79109544e-01 4.69990392e-01 7.92176793e-02 7.32239076e+01] [-4.68172993e-01 8.82671185e-01 -4.12992428e-02 -1.53373729e+01] [-8.93334102e-02 -7.81019502e-04 9.96001472e-01 -8.17922165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.559649246 meters 0.058904872541501986 Centerline is valid? [True, True] Translation: X:73.25, Y:-15.35, Z:-8.18 [[ 8.79113911e-01 4.70021832e-01 7.89823365e-02 7.32527445e+01] [-4.68213494e-01 8.82654460e-01 -4.11974411e-02 -1.53529752e+01] [-8.90778083e-02 -7.63352136e-04 9.96024378e-01 -8.18245659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58964924600001 meters 0.058904872541501986 Centerline is valid? [True, True] Translation: X:73.28, Y:-15.37, Z:-8.19 [[ 8.78982898e-01 4.70268719e-01 7.89708602e-02 7.32811634e+01] [-4.68459401e-01 8.82522945e-01 -4.12194266e-02 -1.53680044e+01] [-8.90778031e-02 -7.63470814e-04 9.96024378e-01 -8.18595520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61964924600001 meters 0.05873909449516597 Centerline is valid? [True, True] Translation: X:73.31, Y:-15.38, Z:-8.19 [[ 8.79796985e-01 4.68715150e-01 7.91414761e-02 7.33070854e+01] [-4.66889078e-01 8.83349178e-01 -4.13378563e-02 -1.53841288e+01] [-8.92852374e-02 -5.81369451e-04 9.96005928e-01 -8.18975136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64964924600001 meters 0.058810078599348635 Centerline is valid? [True, True] Translation: X:73.33, Y:-15.40, Z:-8.19 [[ 8.79645977e-01 4.69039509e-01 7.88980018e-02 7.33345813e+01] [-4.67224011e-01 8.83176985e-01 -4.12327057e-02 -1.53986586e+01] [-8.90206674e-02 -5.92857260e-04 9.96029603e-01 -8.19403747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67964924600001 meters 0.058888273547873855 Centerline is valid? [True, True] Translation: X:73.36, Y:-15.41, Z:-8.20 [[ 8.79805012e-01 4.68991394e-01 7.73964680e-02 7.33626228e+01] [-4.67242130e-01 8.83202562e-01 -4.04725448e-02 -1.54135245e+01] [-8.73380340e-02 -5.54942892e-04 9.96178578e-01 -8.19996834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70964924600001 meters 0.05896562653033448 Centerline is valid? [True, True] Translation: X:73.39, Y:-15.43, Z:-8.20 [[ 8.79883296e-01 4.68928206e-01 7.68877349e-02 7.33912525e+01] [-4.67199784e-01 8.83236130e-01 -4.02281059e-02 -1.54301127e+01] [-8.67741189e-02 -5.25894777e-04 9.96227873e-01 -8.20413103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73964924600001 meters 0.059150334295253494 Centerline is valid? [True, True] Translation: X:73.42, Y:-15.45, Z:-8.21 [[ 8.80063734e-01 4.68757416e-01 7.58571653e-02 7.34179284e+01] [-4.67072209e-01 8.83326811e-01 -3.97151863e-02 -1.54466281e+01] [-8.56234561e-02 -4.78878695e-04 9.96327453e-01 -8.20751569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76964924600001 meters 0.05912177925894419 Centerline is valid? [True, True] Translation: X:73.45, Y:-15.46, Z:-8.21 [[ 8.80121920e-01 4.68819612e-01 7.47902183e-02 7.34453020e+01] [-4.67180144e-01 8.83293812e-01 -3.91759438e-02 -1.54617807e+01] [-8.44281878e-02 -4.60898106e-04 9.96429460e-01 -8.21255667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79964924600002 meters 0.059140556005832116 Centerline is valid? [True, True] Translation: X:73.47, Y:-15.48, Z:-8.22 [[ 8.80832986e-01 4.67667705e-01 7.36217932e-02 7.34732198e+01] [-4.66073416e-01 8.83904300e-01 -3.85844564e-02 -1.54779292e+01] [-8.31193237e-02 -3.26698665e-04 9.96539548e-01 -8.21589604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82964924600002 meters 0.05936183184240066 Centerline is valid? [True, True] Translation: X:73.50, Y:-15.49, Z:-8.22 [[ 8.81201206e-01 4.67178064e-01 7.23124532e-02 7.34996155e+01] [-4.65636475e-01 8.84163216e-01 -3.79220399e-02 -1.54930630e+01] [-8.16523563e-02 -2.54368503e-04 9.96660839e-01 -8.22105189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85964924600002 meters 0.059362824185763344 Centerline is valid? [True, True] Translation: X:73.53, Y:-15.51, Z:-8.23 [[ 8.81246012e-01 4.67121411e-01 7.21321940e-02 7.35277851e+01] [-4.65586652e-01 8.84193152e-01 -3.78357049e-02 -1.55086325e+01] [-8.14526598e-02 -2.41222551e-04 9.96677182e-01 -8.22543509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.889649246 meters 0.059238087020380595 Centerline is valid? [True, True] Translation: X:73.55, Y:-15.52, Z:-8.23 [[ 8.81221689e-01 4.67106961e-01 7.25218738e-02 7.35549723e+01] [-4.65553378e-01 8.84200791e-01 -3.80658956e-02 -1.55232035e+01] [-8.19047430e-02 -2.18310512e-04 9.96640138e-01 -8.22931020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.919649246 meters 0.059213073592207066 Centerline is valid? [True, True] Translation: X:73.58, Y:-15.54, Z:-8.23 [[ 8.81186354e-01 4.67096863e-01 7.30145863e-02 7.35821194e+01] [-4.65520375e-01 8.84206130e-01 -3.83445046e-02 -1.55380437e+01] [-8.24705426e-02 -2.01123430e-04 9.96593482e-01 -8.23285759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.949649246 meters 0.05900088930367247 Centerline is valid? [True, True] Translation: X:73.61, Y:-15.55, Z:-8.23 [[ 8.81063675e-01 4.67395656e-01 7.25816890e-02 7.36101933e+01] [-4.65837359e-01 8.84048221e-01 -3.81352714e-02 -1.55534939e+01] [-8.19899731e-02 -2.11659922e-04 9.96633132e-01 -8.23307782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97964924600001 meters 0.05924534919549509 Centerline is valid? [True, True] Translation: X:73.64, Y:-15.57, Z:-8.24 [[ 8.81244948e-01 4.67182125e-01 7.17509809e-02 7.36368415e+01] [-4.65656540e-01 8.84161091e-01 -3.77246988e-02 -1.55691945e+01] [-8.10637305e-02 -1.66613281e-04 9.96708906e-01 -8.23708612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00964924600001 meters 0.0594729035326428 Centerline is valid? [True, True] Translation: X:73.66, Y:-15.58, Z:-8.24 [[ 8.81430280e-01 4.66773314e-01 7.21341394e-02 7.36638596e+01] [-4.65229157e-01 8.84376989e-01 -3.79364270e-02 -1.55834613e+01] [-8.15014848e-02 -1.20589450e-04 9.96673213e-01 -8.24376540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03964924600001 meters 0.05950884795878905 Centerline is valid? [True, True] Translation: X:73.69, Y:-15.60, Z:-8.24 [[ 8.81127332e-01 4.67339057e-01 7.21722301e-02 7.36932539e+01] [-4.65793645e-01 8.84078154e-01 -3.79749746e-02 -1.55983561e+01] [-8.15530807e-02 -1.56578030e-04 9.96668987e-01 -8.24487596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06964924600001 meters 0.059410037908849 Centerline is valid? [True, True] Translation: X:73.72, Y:-15.61, Z:-8.25 [[ 8.80817677e-01 4.67977823e-01 7.18121033e-02 7.37227094e+01] [-4.66448013e-01 8.83740188e-01 -3.78091430e-02 -1.56133437e+01] [-8.11570821e-02 -1.93651431e-04 9.96701305e-01 -8.24651633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09964924600001 meters 0.05952664334559533 Centerline is valid? [True, True] Translation: X:73.75, Y:-15.63, Z:-8.25 [[ 8.80963486e-01 4.67635128e-01 7.22545734e-02 7.37500203e+01] [-4.66082996e-01 8.83921585e-01 -3.80693253e-02 -1.56277132e+01] [-8.16699308e-02 -1.38942498e-04 9.96659422e-01 -8.25279984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12964924600001 meters 0.05957720086107672 Centerline is valid? [True, True] Translation: X:73.78, Y:-15.64, Z:-8.26 [[ 8.80630705e-01 4.68404355e-01 7.13226660e-02 7.37788238e+01] [-4.66892995e-01 8.83514190e-01 -3.75979645e-02 -1.56420470e+01] [-8.06256378e-02 -1.90131206e-04 9.96744436e-01 -8.25604127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15964924600001 meters 0.05986044037163579 Centerline is valid? [True, True] Translation: X:73.81, Y:-15.66, Z:-8.26 [[ 8.80409242e-01 4.69040815e-01 6.98590010e-02 7.38064731e+01] [-4.67591072e-01 8.83176463e-01 -3.68500304e-02 -1.56554668e+01] [-7.89819937e-02 -2.22337880e-04 9.96876018e-01 -8.26165748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18964924600002 meters 0.0601056979877864 Centerline is valid? [True, True] Translation: X:73.83, Y:-15.67, Z:-8.27 [[ 8.80202589e-01 4.69676964e-01 6.81685470e-02 7.38332471e+01] [-4.68297906e-01 8.82838308e-01 -3.59665530e-02 -1.56700355e+01] [-7.70744662e-02 -2.65334729e-04 9.97025304e-01 -8.26717790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21964924600002 meters 0.06013310108487687 Centerline is valid? [True, True] Translation: X:73.86, Y:-15.69, Z:-8.27 [[ 8.80518088e-01 4.69135561e-01 6.78212496e-02 7.38611658e+01] [-4.67767653e-01 8.83126143e-01 -3.57999744e-02 -1.56865425e+01] [-7.66897596e-02 -2.02061729e-04 9.97054983e-01 -8.27053390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.249649246 meters 0.06015312833074347 Centerline is valid? [True, True] Translation: X:73.89, Y:-15.70, Z:-8.27 [[ 8.81109166e-01 4.68126054e-01 6.71165729e-02 7.38893702e+01] [-4.66781763e-01 8.83661694e-01 -3.54513334e-02 -1.57026264e+01] [-7.59040373e-02 -9.22973912e-05 9.97115123e-01 -8.27255808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.279649246 meters 0.060248517427380854 Centerline is valid? [True, True] Translation: X:73.92, Y:-15.72, Z:-8.28 [[ 8.81219123e-01 4.67994652e-01 6.65872641e-02 7.39167019e+01] [-4.66669595e-01 8.83731295e-01 -3.51921512e-02 -1.57180592e+01] [-7.53149877e-02 -6.22549267e-05 9.97159791e-01 -8.27651321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.309649246 meters 0.06013122713945422 Centerline is valid? [True, True] Translation: X:73.94, Y:-15.73, Z:-8.28 [[ 8.81415958e-01 4.67588504e-01 6.68348717e-02 7.39446369e+01] [-4.66250811e-01 8.83946260e-01 -3.53438937e-02 -1.57338474e+01] [-7.56048332e-02 -9.14120552e-06 9.97137859e-01 -8.28016582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33964924600001 meters 0.060180343725872776 Centerline is valid? [True, True] Translation: X:73.97, Y:-15.75, Z:-8.28 [[ 8.82034676e-01 4.66382870e-01 6.70958191e-02 7.39706052e+01] [-4.65029606e-01 8.84582956e-01 -3.55029565e-02 -1.57507129e+01] [-7.59097887e-02 1.13296362e-04 9.97114683e-01 -8.28346614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36964924600001 meters 0.060158076643415666 Centerline is valid? [True, True] Translation: X:74.00, Y:-15.77, Z:-8.29 [[ 8.82131885e-01 4.66121837e-01 6.76296604e-02 7.39982528e+01] [-4.64744590e-01 8.84720526e-01 -3.58058142e-02 -1.57663655e+01] [-7.65232207e-02 1.54931565e-04 9.97067787e-01 -8.28682392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39964924600001 meters 0.059931679032570136 Centerline is valid? [True, True] Translation: X:74.02, Y:-15.78, Z:-8.29 [[ 8.82190539e-01 4.65690011e-01 6.98044851e-02 7.40237848e+01] [-4.64219478e-01 8.84947889e-01 -3.69798770e-02 -1.57843587e+01] [-7.89944910e-02 2.18696035e-04 9.96875029e-01 -8.28699024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42964924600001 meters 0.05962816206662681 Centerline is valid? [True, True] Translation: X:74.05, Y:-15.80, Z:-8.29 [[ 8.82519212e-01 4.64811814e-01 7.14829864e-02 7.40500709e+01] [-4.63265045e-01 8.85409438e-01 -3.78896475e-02 -1.58013946e+01] [-8.09032666e-02 3.22773032e-04 9.96721906e-01 -8.28826839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45964924600001 meters 0.059769145824005075 Centerline is valid? [True, True] Translation: X:74.08, Y:-15.82, Z:-8.29 [[ 8.82795882e-01 4.64198881e-01 7.20474082e-02 7.40771570e+01] [-4.62623895e-01 8.85730907e-01 -3.82085461e-02 -1.58171495e+01] [-8.15509805e-02 3.99494579e-04 9.96669092e-01 -8.29228193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48964924600001 meters 0.06031612774423747 Centerline is valid? [True, True] Translation: X:74.10, Y:-15.84, Z:-8.30 [[ 8.85339376e-01 4.59372453e-01 7.17714292e-02 7.41017824e+01] [-4.57791700e-01 8.88243325e-01 -3.80861506e-02 -1.58368256e+01] [-8.12462213e-02 8.62804226e-04 9.96693688e-01 -8.29681037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51964924600001 meters 0.06053675608026393 Centerline is valid? [True, True] Translation: X:74.13, Y:-15.85, Z:-8.30 [[ 8.86028938e-01 4.58157027e-01 7.10271686e-02 7.41293056e+01] [-4.56604369e-01 8.88870741e-01 -3.76995477e-02 -1.58534685e+01] [-8.04062846e-02 9.71574718e-04 9.96761699e-01 -8.30164074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54964924600002 meters 0.06104883287903537 Centerline is valid? [True, True] Translation: X:74.15, Y:-15.87, Z:-8.31 [[ 8.86630285e-01 4.57191761e-01 6.97311375e-02 7.41549133e+01] [-4.55690703e-01 8.89367513e-01 -3.70325512e-02 -1.58693717e+01] [-7.89475857e-02 1.05835038e-03 9.96878207e-01 -8.30698088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57964924600002 meters 0.06094867691042309 Centerline is valid? [True, True] Translation: X:74.18, Y:-15.88, Z:-8.31 [[ 8.86342714e-01 4.57737986e-01 6.98035032e-02 7.41842345e+01] [-4.56234292e-01 8.89086546e-01 -3.70861687e-02 -1.58845385e+01] [-7.90371037e-02 1.02430350e-03 9.96871149e-01 -8.31042193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60964924600002 meters 0.06108178367174381 Centerline is valid? [True, True] Translation: X:74.21, Y:-15.90, Z:-8.31 [[ 8.85866915e-01 4.58537526e-01 7.05913967e-02 7.42112237e+01] [-4.57000142e-01 8.88674498e-01 -3.75300697e-02 -1.58996512e+01] [-7.99417194e-02 9.86368746e-04 9.96799051e-01 -8.31390439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.639649246 meters 0.061169235693185185 Centerline is valid? [True, True] Translation: X:74.24, Y:-15.91, Z:-8.32 [[ 8.85690993e-01 4.59012764e-01 6.97047108e-02 7.42384816e+01] [-4.57513829e-01 8.88429166e-01 -3.70771227e-02 -1.59136913e+01] [-7.89465707e-02 9.48004535e-04 9.96878398e-01 -8.31788107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.669649246 meters 0.06052164727183646 Centerline is valid? [True, True] Translation: X:74.27, Y:-15.92, Z:-8.32 [[ 8.85272453e-01 4.59701456e-01 7.04787559e-02 7.42690168e+01] [-4.58169767e-01 8.88073049e-01 -3.75063249e-02 -1.59245255e+01] [-7.98319958e-02 9.12081044e-04 9.96807916e-01 -8.31614071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.699649246 meters 0.06053763872430985 Centerline is valid? [True, True] Translation: X:74.30, Y:-15.94, Z:-8.32 [[ 8.84745298e-01 4.60576513e-01 7.13794999e-02 7.42963024e+01] [-4.59006364e-01 8.87619586e-01 -3.80082770e-02 -1.59387179e+01] [-8.08635618e-02 8.63999666e-04 9.96724805e-01 -8.32089297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72964924600001 meters 0.06032609409871167 Centerline is valid? [True, True] Translation: X:74.32, Y:-15.95, Z:-8.32 [[ 8.84289797e-01 4.61391954e-01 7.17566685e-02 7.43249463e+01] [-4.59806205e-01 8.87196036e-01 -3.82288812e-02 -1.59524100e+01] [-8.13007300e-02 8.11248154e-04 9.96689286e-01 -8.32152948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75964924600001 meters 0.060291920916944144 Centerline is valid? [True, True] Translation: X:74.35, Y:-15.97, Z:-8.32 [[ 8.83900087e-01 4.62129070e-01 7.18147584e-02 7.43542040e+01] [-4.60541497e-01 8.86812349e-01 -3.82803868e-02 -1.59679237e+01] [-8.13766941e-02 7.62360845e-04 9.96683125e-01 -8.32439820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78964924600001 meters 0.060211316858333405 Centerline is valid? [True, True] Translation: X:74.38, Y:-15.98, Z:-8.33 [[ 8.83654709e-01 4.62351812e-01 7.33836342e-02 7.43827140e+01] [-4.60692539e-01 8.86696222e-01 -3.91432540e-02 -1.59829239e+01] [-8.31669457e-02 7.81827971e-04 9.96535322e-01 -8.32778609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81964924600001 meters 0.060333442443717536 Centerline is valid? [True, True] Translation: X:74.41, Y:-16.00, Z:-8.33 [[ 8.83618032e-01 4.62451657e-01 7.31958873e-02 7.44125299e+01] [-4.60799510e-01 8.86644147e-01 -3.90636595e-02 -1.59969245e+01] [-8.29637591e-02 7.88724996e-04 9.96552253e-01 -8.33264923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84964924600001 meters 0.06036535161947007 Centerline is valid? [True, True] Translation: X:74.44, Y:-16.01, Z:-8.34 [[ 8.82843033e-01 4.63877827e-01 7.35223900e-02 7.44407064e+01] [-4.62213425e-01 8.85898919e-01 -3.92664568e-02 -1.60098939e+01] [-8.33482445e-02 6.83082160e-04 9.96520247e-01 -8.33693966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87964924600001 meters 0.06040688770766099 Centerline is valid? [True, True] Translation: X:74.47, Y:-16.02, Z:-8.34 [[ 8.82417771e-01 4.64699502e-01 7.34387495e-02 7.44691330e+01] [-4.63040959e-01 8.85468236e-01 -3.92310295e-02 -1.60242725e+01] [-8.32583198e-02 6.13008683e-04 9.96527810e-01 -8.34065538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90964924600001 meters 0.06029297861592301 Centerline is valid? [True, True] Translation: X:74.50, Y:-16.04, Z:-8.34 [[ 8.82082745e-01 4.65382165e-01 7.31400871e-02 7.44970827e+01] [-4.63737557e-01 8.85109666e-01 -3.90942284e-02 -1.60386835e+01] [-8.29307547e-02 5.66539061e-04 9.96555151e-01 -8.34400883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93964924600002 meters 0.06016951284869862 Centerline is valid? [True, True] Translation: X:74.53, Y:-16.05, Z:-8.35 [[ 8.80844288e-01 4.67588615e-01 7.39880277e-02 7.45255583e+01] [-4.65911310e-01 8.83946118e-01 -3.95716093e-02 -1.60511419e+01] [-8.39046638e-02 3.84567131e-04 9.96473712e-01 -8.34796637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96964924600002 meters 0.06025513214873154 Centerline is valid? [True, True] Translation: X:74.55, Y:-16.06, Z:-8.35 [[ 8.80104509e-01 4.69146474e-01 7.29221450e-02 7.45544153e+01] [-4.67520994e-01 8.83120334e-01 -3.90204581e-02 -1.60634356e+01] [-8.27053394e-02 2.49447410e-04 9.96574014e-01 -8.35240385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.999649246 meters 0.06032792469248249 Centerline is valid? [True, True] Translation: X:74.58, Y:-16.08, Z:-8.36 [[ 8.79074806e-01 4.71123040e-01 7.25986732e-02 7.45830726e+01] [-4.69517188e-01 8.82067500e-01 -3.88655972e-02 -1.60756001e+01] [-8.23474085e-02 7.94423309e-05 9.96603682e-01 -8.35764395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.029649246 meters 0.06054498821564173 Centerline is valid? [True, True] Translation: X:74.61, Y:-16.08, Z:-8.36 [[ 8.77195085e-01 4.74670863e-01 7.22243358e-02 7.46128229e+01] [-4.73091667e-01 8.80163347e-01 -3.86879434e-02 -1.60839015e+01] [-8.19332527e-02 -2.31857619e-04 9.96637792e-01 -8.36413684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.059649246 meters 0.06071580361167564 Centerline is valid? [True, True] Translation: X:74.64, Y:-16.10, Z:-8.37 [[ 8.76025418e-01 4.76957921e-01 7.13485058e-02 7.46423111e+01] [-4.75422971e-01 8.78926027e-01 -3.82365965e-02 -1.60960927e+01] [-8.09473063e-02 -4.24488129e-04 9.96718292e-01 -8.36793002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08964924600001 meters 0.06061252527900144 Centerline is valid? [True, True] Translation: X:74.67, Y:-16.11, Z:-8.37 [[ 8.75787018e-01 4.77262594e-01 7.22323786e-02 7.46708083e+01] [-4.75688656e-01 8.78760617e-01 -3.87308636e-02 -1.61112116e+01] [-8.19597620e-02 -4.40135600e-04 9.96635542e-01 -8.37006179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11964924600001 meters 0.060310883172869714 Centerline is valid? [True, True] Translation: X:74.70, Y:-16.13, Z:-8.37 [[ 8.75510965e-01 4.77627258e-01 7.31625133e-02 7.46988880e+01] [-4.76012023e-01 8.78562456e-01 -3.92500342e-02 -1.61269109e+01] [-8.30247235e-02 -4.62400621e-04 9.96547380e-01 -8.37105183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14964924600001 meters 0.06004630786512371 Centerline is valid? [True, True] Translation: X:74.73, Y:-16.14, Z:-8.37 [[ 8.76723627e-01 4.75184958e-01 7.45314558e-02 7.47257816e+01] [-4.73497904e-01 8.79885907e-01 -4.00065724e-02 -1.61439771e+01] [-8.45896990e-02 -2.15780864e-04 9.96415845e-01 -8.37213772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17964924600001 meters 0.060086355056794195 Centerline is valid? [True, True] Translation: X:74.75, Y:-16.16, Z:-8.38 [[ 8.77580313e-01 4.73653508e-01 7.41966832e-02 7.47533222e+01] [-4.71974330e-01 8.80711276e-01 -3.98482168e-02 -1.61612554e+01] [-8.42201032e-02 -4.89191988e-05 9.96447175e-01 -8.37520204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20964924600001 meters 0.06007643851143982 Centerline is valid? [True, True] Translation: X:74.78, Y:-16.18, Z:-8.38 [[ 8.77582851e-01 4.73430250e-01 7.55786923e-02 7.47812979e+01] [-4.71684625e-01 8.80831311e-01 -4.06179288e-02 -1.61764154e+01] [-8.58018348e-02 -3.70935431e-06 9.96312223e-01 -8.37819519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23964924600001 meters 0.06015412613095684 Centerline is valid? [True, True] Translation: X:74.81, Y:-16.19, Z:-8.38 [[ 8.77415085e-01 4.73771433e-01 7.53883108e-02 7.48089950e+01] [-4.72033979e-01 8.80647846e-01 -4.05375588e-02 -1.61906313e+01] [-8.55960909e-02 -1.75786829e-05 9.96329920e-01 -8.38258747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26964924600001 meters 0.0600989499147283 Centerline is valid? [True, True] Translation: X:74.84, Y:-16.20, Z:-8.39 [[ 8.76862883e-01 4.74805045e-01 7.53103755e-02 7.48372260e+01] [-4.73072767e-01 8.80090995e-01 -4.05215645e-02 -1.62042534e+01] [-8.55198266e-02 -9.54318500e-05 9.96336464e-01 -8.38659807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29964924600002 meters 0.0600000136228844 Centerline is valid? [True, True] Translation: X:74.87, Y:-16.22, Z:-8.39 [[ 8.76783861e-01 4.74891307e-01 7.56855877e-02 7.48653218e+01] [-4.73140793e-01 8.80044452e-01 -4.07376019e-02 -1.62206177e+01] [-8.59526146e-02 -9.18670602e-05 9.96299222e-01 -8.38727539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32964924600002 meters 0.0599666142812564 Centerline is valid? [True, True] Translation: X:74.89, Y:-16.24, Z:-8.39 [[ 8.76616645e-01 4.75152829e-01 7.59805642e-02 7.48935591e+01] [-4.73387639e-01 8.79903278e-01 -4.09189912e-02 -1.62364243e+01] [-8.62983220e-02 -9.79911522e-05 9.96269336e-01 -8.38963686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35964924600002 meters 0.060183995008973125 Centerline is valid? [True, True] Translation: X:74.92, Y:-16.25, Z:-8.40 [[ 8.76164029e-01 4.76123384e-01 7.51206886e-02 7.49217581e+01] [-4.74399256e-01 8.79378471e-01 -4.04827239e-02 -1.62506200e+01] [-8.53342877e-02 -1.67692287e-04 9.96352363e-01 -8.39529230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.389649246 meters 0.06042434898584843 Centerline is valid? [True, True] Translation: X:74.95, Y:-16.26, Z:-8.40 [[ 8.75517437e-01 4.77397042e-01 7.45740044e-02 7.49495650e+01] [-4.75700614e-01 8.78687653e-01 -4.02111207e-02 -1.62630945e+01] [-8.47239270e-02 -2.69362317e-04 9.96404428e-01 -8.40142469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.419649246 meters 0.060561607944843415 Centerline is valid? [True, True] Translation: X:74.98, Y:-16.28, Z:-8.41 [[ 8.74966278e-01 4.78459459e-01 7.42331405e-02 7.49769421e+01] [-4.76780596e-01 8.78109573e-01 -4.00479907e-02 -1.62765743e+01] [-8.43461713e-02 -3.52279584e-04 9.96436450e-01 -8.40714372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.449649246 meters 0.060882525450953205 Centerline is valid? [True, True] Translation: X:75.01, Y:-16.29, Z:-8.41 [[ 8.73347298e-01 4.81466069e-01 7.38574450e-02 7.50062481e+01] [-4.79813138e-01 8.76464511e-01 -3.98661911e-02 -1.62864794e+01] [-8.39276478e-02 -6.20742204e-04 9.96471658e-01 -8.41041832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47964924600001 meters 0.060819131497840004 Centerline is valid? [True, True] Translation: X:75.04, Y:-16.30, Z:-8.41 [[ 8.72414484e-01 4.83193046e-01 7.36033244e-02 7.50360295e+01] [-4.81556059e-01 8.75513501e-01 -3.97475893e-02 -1.62995230e+01] [-8.36464630e-02 -7.67754265e-04 9.96495198e-01 -8.41099167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50964924600001 meters 0.060819131497840004 Centerline is valid? [True, True] Translation: X:75.06, Y:-16.31, Z:-8.41 [[ 8.72288144e-01 4.83422417e-01 7.35945714e-02 7.50642425e+01] [-4.81784878e-01 8.75386870e-01 -3.97637883e-02 -1.63149734e+01] [-8.36464281e-02 -7.71270520e-04 9.96495198e-01 -8.41448842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53964924600001 meters 0.06126747548745633 Centerline is valid? [True, True] Translation: X:75.09, Y:-16.33, Z:-8.42 [[ 8.70555734e-01 4.86382739e-01 7.45958798e-02 7.50948977e+01] [-4.84708856e-01 8.73745235e-01 -4.03310019e-02 -1.63253937e+01] [-8.47940977e-02 -1.04689857e-03 9.96397945e-01 -8.41859362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56964924600001 meters 0.0614973619379359 Centerline is valid? [True, True] Translation: X:75.12, Y:-16.34, Z:-8.42 [[ 8.69815973e-01 4.87807901e-01 7.39163431e-02 7.51239125e+01] [-4.86167574e-01 8.72950239e-01 -3.99871248e-02 -1.63379375e+01] [-8.40313248e-02 -1.15428940e-03 9.96462445e-01 -8.42252730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59964924600001 meters 0.06162014240206453 Centerline is valid? [True, True] Translation: X:75.15, Y:-16.35, Z:-8.42 [[ 8.68819775e-01 4.89552834e-01 7.40960284e-02 7.51527139e+01] [-4.87909067e-01 8.71972656e-01 -4.01052376e-02 -1.63523525e+01] [-8.42433434e-02 -1.30790056e-03 9.96444353e-01 -8.42482978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62964924600001 meters 0.06168595449794559 Centerline is valid? [True, True] Translation: X:75.18, Y:-16.37, Z:-8.43 [[ 8.68427127e-01 4.90152295e-01 7.47332110e-02 7.51810572e+01] [-4.88480043e-01 8.71635757e-01 -4.04765944e-02 -1.63672602e+01] [-8.49798346e-02 -1.35470959e-03 9.96381750e-01 -8.42785686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65964924600001 meters 0.06185005242828959 Centerline is valid? [True, True] Translation: X:75.21, Y:-16.38, Z:-8.43 [[ 8.68139136e-01 4.90840072e-01 7.35558622e-02 7.52098294e+01] [-4.89220867e-01 8.71248596e-01 -3.98600965e-02 -1.63832074e+01] [-8.36503743e-02 -1.38095295e-03 9.96494209e-01 -8.43255785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68964924600002 meters 0.06155529066108506 Centerline is valid? [True, True] Translation: X:75.24, Y:-16.40, Z:-8.43 [[ 8.68183818e-01 4.90774499e-01 7.34659809e-02 7.52379539e+01] [-4.89156911e-01 8.71285583e-01 -3.98365355e-02 -1.63992850e+01] [-8.35606057e-02 -1.35095688e-03 9.96501781e-01 -8.43450617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71964924600002 meters 0.06158371422302334 Centerline is valid? [True, True] Translation: X:75.26, Y:-16.41, Z:-8.44 [[ 8.68557973e-01 4.89970437e-01 7.44044262e-02 7.52645141e+01] [-4.88305833e-01 8.71738132e-01 -4.03737919e-02 -1.64138447e+01] [-8.46431400e-02 -1.26513655e-03 9.96410527e-01 -8.43968187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.749649246 meters 0.061354246426191146 Centerline is valid? [True, True] Translation: X:75.29, Y:-16.43, Z:-8.44 [[ 8.68657027e-01 4.89798644e-01 7.43791454e-02 7.52920426e+01] [-4.88132836e-01 8.71834718e-01 -4.03801949e-02 -1.64316733e+01] [-8.46244860e-02 -1.23036306e-03 9.96412155e-01 -8.44166829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.779649246 meters 0.06165500263645591 Centerline is valid? [True, True] Translation: X:75.32, Y:-16.45, Z:-8.45 [[ 8.68785124e-01 4.89628190e-01 7.40043493e-02 7.53193000e+01] [-4.87976279e-01 8.71930521e-01 -4.02034493e-02 -1.64473523e+01] [-8.42113929e-02 -1.18420829e-03 9.96447208e-01 -8.44646010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.809649246 meters 0.061345318491718356 Centerline is valid? [True, True] Translation: X:75.35, Y:-16.46, Z:-8.45 [[ 8.68837282e-01 4.89489436e-01 7.43092808e-02 7.53461150e+01] [-4.87821221e-01 8.72008464e-01 -4.03942498e-02 -1.64643267e+01] [-8.45708803e-02 -1.15361391e-03 9.96416798e-01 -8.44851191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83964924600001 meters 0.06109298645831988 Centerline is valid? [True, True] Translation: X:75.37, Y:-16.48, Z:-8.45 [[ 8.69728858e-01 4.87683730e-01 7.57383202e-02 7.53718826e+01] [-4.85941736e-01 8.73019832e-01 -4.11946841e-02 -1.64823381e+01] [-8.62110327e-02 -9.76205218e-04 9.96276420e-01 -8.45165694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86964924600001 meters 0.06113100303867061 Centerline is valid? [True, True] Translation: X:75.40, Y:-16.50, Z:-8.46 [[ 8.69867849e-01 4.87595568e-01 7.47026576e-02 7.53993870e+01] [-4.85898820e-01 8.73069119e-01 -4.06527903e-02 -1.64994802e+01] [-8.50427039e-02 -9.35377939e-04 9.96376868e-01 -8.45551245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89964924600001 meters 0.060970111324775665 Centerline is valid? [True, True] Translation: X:75.43, Y:-16.52, Z:-8.46 [[ 8.70415949e-01 4.86592210e-01 7.48605188e-02 7.54263298e+01] [-4.84882316e-01 8.73628843e-01 -4.07649972e-02 -1.65168398e+01] [-8.52362385e-02 -8.16038031e-04 9.96360436e-01 -8.45857287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92964924600001 meters 0.06093351578889041 Centerline is valid? [True, True] Translation: X:75.45, Y:-16.53, Z:-8.46 [[ 8.70188272e-01 4.87053735e-01 7.45052369e-02 7.54537375e+01] [-4.85359656e-01 8.73371606e-01 -4.05961011e-02 -1.65333188e+01] [-8.48432411e-02 -8.35585073e-04 9.96393961e-01 -8.46153604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95964924600001 meters 0.060553835881351596 Centerline is valid? [True, True] Translation: X:75.48, Y:-16.55, Z:-8.46 [[ 8.71800859e-01 4.84009870e-01 7.54831641e-02 7.54782079e+01] [-4.82257336e-01 8.75062381e-01 -4.11544695e-02 -1.65542356e+01] [-8.59716467e-02 -5.23807817e-04 9.96297446e-01 -8.46281334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98964924600001 meters 0.060274349644408955 Centerline is valid? [True, True] Translation: X:75.50, Y:-16.57, Z:-8.47 [[ 8.72291790e-01 4.82982738e-01 7.63852649e-02 7.55045040e+01] [-4.81181838e-01 8.75629779e-01 -4.16716717e-02 -1.65710425e+01] [-8.70119108e-02 -4.05345069e-04 9.96207189e-01 -8.46579926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01964924600001 meters 0.060476239402105336 Centerline is valid? [True, True] Translation: X:75.53, Y:-16.59, Z:-8.47 [[ 8.72030059e-01 4.83428575e-01 7.65531742e-02 7.55334028e+01] [-4.81620575e-01 8.75383697e-01 -4.17732526e-02 -1.65863923e+01] [-8.72077846e-02 -4.42051874e-04 9.96190046e-01 -8.47218138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04964924600002 meters 0.06061097687533732 Centerline is valid? [True, True] Translation: X:75.56, Y:-16.60, Z:-8.48 [[ 8.72207269e-01 4.83163396e-01 7.62076892e-02 7.55617721e+01] [-4.81368497e-01 8.75530113e-01 -4.16099855e-02 -1.66029469e+01] [-8.68265487e-02 -3.91448945e-04 9.96223367e-01 -8.47668986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07964924600002 meters 0.06049374848483598 Centerline is valid? [True, True] Translation: X:75.59, Y:-16.62, Z:-8.48 [[ 8.72477335e-01 4.82852529e-01 7.50781972e-02 7.55885352e+01] [-4.81107234e-01 8.75701618e-01 -4.10183523e-02 -1.66194944e+01] [-8.55519139e-02 -3.33081005e-04 9.96333659e-01 -8.48203888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10964924600002 meters 0.06042817973306022 Centerline is valid? [True, True] Translation: X:75.62, Y:-16.64, Z:-8.48 [[ 8.72469983e-01 4.82786048e-01 7.55894185e-02 7.56167632e+01] [-4.81014540e-01 8.75738281e-01 -4.13216039e-02 -1.66358593e+01] [-8.61460413e-02 -3.07750341e-04 9.96282472e-01 -8.48248561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.139649246 meters 0.060201907220115876 Centerline is valid? [True, True] Translation: X:75.64, Y:-16.65, Z:-8.48 [[ 8.72062248e-01 4.83299575e-01 7.69997242e-02 7.56439314e+01] [-4.81461074e-01 8.75454969e-01 -4.21168744e-02 -1.66518257e+01] [-8.77648586e-02 -3.43833761e-04 9.96141160e-01 -8.48313016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.169649246 meters 0.06028441617352673 Centerline is valid? [True, True] Translation: X:75.67, Y:-16.67, Z:-8.49 [[ 8.71845114e-01 4.83611512e-01 7.74984013e-02 7.56730822e+01] [-4.81748520e-01 8.75282684e-01 -4.24097528e-02 -1.66686876e+01] [-8.83428534e-02 -3.60004352e-04 9.96090062e-01 -8.48591172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.199649246 meters 0.060249088564237545 Centerline is valid? [True, True] Translation: X:75.70, Y:-16.68, Z:-8.49 [[ 8.71360978e-01 4.84344760e-01 7.83594271e-02 7.57011671e+01] [-4.82440154e-01 8.74877125e-01 -4.29128614e-02 -1.66828925e+01] [-8.93394899e-02 -4.11141139e-04 9.96001148e-01 -8.48934843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22964924600001 meters 0.060242148426284656 Centerline is valid? [True, True] Translation: X:75.73, Y:-16.70, Z:-8.49 [[ 8.71063927e-01 4.84827780e-01 7.86743882e-02 7.57301244e+01] [-4.82907721e-01 8.74609529e-01 -4.31080635e-02 -1.66976824e+01] [-8.97093563e-02 -4.42590409e-04 9.95967889e-01 -8.49368852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25964924600001 meters 0.06048170200001173 Centerline is valid? [True, True] Translation: X:75.76, Y:-16.71, Z:-8.50 [[ 8.70649523e-01 4.85707107e-01 7.78332423e-02 7.57596250e+01] [-4.83829243e-01 8.74121473e-01 -4.26721646e-02 -1.67135258e+01] [-8.87618821e-02 -5.05498936e-04 9.96052746e-01 -8.49733686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28964924600001 meters 0.060476753404112515 Centerline is valid? [True, True] Translation: X:75.79, Y:-16.73, Z:-8.50 [[ 8.70703735e-01 4.85523636e-01 7.83696688e-02 7.57874972e+01] [-4.83616161e-01 8.74223418e-01 -4.29979462e-02 -1.67297165e+01] [-8.93891189e-02 -4.62366052e-04 9.95996673e-01 -8.50026705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31964924600001 meters 0.060213492539511485 Centerline is valid? [True, True] Translation: X:75.81, Y:-16.75, Z:-8.50 [[ 8.70782628e-01 4.85335644e-01 7.86570312e-02 7.58137710e+01] [-4.83410921e-01 8.74327819e-01 -4.31826992e-02 -1.67456732e+01] [-8.97301337e-02 -4.20923627e-04 9.95966026e-01 -8.50344312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34964924600001 meters 0.060135861306255846 Centerline is valid? [True, True] Translation: X:75.84, Y:-16.76, Z:-8.51 [[ 8.71032816e-01 4.84734048e-01 7.95910581e-02 7.58414785e+01] [-4.82758771e-01 8.74661525e-01 -4.37171073e-02 -1.67618068e+01] [-9.08064067e-02 -3.44246275e-04 9.95868504e-01 -8.50622641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37964924600001 meters 0.060109589336683165 Centerline is valid? [True, True] Translation: X:75.87, Y:-16.78, Z:-8.51 [[ 8.70665323e-01 4.85537465e-01 7.87100074e-02 7.58693897e+01] [-4.83606758e-01 8.74215768e-01 -4.32584618e-02 -1.67774769e+01] [-8.98131335e-02 -4.01048882e-04 9.95958553e-01 -8.50804609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40964924600001 meters 0.06012016991085042 Centerline is valid? [True, True] Translation: X:75.90, Y:-16.79, Z:-8.51 [[ 8.70844732e-01 4.85225152e-01 7.86511573e-02 7.58975620e+01] [-4.83293918e-01 8.74389176e-01 -4.32499498e-02 -1.67943847e+01] [-8.97576841e-02 -3.47634958e-04 9.95963572e-01 -8.51270619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43964924600002 meters 0.06014509511481171 Centerline is valid? [True, True] Translation: X:75.92, Y:-16.82, Z:-8.52 [[ 8.73234066e-01 4.80941468e-01 7.84701903e-02 7.59229009e+01] [-4.78999298e-01 8.76752696e-01 -4.31784896e-02 -1.68163471e+01] [-8.95652771e-02 1.17761943e-04 9.95980947e-01 -8.51517819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46964924600002 meters 0.06035706978728136 Centerline is valid? [True, True] Translation: X:75.95, Y:-16.83, Z:-8.52 [[ 8.74532543e-01 4.78594889e-01 7.83566434e-02 7.59479489e+01] [-4.76646397e-01 8.78035754e-01 -4.31442558e-02 -1.68349470e+01] [-8.94485548e-02 3.82644026e-04 9.95991370e-01 -8.52291822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49964924600002 meters 0.06085760023655095 Centerline is valid? [True, True] Translation: X:75.97, Y:-16.86, Z:-8.52 [[ 8.78617507e-01 4.71006309e-01 7.86405297e-02 7.59732252e+01] [-4.69010641e-01 8.82129044e-01 -4.33286102e-02 -1.68564683e+01] [-8.97791440e-02 1.18603028e-03 9.95960993e-01 -8.52236131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.529649246 meters 0.06068720980376429 Centerline is valid? [True, True] Translation: X:76.00, Y:-16.87, Z:-8.52 [[ 8.78432497e-01 4.71440062e-01 7.81064391e-02 7.60029436e+01] [-4.69471950e-01 8.81897360e-01 -4.30480444e-02 -1.68709715e+01] [-8.91764352e-02 1.14601889e-03 9.96015186e-01 -8.52483061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.559649246 meters 0.06056837030851726 Centerline is valid? [True, True] Translation: X:76.03, Y:-16.89, Z:-8.53 [[ 8.77835574e-01 4.72733056e-01 7.69945708e-02 7.60312000e+01] [-4.70823129e-01 8.81205088e-01 -4.24638011e-02 -1.68854509e+01] [-8.79220499e-02 1.02541048e-03 9.96126830e-01 -8.52992433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58964924600001 meters 0.06047608199561893 Centerline is valid? [True, True] Translation: X:76.06, Y:-16.90, Z:-8.53 [[ 8.77244579e-01 4.73615551e-01 7.82959667e-02 7.60603721e+01] [-4.71641433e-01 8.80731148e-01 -4.32088415e-02 -1.69004282e+01] [-8.94220759e-02 9.77100063e-04 9.95993342e-01 -8.53029242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61964924600001 meters 0.06047713754272143 Centerline is valid? [True, True] Translation: X:76.09, Y:-16.92, Z:-8.53 [[ 8.76832784e-01 4.74300634e-01 7.87602483e-02 7.60879299e+01] [-4.72303055e-01 8.80362441e-01 -4.34947932e-02 -1.69164191e+01] [-8.99671724e-02 9.38954705e-04 9.95944289e-01 -8.53419246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64964924600001 meters 0.06034003524957854 Centerline is valid? [True, True] Translation: X:76.12, Y:-16.93, Z:-8.54 [[ 8.76237586e-01 4.75308458e-01 7.93067668e-02 7.61178541e+01] [-4.73284535e-01 8.79818799e-01 -4.38249891e-02 -1.69308075e+01] [-9.06059723e-02 8.66436366e-04 9.95886443e-01 -8.53671637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67964924600001 meters 0.060354577506956684 Centerline is valid? [True, True] Translation: X:76.15, Y:-16.94, Z:-8.54 [[ 8.75312782e-01 4.76914958e-01 7.98727526e-02 7.61478229e+01] [-4.74865927e-01 8.78949138e-01 -4.41674514e-02 -1.69424243e+01] [-9.12682053e-02 7.31486049e-04 9.95826079e-01 -8.54148963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70964924600001 meters 0.06026837335147519 Centerline is valid? [True, True] Translation: X:76.18, Y:-16.96, Z:-8.54 [[ 8.74732026e-01 4.77906732e-01 8.03059049e-02 7.61776995e+01] [-4.75837266e-01 8.78410342e-01 -4.44316062e-02 -1.69558092e+01] [-9.17757011e-02 6.53206603e-04 9.95779491e-01 -8.54377233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73964924600001 meters 0.06003651245711861 Centerline is valid? [True, True] Translation: X:76.21, Y:-16.97, Z:-8.55 [[ 8.72808642e-01 4.81235477e-01 8.13479633e-02 7.62080316e+01] [-4.79123426e-01 8.76591298e-01 -4.50381875e-02 -1.69670064e+01] [-9.29828904e-02 3.34004339e-04 9.95667651e-01 -8.54708685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76964924600001 meters 0.059798551109233794 Centerline is valid? [True, True] Translation: X:76.24, Y:-16.98, Z:-8.55 [[ 8.71650272e-01 4.83466835e-01 8.05333617e-02 7.62382411e+01] [-4.81403909e-01 8.75362671e-01 -4.46146910e-02 -1.69803161e+01] [-9.20656220e-02 1.19332403e-04 9.95752935e-01 -8.55112971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79964924600002 meters 0.05992360384400535 Centerline is valid? [True, True] Translation: X:76.27, Y:-16.99, Z:-8.56 [[ 8.69020141e-01 4.88203847e-01 8.03803348e-02 7.62706250e+01] [-4.86166232e-01 8.72729556e-01 -4.45591441e-02 -1.69885952e+01] [-9.19042395e-02 -3.55410811e-04 9.95767786e-01 -8.55527158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82964924600002 meters 0.06002115283239515 Centerline is valid? [True, True] Translation: X:76.30, Y:-17.00, Z:-8.56 [[ 8.67607656e-01 4.90746022e-01 8.01579509e-02 7.63012586e+01] [-4.88727835e-01 8.71302465e-01 -4.44647980e-02 -1.70003721e+01] [-9.16627429e-02 -5.97422699e-04 9.95789930e-01 -8.55954158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85964924600002 meters 0.06047246871558306 Centerline is valid? [True, True] Translation: X:76.33, Y:-17.01, Z:-8.57 [[ 8.64966817e-01 4.95498510e-01 7.94583603e-02 7.63329397e+01] [-4.93532534e-01 8.68608137e-01 -4.41082964e-02 -1.70077568e+01] [-9.08737735e-02 -1.06307315e-03 9.95861851e-01 -8.56567850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.889649246 meters 0.06094510797133408 Centerline is valid? [True, True] Translation: X:76.36, Y:-17.02, Z:-8.57 [[ 8.62815226e-01 4.99209270e-01 7.96240645e-02 7.63631674e+01] [-4.97248495e-01 8.66480264e-01 -4.42254167e-02 -1.70160147e+01] [-9.10704184e-02 -1.43458335e-03 9.95843422e-01 -8.57015775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.919649246 meters 0.06118100685593311 Centerline is valid? [True, True] Translation: X:76.39, Y:-17.03, Z:-8.57 [[ 8.61957816e-01 5.00760125e-01 7.91708309e-02 7.63921627e+01] [-4.98826148e-01 8.65584677e-01 -4.39959197e-02 -1.70297544e+01] [-9.05604603e-02 -1.56985382e-03 9.95889722e-01 -8.57300767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.949649246 meters 0.061827337769281905 Centerline is valid? [True, True] Translation: X:76.42, Y:-17.04, Z:-8.58 [[ 8.60480149e-01 5.03287848e-01 7.92165106e-02 7.64206778e+01] [-5.01359998e-01 8.64116919e-01 -4.40466055e-02 -1.70416922e+01] [-9.06204483e-02 -1.81475990e-03 9.95883849e-01 -8.57690498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97964924600001 meters 0.06195724754864421 Centerline is valid? [True, True] Translation: X:76.45, Y:-17.06, Z:-8.58 [[ 8.59994523e-01 5.04100753e-01 7.93211897e-02 7.64488557e+01] [-5.02169167e-01 8.63642799e-01 -4.41275716e-02 -1.70575965e+01] [-9.07499164e-02 -1.88318590e-03 9.95871933e-01 -8.57981168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00964924600001 meters 0.06194085734454138 Centerline is valid? [True, True] Translation: X:76.48, Y:-17.07, Z:-8.58 [[ 8.59471077e-01 5.04989854e-01 7.93392360e-02 7.64764969e+01] [-5.03058981e-01 8.63123061e-01 -4.41615589e-02 -1.70743009e+01] [-9.07806635e-02 -1.95673263e-03 9.95868989e-01 -8.58276495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03964924600001 meters 0.062409550348157525 Centerline is valid? [True, True] Translation: X:76.50, Y:-17.09, Z:-8.59 [[ 8.58535089e-01 5.06640604e-01 7.89480821e-02 7.65042814e+01] [-5.04733478e-01 8.62154795e-01 -4.39684563e-02 -1.70878814e+01] [-9.03416728e-02 -2.09927759e-03 9.95908618e-01 -8.58642504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06964924600001 meters 0.06224462771635486 Centerline is valid? [True, True] Translation: X:76.53, Y:-17.10, Z:-8.59 [[ 8.57658429e-01 5.08187911e-01 7.85306668e-02 7.65319266e+01] [-5.06305449e-01 8.61243327e-01 -4.37575604e-02 -1.71037244e+01] [-8.98710759e-02 -2.23146404e-03 9.95950908e-01 -8.59003190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09964924600001 meters 0.06294503873609811 Centerline is valid? [True, True] Translation: X:76.56, Y:-17.12, Z:-8.60 [[ 8.57421063e-01 5.08625383e-01 7.82901038e-02 7.65603888e+01] [-5.06754000e-01 8.60984997e-01 -4.36488121e-02 -1.71168290e+01] [-8.96074985e-02 -2.24841233e-03 9.95974619e-01 -8.59633837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12964924600001 meters 0.062178768785456605 Centerline is valid? [True, True] Translation: X:76.59, Y:-17.14, Z:-8.60 [[ 8.57863091e-01 5.07952181e-01 7.78170878e-02 7.65861697e+01] [-5.06098247e-01 8.61382606e-01 -4.34116318e-02 -1.71360174e+01] [-8.90813190e-02 -2.14185510e-03 9.96022054e-01 -8.59979932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15964924600001 meters 0.061995079993252517 Centerline is valid? [True, True] Translation: X:76.61, Y:-17.15, Z:-8.60 [[ 8.58357303e-01 5.07191562e-01 7.73269619e-02 7.66129452e+01] [-5.05355713e-01 8.61830960e-01 -4.31624864e-02 -1.71538458e+01] [-8.85344187e-02 -2.02878651e-03 9.96071052e-01 -8.60331732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18964924600002 meters 0.06162645654057577 Centerline is valid? [True, True] Translation: X:76.64, Y:-17.17, Z:-8.61 [[ 8.58723679e-01 5.06566499e-01 7.73564780e-02 7.66392986e+01] [-5.04724555e-01 8.62198702e-01 -4.32032606e-02 -1.71717528e+01] [-8.85819794e-02 -1.94405098e-03 9.96066993e-01 -8.60602510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21964924600002 meters 0.06154398490487354 Centerline is valid? [True, True] Translation: X:76.67, Y:-17.19, Z:-8.61 [[ 8.58697724e-01 5.06718837e-01 7.66435817e-02 7.66668595e+01] [-5.04909313e-01 8.62109232e-01 -4.28282330e-02 -1.71904358e+01] [-8.77770118e-02 -1.92155199e-03 9.96138296e-01 -8.60849950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24964924600002 meters 0.06130649462395995 Centerline is valid? [True, True] Translation: X:76.69, Y:-17.21, Z:-8.61 [[ 8.58900087e-01 5.06428480e-01 7.62943986e-02 7.66945531e+01] [-5.04631853e-01 8.62279965e-01 -4.26609232e-02 -1.72077423e+01] [-8.73918378e-02 -1.85911309e-03 9.96172279e-01 -8.61254095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.279649246 meters 0.061004542833667116 Centerline is valid? [True, True] Translation: X:76.72, Y:-17.23, Z:-8.62 [[ 8.59827119e-01 5.04753889e-01 7.69469788e-02 7.67210032e+01] [-5.02916842e-01 8.63261666e-01 -4.30574840e-02 -1.72266835e+01] [-8.81588096e-02 -1.67593913e-03 9.96105022e-01 -8.61544993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.309649246 meters 0.06077704499262813 Centerline is valid? [True, True] Translation: X:76.75, Y:-17.24, Z:-8.62 [[ 8.60504862e-01 5.03504432e-01 7.75543004e-02 7.67473371e+01] [-5.01632010e-01 8.63991254e-01 -4.34101254e-02 -1.72442127e+01] [-8.88634278e-02 -1.54909559e-03 9.96042615e-01 -8.61850221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33964924600001 meters 0.06056738684419044 Centerline is valid? [True, True] Translation: X:76.78, Y:-17.26, Z:-8.62 [[ 8.60898511e-01 5.02914573e-01 7.70109498e-02 7.67750023e+01] [-5.01063914e-01 8.64334893e-01 -4.31294118e-02 -1.72615480e+01] [-8.82536608e-02 -1.45736154e-03 9.96096967e-01 -8.62173654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36964924600001 meters 0.06042858052350109 Centerline is valid? [True, True] Translation: X:76.80, Y:-17.28, Z:-8.63 [[ 8.61115819e-01 5.02473091e-01 7.74618638e-02 7.68011937e+01] [-5.00596291e-01 8.64591722e-01 -4.34109067e-02 -1.72789020e+01] [-8.87856987e-02 -1.39530322e-03 9.96049774e-01 -8.62504415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39964924600001 meters 0.06042858052350109 Centerline is valid? [True, True] Translation: X:76.83, Y:-17.29, Z:-8.63 [[ 8.60979873e-01 5.02707541e-01 7.74518299e-02 7.68291585e+01] [-5.00830079e-01 8.64455419e-01 -4.34288004e-02 -1.72947839e+01] [-8.87856395e-02 -1.39888308e-03 9.96049775e-01 -8.62854074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42964924600001 meters 0.06044209657165638 Centerline is valid? [True, True] Translation: X:76.86, Y:-17.31, Z:-8.63 [[ 8.61138606e-01 5.02500780e-01 7.70277072e-02 7.68570456e+01] [-5.00640613e-01 8.64575707e-01 -4.32183184e-02 -1.73106989e+01] [-8.83135231e-02 -1.34623611e-03 9.96091818e-01 -8.63277819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45964924600001 meters 0.06049499622720129 Centerline is valid? [True, True] Translation: X:76.88, Y:-17.33, Z:-8.64 [[ 8.61063613e-01 5.02657448e-01 7.68436409e-02 7.68848234e+01] [-5.00804378e-01 8.64484648e-01 -4.31424107e-02 -1.73270959e+01] [-8.81160019e-02 -1.33527180e-03 9.96109325e-01 -8.63658593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48964924600001 meters 0.06043736338852038 Centerline is valid? [True, True] Translation: X:76.91, Y:-17.34, Z:-8.64 [[ 8.61540157e-01 5.01947635e-01 7.61388830e-02 7.69108910e+01] [-5.00123149e-01 8.64897144e-01 -4.27757733e-02 -1.73440876e+01] [-8.73235007e-02 -1.22577144e-03 9.96179253e-01 -8.64171795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51964924600001 meters 0.0603078403048721 Centerline is valid? [True, True] Translation: X:76.94, Y:-17.36, Z:-8.64 [[ 8.61904346e-01 5.01179264e-01 7.70729700e-02 7.69369505e+01] [-4.99305028e-01 8.65342724e-01 -4.33181165e-02 -1.73615246e+01] [-8.84046755e-02 -1.14684855e-03 9.96083981e-01 -8.64387561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54964924600002 meters 0.060238580179177284 Centerline is valid? [True, True] Translation: X:76.96, Y:-17.38, Z:-8.65 [[ 8.62141696e-01 5.00792847e-01 7.69299672e-02 7.69647343e+01] [-4.98922919e-01 8.65566477e-01 -4.32503628e-02 -1.73793275e+01] [-8.82474730e-02 -1.09418262e-03 9.96097980e-01 -8.64662965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57964924600002 meters 0.06015509152438483 Centerline is valid? [True, True] Translation: X:76.99, Y:-17.40, Z:-8.65 [[ 8.62088022e-01 5.00847547e-01 7.71749752e-02 7.69921276e+01] [-4.98963505e-01 8.65534845e-01 -4.34148848e-02 -1.73976422e+01] [-8.85418688e-02 -1.08004392e-03 9.96071870e-01 -8.64946577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60964924600002 meters 0.06011114908043581 Centerline is valid? [True, True] Translation: X:77.02, Y:-17.41, Z:-8.65 [[ 8.61933075e-01 5.01050275e-01 7.75886333e-02 7.70199034e+01] [-4.99144258e-01 8.65417501e-01 -4.36756080e-02 -1.74118767e+01] [-8.90302365e-02 -1.08246968e-03 9.96028336e-01 -8.65323785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.639649246 meters 0.060079982761240214 Centerline is valid? [True, True] Translation: X:77.05, Y:-17.43, Z:-8.65 [[ 8.61592671e-01 5.01501686e-01 7.84482543e-02 7.70480120e+01] [-4.99553029e-01 8.65155938e-01 -4.41811475e-02 -1.74281469e+01] [-9.00268931e-02 -1.12291025e-03 9.95938702e-01 -8.65446506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.669649246 meters 0.059882022078381114 Centerline is valid? [True, True] Translation: X:77.08, Y:-17.45, Z:-8.66 [[ 8.61830118e-01 5.00982492e-01 7.91542233e-02 7.70763746e+01] [-4.98994174e-01 8.65456772e-01 -4.46025769e-02 -1.74454734e+01] [-9.08496687e-02 -1.05765215e-03 9.95864057e-01 -8.65744243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.699649246 meters 0.060014578932497314 Centerline is valid? [True, True] Translation: X:77.10, Y:-17.46, Z:-8.66 [[ 8.61796786e-01 5.01120201e-01 7.86437781e-02 7.71048252e+01] [-4.99155404e-01 8.65377064e-01 -4.43443344e-02 -1.74604462e+01] [-9.02783636e-02 -1.03966196e-03 9.95916029e-01 -8.66233460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72964924600001 meters 0.05970544339106367 Centerline is valid? [True, True] Translation: X:77.13, Y:-17.48, Z:-8.67 [[ 8.62611697e-01 4.99727967e-01 7.85685615e-02 7.71308537e+01] [-4.97758432e-01 8.66181972e-01 -4.43321026e-02 -1.74784475e+01] [-9.02086630e-02 -8.66773660e-04 9.95922510e-01 -8.66578199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75964924600001 meters 0.05947381731569846 Centerline is valid? [True, True] Translation: X:77.16, Y:-17.50, Z:-8.67 [[ 8.64115319e-01 4.97202905e-01 7.80639937e-02 7.71559986e+01] [-4.95246229e-01 8.67634103e-01 -4.40708041e-02 -1.74986632e+01] [-8.96431150e-02 -5.78641590e-04 9.95973783e-01 -8.66834657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78964924600001 meters 0.05930116551780517 Centerline is valid? [True, True] Translation: X:77.18, Y:-17.52, Z:-8.67 [[ 8.65333797e-01 4.95083470e-01 7.80370317e-02 7.71817346e+01] [-4.93117351e-01 8.68845351e-01 -4.40798583e-02 -1.75173936e+01] [-8.96253214e-02 -3.37623212e-04 9.95975496e-01 -8.67127966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81964924600001 meters 0.05949817063991831 Centerline is valid? [True, True] Translation: X:77.21, Y:-17.53, Z:-8.68 [[ 8.65864954e-01 4.94240339e-01 7.74878592e-02 7.72092398e+01] [-4.92296467e-01 8.69325275e-01 -4.37921642e-02 -1.75324040e+01] [-8.90060086e-02 -2.28899105e-04 9.96031063e-01 -8.67873354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84964924600001 meters 0.05933048518709954 Centerline is valid? [True, True] Translation: X:77.24, Y:-17.55, Z:-8.68 [[ 8.65295964e-01 4.95264151e-01 7.73066272e-02 7.72388150e+01] [-4.93331331e-01 8.68742380e-01 -4.37135579e-02 -1.75476796e+01] [-8.88093015e-02 -3.12616008e-04 9.96048598e-01 -8.68022238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87964924600001 meters 0.059566678083633716 Centerline is valid? [True, True] Translation: X:77.27, Y:-17.56, Z:-8.69 [[ 8.64739091e-01 4.96229389e-01 7.73478984e-02 7.72675126e+01] [-4.94295722e-01 8.68191364e-01 -4.37663719e-02 -1.75610434e+01] [-8.88709373e-02 -3.86242582e-04 9.96043075e-01 -8.68720665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90964924600001 meters 0.059417552520199694 Centerline is valid? [True, True] Translation: X:77.30, Y:-17.58, Z:-8.69 [[ 8.64281821e-01 4.96873583e-01 7.83171510e-02 7.72961256e+01] [-4.94892265e-01 8.67822819e-01 -4.43305918e-02 -1.75771887e+01] [-8.99921107e-02 -4.44427552e-04 9.95942379e-01 -8.68834699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93964924600002 meters 0.05917084767964428 Centerline is valid? [True, True] Translation: X:77.32, Y:-17.59, Z:-8.69 [[ 8.63900749e-01 4.97568606e-01 7.81087550e-02 7.73240533e+01] [-4.95598341e-01 8.67424486e-01 -4.42385028e-02 -1.75935526e+01] [-8.97651368e-02 -4.92893655e-04 9.95962839e-01 -8.69112144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96964924600002 meters 0.05940975375474753 Centerline is valid? [True, True] Translation: X:77.35, Y:-17.61, Z:-8.69 [[ 8.63514438e-01 4.98362122e-01 7.73175993e-02 7.73523975e+01] [-4.96432452e-01 8.66968798e-01 -4.38169352e-02 -1.76095810e+01] [-8.88686470e-02 -5.46409280e-04 9.96043204e-01 -8.69405451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99964924600002 meters 0.05951054035155303 Centerline is valid? [True, True] Translation: X:77.38, Y:-17.62, Z:-8.70 [[ 8.63030859e-01 4.99440154e-01 7.57447595e-02 7.73802471e+01] [-4.97590224e-01 8.66348167e-01 -4.29514038e-02 -1.76232789e+01] [-8.70729892e-02 -6.21464954e-04 9.96201741e-01 -8.69945869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.029649246 meters 0.05964649458882975 Centerline is valid? [True, True] Translation: X:77.41, Y:-17.64, Z:-8.70 [[ 8.62618623e-01 5.00175924e-01 7.55854222e-02 7.74096770e+01] [-4.98334872e-01 8.65923545e-01 -4.28808691e-02 -1.76380799e+01] [-8.68991751e-02 -6.77015454e-04 9.96216882e-01 -8.70400958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.059649246 meters 0.05974954413365817 Centerline is valid? [True, True] Translation: X:77.44, Y:-17.65, Z:-8.71 [[ 8.62055344e-01 5.01321747e-01 7.44116234e-02 7.74381535e+01] [-4.99539666e-01 8.65260614e-01 -4.22396945e-02 -1.76533785e+01] [-8.55611244e-02 -7.58603057e-04 9.96332634e-01 -8.70697839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08964924600001 meters 0.05962845314236936 Centerline is valid? [True, True] Translation: X:77.47, Y:-17.67, Z:-8.71 [[ 8.61900415e-01 5.01497643e-01 7.50185900e-02 7.74663565e+01] [-4.99684496e-01 8.65158679e-01 -4.26129653e-02 -1.76693559e+01] [-8.62732859e-02 -7.57493882e-04 9.96271221e-01 -8.71039367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11964924600001 meters 0.05944669359485928 Centerline is valid? [True, True] Translation: X:77.49, Y:-17.69, Z:-8.71 [[ 8.61799445e-01 5.01663116e-01 7.50721899e-02 7.74942081e+01] [-4.99847325e-01 8.65062731e-01 -4.26511778e-02 -1.76861642e+01] [-8.63386763e-02 -7.67871992e-04 9.96265549e-01 -8.71380309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14964924600001 meters 0.0593940271573265 Centerline is valid? [True, True] Translation: X:77.52, Y:-17.70, Z:-8.72 [[ 8.61942239e-01 5.01368414e-01 7.54008658e-02 7.75208999e+01] [-4.99533014e-01 8.65233610e-01 -4.28668568e-02 -1.77028665e+01] [-8.67314514e-02 -7.16467243e-04 9.96231470e-01 -8.71783093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17964924600001 meters 0.05941152743389469 Centerline is valid? [True, True] Translation: X:77.55, Y:-17.72, Z:-8.72 [[ 8.61765277e-01 5.01606609e-01 7.58380958e-02 7.75473007e+01] [-4.99748739e-01 8.65095535e-01 -4.31383109e-02 -1.77204196e+01] [-8.72456599e-02 -7.24894278e-04 9.96186564e-01 -8.71929200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20964924600001 meters 0.05928991150960792 Centerline is valid? [True, True] Translation: X:77.58, Y:-17.74, Z:-8.72 [[ 8.61526677e-01 5.01999437e-01 7.59496606e-02 7.75753458e+01] [-5.00135713e-01 8.64867624e-01 -4.32233844e-02 -1.77381874e+01] [-8.73845172e-02 -7.47038952e-04 9.96174376e-01 -8.71962174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23964924600001 meters 0.0593437864401083 Centerline is valid? [True, True] Translation: X:77.60, Y:-17.75, Z:-8.72 [[ 8.60798088e-01 5.02939406e-01 7.79654192e-02 7.76032231e+01] [-5.00976422e-01 8.64321265e-01 -4.44001728e-02 -1.77511197e+01] [-8.97177663e-02 -8.39252916e-04 9.95966876e-01 -8.72359648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26964924600001 meters 0.05952315735042734 Centerline is valid? [True, True] Translation: X:77.63, Y:-17.76, Z:-8.73 [[ 8.59752986e-01 5.04693216e-01 7.81636712e-02 7.76323304e+01] [-5.02725432e-01 8.63298179e-01 -4.45353046e-02 -1.77643560e+01] [-8.99552212e-02 -1.00550428e-03 9.95945303e-01 -8.72796039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29964924600002 meters 0.059708831394515216 Centerline is valid? [True, True] Translation: X:77.66, Y:-17.78, Z:-8.73 [[ 8.58973474e-01 5.06219223e-01 7.68548648e-02 7.76617483e+01] [-5.04321128e-01 8.62404098e-01 -4.38106342e-02 -1.77788824e+01] [-8.84577355e-02 -1.12735950e-03 9.96079293e-01 -8.73275904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32964924600002 meters 0.059942672189762555 Centerline is valid? [True, True] Translation: X:77.69, Y:-17.79, Z:-8.74 [[ 8.59032298e-01 5.06195136e-01 7.63544067e-02 7.76893507e+01] [-5.04319263e-01 8.62418278e-01 -4.35522076e-02 -1.77940941e+01] [-8.78953516e-02 -1.09424515e-03 9.96129113e-01 -8.73986525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35964924600002 meters 0.059767229410698904 Centerline is valid? [True, True] Translation: X:77.71, Y:-17.81, Z:-8.74 [[ 8.60129774e-01 5.04328524e-01 7.63512418e-02 7.77133998e+01] [-5.02443178e-01 8.63511415e-01 -4.35762470e-02 -1.78135191e+01] [-8.79069132e-02 -8.80933093e-04 9.96128304e-01 -8.74386754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.389649246 meters 0.059658428980309396 Centerline is valid? [True, True] Translation: X:77.74, Y:-17.83, Z:-8.75 [[ 8.60685943e-01 5.03556527e-01 7.51700185e-02 7.77388238e+01] [-5.01724524e-01 8.63961936e-01 -4.29217207e-02 -1.78303595e+01] [-8.65575474e-02 -7.72520100e-04 9.96246553e-01 -8.74893484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.419649246 meters 0.05946559829113242 Centerline is valid? [True, True] Translation: X:77.76, Y:-17.85, Z:-8.75 [[ 8.61801680e-01 5.01630624e-01 7.52634084e-02 7.77637988e+01] [-4.99785078e-01 8.65081730e-01 -4.29939069e-02 -1.78512740e+01] [-8.66760599e-02 -5.63307231e-04 9.96236389e-01 -8.75129272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.449649246 meters 0.059196309392914606 Centerline is valid? [True, True] Translation: X:77.79, Y:-17.87, Z:-8.75 [[ 8.63310279e-01 4.99005913e-01 7.54218826e-02 7.77894211e+01] [-4.97140434e-01 8.66598535e-01 -4.31087997e-02 -1.78728037e+01] [-8.68720389e-02 -2.78997561e-04 9.96219439e-01 -8.75299955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47964924600001 meters 0.059067715359731446 Centerline is valid? [True, True] Translation: X:77.82, Y:-17.89, Z:-8.76 [[ 8.64258247e-01 4.97359501e-01 7.54401026e-02 7.78158298e+01] [-4.95484788e-01 8.67544534e-01 -4.31428567e-02 -1.78920664e+01] [-8.69051583e-02 -9.28534970e-05 9.96216585e-01 -8.75571143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50964924600001 meters 0.05889334851694866 Centerline is valid? [True, True] Translation: X:77.84, Y:-17.91, Z:-8.76 [[ 8.64647671e-01 4.96694730e-01 7.53574867e-02 7.78439961e+01] [-4.94819282e-01 8.67925311e-01 -4.31223070e-02 -1.79089155e+01] [-8.68232927e-02 -2.73518313e-06 9.96223728e-01 -8.75851807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53964924600001 meters 0.059003502025838345 Centerline is valid? [True, True] Translation: X:77.87, Y:-17.92, Z:-8.76 [[ 8.64536941e-01 4.96813025e-01 7.58465309e-02 7.78720614e+01] [-4.94911188e-01 8.67857603e-01 -4.34292292e-02 -1.79231977e+01] [-8.74001952e-02 8.87625437e-06 9.96173281e-01 -8.76427551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56964924600001 meters 0.05895108257842959 Centerline is valid? [True, True] Translation: X:77.90, Y:-17.94, Z:-8.77 [[ 8.64688381e-01 4.96648556e-01 7.51945157e-02 7.78999817e+01] [-4.94776604e-01 8.67951732e-01 -4.30801815e-02 -1.79392994e+01] [-8.66609201e-02 4.64452500e-05 9.96237865e-01 -8.76636893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59964924600001 meters 0.059142254041117226 Centerline is valid? [True, True] Translation: X:77.93, Y:-17.96, Z:-8.77 [[ 8.64159729e-01 4.97566018e-01 7.52065245e-02 7.79273643e+01] [-4.95694917e-01 8.67426110e-01 -4.31102285e-02 -1.79555592e+01] [-8.66862878e-02 -2.53685939e-05 9.96235658e-01 -8.76990394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62964924600001 meters 0.05910075634711165 Centerline is valid? [True, True] Translation: X:77.95, Y:-17.97, Z:-8.77 [[ 8.64273427e-01 4.97498595e-01 7.43410402e-02 7.79544624e+01] [-4.95668022e-01 8.67464782e-01 -4.26387618e-02 -1.79725515e+01] [-8.57009583e-02 3.07240702e-06 9.96320905e-01 -8.77347925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65964924600001 meters 0.05906139032710847 Centerline is valid? [True, True] Translation: X:77.98, Y:-17.99, Z:-8.78 [[ 8.64321243e-01 4.97322520e-01 7.49606530e-02 7.79814615e+01] [-4.95458496e-01 8.67565738e-01 -4.30182504e-02 -1.79894142e+01] [-8.64272389e-02 4.16952685e-05 9.96258165e-01 -8.77784184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68964924600002 meters 0.05915723418329357 Centerline is valid? [True, True] Translation: X:78.01, Y:-18.00, Z:-8.78 [[ 8.63888164e-01 4.97969854e-01 7.56522586e-02 7.80102278e+01] [-4.96071406e-01 8.67194341e-01 -4.34411771e-02 -1.80045102e+01] [-8.72376071e-02 -6.03565555e-07 9.96187533e-01 -8.78165152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71964924600002 meters 0.05891714337397827 Centerline is valid? [True, True] Translation: X:78.04, Y:-18.02, Z:-8.78 [[ 8.63587562e-01 4.98438563e-01 7.59968540e-02 7.80383268e+01] [-4.96522344e-01 8.66925025e-01 -4.36642102e-02 -1.80202186e+01] [-8.76475008e-02 -2.62672593e-05 9.96151552e-01 -8.78474473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74964924600002 meters 0.058833836970383684 Centerline is valid? [True, True] Translation: X:78.07, Y:-18.04, Z:-8.79 [[ 8.63279621e-01 4.98880406e-01 7.65939750e-02 7.80667574e+01] [-4.96933264e-01 8.66670836e-01 -4.40340046e-02 -1.80358730e+01] [-8.83494664e-02 -4.84351347e-05 9.96089539e-01 -8.78728939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.779649246 meters 0.0588875567797286 Centerline is valid? [True, True] Translation: X:78.10, Y:-18.05, Z:-8.79 [[ 8.62424367e-01 5.00386699e-01 7.64026318e-02 7.80964632e+01] [-4.98452853e-01 8.65802009e-01 -4.39503638e-02 -1.80504812e+01] [-8.81417296e-02 -1.79245128e-04 9.96107928e-01 -8.78945862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.809649246 meters 0.05902365938851923 Centerline is valid? [True, True] Translation: X:78.13, Y:-18.06, Z:-8.79 [[ 8.61079279e-01 5.02724278e-01 7.62284439e-02 7.81255526e+01] [-5.00805949e-01 8.64446728e-01 -4.38777449e-02 -1.80631116e+01] [-8.79538365e-02 -3.93441216e-04 9.96124474e-01 -8.79477382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83964924600001 meters 0.05930777835087749 Centerline is valid? [True, True] Translation: X:78.15, Y:-18.08, Z:-8.80 [[ 8.60588357e-01 5.03604647e-01 7.59607755e-02 7.81534085e+01] [-5.01700753e-01 8.63934112e-01 -4.37516226e-02 -1.80762476e+01] [-8.76586256e-02 -4.57441242e-04 9.96150469e-01 -8.80221032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86964924600001 meters 0.05918394896727112 Centerline is valid? [True, True] Translation: X:78.18, Y:-18.09, Z:-8.80 [[ 8.60109790e-01 5.04477730e-01 7.55868289e-02 7.81821297e+01] [-5.02594999e-01 8.63424539e-01 -4.35468956e-02 -1.80917814e+01] [-8.72319619e-02 -5.34450964e-04 9.96187883e-01 -8.80280453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89964924600001 meters 0.05927193062478989 Centerline is valid? [True, True] Translation: X:78.21, Y:-18.10, Z:-8.81 [[ 8.58892469e-01 5.06594368e-01 7.52719912e-02 7.82110720e+01] [-5.04733395e-01 8.62184214e-01 -4.33887142e-02 -1.81040922e+01] [-8.68788008e-02 -7.26047757e-04 9.96218624e-01 -8.80713896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92964924600001 meters 0.0592767226553826 Centerline is valid? [True, True] Translation: X:78.24, Y:-18.12, Z:-8.81 [[ 8.58721331e-01 5.06841396e-01 7.55610652e-02 7.82393995e+01] [-5.04964944e-01 8.62039014e-01 -4.35791730e-02 -1.81195572e+01] [-8.72243151e-02 -7.33323545e-04 9.96188427e-01 -8.81141843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95964924600001 meters 0.059231743395142325 Centerline is valid? [True, True] Translation: X:78.27, Y:-18.14, Z:-8.81 [[ 8.58933530e-01 5.06598002e-01 7.47773693e-02 7.82666099e+01] [-5.04757200e-01 8.62182117e-01 -4.31528209e-02 -1.81367595e+01] [-8.63328435e-02 -6.79010709e-04 9.96266119e-01 -8.81498070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98964924600001 meters 0.05910647659122827 Centerline is valid? [True, True] Translation: X:78.30, Y:-18.15, Z:-8.82 [[ 8.58767031e-01 5.06861563e-01 7.49035467e-02 7.82952802e+01] [-5.05013305e-01 8.62027196e-01 -4.32513017e-02 -1.81530550e+01] [-8.64913168e-02 -6.84495649e-04 9.96252369e-01 -8.81874708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01964924600001 meters 0.059250144585298786 Centerline is valid? [True, True] Translation: X:78.32, Y:-18.17, Z:-8.82 [[ 8.58151708e-01 5.07699257e-01 7.62699924e-02 7.83230872e+01] [-5.05783716e-01 8.61534032e-01 -4.40675040e-02 -1.81687091e+01] [-8.80822330e-02 -7.59516364e-04 9.96112917e-01 -8.82112264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04964924600002 meters 0.059007186282947384 Centerline is valid? [True, True] Translation: X:78.35, Y:-18.19, Z:-8.82 [[ 8.58587786e-01 5.06983262e-01 7.61248065e-02 7.83500014e+01] [-5.05070093e-01 8.61955644e-01 -4.40076071e-02 -1.81869508e+01] [-8.79273268e-02 -6.63969194e-04 9.96126671e-01 -8.82247410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07964924600002 meters 0.05888603996628267 Centerline is valid? [True, True] Translation: X:78.38, Y:-18.21, Z:-8.83 [[ 8.59750019e-01 5.04927928e-01 7.66661066e-02 7.83752420e+01] [-5.02976484e-01 8.63161400e-01 -4.43514779e-02 -1.82051486e+01] [-8.85695238e-02 -4.30064751e-04 9.96069904e-01 -8.82741876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10964924600002 meters 0.05878414566760334 Centerline is valid? [True, True] Translation: X:78.40, Y:-18.22, Z:-8.83 [[ 8.59971482e-01 5.04369477e-01 7.78490975e-02 7.84026921e+01] [-5.02353666e-01 8.63487867e-01 -4.50499442e-02 -1.82226863e+01] [-8.99435680e-02 -3.66112299e-04 9.95946796e-01 -8.83006678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.139649246 meters 0.058542894762633406 Centerline is valid? [True, True] Translation: X:78.43, Y:-18.24, Z:-8.83 [[ 8.60173433e-01 5.03878816e-01 7.87896226e-02 7.84300616e+01] [-5.01809231e-01 8.63774306e-01 -4.56228356e-02 -1.82401289e+01] [-9.10448320e-02 -2.93808881e-04 9.95846751e-01 -8.83113519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.169649246 meters 0.05850618137117954 Centerline is valid? [True, True] Translation: X:78.46, Y:-18.26, Z:-8.83 [[ 8.60252724e-01 5.03711139e-01 7.89958182e-02 7.84577816e+01] [-5.01627531e-01 8.63872111e-01 -4.57689488e-02 -1.82581009e+01] [-9.12966136e-02 -2.53614353e-04 9.95823711e-01 -8.83365272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.199649246 meters 0.05859274137273255 Centerline is valid? [True, True] Translation: X:78.49, Y:-18.28, Z:-8.84 [[ 8.60791087e-01 5.02868019e-01 7.85013423e-02 7.84886862e+01] [-5.00804754e-01 8.64363197e-01 -4.55067312e-02 -1.82777688e+01] [-9.07375510e-02 -1.42056842e-04 9.95874830e-01 -8.83981678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22964924600001 meters 0.05862054945231363 Centerline is valid? [True, True] Translation: X:78.52, Y:-18.29, Z:-8.84 [[ 8.60673954e-01 5.03169831e-01 7.78489945e-02 7.85159034e+01] [-5.01137650e-01 8.64187540e-01 -4.51768955e-02 -1.82945778e+01] [-9.00077819e-02 -1.30484826e-04 9.95941054e-01 -8.84354690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25964924600001 meters 0.05857218452630854 Centerline is valid? [True, True] Translation: X:78.54, Y:-18.31, Z:-8.84 [[ 8.60675113e-01 5.03158449e-01 7.79097174e-02 7.85431469e+01] [-5.01120954e-01 8.64194170e-01 -4.52352396e-02 -1.83129205e+01] [-9.00896165e-02 -1.09346926e-04 9.95933657e-01 -8.84481101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28964924600001 meters 0.058812760944527635 Centerline is valid? [True, True] Translation: X:78.57, Y:-18.33, Z:-8.85 [[ 8.60557852e-01 5.03471083e-01 7.71819389e-02 7.85720065e+01] [-5.01470449e-01 8.64012068e-01 -4.48389799e-02 -1.83306787e+01] [-8.92612565e-02 -1.17925344e-04 9.96008240e-01 -8.85215075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31964924600001 meters 0.058812760944527635 Centerline is valid? [True, True] Translation: X:78.60, Y:-18.35, Z:-8.86 [[ 8.60429590e-01 5.03692898e-01 7.71646594e-02 7.85997140e+01] [-5.01690489e-01 8.63882777e-01 -4.48686948e-02 -1.83470034e+01] [-8.92612632e-02 -1.06422996e-04 9.96008241e-01 -8.85565715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34964924600001 meters 0.058897085556658145 Centerline is valid? [True, True] Translation: X:78.63, Y:-18.36, Z:-8.86 [[ 8.60970301e-01 5.02742506e-01 7.73311924e-02 7.86265623e+01] [-5.00725185e-01 8.64436217e-01 -4.49924114e-02 -1.83646200e+01] [-8.94674811e-02 1.54544235e-05 9.95989744e-01 -8.85924712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37964924600001 meters 0.058752100720258583 Centerline is valid? [True, True] Translation: X:78.65, Y:-18.38, Z:-8.86 [[ 8.61239341e-01 5.02211810e-01 7.77823560e-02 7.86537435e+01] [-5.00166394e-01 8.64744638e-01 -4.52801251e-02 -1.83821582e+01] [-9.00020889e-02 9.29045795e-05 9.95941572e-01 -8.86163037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40964924600001 meters 0.05887703529693518 Centerline is valid? [True, True] Translation: X:78.68, Y:-18.40, Z:-8.86 [[ 8.60925684e-01 5.02697394e-01 7.81172048e-02 7.86821971e+01] [-5.00634211e-01 8.64462450e-01 -4.54979091e-02 -1.83990679e+01] [-9.04010706e-02 6.21733013e-05 9.95905439e-01 -8.86295711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43964924600002 meters 0.05881528894825822 Centerline is valid? [True, True] Translation: X:78.71, Y:-18.42, Z:-8.87 [[ 8.60701100e-01 5.03019964e-01 7.85145329e-02 7.87104568e+01] [-5.00934485e-01 8.64274790e-01 -4.57572751e-02 -1.84152793e+01] [-9.08749543e-02 5.26998662e-05 9.95862310e-01 -8.86586190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46964924600002 meters 0.0587812389154555 Centerline is valid? [True, True] Translation: X:78.74, Y:-18.43, Z:-8.87 [[ 8.60125633e-01 5.03966244e-01 7.87522720e-02 7.87384049e+01] [-5.01869470e-01 8.63723350e-01 -4.59239595e-02 -1.84289026e+01] [-9.11643016e-02 -2.29862590e-05 9.95835865e-01 -8.87323294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49964924600002 meters 0.05897591508687172 Centerline is valid? [True, True] Translation: X:78.77, Y:-18.44, Z:-8.88 [[ 8.59853064e-01 5.04412178e-01 7.88737165e-02 7.87668160e+01] [-5.02308409e-01 8.63463000e-01 -4.60207571e-02 -1.84446696e+01] [-9.13179662e-02 -4.78420715e-05 9.95821785e-01 -8.87735701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.529649246 meters 0.059055311276819324 Centerline is valid? [True, True] Translation: X:78.80, Y:-18.46, Z:-8.88 [[ 8.59421581e-01 5.05510895e-01 7.65067477e-02 7.87951730e+01] [-5.03533959e-01 8.62820211e-01 -4.46635892e-02 -1.84605424e+01] [-8.85894992e-02 -1.38893090e-04 9.96068211e-01 -8.88059510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.559649246 meters 0.059329721051064495 Centerline is valid? [True, True] Translation: X:78.82, Y:-18.48, Z:-8.89 [[ 8.59407073e-01 5.05632470e-01 7.58636077e-02 7.88221073e+01] [-5.03686750e-01 8.62748972e-01 -4.43155615e-02 -1.84763129e+01] [-8.78586364e-02 -1.26386938e-04 9.96132945e-01 -8.88837769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58964924600001 meters 0.05952107988338812 Centerline is valid? [True, True] Translation: X:78.85, Y:-18.49, Z:-8.89 [[ 8.59806171e-01 5.05177608e-01 7.43567920e-02 7.88485385e+01] [-5.03305608e-01 8.63015400e-01 -4.34498042e-02 -1.84936269e+01] [-8.61209247e-02 -6.57806022e-05 9.96284689e-01 -8.89188577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61964924600001 meters 0.059470099745279066 Centerline is valid? [True, True] Translation: X:78.88, Y:-18.51, Z:-8.89 [[ 8.60105044e-01 5.04670606e-01 7.43430744e-02 7.88763598e+01] [-5.02795575e-01 8.63311983e-01 -4.34629715e-02 -1.85119442e+01] [-8.61157512e-02 3.35210556e-06 9.96285139e-01 -8.89304890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64964924600001 meters 0.05982310906794957 Centerline is valid? [True, True] Translation: X:78.90, Y:-18.53, Z:-8.90 [[ 8.60703431e-01 5.03803697e-01 7.32901035e-02 7.89025189e+01] [-5.01976085e-01 8.63818165e-01 -4.28740872e-02 -1.85306648e+01] [-8.49094464e-02 1.11994746e-04 9.96388666e-01 -8.90115203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67964924600001 meters 0.05967854387415588 Centerline is valid? [True, True] Translation: X:78.93, Y:-18.55, Z:-8.90 [[ 8.60723527e-01 5.03824566e-01 7.29096509e-02 7.89308043e+01] [-5.02013492e-01 8.63805990e-01 -4.26809675e-02 -1.85478209e+01] [-8.44835132e-02 1.34884376e-04 9.96424868e-01 -8.90284911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70964924600001 meters 0.05976626849932368 Centerline is valid? [True, True] Translation: X:78.96, Y:-18.56, Z:-8.91 [[ 8.60541183e-01 5.04231149e-01 7.22483265e-02 7.89584161e+01] [-5.02452116e-01 8.63568720e-01 -4.23194645e-02 -1.85639127e+01] [-8.37301871e-02 1.16317504e-04 9.96488456e-01 -8.90742930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73964924600001 meters 0.05987397335185191 Centerline is valid? [True, True] Translation: X:78.99, Y:-18.58, Z:-8.91 [[ 8.60609422e-01 5.04082499e-01 7.24724588e-02 7.89880617e+01] [-5.02289890e-01 8.63655493e-01 -4.24741709e-02 -1.85818269e+01] [-8.40017234e-02 1.51488272e-04 9.96465598e-01 -8.91184255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76964924600001 meters 0.059974024508730496 Centerline is valid? [True, True] Translation: X:79.01, Y:-18.60, Z:-8.92 [[ 8.61148673e-01 5.03006901e-01 7.35324417e-02 7.90134215e+01] [-5.01154357e-01 8.64282345e-01 -4.31316448e-02 -1.85988741e+01] [-8.52483062e-02 2.91655182e-04 9.96359695e-01 -8.91836532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79964924600002 meters 0.05972385068390144 Centerline is valid? [True, True] Translation: X:79.04, Y:-18.62, Z:-8.92 [[ 8.61438039e-01 5.02496765e-01 7.36308807e-02 7.90416888e+01] [-5.00635705e-01 8.64579014e-01 -4.32090121e-02 -1.86166034e+01] [-8.53721031e-02 3.59638781e-04 9.96349073e-01 -8.91686214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82964924600002 meters 0.06022118657109267 Centerline is valid? [True, True] Translation: X:79.07, Y:-18.64, Z:-8.92 [[ 8.62568290e-01 5.00474260e-01 7.41718285e-02 7.90657472e+01] [-4.98575833e-01 8.65751216e-01 -4.35542244e-02 -1.86375322e+01] [-8.60121190e-02 5.88211698e-04 9.96293917e-01 -8.92339343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85964924600002 meters 0.05985940886041989 Centerline is valid? [True, True] Translation: X:79.09, Y:-18.65, Z:-8.92 [[ 8.62623955e-01 5.00501160e-01 7.33382601e-02 7.90940514e+01] [-4.98643286e-01 8.65735658e-01 -4.30888004e-02 -1.86542169e+01] [-8.50575414e-02 5.99800472e-04 9.96375860e-01 -8.92099414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.889649246 meters 0.060083828971809985 Centerline is valid? [True, True] Translation: X:79.12, Y:-18.67, Z:-8.93 [[ 8.63286516e-01 4.99558035e-01 7.19594388e-02 7.91192507e+01] [-4.97764028e-01 8.66280138e-01 -4.23047896e-02 -1.86727728e+01] [-8.34707301e-02 7.02334297e-04 9.96509982e-01 -8.92743775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.919649246 meters 0.06023348064297675 Centerline is valid? [True, True] Translation: X:79.15, Y:-18.69, Z:-8.93 [[ 8.63391730e-01 4.99237930e-01 7.29123362e-02 7.91461303e+01] [-4.97392767e-01 8.66464601e-01 -4.28897560e-02 -1.86894526e+01] [-8.45881513e-02 7.64591998e-04 9.96415706e-01 -8.93409807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.949649246 meters 0.06036080386171474 Centerline is valid? [True, True] Translation: X:79.17, Y:-18.71, Z:-8.94 [[ 8.63500759e-01 4.99037507e-01 7.29931870e-02 7.91745031e+01] [-4.97185486e-01 8.66580012e-01 -4.29613279e-02 -1.87050837e+01] [-8.46937508e-02 8.05986127e-04 9.96406704e-01 -8.93727788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97964924600001 meters 0.06010533069517142 Centerline is valid? [True, True] Translation: X:79.20, Y:-18.72, Z:-8.94 [[ 8.63306809e-01 4.99376596e-01 7.29682779e-02 7.92034522e+01] [-4.97524977e-01 8.66384664e-01 -4.29710538e-02 -1.87220233e+01] [-8.46773354e-02 7.93662543e-04 9.96408109e-01 -8.93926759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00964924600001 meters 0.05993974513404303 Centerline is valid? [True, True] Translation: X:79.23, Y:-18.74, Z:-8.94 [[ 8.63041522e-01 4.99800104e-01 7.32064754e-02 7.92307428e+01] [-4.97935166e-01 8.66140430e-01 -4.31430816e-02 -1.87390546e+01] [-8.49700047e-02 7.82192313e-04 9.96383203e-01 -8.94168720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03964924600001 meters 0.059744585616799094 Centerline is valid? [True, True] Translation: X:79.26, Y:-18.76, Z:-8.94 [[ 8.62906768e-01 4.99887432e-01 7.41920863e-02 7.92591583e+01] [-4.97970165e-01 8.66090012e-01 -4.37470671e-02 -1.87554665e+01] [-8.61256339e-02 8.04194799e-04 9.96283960e-01 -8.94402564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06964924600001 meters 0.059804679418158514 Centerline is valid? [True, True] Translation: X:79.29, Y:-18.77, Z:-8.95 [[ 8.62720491e-01 5.00199350e-01 7.42560813e-02 7.92872317e+01] [-4.98277706e-01 8.65909913e-01 -4.38103966e-02 -1.87717766e+01] [-8.62130088e-02 7.95976980e-04 9.96276409e-01 -8.94794169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09964924600001 meters 0.059798617528891256 Centerline is valid? [True, True] Translation: X:79.32, Y:-18.79, Z:-8.95 [[ 8.62483352e-01 5.00626175e-01 7.41343350e-02 7.93154842e+01] [-4.98709853e-01 8.65663230e-01 -4.37681919e-02 -1.87873579e+01] [-8.60868704e-02 7.77813584e-04 9.96287331e-01 -8.95163369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12964924600001 meters 0.05961109616710829 Centerline is valid? [True, True] Translation: X:79.35, Y:-18.80, Z:-8.96 [[ 8.61825170e-01 5.01678435e-01 7.46734563e-02 7.93465406e+01] [-4.99735844e-01 8.65053905e-01 -4.41115338e-02 -1.88032445e+01] [-8.67263702e-02 6.99427458e-04 9.96231925e-01 -8.95654373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15964924600001 meters 0.05951987091889209 Centerline is valid? [True, True] Translation: X:79.38, Y:-18.82, Z:-8.96 [[ 8.60717346e-01 5.03600957e-01 7.45099057e-02 7.93751098e+01] [-5.01670518e-01 8.63936216e-01 -4.40557263e-02 -1.88170519e+01] [-8.65583119e-02 5.40104865e-04 9.96246640e-01 -8.96003221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18964924600002 meters 0.05960610528203923 Centerline is valid? [True, True] Translation: X:79.40, Y:-18.83, Z:-8.96 [[ 8.60295667e-01 5.04431212e-01 7.37598626e-02 7.94027725e+01] [-5.02540467e-01 8.63451752e-01 -4.36365772e-02 -1.88326063e+01] [-8.56997341e-02 4.73042536e-04 9.96320898e-01 -8.96354679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21964924600002 meters 0.05977695203209026 Centerline is valid? [True, True] Translation: X:79.43, Y:-18.85, Z:-8.97 [[ 8.59660195e-01 5.05687580e-01 7.25563195e-02 7.94308461e+01] [-5.03860576e-01 8.62716604e-01 -4.29485838e-02 -1.88478054e+01] [-8.43141070e-02 3.62918991e-04 9.96439160e-01 -8.96749368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24964924600002 meters 0.05986306256225011 Centerline is valid? [True, True] Translation: X:79.46, Y:-18.86, Z:-8.97 [[ 8.59574517e-01 5.05889039e-01 7.21659908e-02 7.94591895e+01] [-5.04080463e-01 8.62598487e-01 -4.27403504e-02 -1.88644619e+01] [-8.38721493e-02 3.61050013e-04 9.96476458e-01 -8.97258604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.279649246 meters 0.060081798102723905 Centerline is valid? [True, True] Translation: X:79.49, Y:-18.88, Z:-8.98 [[ 8.59914441e-01 5.05340516e-01 7.19591368e-02 7.94860328e+01] [-5.03538015e-01 8.62919910e-01 -4.26461766e-02 -1.88809895e+01] [-8.36458127e-02 4.37902199e-04 9.96495452e-01 -8.97774737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.309649246 meters 0.06008843134255778 Centerline is valid? [True, True] Translation: X:79.51, Y:-18.90, Z:-8.98 [[ 8.59871539e-01 5.05394518e-01 7.20924208e-02 7.95134919e+01] [-5.03584376e-01 8.62888279e-01 -4.27386607e-02 -1.88983211e+01] [-8.38075897e-02 4.45141192e-04 9.96481856e-01 -8.98162743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33964924600001 meters 0.05996287030657031 Centerline is valid? [True, True] Translation: X:79.54, Y:-18.92, Z:-8.98 [[ 8.60538127e-01 5.04201315e-01 7.24925299e-02 7.95407128e+01] [-5.02364613e-01 8.63585948e-01 -4.30012243e-02 -1.89172206e+01] [-8.42848040e-02 5.86511201e-04 9.96441533e-01 -8.98020212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36964924600001 meters 0.05999987730353936 Centerline is valid? [True, True] Translation: X:79.57, Y:-18.94, Z:-8.99 [[ 8.60878891e-01 5.03491971e-01 7.33714496e-02 7.95664402e+01] [-5.01605378e-01 8.63999630e-01 -4.35509414e-02 -1.89354548e+01] [-8.53204547e-02 6.88572448e-04 9.96353324e-01 -8.98641427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39964924600001 meters 0.06009231594939643 Centerline is valid? [True, True] Translation: X:79.59, Y:-18.95, Z:-8.99 [[ 8.61076614e-01 5.03079982e-01 7.38755523e-02 7.95940061e+01] [-5.01163580e-01 8.64239527e-01 -4.38760369e-02 -1.89530961e+01] [-8.59193282e-02 7.56892971e-04 9.96301810e-01 -8.98937242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42964924600001 meters 0.05999166568479717 Centerline is valid? [True, True] Translation: X:79.62, Y:-18.97, Z:-8.99 [[ 8.60951075e-01 5.03032030e-01 7.56440555e-02 7.96201264e+01] [-5.01019936e-01 8.64267395e-01 -4.49543540e-02 -1.89705183e+01] [-8.79901707e-02 8.04319528e-04 9.96121018e-01 -8.99204525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45964924600001 meters 0.05976637327949573 Centerline is valid? [True, True] Translation: X:79.65, Y:-18.99, Z:-8.99 [[ 8.60397739e-01 5.03842136e-01 7.65430156e-02 7.96481014e+01] [-5.01782936e-01 8.63795427e-01 -4.55120411e-02 -1.89858802e+01] [-8.90483908e-02 7.50478177e-04 9.96027018e-01 -8.99179736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48964924600001 meters 0.059586964604351984 Centerline is valid? [True, True] Translation: X:79.68, Y:-19.00, Z:-9.00 [[ 8.59938884e-01 5.04591208e-01 7.67647631e-02 7.96774426e+01] [-5.02520988e-01 8.63358113e-01 -4.56664654e-02 -1.90030022e+01] [-8.93183780e-02 6.94464684e-04 9.96002884e-01 -8.99517544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51964924600001 meters 0.05987191516816777 Centerline is valid? [True, True] Translation: X:79.71, Y:-19.02, Z:-9.00 [[ 8.59291749e-01 5.05776062e-01 7.62119815e-02 7.97065380e+01] [-5.03737303e-01 8.62664605e-01 -4.53707981e-02 -1.90176982e+01] [-8.86928425e-02 5.95934412e-04 9.96058846e-01 -8.99916345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54964924600002 meters 0.05969177084697818 Centerline is valid? [True, True] Translation: X:79.74, Y:-19.03, Z:-9.00 [[ 8.58712777e-01 5.06894267e-01 7.53031748e-02 7.97358396e+01] [-5.04905947e-01 8.62008095e-01 -4.48556550e-02 -1.90325922e+01] [-8.76490206e-02 4.97103313e-04 9.96151295e-01 -9.00415952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57964924600002 meters 0.05984697530816672 Centerline is valid? [True, True] Translation: X:79.77, Y:-19.05, Z:-9.01 [[ 8.57938840e-01 5.08342986e-01 7.43529098e-02 7.97650257e+01] [-5.06407548e-01 8.61154616e-01 -4.43184322e-02 -1.90451963e+01] [-8.65583156e-02 3.69629596e-04 9.96246717e-01 -9.00940703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60964924600002 meters 0.06010906255002702 Centerline is valid? [True, True] Translation: X:79.79, Y:-19.06, Z:-9.02 [[ 8.57980295e-01 5.08498252e-01 7.27965774e-02 7.97910724e+01] [-5.06641748e-01 8.61062944e-01 -4.34136651e-02 -1.90615851e+01] [-8.47582080e-02 3.66284001e-04 9.96401481e-01 -9.01617282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.639649246 meters 0.060170001699530906 Centerline is valid? [True, True] Translation: X:79.82, Y:-19.08, Z:-9.02 [[ 8.58606452e-01 5.07617054e-01 7.15533857e-02 7.98188195e+01] [-5.05818872e-01 8.61582679e-01 -4.26913999e-02 -1.90785878e+01] [-8.33200404e-02 4.62058527e-04 9.96522733e-01 -9.01661039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.669649246 meters 0.060265427126408984 Centerline is valid? [True, True] Translation: X:79.85, Y:-19.10, Z:-9.02 [[ 8.59037475e-01 5.06995599e-01 7.07819198e-02 7.98474755e+01] [-5.05232253e-01 8.61948477e-01 -4.22515483e-02 -1.90987702e+01] [-8.24317170e-02 5.34354583e-04 9.96596572e-01 -9.02154456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.699649246 meters 0.060276904336953784 Centerline is valid? [True, True] Translation: X:79.88, Y:-19.12, Z:-9.02 [[ 8.59429940e-01 5.06370990e-01 7.04882879e-02 7.98757207e+01] [-5.04616756e-01 8.62315503e-01 -4.21177297e-02 -1.91152760e+01] [-8.21103399e-02 6.27666757e-04 9.96623047e-01 -9.02343371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72964924600001 meters 0.06026937152599708 Centerline is valid? [True, True] Translation: X:79.90, Y:-19.13, Z:-9.03 [[ 8.59764819e-01 5.05804989e-01 7.04682092e-02 7.99043638e+01] [-5.04047756e-01 8.62647563e-01 -4.21312383e-02 -1.91312250e+01] [-8.20994194e-02 7.03613771e-04 9.96623896e-01 -9.02602316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75964924600001 meters 0.06037942800701223 Centerline is valid? [True, True] Translation: X:79.93, Y:-19.15, Z:-9.03 [[ 8.59484587e-01 5.06240429e-01 7.07592534e-02 7.99337382e+01] [-5.04468053e-01 8.62392113e-01 -4.23299746e-02 -1.91486701e+01] [-8.24513666e-02 6.86177983e-04 9.96594853e-01 -9.03150174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78964924600001 meters 0.06048612210812657 Centerline is valid? [True, True] Translation: X:79.96, Y:-19.16, Z:-9.04 [[ 8.59198950e-01 5.06802914e-01 7.01995017e-02 7.99610143e+01] [-5.05057216e-01 8.62061697e-01 -4.20337783e-02 -1.91647661e+01] [-8.18191429e-02 6.60613349e-04 9.96646974e-01 -9.03657779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81964924600001 meters 0.0605862166791378 Centerline is valid? [True, True] Translation: X:79.99, Y:-19.18, Z:-9.04 [[ 8.59022475e-01 5.07224690e-01 6.93073011e-02 7.99882021e+01] [-5.05522641e-01 8.61813619e-01 -4.15228321e-02 -1.91818523e+01] [-8.07913816e-02 6.32636090e-04 9.96730832e-01 -9.03970054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84964924600001 meters 0.060528440130465606 Centerline is valid? [True, True] Translation: X:80.01, Y:-19.20, Z:-9.04 [[ 8.58821852e-01 5.07591150e-01 6.91104262e-02 8.00141470e+01] [-5.05897946e-01 8.61597843e-01 -4.14297745e-02 -1.91997044e+01] [-8.05747810e-02 6.17973026e-04 9.96748375e-01 -9.04400992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87964924600001 meters 0.06045833123815968 Centerline is valid? [True, True] Translation: X:80.04, Y:-19.22, Z:-9.05 [[ 8.58554853e-01 5.07899031e-01 7.01579519e-02 8.00420258e+01] [-5.06152992e-01 8.61416386e-01 -4.20827525e-02 -1.92161245e+01] [-8.18089986e-02 6.19694117e-04 9.96647833e-01 -9.04565104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90964924600001 meters 0.06050155096909147 Centerline is valid? [True, True] Translation: X:80.07, Y:-19.23, Z:-9.05 [[ 8.59326583e-01 5.06413640e-01 7.14356266e-02 8.00693541e+01] [-5.04596308e-01 8.62290319e-01 -4.28715806e-02 -1.92335450e+01] [-8.33090025e-02 7.94535430e-04 9.96523446e-01 -9.04639536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93964924600002 meters 0.060399605805859596 Centerline is valid? [True, True] Translation: X:80.09, Y:-19.26, Z:-9.04 [[ 8.61540349e-01 5.02043257e-01 7.55036087e-02 8.00942086e+01] [-4.99993164e-01 8.64841513e-01 -4.53430715e-02 -1.92584245e+01] [-8.80628385e-02 1.31359750e-03 9.96114055e-01 -9.04069976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96964924600002 meters 0.0610094325736573 Centerline is valid? [True, True] Translation: X:80.12, Y:-19.27, Z:-9.04 [[ 8.63763364e-01 4.98306019e-01 7.48596227e-02 8.01214663e+01] [-4.96275061e-01 8.66999556e-01 -4.49759225e-02 -1.92735775e+01] [-8.73150325e-02 1.69759031e-03 9.96179303e-01 -9.04490413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99964924600002 meters 0.06116896422753013 Centerline is valid? [True, True] Translation: X:80.15, Y:-19.28, Z:-9.05 [[ 8.63303186e-01 4.99562640e-01 7.17271014e-02 8.01518667e+01] [-4.97700948e-01 8.66276428e-01 -4.31151561e-02 -1.92849964e+01] [-8.36742184e-02 1.52280523e-03 9.96492000e-01 -9.05487208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.029649246 meters 0.06138581136018422 Centerline is valid? [True, True] Translation: X:80.18, Y:-19.30, Z:-9.07 [[ 8.61294487e-01 5.03374594e-01 6.91796608e-02 8.01814197e+01] [-5.01653139e-01 8.64067550e-01 -4.16100581e-02 -1.92956428e+01] [-8.07213462e-02 1.13431968e-03 9.96736062e-01 -9.06503394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.059649246 meters 0.060843592055745674 Centerline is valid? [True, True] Translation: X:80.21, Y:-19.31, Z:-9.07 [[ 8.60727710e-01 5.04322718e-01 6.93282475e-02 8.02110346e+01] [-5.02595821e-01 8.63514606e-01 -4.17129039e-02 -1.93109891e+01] [-8.09027193e-02 1.05936474e-03 9.96721439e-01 -9.06511306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08964924600001 meters 0.06077095411364666 Centerline is valid? [True, True] Translation: X:80.24, Y:-19.33, Z:-9.07 [[ 8.59722679e-01 5.06259429e-01 6.76631728e-02 8.02395849e+01] [-5.04618902e-01 8.62380789e-01 -4.07325174e-02 -1.93258605e+01] [-7.89726413e-02 8.74552988e-04 9.96876400e-01 -9.06876039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11964924600001 meters 0.060633923969897585 Centerline is valid? [True, True] Translation: X:80.27, Y:-19.34, Z:-9.07 [[ 8.59216727e-01 5.07073575e-01 6.79926888e-02 8.02671342e+01] [-5.05417549e-01 8.61902377e-01 -4.09559932e-02 -1.93429052e+01] [-7.93707621e-02 8.25376325e-04 9.96844823e-01 -9.07020345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14964924600001 meters 0.060235706658417 Centerline is valid? [True, True] Translation: X:80.30, Y:-19.36, Z:-9.07 [[ 8.57567653e-01 5.09701307e-01 6.91541611e-02 8.02951595e+01] [-5.07994441e-01 8.60351206e-01 -4.16827199e-02 -1.93562181e+01] [-8.07426028e-02 6.15822884e-04 9.96734796e-01 -9.07334761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17964924600001 meters 0.06041301751504481 Centerline is valid? [True, True] Translation: X:80.32, Y:-19.37, Z:-9.08 [[ 8.56740228e-01 5.10961034e-01 7.01070824e-02 8.03227904e+01] [-5.09208980e-01 8.59603715e-01 -4.22808193e-02 -1.93697222e+01] [-8.18681596e-02 5.24522820e-04 9.96643030e-01 -9.08067605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20964924600001 meters 0.06041301751504481 Centerline is valid? [True, True] Translation: X:80.35, Y:-19.39, Z:-9.08 [[ 8.56609980e-01 5.11180062e-01 7.01019733e-02 8.03502374e+01] [-5.09428047e-01 8.59473491e-01 -4.22892887e-02 -1.93864999e+01] [-8.18682289e-02 5.13515411e-04 9.96643030e-01 -9.08416774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23964924600001 meters 0.059975135091464564 Centerline is valid? [True, True] Translation: X:80.38, Y:-19.40, Z:-9.08 [[ 8.55217000e-01 5.13151421e-01 7.26601847e-02 8.03799845e+01] [-5.11273738e-01 8.58298019e-01 -4.38597255e-02 -1.94001213e+01] [-8.48707731e-02 3.60338614e-04 9.96391902e-01 -9.08201223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26964924600001 meters 0.05973748253281408 Centerline is valid? [True, True] Translation: X:80.41, Y:-19.42, Z:-9.08 [[ 8.54135136e-01 5.14912871e-01 7.29239631e-02 8.04080076e+01] [-5.13025984e-01 8.57242494e-01 -4.40414291e-02 -1.94163346e+01] [-8.51910187e-02 2.05444153e-04 9.96364616e-01 -9.08395623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29964924600002 meters 0.05977187268728966 Centerline is valid? [True, True] Translation: X:80.44, Y:-19.43, Z:-9.09 [[ 8.52727739e-01 5.17256695e-01 7.28073737e-02 8.04365705e+01] [-5.15382139e-01 8.55830305e-01 -4.39970459e-02 -1.94294163e+01] [-8.50685234e-02 -6.11849897e-06 9.96375103e-01 -9.08800436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32964924600002 meters 0.059990555872647726 Centerline is valid? [True, True] Translation: X:80.46, Y:-19.44, Z:-9.10 [[ 8.51544222e-01 5.19286463e-01 7.22080857e-02 8.04648144e+01] [-5.17447902e-01 8.54600219e-01 -4.36592861e-02 -1.94438099e+01] [-8.43807221e-02 -1.86109648e-04 9.96433570e-01 -9.09565606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35964924600002 meters 0.05981088549153698 Centerline is valid? [True, True] Translation: X:80.49, Y:-19.46, Z:-9.10 [[ 8.50833428e-01 5.20555947e-01 7.14421756e-02 8.04930227e+01] [-5.18758690e-01 8.53827514e-01 -4.32203412e-02 -1.94602970e+01] [-8.34979008e-02 -2.87938378e-04 9.96507911e-01 -9.09541676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.389649246 meters 0.059949719809241714 Centerline is valid? [True, True] Translation: X:80.52, Y:-19.48, Z:-9.10 [[ 8.50602932e-01 5.20906948e-01 7.16282335e-02 8.05208469e+01] [-5.19099682e-01 8.53613413e-01 -4.33550523e-02 -1.94762233e+01] [-8.37267688e-02 -3.04258666e-04 9.96488703e-01 -9.10009665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.419649246 meters 0.05999031665312197 Centerline is valid? [True, True] Translation: X:80.55, Y:-19.49, Z:-9.10 [[ 8.49084287e-01 5.23391905e-01 7.15317207e-02 8.05503453e+01] [-5.21596097e-01 8.52091919e-01 -4.33228992e-02 -1.94895506e+01] [-8.36264559e-02 -5.25873384e-04 9.96497034e-01 -9.10385818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.449649246 meters 0.06030381442751524 Centerline is valid? [True, True] Translation: X:80.58, Y:-19.50, Z:-9.11 [[ 8.46823308e-01 5.26983288e-01 7.19645671e-02 8.05794302e+01] [-5.25176239e-01 8.49875209e-01 -4.36124534e-02 -1.95030265e+01] [-8.41439356e-02 -8.62038661e-04 9.96453238e-01 -9.10639957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47964924600001 meters 0.06045598334234786 Centerline is valid? [True, True] Translation: X:80.61, Y:-19.52, Z:-9.11 [[ 8.45196993e-01 5.29634029e-01 7.16228951e-02 8.06077708e+01] [-5.27851597e-01 8.48225551e-01 -4.34293211e-02 -1.95170057e+01] [-8.37540159e-02 -1.09992798e-03 9.96485853e-01 -9.10896706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50964924600001 meters 0.06122971886788823 Centerline is valid? [True, True] Translation: X:80.64, Y:-19.53, Z:-9.11 [[ 8.43132142e-01 5.33002003e-01 7.09722193e-02 8.06374240e+01] [-5.31261731e-01 8.46112820e-01 -4.30589055e-02 -1.95268648e+01] [-8.30009875e-02 -1.40047695e-03 9.96548481e-01 -9.11491837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53964924600001 meters 0.0614040737455665 Centerline is valid? [True, True] Translation: X:80.66, Y:-19.54, Z:-9.12 [[ 8.43527525e-01 5.32341114e-01 7.12337872e-02 8.06649236e+01] [-5.30584800e-01 8.46528891e-01 -4.32273822e-02 -1.95422650e+01] [-8.33131717e-02 -1.33207798e-03 9.96522524e-01 -9.12033634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56964924600001 meters 0.06116173152324382 Centerline is valid? [True, True] Translation: X:80.69, Y:-19.56, Z:-9.12 [[ 8.43414861e-01 5.32521721e-01 7.12179017e-02 8.06923233e+01] [-5.30764801e-01 8.46415295e-01 -4.32420492e-02 -1.95605577e+01] [-8.33072517e-02 -1.32896856e-03 9.96523023e-01 -9.12272654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59964924600001 meters 0.06050542988149819 Centerline is valid? [True, True] Translation: X:80.72, Y:-19.58, Z:-9.12 [[ 8.45422292e-01 5.29199109e-01 7.21765204e-02 8.07158081e+01] [-5.27379955e-01 8.48497096e-01 -4.38527184e-02 -1.95818765e+01] [-8.44483874e-02 -9.90384415e-04 9.96427363e-01 -9.12468103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62964924600001 meters 0.06022046580547117 Centerline is valid? [True, True] Translation: X:80.74, Y:-19.60, Z:-9.13 [[ 8.45552617e-01 5.28952817e-01 7.24547437e-02 8.07418373e+01] [-5.27116970e-01 8.48650700e-01 -4.40419128e-02 -1.96010597e+01] [-8.47848628e-02 -9.52370353e-04 9.96398826e-01 -9.12706924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65964924600001 meters 0.06019476070116274 Centerline is valid? [True, True] Translation: X:80.77, Y:-19.62, Z:-9.13 [[ 8.45983198e-01 5.28186526e-01 7.30165911e-02 8.07677210e+01] [-5.26316783e-01 8.49127939e-01 -4.44115578e-02 -1.96195588e+01] [-8.54580140e-02 -8.58425694e-04 9.96341403e-01 -9.12976162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68964924600002 meters 0.0607756169444287 Centerline is valid? [True, True] Translation: X:80.79, Y:-19.64, Z:-9.14 [[ 8.46140080e-01 5.28078111e-01 7.19755033e-02 8.07932535e+01] [-5.26258966e-01 8.49195410e-01 -4.38024579e-02 -1.96352822e+01] [-8.42523863e-02 -8.14738679e-04 9.96444114e-01 -9.14006607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71964924600002 meters 0.06041661850952903 Centerline is valid? [True, True] Translation: X:80.82, Y:-19.65, Z:-9.14 [[ 8.45879682e-01 5.28466369e-01 7.21862893e-02 8.08200956e+01] [-5.26636144e-01 8.48953824e-01 -4.39519803e-02 -1.96543917e+01] [-8.45099698e-02 -8.37821968e-04 9.96422282e-01 -9.13974902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74964924600002 meters 0.0602675759850133 Centerline is valid? [True, True] Translation: X:80.85, Y:-19.67, Z:-9.14 [[ 8.45884971e-01 5.28647308e-01 7.07858732e-02 8.08479005e+01] [-5.26886179e-01 8.48841183e-01 -4.31230863e-02 -1.96731148e+01] [-8.28828678e-02 -8.18927693e-04 9.96558959e-01 -9.14254041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.779649246 meters 0.06053609179067818 Centerline is valid? [True, True] Translation: X:80.87, Y:-19.69, Z:-9.15 [[ 8.45759047e-01 5.29079947e-01 6.90365372e-02 8.08737685e+01] [-5.27403830e-01 8.48571593e-01 -4.20886234e-02 -1.96900786e+01] [-8.08506910e-02 -8.13300123e-04 9.96725892e-01 -9.14806982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.809649246 meters 0.06041014194615527 Centerline is valid? [True, True] Translation: X:80.90, Y:-19.71, Z:-9.15 [[ 8.45853967e-01 5.28978270e-01 6.86517118e-02 8.09008686e+01] [-5.27318959e-01 8.48635008e-01 -4.18728804e-02 -1.97074990e+01] [-8.04100898e-02 -7.83007285e-04 9.96761558e-01 -9.15155930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83964924600001 meters 0.06092865619396025 Centerline is valid? [True, True] Translation: X:80.93, Y:-19.72, Z:-9.16 [[ 8.45985951e-01 5.29012463e-01 6.67351857e-02 8.09274750e+01] [-5.27442732e-01 8.48613730e-01 -4.07296101e-02 -1.97235394e+01] [-7.81788663e-02 -7.42310767e-04 9.96939072e-01 -9.16027238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86964924600001 meters 0.06106845108703894 Centerline is valid? [True, True] Translation: X:80.95, Y:-19.74, Z:-9.17 [[ 8.46013058e-01 5.29070408e-01 6.59273070e-02 8.09537823e+01] [-5.27536952e-01 8.48577625e-01 -4.02588905e-02 -1.97405444e+01] [-7.72442252e-02 -7.19543561e-04 9.97011942e-01 -9.16580006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89964924600001 meters 0.061239529613588854 Centerline is valid? [True, True] Translation: X:80.98, Y:-19.76, Z:-9.17 [[ 8.46148254e-01 5.28919486e-01 6.54011386e-02 8.09804760e+01] [-5.27408316e-01 8.48671734e-01 -3.99594162e-02 -1.97575214e+01] [-7.66394116e-02 -6.81514123e-04 9.97058642e-01 -9.16984451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92964924600001 meters 0.06122861376058408 Centerline is valid? [True, True] Translation: X:81.01, Y:-19.78, Z:-9.17 [[ 8.45598206e-01 5.29771857e-01 6.56159454e-02 8.10085294e+01] [-5.28251759e-01 8.48139862e-01 -4.01105293e-02 -1.97750138e+01] [-7.69009285e-02 -7.44346878e-04 9.97038461e-01 -9.17193952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95964924600001 meters 0.06108980600718156 Centerline is valid? [True, True] Translation: X:81.04, Y:-19.79, Z:-9.17 [[ 8.45201613e-01 5.30375159e-01 6.58515322e-02 8.10361216e+01] [-5.28844072e-01 8.47762691e-01 -4.02786208e-02 -1.97925674e+01] [-7.71892520e-02 -7.81637203e-04 9.97016153e-01 -9.17414872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98964924600001 meters 0.06102587971482773 Centerline is valid? [True, True] Translation: X:81.06, Y:-19.81, Z:-9.18 [[ 8.45119684e-01 5.30490239e-01 6.59759493e-02 8.10634153e+01] [-5.28951810e-01 8.47690692e-01 -4.03791251e-02 -1.98103637e+01] [-7.73479299e-02 -7.72904358e-04 9.97003862e-01 -9.17698443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01964924600001 meters 0.06012949616255729 Centerline is valid? [True, True] Translation: X:81.09, Y:-19.83, Z:-9.18 [[ 8.48222246e-01 5.25027004e-01 6.97543282e-02 8.10855810e+01] [-5.23286143e-01 8.51085528e-01 -4.27204549e-02 -1.98349132e+01] [-8.17962916e-02 -2.65033162e-04 9.96649034e-01 -9.17710354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04964924600002 meters 0.059774131031435834 Centerline is valid? [True, True] Translation: X:81.11, Y:-19.86, Z:-9.17 [[ 8.52896775e-01 5.16852260e-01 7.36941866e-02 8.11071449e+01] [-5.14876071e-01 8.56074421e-01 -4.51576820e-02 -1.98624731e+01] [-8.64275581e-02 5.71468051e-04 9.96257974e-01 -9.17348982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07964924600002 meters 0.060108362499279124 Centerline is valid? [True, True] Translation: X:81.13, Y:-19.88, Z:-9.18 [[ 8.53765479e-01 5.15537124e-01 7.28421577e-02 8.11345805e+01] [-5.13599955e-01 8.56866947e-01 -4.46555861e-02 -1.98808532e+01] [-8.54376497e-02 7.13668935e-04 9.96343263e-01 -9.17786840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10964924600002 meters 0.0604776408990203 Centerline is valid? [True, True] Translation: X:81.16, Y:-19.89, Z:-9.19 [[ 8.52577830e-01 5.18099017e-01 6.84430556e-02 8.11646360e+01] [-5.16395260e-01 8.55320527e-01 -4.19848896e-02 -1.98923977e+01] [-8.02930805e-02 4.51716592e-04 9.96771196e-01 -9.18874364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.139649246 meters 0.06067618101752485 Centerline is valid? [True, True] Translation: X:81.19, Y:-19.91, Z:-9.20 [[ 8.51936521e-01 5.19151957e-01 6.84500485e-02 8.11922665e+01] [-5.17449201e-01 8.54681874e-01 -4.20145119e-02 -1.99074294e+01] [-8.03149318e-02 3.74274234e-04 9.96769468e-01 -9.19533398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.169649246 meters 0.060089448226328515 Centerline is valid? [True, True] Translation: X:81.22, Y:-19.93, Z:-9.19 [[ 8.51879232e-01 5.19088989e-01 6.96304239e-02 8.12189163e+01] [-5.17324481e-01 8.54720102e-01 -4.27659651e-02 -1.99257539e+01] [-8.17138646e-02 4.09914566e-04 9.96655746e-01 -9.19266276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.199649246 meters 0.06007498265658242 Centerline is valid? [True, True] Translation: X:81.25, Y:-19.94, Z:-9.20 [[ 8.51027674e-01 5.20525397e-01 6.93196124e-02 8.12452574e+01] [-5.18780322e-01 8.53846140e-01 -4.25881023e-02 -1.99426955e+01] [-8.13564724e-02 2.82002780e-04 9.96685028e-01 -9.19766815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22964924600001 meters 0.05985673453747459 Centerline is valid? [True, True] Translation: X:81.27, Y:-19.96, Z:-9.20 [[ 8.51045214e-01 5.20371448e-01 7.02538241e-02 8.12724601e+01] [-5.18577197e-01 8.53939962e-01 -4.31767635e-02 -1.99607534e+01] [-8.24605028e-02 3.13346739e-04 9.96594284e-01 -9.19715152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25964924600001 meters 0.05958635465919624 Centerline is valid? [True, True] Translation: X:81.30, Y:-19.98, Z:-9.20 [[ 8.50681372e-01 5.20792060e-01 7.15320401e-02 8.12987561e+01] [-5.18930924e-01 8.53683512e-01 -4.39904208e-02 -1.99771059e+01] [-8.39755851e-02 3.01643851e-04 9.96467767e-01 -9.19966448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28964924600001 meters 0.059573687712093995 Centerline is valid? [True, True] Translation: X:81.33, Y:-19.99, Z:-9.20 [[ 8.50227266e-01 5.21547543e-01 7.14265899e-02 8.13263286e+01] [-5.19692548e-01 8.53222187e-01 -4.39494739e-02 -1.99936608e+01] [-8.38644913e-02 2.47174512e-04 9.96477138e-01 -9.20370523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31964924600001 meters 0.05974370154970689 Centerline is valid? [True, True] Translation: X:81.35, Y:-20.01, Z:-9.21 [[ 8.50078162e-01 5.21767414e-01 7.15952721e-02 8.13525087e+01] [-5.19901975e-01 8.53087746e-01 -4.40821342e-02 -2.00114891e+01] [-8.40776705e-02 2.50736309e-04 9.96459173e-01 -9.20916805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34964924600001 meters 0.059503452628773566 Centerline is valid? [True, True] Translation: X:81.38, Y:-20.03, Z:-9.21 [[ 8.49551398e-01 5.22628927e-01 7.15641391e-02 8.13807208e+01] [-5.20765987e-01 8.52560244e-01 -4.40887426e-02 -2.00280292e+01] [-8.40547921e-02 1.87483402e-04 9.96461117e-01 -9.21086048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37964924600001 meters 0.05928443395740347 Centerline is valid? [True, True] Translation: X:81.41, Y:-20.04, Z:-9.21 [[ 8.48172307e-01 5.24653130e-01 7.30946769e-02 8.14088465e+01] [-5.22714413e-01 8.51316095e-01 -4.50616166e-02 -2.00420737e+01] [-8.58683930e-02 1.23741577e-05 9.96306488e-01 -9.21363985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40964924600001 meters 0.05925469096323077 Centerline is valid? [True, True] Translation: X:81.44, Y:-20.05, Z:-9.22 [[ 8.45943739e-01 5.28236261e-01 7.31139089e-02 8.14378704e+01] [-5.26307727e-01 8.49097370e-01 -4.50980338e-02 -2.00549065e+01] [-8.59032445e-02 -3.30015927e-04 9.96303430e-01 -9.21694250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43964924600002 meters 0.059293391678965635 Centerline is valid? [True, True] Translation: X:81.47, Y:-20.07, Z:-9.22 [[ 8.44636960e-01 5.30272194e-01 7.34833719e-02 8.14668848e+01] [-5.28329556e-01 8.47827301e-01 -4.53513877e-02 -2.00702327e+01] [-8.63497887e-02 -5.17978952e-04 9.96264747e-01 -9.22001648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46964924600002 meters 0.05920902648560116 Centerline is valid? [True, True] Translation: X:81.50, Y:-20.09, Z:-9.22 [[ 8.43114089e-01 5.32685337e-01 7.35184612e-02 8.14960922e+01] [-5.30747650e-01 8.46313051e-01 -4.53999068e-02 -2.00858224e+01] [-8.64034979e-02 -7.42449438e-04 9.96259948e-01 -9.22210829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49964924600002 meters 0.05981651534060026 Centerline is valid? [True, True] Translation: X:81.53, Y:-20.10, Z:-9.23 [[ 8.40682191e-01 5.36514823e-01 7.35207299e-02 8.15263159e+01] [-5.34589032e-01 8.43890165e-01 -4.54307720e-02 -2.00950657e+01] [-8.64177035e-02 -1.11053495e-03 9.96258374e-01 -9.22876808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.529649246 meters 0.06028636371503836 Centerline is valid? [True, True] Translation: X:81.55, Y:-20.11, Z:-9.23 [[ 8.39497661e-01 5.38465587e-01 7.27907256e-02 8.15538704e+01] [-5.36583217e-01 8.42646532e-01 -4.50030324e-02 -2.01081261e+01] [-8.55694368e-02 -1.27834131e-03 9.96331389e-01 -9.23245856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.559649246 meters 0.060885772838460195 Centerline is valid? [True, True] Translation: X:81.58, Y:-20.12, Z:-9.24 [[ 8.37343865e-01 5.42018480e-01 7.12124912e-02 8.15839491e+01] [-5.40228321e-01 8.40365062e-01 -4.40445690e-02 -2.01208986e+01] [-8.37174599e-02 -1.59055491e-03 9.96488262e-01 -9.23554235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58964924600001 meters 0.060940715800588616 Centerline is valid? [True, True] Translation: X:81.61, Y:-20.14, Z:-9.24 [[ 8.37158571e-01 5.42402604e-01 7.04623415e-02 8.16119382e+01] [-5.40649247e-01 8.40117186e-01 -4.36062436e-02 -2.01355097e+01] [-8.28487641e-02 -1.59007127e-03 9.96560863e-01 -9.24102349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61964924600001 meters 0.061146642764722835 Centerline is valid? [True, True] Translation: X:81.64, Y:-20.15, Z:-9.25 [[ 8.37207924e-01 5.42318864e-01 7.05205036e-02 8.16384249e+01] [-5.40560112e-01 8.40171300e-01 -4.36686531e-02 -2.01508985e+01] [-8.29316376e-02 -1.56082895e-03 9.96554016e-01 -9.24579012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64964924600001 meters 0.060730057386176164 Centerline is valid? [True, True] Translation: X:81.66, Y:-20.17, Z:-9.25 [[ 8.39049755e-01 5.39567199e-01 6.97333982e-02 8.16632834e+01] [-5.37836990e-01 8.41941591e-01 -4.31940896e-02 -2.01721959e+01] [-8.20175621e-02 -1.26321077e-03 9.96630084e-01 -9.24990704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67964924600001 meters 0.060552716266217776 Centerline is valid? [True, True] Translation: X:81.69, Y:-20.19, Z:-9.25 [[ 8.39580816e-01 5.38691835e-01 7.01082082e-02 8.16884993e+01] [-5.36939039e-01 8.42502063e-01 -4.34366518e-02 -2.01909929e+01] [-8.24652797e-02 -1.17525443e-03 9.96593245e-01 -9.25281235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70964924600001 meters 0.06040004396098688 Centerline is valid? [True, True] Translation: X:81.71, Y:-20.21, Z:-9.26 [[ 8.39910070e-01 5.38157483e-01 7.02680354e-02 8.17141011e+01] [-5.36392714e-01 8.42843582e-01 -4.35609058e-02 -2.02095492e+01] [-8.26675901e-02 -1.10401872e-03 9.96576565e-01 -9.25565930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73964924600001 meters 0.060248583017931234 Centerline is valid? [True, True] Translation: X:81.74, Y:-20.23, Z:-9.26 [[ 8.40831795e-01 5.36790903e-01 6.96951886e-02 8.17404308e+01] [-5.35048568e-01 8.43714782e-01 -4.32249591e-02 -2.02330120e+01] [-8.20056257e-02 -9.45390940e-04 9.96631418e-01 -9.25894527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76964924600001 meters 0.059866560952139464 Centerline is valid? [True, True] Translation: X:81.76, Y:-20.26, Z:-9.26 [[ 8.42321425e-01 5.34480079e-01 6.94669873e-02 8.17634003e+01] [-5.32738489e-01 8.45180792e-01 -4.31176540e-02 -2.02555653e+01] [-8.17576905e-02 -6.88814154e-04 9.96651998e-01 -9.26234821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79964924600002 meters 0.059609706572292274 Centerline is valid? [True, True] Translation: X:81.79, Y:-20.28, Z:-9.26 [[ 8.42870946e-01 5.33602097e-01 6.95512021e-02 8.17890359e+01] [-5.31851373e-01 8.45735455e-01 -4.31932528e-02 -2.02762942e+01] [-8.18699278e-02 -5.84564398e-04 9.96642851e-01 -9.26410597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82964924600002 meters 0.0594696538599736 Centerline is valid? [True, True] Translation: X:81.81, Y:-20.29, Z:-9.27 [[ 8.43066792e-01 5.33172586e-01 7.04654357e-02 8.18135457e+01] [-5.31371457e-01 8.46006334e-01 -4.37910523e-02 -2.02948342e+01] [-8.29623936e-02 -5.24539326e-04 9.96552541e-01 -9.26654116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85964924600002 meters 0.05930187271029991 Centerline is valid? [True, True] Translation: X:81.84, Y:-20.31, Z:-9.27 [[ 8.43207502e-01 5.32955896e-01 7.04210291e-02 8.18405586e+01] [-5.31155521e-01 8.46142877e-01 -4.37726552e-02 -2.03126064e+01] [-8.29151469e-02 -4.95087130e-04 9.96556488e-01 -9.26881812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.889649246 meters 0.0593663908126491 Centerline is valid? [True, True] Translation: X:81.87, Y:-20.33, Z:-9.27 [[ 8.43237767e-01 5.32772489e-01 7.14390951e-02 8.18666067e+01] [-5.30916484e-01 8.46258391e-01 -4.44344830e-02 -2.03296644e+01] [-8.41294038e-02 -4.59358989e-04 9.96454732e-01 -9.27279893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.919649246 meters 0.05931797114529353 Centerline is valid? [True, True] Translation: X:81.89, Y:-20.35, Z:-9.28 [[ 8.43342093e-01 5.32585768e-01 7.15996849e-02 8.18940436e+01] [-5.30718982e-01 8.46375933e-01 -4.45549302e-02 -2.03473840e+01] [-8.43295718e-02 -4.24263878e-04 9.96437827e-01 -9.27637950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.949649246 meters 0.05946360087950367 Centerline is valid? [True, True] Translation: X:81.92, Y:-20.36, Z:-9.28 [[ 8.43045505e-01 5.33115323e-01 7.11500464e-02 8.19205853e+01] [-5.31271497e-01 8.46042463e-01 -4.43029080e-02 -2.03627538e+01] [-8.38145196e-02 -4.50624220e-04 9.96481271e-01 -9.28156552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97964924600001 meters 0.059275020835378715 Centerline is valid? [True, True] Translation: X:81.95, Y:-20.38, Z:-9.28 [[ 8.43065703e-01 5.33019901e-01 7.16240505e-02 8.19483128e+01] [-5.31149290e-01 8.46102596e-01 -4.46187112e-02 -2.03809318e+01] [-8.43839562e-02 -4.26558398e-04 9.96433222e-01 -9.28336621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00964924600001 meters 0.0593635502501755 Centerline is valid? [True, True] Translation: X:81.98, Y:-20.40, Z:-9.29 [[ 8.43565095e-01 5.32283132e-01 7.12221717e-02 8.19750491e+01] [-5.30428976e-01 8.46566334e-01 -4.43908087e-02 -2.04003627e+01] [-8.39227714e-02 -3.31766830e-04 9.96472207e-01 -9.28965236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03964924600001 meters 0.059271053328084126 Centerline is valid? [True, True] Translation: X:82.00, Y:-20.42, Z:-9.29 [[ 8.43727607e-01 5.32043100e-01 7.10905472e-02 8.20016788e+01] [-5.30192044e-01 8.46717227e-01 -4.43433556e-02 -2.04186831e+01] [-8.37861674e-02 -2.77929299e-04 9.96483718e-01 -9.29260079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06964924600001 meters 0.05925073719489256 Centerline is valid? [True, True] Translation: X:82.03, Y:-20.44, Z:-9.30 [[ 8.44180243e-01 5.31461819e-01 7.00574891e-02 8.20297616e+01] [-5.29660388e-01 8.47082225e-01 -4.37216009e-02 -2.04391564e+01] [-8.25808153e-02 -1.97765121e-04 9.96584352e-01 -9.29568578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09964924600001 meters 0.05926604621179721 Centerline is valid? [True, True] Translation: X:82.06, Y:-20.46, Z:-9.30 [[ 8.44299577e-01 5.31352906e-01 6.94428778e-02 8.20566293e+01] [-5.29579836e-01 8.47150556e-01 -4.33720212e-02 -2.04567950e+01] [-8.18744220e-02 -1.56568654e-04 9.96642641e-01 -9.29977650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12964924600001 meters 0.05926604621179721 Centerline is valid? [True, True] Translation: X:82.08, Y:-20.47, Z:-9.30 [[ 8.44140095e-01 5.31607652e-01 6.94320184e-02 8.20844653e+01] [-5.29834013e-01 8.46990719e-01 -4.33893970e-02 -2.04744558e+01] [-8.18744107e-02 -1.60715284e-04 9.96642642e-01 -9.30336268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15964924600001 meters 0.059387111490992524 Centerline is valid? [True, True] Translation: X:82.11, Y:-20.49, Z:-9.31 [[ 8.43832913e-01 5.32136398e-01 6.91148923e-02 8.21119157e+01] [-5.30378279e-01 8.46658620e-01 -4.32210886e-02 -2.04914857e+01] [-8.15162338e-02 -1.85660486e-04 9.96671997e-01 -9.30821090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18964924600002 meters 0.05943281157066591 Centerline is valid? [True, True] Translation: X:82.14, Y:-20.51, Z:-9.31 [[ 8.43429856e-01 5.32942566e-01 6.78107615e-02 8.21395204e+01] [-5.31250915e-01 8.46151384e-01 -4.24299581e-02 -2.05079925e+01] [-7.99909004e-02 -2.37835656e-04 9.96795565e-01 -9.31069157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21964924600002 meters 0.05976253958584623 Centerline is valid? [True, True] Translation: X:82.16, Y:-20.53, Z:-9.32 [[ 8.43624783e-01 5.32742238e-01 6.69547143e-02 8.21649674e+01] [-5.31090477e-01 8.46277537e-01 -4.19193900e-02 -2.05262031e+01] [-7.89945003e-02 -1.94774849e-04 9.96875033e-01 -9.31770952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24964924600002 meters 0.059583321315857286 Centerline is valid? [True, True] Translation: X:82.19, Y:-20.54, Z:-9.32 [[ 8.43592825e-01 5.32645086e-01 6.81201716e-02 8.21927527e+01] [-5.30932968e-01 8.46338693e-01 -4.26731785e-02 -2.05439213e+01] [-8.03823959e-02 -1.68457662e-04 9.96764085e-01 -9.31883645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.279649246 meters 0.05925979338589856 Centerline is valid? [True, True] Translation: X:82.22, Y:-20.56, Z:-9.32 [[ 8.43578073e-01 5.32515676e-01 6.93043261e-02 8.22194644e+01] [-5.30740908e-01 8.46420130e-01 -4.34402104e-02 -2.05602390e+01] [-8.17931697e-02 -1.37432011e-04 9.96649316e-01 -9.32243181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.309649246 meters 0.05929890550626297 Centerline is valid? [True, True] Translation: X:82.25, Y:-20.58, Z:-9.33 [[ 8.43227000e-01 5.33103815e-01 6.90546820e-02 8.22471523e+01] [-5.31342039e-01 8.46049817e-01 -4.33052646e-02 -2.05773885e+01] [-8.15099028e-02 -1.75487121e-04 9.96672516e-01 -9.32575632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33964924600001 meters 0.05937507050672674 Centerline is valid? [True, True] Translation: X:82.27, Y:-20.60, Z:-9.33 [[ 8.43693410e-01 5.32345069e-01 6.92109610e-02 8.22731378e+01] [-5.30570587e-01 8.46527449e-01 -4.34296082e-02 -2.05950122e+01] [-8.17085160e-02 -8.00259640e-05 9.96656266e-01 -9.32886475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36964924600001 meters 0.05949013260967407 Centerline is valid? [True, True] Translation: X:82.30, Y:-20.61, Z:-9.33 [[ 8.43774575e-01 5.32214344e-01 6.92268679e-02 8.23007338e+01] [-5.30436474e-01 8.46609644e-01 -4.34655886e-02 -2.06128516e+01] [-8.17411437e-02 -4.52971490e-05 9.96653592e-01 -9.33295201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39964924600001 meters 0.05915387462038686 Centerline is valid? [True, True] Translation: X:82.33, Y:-20.63, Z:-9.34 [[ 8.43276731e-01 5.32892321e-01 7.00723134e-02 8.23273146e+01] [-5.31071640e-01 8.46183056e-01 -4.40130478e-02 -2.06292926e+01] [-8.27482195e-02 -9.82393007e-05 9.96570480e-01 -9.33730577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42964924600001 meters 0.05906892070777359 Centerline is valid? [True, True] Translation: X:82.35, Y:-20.65, Z:-9.34 [[ 8.42924052e-01 5.33532993e-01 6.94376535e-02 8.23542441e+01] [-5.31745543e-01 8.45779242e-01 -4.36365859e-02 -2.06455970e+01] [-8.20104842e-02 -1.40835000e-04 9.96631457e-01 -9.34168556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45964924600001 meters 0.058834794524230676 Centerline is valid? [True, True] Translation: X:82.38, Y:-20.66, Z:-9.35 [[ 8.42366068e-01 5.34402914e-01 6.95192960e-02 8.23832066e+01] [-5.32612507e-01 8.45229840e-01 -4.37085182e-02 -2.06610463e+01] [-8.21177429e-02 -2.08273945e-04 9.96622613e-01 -9.34522842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48964924600001 meters 0.05867886499997946 Centerline is valid? [True, True] Translation: X:82.41, Y:-20.67, Z:-9.35 [[ 8.41365853e-01 5.35887123e-01 7.02032246e-02 8.24105544e+01] [-5.34064048e-01 8.44289571e-01 -4.41668685e-02 -2.06747201e+01] [-8.29403065e-02 -3.32523344e-04 9.96554462e-01 -9.34855451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51964924600001 meters 0.058820555379878334 Centerline is valid? [True, True] Translation: X:82.44, Y:-20.69, Z:-9.35 [[ 8.41055713e-01 5.36329394e-01 7.05412603e-02 8.24383309e+01] [-5.34488572e-01 8.44008679e-01 -4.43994953e-02 -2.06916974e+01] [-8.33501904e-02 -3.61048358e-04 9.96520253e-01 -9.35170559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54964924600002 meters 0.05885166679530572 Centerline is valid? [True, True] Translation: X:82.47, Y:-20.71, Z:-9.35 [[ 8.39984217e-01 5.37862772e-01 7.16250928e-02 8.24666880e+01] [-5.35968058e-01 8.43032259e-01 -4.51093180e-02 -2.07056983e+01] [-8.46448866e-02 -4.97646770e-04 9.96411058e-01 -9.35390033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57964924600002 meters 0.05869097345272175 Centerline is valid? [True, True] Translation: X:82.50, Y:-20.72, Z:-9.35 [[ 8.39595164e-01 5.38448402e-01 7.17863373e-02 8.24952321e+01] [-5.36545359e-01 8.42658310e-01 -4.52332833e-02 -2.07216981e+01] [-8.48471428e-02 -5.38980225e-04 9.96393834e-01 -9.35493837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60964924600002 meters 0.058962235447239913 Centerline is valid? [True, True] Translation: X:82.52, Y:-20.74, Z:-9.36 [[ 8.38951187e-01 5.39483766e-01 7.15414074e-02 8.25240242e+01] [-5.37595155e-01 8.41995774e-01 -4.51061549e-02 -2.07364873e+01] [-8.45716010e-02 -6.18451868e-04 9.96417213e-01 -9.35985540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63964924600002 meters 0.059028369914624235 Centerline is valid? [True, True] Translation: X:82.55, Y:-20.75, Z:-9.36 [[ 8.38495140e-01 5.40337702e-01 7.04348473e-02 8.25511449e+01] [-5.38507909e-01 8.41447989e-01 -4.44355033e-02 -2.07535381e+01] [-8.32774384e-02 -6.70768797e-04 9.96526175e-01 -9.36381470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.669649246 meters 0.05897284469540375 Centerline is valid? [True, True] Translation: X:82.58, Y:-20.77, Z:-9.37 [[ 8.38739674e-01 5.39993763e-01 7.01604977e-02 8.25781302e+01] [-5.38175187e-01 8.41668793e-01 -4.42844385e-02 -2.07717844e+01] [-8.29652220e-02 -6.15523506e-04 9.96552253e-01 -9.36749694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.699649246 meters 0.05929579922674607 Centerline is valid? [True, True] Translation: X:82.61, Y:-20.79, Z:-9.37 [[ 8.38422527e-01 5.40542515e-01 6.97241411e-02 8.26050160e+01] [-5.38746016e-01 8.41316455e-01 -4.40380716e-02 -2.07878294e+01] [-8.24645173e-02 -6.41091996e-04 9.96593795e-01 -9.37218321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72964924600001 meters 0.05942730337647719 Centerline is valid? [True, True] Translation: X:82.63, Y:-20.80, Z:-9.38 [[ 8.38312537e-01 5.40825967e-01 6.88430389e-02 8.26322488e+01] [-5.39074564e-01 8.41134265e-01 -4.34943998e-02 -2.08045331e+01] [-8.14291397e-02 -6.49630544e-04 9.96678922e-01 -9.37671159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75964924600001 meters 0.05965952781163745 Centerline is valid? [True, True] Translation: X:82.66, Y:-20.82, Z:-9.38 [[ 8.38479928e-01 5.40741010e-01 6.74579125e-02 8.26589315e+01] [-5.39057551e-01 8.41188912e-01 -4.26400044e-02 -2.08216629e+01] [-7.98020471e-02 -6.10909274e-04 9.96810544e-01 -9.38226625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78964924600001 meters 0.05980044813841584 Centerline is valid? [True, True] Translation: X:82.69, Y:-20.84, Z:-9.39 [[ 8.38757075e-01 5.40351487e-01 6.71330033e-02 8.26856163e+01] [-5.38681193e-01 8.41439223e-01 -4.24571221e-02 -2.08400572e+01] [-7.94301112e-02 -5.52074740e-04 9.96840284e-01 -9.38585672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81964924600001 meters 0.05942591367579584 Centerline is valid? [True, True] Translation: X:82.71, Y:-20.86, Z:-9.39 [[ 8.39776804e-01 5.38699199e-01 6.76616010e-02 8.27105527e+01] [-5.36995005e-01 8.42498089e-01 -4.28174444e-02 -2.08602052e+01] [-8.00704926e-02 -3.76845108e-04 9.96789132e-01 -9.38629337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84964924600001 meters 0.05962962244532749 Centerline is valid? [True, True] Translation: X:82.74, Y:-20.88, Z:-9.39 [[ 8.40094859e-01 5.38257286e-01 6.72288839e-02 8.27361688e+01] [-5.36571727e-01 8.42780515e-01 -4.25650791e-02 -2.08786802e+01] [-7.95701573e-02 -3.14414221e-04 9.96829219e-01 -9.39236997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87964924600001 meters 0.05937038829464474 Centerline is valid? [True, True] Translation: X:82.76, Y:-20.90, Z:-9.39 [[ 8.42356809e-01 5.34729286e-01 6.70790396e-02 8.27599319e+01] [-5.33038216e-01 8.45023425e-01 -4.24931813e-02 -2.09022566e+01] [-7.94057083e-02 3.87289850e-05 9.96842381e-01 -9.39334976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90964924600001 meters 0.05927139172583125 Centerline is valid? [True, True] Translation: X:82.79, Y:-20.92, Z:-9.40 [[ 8.42558062e-01 5.34315948e-01 6.78408421e-02 8.27871064e+01] [-5.32582773e-01 8.45284838e-01 -4.30015361e-02 -2.09213262e+01] [-8.03212418e-02 1.00427131e-04 9.96769024e-01 -9.39589602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93964924600002 meters 0.05917878283680448 Centerline is valid? [True, True] Translation: X:82.81, Y:-20.94, Z:-9.40 [[ 8.43645461e-01 5.32512806e-01 6.85014344e-02 8.28105620e+01] [-5.30737474e-01 8.46421894e-01 -4.34478079e-02 -2.09414637e+01] [-8.11176280e-02 2.98267715e-04 9.96704491e-01 -9.39950658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96964924600002 meters 0.059258587358779403 Centerline is valid? [True, True] Translation: X:82.84, Y:-20.96, Z:-9.40 [[ 8.43970761e-01 5.31970572e-01 6.87070943e-02 8.28375803e+01] [-5.30181214e-01 8.46762762e-01 -4.35970731e-02 -2.09612512e+01] [-8.13709688e-02 3.67444328e-04 9.96683817e-01 -9.40022745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99964924600002 meters 0.05945544772056774 Centerline is valid? [True, True] Translation: X:82.86, Y:-20.98, Z:-9.41 [[ 8.44984811e-01 5.30435967e-01 6.81054687e-02 8.28607564e+01] [-5.28670481e-01 8.47724836e-01 -4.32449414e-02 -2.09823133e+01] [-8.06733695e-02 5.35967728e-04 9.96740448e-01 -9.40703481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.029649246 meters 0.05931696220855991 Centerline is valid? [True, True] Translation: X:82.89, Y:-21.00, Z:-9.41 [[ 8.45261320e-01 5.30084896e-01 6.74040296e-02 8.28872372e+01] [-5.28353595e-01 8.47944381e-01 -4.28112710e-02 -2.10019343e+01] [-7.98484763e-02 5.73550075e-04 9.96806848e-01 -9.40830105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.059649246 meters 0.059430396244146234 Centerline is valid? [True, True] Translation: X:82.91, Y:-21.02, Z:-9.41 [[ 8.46063462e-01 5.28704594e-01 6.81767598e-02 8.29127020e+01] [-5.26926780e-01 8.48805581e-01 -4.33272999e-02 -2.10231943e+01] [-8.07761567e-02 7.33484831e-04 9.96731997e-01 -9.40873532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08964924600001 meters 0.05939448050805082 Centerline is valid? [True, True] Translation: X:82.94, Y:-21.04, Z:-9.41 [[ 8.45937140e-01 5.28818155e-01 6.88601009e-02 8.29398475e+01] [-5.27002672e-01 8.48734819e-01 -4.37880204e-02 -2.10417000e+01] [-8.15998654e-02 7.52455547e-04 9.96664886e-01 -9.41189798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11964924600001 meters 0.059387943768183585 Centerline is valid? [True, True] Translation: X:82.97, Y:-21.06, Z:-9.41 [[ 8.45676442e-01 5.29292471e-01 6.84166256e-02 8.29673891e+01] [-5.27499816e-01 8.48439129e-01 -4.35314668e-02 -2.10585204e+01] [-8.10882199e-02 7.23778573e-04 9.96706665e-01 -9.41457457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14964924600001 meters 0.0596224944963319 Centerline is valid? [True, True] Translation: X:82.99, Y:-21.08, Z:-9.42 [[ 8.45525370e-01 5.29627287e-01 6.76888951e-02 8.29938634e+01] [-5.27871536e-01 8.48230179e-01 -4.30952856e-02 -2.10760733e+01] [-8.02402029e-02 7.07116250e-04 9.96775306e-01 -9.41956057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17964924600001 meters 0.05955696847228286 Centerline is valid? [True, True] Translation: X:83.02, Y:-21.09, Z:-9.43 [[ 8.44586691e-01 5.31089854e-01 6.79476865e-02 8.30209202e+01] [-5.29323300e-01 8.47315300e-01 -4.32854100e-02 -2.10900261e+01] [-8.05615564e-02 5.91987508e-04 9.96749460e-01 -9.42535978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20964924600001 meters 0.05954085518612165 Centerline is valid? [True, True] Translation: X:83.05, Y:-21.11, Z:-9.43 [[ 8.43948919e-01 5.32154475e-01 6.75413690e-02 8.30489037e+01] [-5.30410943e-01 8.46647129e-01 -4.30449804e-02 -2.11061378e+01] [-8.00902852e-02 5.03083410e-04 9.96787486e-01 -9.42975283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23964924600001 meters 0.05933780913957751 Centerline is valid? [True, True] Translation: X:83.08, Y:-21.12, Z:-9.43 [[ 8.42567919e-01 5.34261346e-01 6.81477508e-02 8.30771751e+01] [-5.32491009e-01 8.45319292e-01 -4.34582500e-02 -2.11185511e+01] [-8.08246716e-02 3.28462709e-04 9.96728280e-01 -9.43380889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26964924600001 meters 0.05928056363871121 Centerline is valid? [True, True] Translation: X:83.11, Y:-21.13, Z:-9.44 [[ 8.42083834e-01 5.35006794e-01 6.82828432e-02 8.31058970e+01] [-5.33230341e-01 8.44847711e-01 -4.35631515e-02 -2.11345363e+01] [-8.09951858e-02 2.73341938e-04 9.96714455e-01 -9.43653758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29964924600002 meters 0.05879793927877893 Centerline is valid? [True, True] Translation: X:83.13, Y:-21.15, Z:-9.43 [[ 8.41880943e-01 5.35034555e-01 7.05301608e-02 8.31332974e+01] [-5.33136890e-01 8.44830121e-01 -4.50235767e-02 -2.11524847e+01] [-8.36751736e-02 3.02260600e-04 9.96493038e-01 -9.43214945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32964924600002 meters 0.05895873958638893 Centerline is valid? [True, True] Translation: X:83.16, Y:-21.17, Z:-9.44 [[ 8.41680500e-01 5.35258659e-01 7.12187038e-02 8.31616856e+01] [-5.33322530e-01 8.44688153e-01 -4.54862879e-02 -2.11701009e+01] [-8.45045248e-02 3.02382227e-04 9.96423050e-01 -9.43776533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35964924600002 meters 0.05906026838865744 Centerline is valid? [True, True] Translation: X:83.19, Y:-21.19, Z:-9.44 [[ 8.43996968e-01 5.31670541e-01 7.06792266e-02 8.31883576e+01] [-5.29748360e-01 8.46950983e-01 -4.51742020e-02 -2.11892214e+01] [-8.38796328e-02 6.84685174e-04 9.96475659e-01 -9.43978873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38964924600002 meters 0.05884452170390223 Centerline is valid? [True, True] Translation: X:83.22, Y:-21.21, Z:-9.44 [[ 8.43878021e-01 5.31953637e-01 6.99657993e-02 8.32186680e+01] [-5.30069272e-01 8.46773217e-01 -4.47402048e-02 -2.12057670e+01] [-8.30448797e-02 6.68555182e-04 9.96545584e-01 -9.44442812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.419649246 meters 0.05921481027576288 Centerline is valid? [True, True] Translation: X:83.25, Y:-21.22, Z:-9.45 [[ 8.43450285e-01 5.32704039e-01 6.94119817e-02 8.32472162e+01] [-5.30849083e-01 8.46301378e-01 -4.44210297e-02 -2.12218801e+01] [-8.24067177e-02 6.19643308e-04 9.96598590e-01 -9.45290614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.449649246 meters 0.059084251504262504 Centerline is valid? [True, True] Translation: X:83.27, Y:-21.24, Z:-9.46 [[ 8.42981806e-01 5.33404358e-01 6.97242159e-02 8.32739567e+01] [-5.31532622e-01 8.45860187e-01 -4.46499145e-02 -2.12384636e+01] [-8.27933973e-02 5.78370237e-04 9.96566565e-01 -9.45634724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47964924600001 meters 0.05891240370204007 Centerline is valid? [True, True] Translation: X:83.30, Y:-21.26, Z:-9.46 [[ 8.42350685e-01 5.34429775e-01 6.94992008e-02 8.33024825e+01] [-5.32571894e-01 8.45212738e-01 -4.45264625e-02 -2.12553641e+01] [-8.25378772e-02 4.93575196e-04 9.96587806e-01 -9.45807653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50964924600001 meters 0.05878812518438947 Centerline is valid? [True, True] Translation: X:83.33, Y:-21.27, Z:-9.46 [[ 8.41590393e-01 5.35711443e-01 6.88393821e-02 8.33317585e+01] [-5.33891003e-01 8.44401031e-01 -4.41281767e-02 -2.12723602e+01] [-8.17680144e-02 3.85122806e-04 9.96651315e-01 -9.46262844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53964924600001 meters 0.05902375970262374 Centerline is valid? [True, True] Translation: X:83.36, Y:-21.29, Z:-9.47 [[ 8.40665089e-01 5.37411325e-01 6.68675921e-02 8.33592692e+01] [-5.35696870e-01 8.43320230e-01 -4.28935068e-02 -2.12873881e+01] [-7.94422495e-02 2.38313958e-04 9.96839442e-01 -9.46825438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56964924600001 meters 0.0590902427698903 Centerline is valid? [True, True] Translation: X:83.39, Y:-21.30, Z:-9.47 [[ 8.40303583e-01 5.37998793e-01 6.66872268e-02 8.33874659e+01] [-5.36293735e-01 8.42945584e-01 -4.27991970e-02 -2.13044939e+01] [-7.92396197e-02 2.00376635e-04 9.96855578e-01 -9.47321270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59964924600001 meters 0.059217938742940734 Centerline is valid? [True, True] Translation: X:83.41, Y:-21.32, Z:-9.48 [[ 8.39395635e-01 5.39489377e-01 6.60770680e-02 8.34141501e+01] [-5.37817789e-01 8.41992402e-01 -4.24360771e-02 -2.13194257e+01] [-7.85302020e-02 8.32352758e-05 9.96911732e-01 -9.47789170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62964924600001 meters 0.059143118900216125 Centerline is valid? [True, True] Translation: X:83.44, Y:-21.34, Z:-9.48 [[ 8.39044485e-01 5.39960153e-01 6.66887128e-02 8.34415857e+01] [-5.38258237e-01 8.41690579e-01 -4.28373608e-02 -2.13362702e+01] [-7.92617292e-02 4.67023841e-05 9.96853839e-01 -9.48068970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65964924600001 meters 0.05909994476797591 Centerline is valid? [True, True] Translation: X:83.47, Y:-21.35, Z:-9.48 [[ 8.38328998e-01 5.41067341e-01 6.67129929e-02 8.34693977e+01] [-5.39365819e-01 8.40979269e-01 -4.28763668e-02 -2.13514674e+01] [-7.93032458e-02 -3.82063940e-05 9.96850537e-01 -9.48458252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68964924600002 meters 0.05902001373547628 Centerline is valid? [True, True] Translation: X:83.50, Y:-21.37, Z:-9.49 [[ 8.37642270e-01 5.42109630e-01 6.68773261e-02 8.34981525e+01] [-5.40401274e-01 8.40307762e-01 -4.30038097e-02 -2.13680618e+01] [-7.95103156e-02 -1.18783521e-04 9.96834036e-01 -9.48590916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71964924600002 meters 0.05897345086429484 Centerline is valid? [True, True] Translation: X:83.53, Y:-21.38, Z:-9.49 [[ 8.36280738e-01 5.44073449e-01 6.79603590e-02 8.35259029e+01] [-5.42313434e-01 8.39037544e-01 -4.37280119e-02 -2.13819785e+01] [-8.08125429e-02 -2.86921620e-04 9.96729276e-01 -9.48820811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74964924600002 meters 0.0590835388006479 Centerline is valid? [True, True] Translation: X:83.55, Y:-21.40, Z:-9.49 [[ 8.35091911e-01 5.45943814e-01 6.75784888e-02 8.35539916e+01] [-5.44208050e-01 8.37821670e-01 -4.35022785e-02 -2.13974569e+01] [-8.03685222e-02 -4.48356759e-04 9.96765118e-01 -9.49181073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.779649246 meters 0.05934493756514318 Centerline is valid? [True, True] Translation: X:83.58, Y:-21.41, Z:-9.50 [[ 8.32876150e-01 5.49276565e-01 6.79159371e-02 8.35828850e+01] [-5.47532580e-01 8.35640285e-01 -4.37422865e-02 -2.14090981e+01] [-8.07799059e-02 -7.54281121e-04 9.96731678e-01 -9.49573943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.809649246 meters 0.05941179301576194 Centerline is valid? [True, True] Translation: X:83.61, Y:-21.43, Z:-9.50 [[ 8.31991963e-01 5.50594897e-01 6.80781454e-02 8.36113598e+01] [-5.48845427e-01 8.34772128e-01 -4.38656118e-02 -2.14251898e+01] [-8.09819203e-02 -8.68542332e-04 9.96715192e-01 -9.49938398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83964924600001 meters 0.05923002586603988 Centerline is valid? [True, True] Translation: X:83.64, Y:-21.44, Z:-9.50 [[ 8.32535256e-01 5.49738583e-01 6.83559693e-02 8.36360877e+01] [-5.47969698e-01 8.35336402e-01 -4.40716014e-02 -2.14435465e+01] [-8.13280891e-02 -7.65837867e-04 9.96687090e-01 -9.50055836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86964924600001 meters 0.059006374140458256 Centerline is valid? [True, True] Translation: X:83.66, Y:-21.46, Z:-9.50 [[ 8.32675628e-01 5.49515249e-01 6.84418659e-02 8.36631594e+01] [-5.47739659e-01 8.35483368e-01 -4.41453001e-02 -2.14617346e+01] [-8.14405562e-02 -7.29608810e-04 9.96677934e-01 -9.50187701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89964924600001 meters 0.05895721155864986 Centerline is valid? [True, True] Translation: X:83.69, Y:-21.48, Z:-9.51 [[ 8.32360024e-01 5.49984530e-01 6.85113626e-02 8.36908752e+01] [-5.48204754e-01 8.35174501e-01 -4.42165059e-02 -2.14779887e+01] [-8.15373374e-02 -7.54202780e-04 9.96670002e-01 -9.50721489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92964924600001 meters 0.05896881578441348 Centerline is valid? [True, True] Translation: X:83.72, Y:-21.50, Z:-9.51 [[ 8.32158689e-01 5.50345669e-01 6.80555698e-02 8.37179841e+01] [-5.48588676e-01 8.34936562e-01 -4.39477154e-02 -2.14956830e+01] [-8.10085183e-02 -7.63041735e-04 9.96713117e-01 -9.50994982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95964924600001 meters 0.059292314663229075 Centerline is valid? [True, True] Translation: X:83.74, Y:-21.51, Z:-9.52 [[ 8.32555862e-01 5.49701684e-01 6.84017186e-02 8.37435011e+01] [-5.47922217e-01 8.35360758e-01 -4.42000916e-02 -2.15117669e+01] [-8.14369763e-02 -6.79775917e-04 9.96678261e-01 -9.51645428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98964924600001 meters 0.059316513862838816 Centerline is valid? [True, True] Translation: X:83.77, Y:-21.53, Z:-9.52 [[ 8.31713778e-01 5.51009003e-01 6.81268690e-02 8.37701031e+01] [-5.49246489e-01 8.34498927e-01 -4.40435657e-02 -2.15288046e+01] [-8.11202004e-02 -7.86803190e-04 9.96704015e-01 -9.52064142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01964924600001 meters 0.059316513862838816 Centerline is valid? [True, True] Translation: X:83.80, Y:-21.55, Z:-9.52 [[ 8.31570373e-01 5.51226723e-01 6.81161841e-02 8.37970129e+01] [-5.49463585e-01 8.34355127e-01 -4.40600831e-02 -2.15464337e+01] [-8.11201827e-02 -7.88302965e-04 9.96704016e-01 -9.52413972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04964924600002 meters 0.059374248682566286 Centerline is valid? [True, True] Translation: X:83.82, Y:-21.56, Z:-9.53 [[ 8.31013499e-01 5.52076619e-01 6.80291851e-02 8.38245360e+01] [-5.50318785e-01 8.33792951e-01 -4.40289670e-02 -2.15638438e+01] [-8.10296183e-02 -8.49072559e-04 9.96711332e-01 -9.52678325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07964924600002 meters 0.05980582677727414 Centerline is valid? [True, True] Translation: X:83.85, Y:-21.58, Z:-9.53 [[ 8.29742569e-01 5.53959264e-01 6.82378436e-02 8.38514307e+01] [-5.52194552e-01 8.32543158e-01 -4.41935062e-02 -2.15791392e+01] [-8.12923520e-02 -1.01133212e-03 9.96689787e-01 -9.53063259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10964924600002 meters 0.05955947962183977 Centerline is valid? [True, True] Translation: X:83.88, Y:-21.60, Z:-9.53 [[ 8.29272436e-01 5.54572204e-01 6.89702682e-02 8.38786759e+01] [-5.52770742e-01 8.32134913e-01 -4.46765437e-02 -2.15976990e+01] [-8.21689374e-02 -1.07572004e-03 9.96617835e-01 -9.53055220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13964924600002 meters 0.060097447500258486 Centerline is valid? [True, True] Translation: X:83.91, Y:-21.61, Z:-9.54 [[ 8.29074360e-01 5.54899485e-01 6.87187574e-02 8.39057677e+01] [-5.53110081e-01 8.31916698e-01 -4.45403928e-02 -2.16121795e+01] [-8.18837227e-02 -1.08173982e-03 9.96641302e-01 -9.53940255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.169649246 meters 0.05912416326824585 Centerline is valid? [True, True] Translation: X:83.93, Y:-21.64, Z:-9.54 [[ 8.30733714e-01 5.52229025e-01 7.01755027e-02 8.39298916e+01] [-5.50351124e-01 8.33692054e-01 -4.55104258e-02 -2.16358963e+01] [-8.36369371e-02 -8.14121733e-04 9.96495961e-01 -9.53695768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.199649246 meters 0.058811900404140194 Centerline is valid? [True, True] Translation: X:83.95, Y:-21.66, Z:-9.54 [[ 8.32054194e-01 5.50124679e-01 7.10538994e-02 8.39549758e+01] [-5.48189515e-01 8.35082326e-01 -4.61060048e-02 -2.16563594e+01] [-8.46999067e-02 -5.88308057e-04 9.96406333e-01 -9.53916471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22964924600001 meters 0.05866880998255452 Centerline is valid? [True, True] Translation: X:83.98, Y:-21.68, Z:-9.54 [[ 8.32704030e-01 5.49095190e-01 7.14035704e-02 8.39807916e+01] [-5.47135096e-01 8.35759687e-01 -4.63565740e-02 -2.16754180e+01] [-8.51303974e-02 -4.66093349e-04 9.96369710e-01 -9.54260925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25964924600001 meters 0.05833250664703024 Centerline is valid? [True, True] Translation: X:84.00, Y:-21.70, Z:-9.54 [[ 8.35353319e-01 5.44940891e-01 7.22790236e-02 8.40038238e+01] [-5.42914698e-01 8.38474463e-01 -4.69489698e-02 -2.16991978e+01] [-8.61885289e-02 -2.23664397e-05 9.96278845e-01 -9.54381615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28964924600001 meters 0.05831248997567726 Centerline is valid? [True, True] Translation: X:84.03, Y:-21.72, Z:-9.55 [[ 8.36886563e-01 5.42390617e-01 7.37109198e-02 8.40278074e+01] [-5.40270959e-01 8.40126387e-01 -4.79055826e-02 -2.17191663e+01] [-8.79100273e-02 2.67669026e-04 9.96128383e-01 -9.54645982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31964924600001 meters 0.05839454375272065 Centerline is valid? [True, True] Translation: X:84.05, Y:-21.74, Z:-9.55 [[ 8.37140761e-01 5.41936067e-01 7.41663304e-02 8.40537363e+01] [-5.39787040e-01 8.40419651e-01 -4.82157768e-02 -2.17357120e+01] [-8.84607100e-02 3.29368155e-04 9.96079612e-01 -9.55030434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34964924600001 meters 0.058418342694078494 Centerline is valid? [True, True] Translation: X:84.08, Y:-21.75, Z:-9.55 [[ 8.36257232e-01 5.43345998e-01 7.38171223e-02 8.40817039e+01] [-5.41220883e-01 8.39508837e-01 -4.80090469e-02 -2.17529337e+01] [-8.80556500e-02 1.96544576e-04 9.96115537e-01 -9.55236463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37964924600001 meters 0.058293043605692436 Centerline is valid? [True, True] Translation: X:84.11, Y:-21.77, Z:-9.55 [[ 8.34201249e-01 5.46375161e-01 7.47158552e-02 8.41089002e+01] [-5.44207313e-01 8.37540551e-01 -4.86233139e-02 -2.17685413e+01] [-8.91441294e-02 -9.92856016e-05 9.96018732e-01 -9.55468683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40964924600001 meters 0.058301238271118834 Centerline is valid? [True, True] Translation: X:84.14, Y:-21.79, Z:-9.56 [[ 8.34287898e-01 5.46207276e-01 7.49754353e-02 8.41351848e+01] [-5.44021472e-01 8.37650051e-01 -4.88162829e-02 -2.17864908e+01] [-8.94669861e-02 -6.14126497e-05 9.95989786e-01 -9.55883290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43964924600002 meters 0.058295151745030103 Centerline is valid? [True, True] Translation: X:84.16, Y:-21.80, Z:-9.56 [[ 8.32838140e-01 5.48524436e-01 7.41726112e-02 8.41637815e+01] [-5.46393054e-01 8.36134473e-01 -4.83091435e-02 -2.18019589e+01] [-8.85170229e-02 -2.93702350e-04 9.96074621e-01 -9.56031577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46964924600002 meters 0.05837715697567798 Centerline is valid? [True, True] Translation: X:84.19, Y:-21.82, Z:-9.57 [[ 8.32390784e-01 5.49400353e-01 7.26968725e-02 8.41897752e+01] [-5.47354088e-01 8.35559169e-01 -4.73748600e-02 -2.18175099e+01] [-8.67703031e-02 -3.56533467e-04 9.96228281e-01 -9.56548414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49964924600002 meters 0.058415915732864344 Centerline is valid? [True, True] Translation: X:84.22, Y:-21.83, Z:-9.57 [[ 8.32210011e-01 5.49655547e-01 7.28373305e-02 8.42176074e+01] [-5.47601564e-01 8.35391308e-01 -4.74751477e-02 -2.18344344e+01] [-8.69426512e-02 -3.76542878e-04 9.96213247e-01 -9.56990382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.529649246 meters 0.05855797297194305 Centerline is valid? [True, True] Translation: X:84.25, Y:-21.85, Z:-9.58 [[ 8.31804420e-01 5.50380421e-01 7.19916600e-02 8.42453312e+01] [-5.48374268e-01 8.34913895e-01 -4.69515737e-02 -2.18498275e+01] [-8.59480642e-02 -4.23847313e-04 9.96299529e-01 -9.57516109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.559649246 meters 0.05867363216465102 Centerline is valid? [True, True] Translation: X:84.27, Y:-21.87, Z:-9.58 [[ 8.31138597e-01 5.51400940e-01 7.18723604e-02 8.42734084e+01] [-5.49403306e-01 8.34240220e-01 -4.68963042e-02 -2.18656636e+01] [-8.58174799e-02 -5.09583952e-04 9.96310745e-01 -9.57992239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58964924600001 meters 0.05883765891459298 Centerline is valid? [True, True] Translation: X:84.30, Y:-21.88, Z:-9.58 [[ 8.31521537e-01 5.50962630e-01 7.07962773e-02 8.42990970e+01] [-5.49020354e-01 8.34529804e-01 -4.62239962e-02 -2.18828350e+01] [-8.45492979e-02 -4.32348864e-04 9.96419204e-01 -9.58367147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61964924600001 meters 0.058623692920136285 Centerline is valid? [True, True] Translation: X:84.33, Y:-21.90, Z:-9.59 [[ 8.32694410e-01 5.49095996e-01 7.15094842e-02 8.43256813e+01] [-5.47106532e-01 8.35759254e-01 -4.67002328e-02 -2.19022996e+01] [-8.54076241e-02 -2.36283086e-04 9.96346065e-01 -9.58557263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64964924600001 meters 0.058575980146863195 Centerline is valid? [True, True] Translation: X:84.35, Y:-21.92, Z:-9.59 [[ 8.35562135e-01 5.44402012e-01 7.39078361e-02 8.43497896e+01] [-5.42255866e-01 8.38824400e-01 -4.82928789e-02 -2.19247223e+01] [-8.82864368e-02 2.74743318e-04 9.96095091e-01 -9.58596814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67964924600001 meters 0.05841120316382375 Centerline is valid? [True, True] Translation: X:84.38, Y:-21.94, Z:-9.59 [[ 8.35564499e-01 5.44395469e-01 7.39292922e-02 8.43775774e+01] [-5.42245436e-01 8.38828637e-01 -4.83363621e-02 -2.19423155e+01] [-8.83281040e-02 3.00326867e-04 9.96091389e-01 -9.58832985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70964924600001 meters 0.05822722793770984 Centerline is valid? [True, True] Translation: X:84.41, Y:-21.95, Z:-9.59 [[ 8.33644201e-01 5.47188729e-01 7.49789375e-02 8.44086042e+01] [-5.44985772e-01 8.37009255e-01 -4.90511460e-02 -2.19539952e+01] [-8.95982989e-02 2.87492330e-05 9.95977984e-01 -9.59318308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73964924600001 meters 0.0581780226332256 Centerline is valid? [True, True] Translation: X:84.44, Y:-21.97, Z:-9.60 [[ 8.31322421e-01 5.50598352e-01 7.57923950e-02 8.44392828e+01] [-5.48358951e-01 8.34770239e-01 -4.96095606e-02 -2.19674391e+01] [-9.05841780e-02 -3.19898209e-04 9.95888751e-01 -9.59594113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76964924600001 meters 0.05831276189717224 Centerline is valid? [True, True] Translation: X:84.47, Y:-21.98, Z:-9.60 [[ 8.29213733e-01 5.53593410e-01 7.70644014e-02 8.44681265e+01] [-5.51288222e-01 8.32786849e-01 -5.04713836e-02 -2.19815120e+01] [-9.21188454e-02 -6.33132499e-04 9.95747818e-01 -9.59703783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79964924600002 meters 0.058423314069201454 Centerline is valid? [True, True] Translation: X:84.50, Y:-22.00, Z:-9.60 [[ 8.28268631e-01 5.54987714e-01 7.71991702e-02 8.44959720e+01] [-5.52677991e-01 8.31858190e-01 -5.05864579e-02 -2.19981499e+01] [-9.22936246e-02 -7.67106078e-04 9.95731539e-01 -9.59944000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82964924600002 meters 0.059136636148045825 Centerline is valid? [True, True] Translation: X:84.53, Y:-22.01, Z:-9.60 [[ 8.25855845e-01 5.58828579e-01 7.53176083e-02 8.45251458e+01] [-5.56643618e-01 8.29282409e-01 -4.93818686e-02 -2.20101583e+01] [-9.00555671e-02 -1.14276112e-03 9.95936087e-01 -9.60493629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85964924600002 meters 0.0599976813980793 Centerline is valid? [True, True] Translation: X:84.55, Y:-22.02, Z:-9.61 [[ 8.24020758e-01 5.61872564e-01 7.27255929e-02 8.45541294e+01] [-5.59845719e-01 8.27222607e-01 -4.77025092e-02 -2.20241273e+01] [-8.69629857e-02 -1.40725400e-03 9.96210549e-01 -9.61186822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88964924600002 meters 0.05952610166985337 Centerline is valid? [True, True] Translation: X:84.58, Y:-22.04, Z:-9.61 [[ 8.23636613e-01 5.62511224e-01 7.21377403e-02 8.45803465e+01] [-5.60517366e-01 8.26788391e-01 -4.73417263e-02 -2.20425999e+01] [-8.62728986e-02 -1.44207710e-03 9.96270499e-01 -9.61344653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.919649246 meters 0.060321854472281465 Centerline is valid? [True, True] Translation: X:84.61, Y:-22.06, Z:-9.62 [[ 8.22975387e-01 5.63581015e-01 7.13298851e-02 8.46096175e+01] [-5.61633663e-01 8.26059403e-01 -4.68347278e-02 -2.20569622e+01] [-8.53178857e-02 -1.51743637e-03 9.96352626e-01 -9.62189576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.949649246 meters 0.06052722379112333 Centerline is valid? [True, True] Translation: X:84.64, Y:-22.07, Z:-9.63 [[ 8.22711724e-01 5.64344506e-01 6.82693001e-02 8.46366995e+01] [-5.62561276e-01 8.25538016e-01 -4.48530464e-02 -2.20745625e+01] [-8.16714729e-02 -1.50453738e-03 9.96658170e-01 -9.62828322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97964924600001 meters 0.06125185154735164 Centerline is valid? [True, True] Translation: X:84.66, Y:-22.09, Z:-9.64 [[ 8.22244488e-01 5.65073732e-01 6.78651590e-02 8.46644014e+01] [-5.63311923e-01 8.25038961e-01 -4.46137837e-02 -2.20912713e+01] [-8.12014776e-02 -1.54581554e-03 9.96696509e-01 -9.63522396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00964924600001 meters 0.06143782090567376 Centerline is valid? [True, True] Translation: X:84.69, Y:-22.11, Z:-9.64 [[ 8.21629884e-01 5.66009349e-01 6.75111213e-02 8.46918275e+01] [-5.64266715e-01 8.24397258e-01 -4.44098579e-02 -2.21095671e+01] [-8.07923780e-02 -1.60581226e-03 9.96729659e-01 -9.63839859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03964924600001 meters 0.06112565618080404 Centerline is valid? [True, True] Translation: X:84.72, Y:-22.13, Z:-9.64 [[ 8.21090987e-01 5.66752162e-01 6.78349345e-02 8.47184799e+01] [-5.64993035e-01 8.23886653e-01 -4.46503426e-02 -2.21294155e+01] [-8.11939753e-02 -1.66427167e-03 9.96696929e-01 -9.63870429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06964924600001 meters 0.062003589129747815 Centerline is valid? [True, True] Translation: X:84.75, Y:-22.14, Z:-9.64 [[ 8.20321785e-01 5.67877117e-01 6.77329319e-02 8.47457402e+01] [-5.66124886e-01 8.23111485e-01 -4.46104972e-02 -2.21448980e+01] [-8.10850347e-02 -1.75033566e-03 9.96705650e-01 -9.64430911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09964924600001 meters 0.061185785272791775 Centerline is valid? [True, True] Translation: X:84.77, Y:-22.17, Z:-9.64 [[ 8.20324559e-01 5.67739253e-01 6.88459126e-02 8.47718098e+01] [-5.65926346e-01 8.23206594e-01 -4.53682141e-02 -2.21652535e+01] [-8.24317251e-02 -1.74505556e-03 9.96595186e-01 -9.64482141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12964924600001 meters 0.060984840670173 Centerline is valid? [True, True] Translation: X:84.80, Y:-22.18, Z:-9.65 [[ 8.19939740e-01 5.68147515e-01 7.00515791e-02 8.47989768e+01] [-5.66269756e-01 8.22924769e-01 -4.61886094e-02 -2.21832632e+01] [-8.38891232e-02 -1.79621424e-03 9.96473476e-01 -9.64726895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15964924600001 meters 0.061841798788405525 Centerline is valid? [True, True] Translation: X:84.83, Y:-22.20, Z:-9.65 [[ 8.18756588e-01 5.69802949e-01 7.04432339e-02 8.48263847e+01] [-5.67907914e-01 8.21779033e-01 -4.64738872e-02 -2.21987521e+01] [-8.43697307e-02 -1.95446868e-03 9.96432601e-01 -9.65163045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18964924600002 meters 0.06201699410079505 Centerline is valid? [True, True] Translation: X:84.85, Y:-22.22, Z:-9.65 [[ 8.18274215e-01 5.70534601e-01 7.01254381e-02 8.48526860e+01] [-5.68657187e-01 8.21271131e-01 -4.62896776e-02 -2.22171771e+01] [-8.40018606e-02 -1.99968471e-03 9.96463591e-01 -9.65464718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21964924600002 meters 0.06174603808150276 Centerline is valid? [True, True] Translation: X:84.88, Y:-22.24, Z:-9.66 [[ 8.19063853e-01 5.69417934e-01 6.99830087e-02 8.48762176e+01] [-5.67542076e-01 8.22046076e-01 -4.62194883e-02 -2.22367710e+01] [-8.38474632e-02 -1.86158991e-03 9.96476862e-01 -9.65804358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24964924600002 meters 0.060741109513030314 Centerline is valid? [True, True] Translation: X:84.90, Y:-22.26, Z:-9.66 [[ 8.21971056e-01 5.65162882e-01 7.03882126e-02 8.49002178e+01] [-5.63247687e-01 8.24978127e-01 -4.65094989e-02 -2.22604566e+01] [-8.43541783e-02 -1.41653599e-03 9.96434828e-01 -9.66169064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.279649246 meters 0.06079074716124947 Centerline is valid? [True, True] Translation: X:84.93, Y:-22.28, Z:-9.67 [[ 8.22127545e-01 5.64991871e-01 6.99320013e-02 8.49266617e+01] [-5.63099359e-01 8.25095324e-01 -4.62257265e-02 -2.22800433e+01] [-8.38177271e-02 -1.37522204e-03 9.96480154e-01 -9.66704755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.309649246 meters 0.06049317985469679 Centerline is valid? [True, True] Translation: X:84.95, Y:-22.30, Z:-9.67 [[ 8.22274338e-01 5.64845894e-01 6.93832123e-02 8.49541796e+01] [-5.62980657e-01 8.25195337e-01 -4.58850277e-02 -2.23019523e+01] [-8.31726727e-02 -1.33132572e-03 9.96534261e-01 -9.67021831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33964924600001 meters 0.06049939503089342 Centerline is valid? [True, True] Translation: X:84.98, Y:-22.32, Z:-9.67 [[ 8.23095968e-01 5.63723275e-01 6.87684241e-02 8.49773218e+01] [-5.61883752e-01 8.25962888e-01 -4.55187547e-02 -2.23234357e+01] [-8.24601476e-02 -1.17355677e-03 9.96593672e-01 -9.67417055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36964924600001 meters 0.06047376471122879 Centerline is valid? [True, True] Translation: X:85.00, Y:-22.34, Z:-9.68 [[ 8.23630390e-01 5.62921240e-01 6.89395257e-02 8.50012016e+01] [-5.61067542e-01 8.26509845e-01 -4.56583969e-02 -2.23437965e+01] [-8.26812781e-02 -1.07408699e-03 9.96575463e-01 -9.67764011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39964924600001 meters 0.06036984221319687 Centerline is valid? [True, True] Translation: X:85.03, Y:-22.36, Z:-9.68 [[ 8.23347523e-01 5.63259935e-01 6.95492767e-02 8.50277761e+01] [-5.61372661e-01 8.26279030e-01 -4.60836280e-02 -2.23613049e+01] [-8.34241701e-02 -1.10022154e-03 9.96513521e-01 -9.68086042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42964924600001 meters 0.060660937354429394 Centerline is valid? [True, True] Translation: X:85.05, Y:-22.38, Z:-9.69 [[ 8.23073011e-01 5.63632103e-01 6.97830209e-02 8.50546539e+01] [-5.61731514e-01 8.26025176e-01 -4.62613703e-02 -2.23778463e+01] [-8.37169256e-02 -1.12283664e-03 9.96488944e-01 -9.68569461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45964924600001 meters 0.06049328289669126 Centerline is valid? [True, True] Translation: X:85.08, Y:-22.40, Z:-9.69 [[ 8.23370649e-01 5.63224710e-01 6.95607611e-02 8.50812681e+01] [-5.61332763e-01 8.26303096e-01 -4.61380836e-02 -2.23964955e+01] [-8.34643811e-02 -1.05799039e-03 9.96510200e-01 -9.68931820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48964924600001 meters 0.06016758843097251 Centerline is valid? [True, True] Translation: X:85.11, Y:-22.42, Z:-9.69 [[ 8.24100218e-01 5.62177817e-01 6.93897136e-02 8.51062860e+01] [-5.60289237e-01 8.27015866e-01 -4.60513684e-02 -2.24167456e+01] [-8.32754518e-02 -9.27366949e-04 9.96526136e-01 -9.69186203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51964924600001 meters 0.060455587608810736 Centerline is valid? [True, True] Translation: X:85.13, Y:-22.43, Z:-9.70 [[ 8.24567211e-01 5.61646511e-01 6.81330424e-02 8.51321498e+01] [-5.59822183e-01 8.27376875e-01 -4.52397010e-02 -2.24341020e+01] [-8.17804240e-02 -8.39214479e-04 9.96650018e-01 -9.69917052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54964924600002 meters 0.06053803874578143 Centerline is valid? [True, True] Translation: X:85.16, Y:-22.45, Z:-9.70 [[ 8.24729084e-01 5.61424996e-01 6.79993532e-02 8.51568266e+01] [-5.59605130e-01 8.27527244e-01 -4.51747542e-02 -2.24529684e+01] [-8.16335535e-02 -7.95853226e-04 9.96662094e-01 -9.70442995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57964924600002 meters 0.060265098446826024 Centerline is valid? [True, True] Translation: X:85.18, Y:-22.47, Z:-9.71 [[ 8.25815098e-01 5.59854719e-01 6.77651596e-02 8.51815959e+01] [-5.58040165e-01 8.28590557e-01 -4.50429041e-02 -2.24735065e+01] [-8.13670538e-02 -6.18570596e-04 9.96684012e-01 -9.70826266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60964924600002 meters 0.0601475214920963 Centerline is valid? [True, True] Translation: X:85.21, Y:-22.49, Z:-9.71 [[ 8.25836878e-01 5.59872207e-01 6.73540169e-02 8.52081022e+01] [-5.58078062e-01 8.28578754e-01 -4.47897835e-02 -2.24930475e+01] [-8.08846624e-02 -5.99744202e-04 9.96723287e-01 -9.70962214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63964924600002 meters 0.06006710936815837 Centerline is valid? [True, True] Translation: X:85.24, Y:-22.51, Z:-9.71 [[ 8.25879244e-01 5.59765938e-01 6.77168280e-02 8.52352968e+01] [-5.57949852e-01 8.28650572e-01 -4.50576632e-02 -2.25116078e+01] [-8.13353333e-02 -5.70405269e-04 9.96686630e-01 -9.71322284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.669649246 meters 0.05997892279704904 Centerline is valid? [True, True] Translation: X:85.26, Y:-22.53, Z:-9.71 [[ 8.25336034e-01 5.60533110e-01 6.79931197e-02 8.52622437e+01] [-5.58702926e-01 8.28131774e-01 -4.52637301e-02 -2.25298126e+01] [-8.16790823e-02 -6.30167428e-04 9.96658482e-01 -9.71498949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.699649246 meters 0.06003882781561521 Centerline is valid? [True, True] Translation: X:85.29, Y:-22.55, Z:-9.72 [[ 8.25340138e-01 5.60516429e-01 6.80807659e-02 8.52898287e+01] [-5.58679260e-01 8.28143082e-01 -4.53488667e-02 -2.25473368e+01] [-8.17994002e-02 -6.07072056e-04 9.96648629e-01 -9.71986080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72964924600001 meters 0.059906640299387505 Centerline is valid? [True, True] Translation: X:85.32, Y:-22.57, Z:-9.72 [[ 8.25244364e-01 5.60590904e-01 6.86263662e-02 8.53165854e+01] [-5.58722146e-01 8.28092677e-01 -4.57392752e-02 -2.25654980e+01] [-8.24700129e-02 -5.96991542e-04 9.96593368e-01 -9.72095803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75964924600001 meters 0.06015234359086346 Centerline is valid? [True, True] Translation: X:85.34, Y:-22.58, Z:-9.73 [[ 8.25341193e-01 5.60455713e-01 6.85660876e-02 8.53421573e+01] [-5.58587309e-01 8.28184208e-01 -4.57289427e-02 -2.25836479e+01] [-8.24143981e-02 -5.58166259e-04 9.96597991e-01 -9.72834495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78964924600001 meters 0.06001832049223875 Centerline is valid? [True, True] Translation: X:85.37, Y:-22.60, Z:-9.73 [[ 8.25831551e-01 5.59693720e-01 6.88853297e-02 8.53672529e+01] [-5.57803865e-01 8.28699413e-01 -4.59579176e-02 -2.26026587e+01] [-8.28075902e-02 -4.71004811e-04 9.96565442e-01 -9.73152023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81964924600001 meters 0.059896879112207604 Centerline is valid? [True, True] Translation: X:85.39, Y:-22.62, Z:-9.73 [[ 8.25886416e-01 5.59643455e-01 6.86354945e-02 8.53939038e+01] [-5.57765437e-01 8.28733373e-01 -4.58117244e-02 -2.26228027e+01] [-8.25187566e-02 -4.47225718e-04 9.96589411e-01 -9.73266419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84964924600001 meters 0.05950862300575394 Centerline is valid? [True, True] Translation: X:85.42, Y:-22.64, Z:-9.73 [[ 8.26622240e-01 5.58407502e-01 6.98336180e-02 8.54187388e+01] [-5.56456456e-01 8.29566735e-01 -4.66395141e-02 -2.26432316e+01] [-8.39755011e-02 -3.06107989e-04 9.96467772e-01 -9.73376846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87964924600001 meters 0.05958269859970531 Centerline is valid? [True, True] Translation: X:85.45, Y:-22.66, Z:-9.74 [[ 8.26683017e-01 5.58293878e-01 7.00223990e-02 8.54458515e+01] [-5.56329878e-01 8.29643219e-01 -4.67888534e-02 -2.26620562e+01] [-8.42155389e-02 -2.76002227e-04 9.96447523e-01 -9.73785496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90964924600001 meters 0.05963343774315751 Centerline is valid? [True, True] Translation: X:85.47, Y:-22.68, Z:-9.74 [[ 8.26504473e-01 5.58633678e-01 6.94173670e-02 8.54720631e+01] [-5.56702378e-01 8.29414452e-01 -4.64125990e-02 -2.26798872e+01] [-8.35034083e-02 -2.84592615e-04 9.96507451e-01 -9.74178917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93964924600002 meters 0.05963343774315751 Centerline is valid? [True, True] Translation: X:85.50, Y:-22.70, Z:-9.75 [[ 8.26355001e-01 5.58856064e-01 6.94068581e-02 8.54986931e+01] [-5.56924228e-01 8.29264624e-01 -4.64283081e-02 -2.26979136e+01] [-8.35033936e-02 -2.88096238e-04 9.96507451e-01 -9.74528571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96964924600002 meters 0.059673345017241614 Centerline is valid? [True, True] Translation: X:85.53, Y:-22.72, Z:-9.75 [[ 8.26222859e-01 5.59040145e-01 6.94975074e-02 8.55259536e+01] [-5.57101625e-01 8.29140540e-01 -4.65160526e-02 -2.27159437e+01] [-8.36275416e-02 -2.84548325e-04 9.96497041e-01 -9.74939128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99964924600002 meters 0.05966393465815347 Centerline is valid? [True, True] Translation: X:85.55, Y:-22.73, Z:-9.75 [[ 8.25755282e-01 5.59821538e-01 6.87608883e-02 8.55514378e+01] [-5.57924442e-01 8.28613138e-01 -4.60498070e-02 -2.27338745e+01] [-8.27558492e-02 -3.37508899e-04 9.96569795e-01 -9.75394354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.029649246 meters 0.05968969135852941 Centerline is valid? [True, True] Translation: X:85.58, Y:-22.75, Z:-9.76 [[ 8.25637801e-01 5.60045303e-01 6.83482262e-02 8.55772909e+01] [-5.58169669e-01 8.28461915e-01 -4.57982056e-02 -2.27521083e+01] [-8.22729723e-02 -3.37177066e-04 9.96609775e-01 -9.75803070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.059649246 meters 0.05983886540453534 Centerline is valid? [True, True] Translation: X:85.60, Y:-22.77, Z:-9.76 [[ 8.25470825e-01 5.60252686e-01 6.86647271e-02 8.56038756e+01] [-5.58358333e-01 8.28321684e-01 -4.60343301e-02 -2.27696171e+01] [-8.26673395e-02 -3.39526066e-04 9.96577140e-01 -9.76275118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08964924600001 meters 0.05963232671424728 Centerline is valid? [True, True] Translation: X:85.63, Y:-22.79, Z:-9.76 [[ 8.25008268e-01 5.60824695e-01 6.95486814e-02 8.56299576e+01] [-5.58881087e-01 8.27934488e-01 -4.66520525e-02 -2.27874344e+01] [-8.37453751e-02 -3.81113606e-04 9.96487113e-01 -9.76495466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11964924600001 meters 0.05962915609749093 Centerline is valid? [True, True] Translation: X:85.66, Y:-22.81, Z:-9.77 [[ 8.25009247e-01 5.60755173e-01 7.00954909e-02 8.56560811e+01] [-5.58778636e-01 8.27981587e-01 -4.70417780e-02 -2.28054956e+01] [-8.44166961e-02 -3.57960900e-04 9.96430476e-01 -9.76796603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14964924600001 meters 0.059416151439713766 Centerline is valid? [True, True] Translation: X:85.68, Y:-22.82, Z:-9.77 [[ 8.24697556e-01 5.61103937e-01 7.09669813e-02 8.56823230e+01] [-5.59076958e-01 8.27745269e-01 -4.76521351e-02 -2.28233000e+01] [-8.54803836e-02 -3.77404604e-04 9.96339782e-01 -9.76882607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17964924600001 meters 0.05926143883801817 Centerline is valid? [True, True] Translation: X:85.71, Y:-22.84, Z:-9.77 [[ 8.25966517e-01 5.58996898e-01 7.28133374e-02 8.57061214e+01] [-5.56852388e-01 8.29169734e-01 -4.89179904e-02 -2.28430515e+01] [-8.77196205e-02 -1.41658725e-04 9.96145194e-01 -9.77057131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20964924600001 meters 0.05914406724872077 Centerline is valid? [True, True] Translation: X:85.73, Y:-22.86, Z:-9.77 [[ 8.26084024e-01 5.58884692e-01 7.23400760e-02 8.57317422e+01] [-5.56765743e-01 8.29245373e-01 -4.86211710e-02 -2.28637988e+01] [-8.71613015e-02 -1.11303642e-04 9.96194206e-01 -9.77122412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23964924600001 meters 0.0592324385074212 Centerline is valid? [True, True] Translation: X:85.76, Y:-22.88, Z:-9.78 [[ 8.25389802e-01 5.59888165e-01 7.25046024e-02 8.57579779e+01] [-5.57760817e-01 8.28568166e-01 -4.87613063e-02 -2.28812705e+01] [-8.73758837e-02 -1.93141288e-04 9.96175395e-01 -9.77730445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26964924600001 meters 0.059210910886869354 Centerline is valid? [True, True] Translation: X:85.78, Y:-22.90, Z:-9.78 [[ 8.26369201e-01 5.58522866e-01 7.18759531e-02 8.57827398e+01] [-5.56424808e-01 8.29489125e-01 -4.83655327e-02 -2.29010246e+01] [-8.66335774e-02 -2.57768216e-05 9.96240243e-01 -9.78300784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29964924600002 meters 0.05925080790522326 Centerline is valid? [True, True] Translation: X:85.81, Y:-22.92, Z:-9.79 [[ 8.26691257e-01 5.58031435e-01 7.19894606e-02 8.58094660e+01] [-5.55922723e-01 8.29819809e-01 -4.84665952e-02 -2.29202768e+01] [-8.67841641e-02 4.63335825e-05 9.96227136e-01 -9.78514434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32964924600002 meters 0.05945592297693428 Centerline is valid? [True, True] Translation: X:85.83, Y:-22.94, Z:-9.79 [[ 8.26934178e-01 5.57895062e-01 7.02350639e-02 8.58347310e+01] [-5.55885235e-01 8.29911497e-01 -4.73129218e-02 -2.29382697e+01] [-8.46845325e-02 8.20371185e-05 9.96407810e-01 -9.79112495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35964924600002 meters 0.05939377322265373 Centerline is valid? [True, True] Translation: X:85.86, Y:-22.96, Z:-9.80 [[ 8.26814709e-01 5.57979041e-01 7.09706010e-02 8.58602398e+01] [-5.55924924e-01 8.29855036e-01 -4.78340756e-02 -2.29554349e+01] [-8.55857223e-02 9.55913706e-05 9.96330806e-01 -9.79554011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38964924600002 meters 0.05947948253459375 Centerline is valid? [True, True] Translation: X:85.89, Y:-22.97, Z:-9.80 [[ 8.26370989e-01 5.58654057e-01 7.08282018e-02 8.58868808e+01] [-5.56608658e-01 8.29400773e-01 -4.77614756e-02 -2.29735631e+01] [-8.54271074e-02 4.51074847e-05 9.96344422e-01 -9.79837637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.419649246 meters 0.05936140072007042 Centerline is valid? [True, True] Translation: X:85.91, Y:-22.99, Z:-9.80 [[ 8.26122317e-01 5.58987072e-01 7.11011246e-02 8.59130144e+01] [-5.56925820e-01 8.29176370e-01 -4.79601739e-02 -2.29928408e+01] [-8.57644896e-02 2.29178435e-05 9.96315438e-01 -9.80126361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.449649246 meters 0.05933230219885165 Centerline is valid? [True, True] Translation: X:85.94, Y:-23.01, Z:-9.80 [[ 8.25791394e-01 5.59555943e-01 7.04678625e-02 8.59391472e+01] [-5.57531037e-01 8.28792584e-01 -4.75604430e-02 -2.30112783e+01] [-8.50159704e-02 -1.30159491e-05 9.96379589e-01 -9.80492357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47964924600001 meters 0.05950104969930007 Centerline is valid? [True, True] Translation: X:85.97, Y:-23.03, Z:-9.81 [[ 8.25775077e-01 5.59615642e-01 7.01844426e-02 8.59658861e+01] [-5.57605350e-01 8.28752275e-01 -4.73913567e-02 -2.30291127e+01] [-8.46864610e-02 -6.19436934e-07 9.96407649e-01 -9.80918915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50964924600001 meters 0.05945349511116733 Centerline is valid? [True, True] Translation: X:85.99, Y:-23.05, Z:-9.81 [[ 8.26124403e-01 5.59089669e-01 7.02653038e-02 8.59925307e+01] [-5.57070598e-01 8.29107192e-01 -4.74722243e-02 -2.30469850e+01] [-8.47986989e-02 7.52281164e-05 9.96398101e-01 -9.81352430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53964924600001 meters 0.05961716319146734 Centerline is valid? [True, True] Translation: X:86.02, Y:-23.06, Z:-9.82 [[ 8.25939234e-01 5.59429620e-01 6.97343734e-02 8.60191959e+01] [-5.57439834e-01 8.28877854e-01 -4.71416437e-02 -2.30646323e+01] [-8.41737096e-02 6.34154477e-05 9.96451094e-01 -9.81789333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56964924600001 meters 0.05971342041894024 Centerline is valid? [True, True] Translation: X:86.05, Y:-23.08, Z:-9.82 [[ 8.26095990e-01 5.59184947e-01 6.98398894e-02 8.60463892e+01] [-5.57186304e-01 8.29042932e-01 -4.72359937e-02 -2.30832198e+01] [-8.43139233e-02 1.07635199e-04 9.96439236e-01 -9.82215765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59964924600001 meters 0.059836644969859513 Centerline is valid? [True, True] Translation: X:86.07, Y:-23.11, Z:-9.82 [[ 8.31033696e-01 5.51496448e-01 7.23509753e-02 8.60685616e+01] [-5.49319380e-01 8.34176703e-01 -4.89637403e-02 -2.31109993e+01] [-8.73568269e-02 9.46725224e-04 9.96176635e-01 -9.81808157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62964924600001 meters 0.060311393366484396 Centerline is valid? [True, True] Translation: X:86.10, Y:-23.13, Z:-9.83 [[ 8.31944068e-01 5.50400616e-01 7.02013503e-02 8.60961553e+01] [-5.48345022e-01 8.34900026e-01 -4.75361293e-02 -2.31253941e+01] [-8.47750240e-02 1.05283985e-03 9.96399562e-01 -9.82591942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65964924600001 meters 0.06036633546992063 Centerline is valid? [True, True] Translation: X:86.13, Y:-23.14, Z:-9.83 [[ 8.30978321e-01 5.51994736e-01 6.91146969e-02 8.61251956e+01] [-5.50006085e-01 8.33847115e-01 -4.68219531e-02 -2.31389505e+01] [-8.34765622e-02 8.94524125e-04 9.96509339e-01 -9.83415212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68964924600002 meters 0.060648186152463916 Centerline is valid? [True, True] Translation: X:86.15, Y:-23.15, Z:-9.84 [[ 8.30896270e-01 5.52151610e-01 6.88475696e-02 8.61540970e+01] [-5.50176882e-01 8.33743245e-01 -4.66647653e-02 -2.31545755e+01] [-8.31672214e-02 8.95238199e-04 9.96535204e-01 -9.84091381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71964924600002 meters 0.06065726775761414 Centerline is valid? [True, True] Translation: X:86.18, Y:-23.17, Z:-9.84 [[ 8.30497586e-01 5.52768188e-01 6.87101855e-02 8.61812380e+01] [-5.50801311e-01 8.33334628e-01 -4.65973538e-02 -2.31736430e+01] [-8.30161117e-02 8.53329665e-04 9.96547840e-01 -9.84350191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74964924600002 meters 0.06030366021762467 Centerline is valid? [True, True] Translation: X:86.21, Y:-23.19, Z:-9.84 [[ 8.30071596e-01 5.53313299e-01 6.94660954e-02 8.62067656e+01] [-5.51302211e-01 8.32972808e-01 -4.71399283e-02 -2.31919660e+01] [-8.39465178e-02 8.32703524e-04 9.96469914e-01 -9.84364741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.779649246 meters 0.06003052509869991 Centerline is valid? [True, True] Translation: X:86.23, Y:-23.21, Z:-9.84 [[ 8.29479685e-01 5.54172912e-01 6.96838263e-02 8.62349702e+01] [-5.52151368e-01 8.32401233e-01 -4.72975145e-02 -2.32097427e+01] [-8.42159042e-02 7.56307447e-04 9.96447244e-01 -9.84368443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.809649246 meters 0.05986059581002871 Centerline is valid? [True, True] Translation: X:86.26, Y:-23.23, Z:-9.85 [[ 8.28416384e-01 5.55684507e-01 7.02924111e-02 8.62623366e+01] [-5.53630689e-01 8.31393007e-01 -4.77360136e-02 -2.32250327e+01] [-8.49667822e-02 6.29259742e-04 9.96383586e-01 -9.84723091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83964924600001 meters 0.05997261862585449 Centerline is valid? [True, True] Translation: X:86.29, Y:-23.24, Z:-9.85 [[ 8.28216352e-01 5.55951291e-01 7.05396115e-02 8.62897213e+01] [-5.53882161e-01 8.31214639e-01 -4.79246870e-02 -2.32424505e+01] [-8.52773494e-02 6.21376938e-04 9.96357058e-01 -9.85092819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86964924600001 meters 0.0598373007110771 Centerline is valid? [True, True] Translation: X:86.32, Y:-23.26, Z:-9.85 [[ 8.27268701e-01 5.57383745e-01 7.03552215e-02 8.63178747e+01] [-5.55328316e-01 8.30254850e-01 -4.78262015e-02 -2.32591578e+01] [-8.50703112e-02 4.94872920e-04 9.96374828e-01 -9.85380776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89964924600001 meters 0.06011434702367197 Centerline is valid? [True, True] Translation: X:86.34, Y:-23.28, Z:-9.86 [[ 8.26858120e-01 5.58055642e-01 6.98537721e-02 8.63435396e+01] [-5.56029377e-01 8.29803411e-01 -4.75145370e-02 -2.32767801e+01] [-8.44806538e-02 4.47031418e-04 9.96425019e-01 -9.85970699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92964924600001 meters 0.059751932474050196 Centerline is valid? [True, True] Translation: X:86.37, Y:-23.29, Z:-9.86 [[ 8.26561432e-01 5.58430431e-01 7.03679786e-02 8.63716961e+01] [-5.56374381e-01 8.29551249e-01 -4.78776968e-02 -2.32941679e+01] [-8.51102074e-02 4.22917060e-04 9.96371454e-01 -9.85865364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95964924600001 meters 0.05993812470178157 Centerline is valid? [True, True] Translation: X:86.40, Y:-23.31, Z:-9.86 [[ 8.25757546e-01 5.59648573e-01 7.01280968e-02 8.63985949e+01] [-5.57608527e-01 8.28729976e-01 -4.77426158e-02 -2.33110103e+01] [-8.48363427e-02 3.19800485e-04 9.96394848e-01 -9.86337519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98964924600001 meters 0.059925941167295604 Centerline is valid? [True, True] Translation: X:86.43, Y:-23.33, Z:-9.87 [[ 8.24250397e-01 5.61780304e-01 7.08108224e-02 8.64294855e+01] [-5.59705952e-01 8.27286453e-01 -4.82324888e-02 -2.33257013e+01] [-8.56768963e-02 1.22409309e-04 9.96322967e-01 -9.86616745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01964924600001 meters 0.059830129495001355 Centerline is valid? [True, True] Translation: X:86.46, Y:-23.34, Z:-9.87 [[ 8.23297747e-01 5.63105392e-01 7.13662197e-02 8.64580281e+01] [-5.61000466e-01 8.26385090e-01 -4.86431881e-02 -2.33416676e+01] [-8.63672214e-02 1.13447326e-05 9.96263370e-01 -9.86922707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04964924600002 meters 0.06011698138477511 Centerline is valid? [True, True] Translation: X:86.49, Y:-23.35, Z:-9.87 [[ 8.19856398e-01 5.68044158e-01 7.18423353e-02 8.64895104e+01] [-5.65927532e-01 8.22997931e-01 -4.89942142e-02 -2.33531421e+01] [-8.69569705e-02 -4.89335580e-04 9.96211948e-01 -9.87192704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07964924600002 meters 0.0601653027938081 Centerline is valid? [True, True] Translation: X:86.52, Y:-23.37, Z:-9.87 [[ 8.18055497e-01 5.70649728e-01 7.17223304e-02 8.65182909e+01] [-5.68547715e-01 8.21193241e-01 -4.89403499e-02 -2.33682516e+01] [-8.68256903e-02 -7.41644785e-04 9.96223243e-01 -9.87394352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10964924600002 meters 0.06000018822054779 Centerline is valid? [True, True] Translation: X:86.55, Y:-23.39, Z:-9.87 [[ 8.17789207e-01 5.70679072e-01 7.44728756e-02 8.65454497e+01] [-5.68409946e-01 8.21172841e-01 -5.08458351e-02 -2.33851603e+01] [-9.01717567e-02 -7.49948021e-04 9.95925947e-01 -9.87389923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13964924600002 meters 0.05990629626781416 Centerline is valid? [True, True] Translation: X:86.57, Y:-23.40, Z:-9.88 [[ 8.17292733e-01 5.71313732e-01 7.50547071e-02 8.65732672e+01] [-5.69010306e-01 8.20731355e-01 -5.12573474e-02 -2.34021244e+01] [-9.08837778e-02 -8.14644312e-04 9.95861173e-01 -9.87565115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.169649246 meters 0.06031203274532215 Centerline is valid? [True, True] Translation: X:86.60, Y:-23.42, Z:-9.88 [[ 8.17162115e-01 5.71707106e-01 7.34647050e-02 8.66004127e+01] [-5.69499428e-01 8.20457384e-01 -5.02004222e-02 -2.34165060e+01] [-8.89745978e-02 -8.16224230e-04 9.96033561e-01 -9.88366960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.199649246 meters 0.06013476071023223 Centerline is valid? [True, True] Translation: X:86.63, Y:-23.44, Z:-9.89 [[ 8.17477203e-01 5.71278031e-01 7.32968907e-02 8.66268728e+01] [-5.69076788e-01 8.20756266e-01 -5.01074908e-02 -2.34354407e+01] [-8.87841911e-02 -7.49827655e-04 9.96050604e-01 -9.88666625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22964924600001 meters 0.060510431742672136 Centerline is valid? [True, True] Translation: X:86.65, Y:-23.45, Z:-9.89 [[ 8.16425359e-01 5.72900488e-01 7.23509808e-02 8.66539648e+01] [-5.70759409e-01 8.19624451e-01 -4.94919740e-02 -2.34499641e+01] [-8.76546090e-02 -8.88500403e-04 9.96150531e-01 -9.89286870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25964924600001 meters 0.0606274877977963 Centerline is valid? [True, True] Translation: X:86.68, Y:-23.47, Z:-9.90 [[ 8.15990433e-01 5.73543853e-01 7.21599673e-02 8.66805959e+01] [-5.71415623e-01 8.19174312e-01 -4.93723881e-02 -2.34667246e+01] [-8.74288213e-02 -9.45936320e-04 9.96170320e-01 -9.89796707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28964924600001 meters 0.060874745405109044 Centerline is valid? [True, True] Translation: X:86.71, Y:-23.48, Z:-9.90 [[ 8.14899485e-01 5.75088893e-01 7.21913718e-02 8.67077924e+01] [-5.72962504e-01 8.18090201e-01 -4.94205661e-02 -2.34832510e+01] [-8.74802725e-02 -1.09015523e-03 9.96165656e-01 -9.90126564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31964924600001 meters 0.061361879642517846 Centerline is valid? [True, True] Translation: X:86.74, Y:-23.50, Z:-9.90 [[ 8.13256319e-01 5.77490505e-01 7.15463254e-02 8.67365512e+01] [-5.75409381e-01 8.16396337e-01 -4.90006678e-02 -2.35002993e+01] [-8.67075784e-02 -1.31832410e-03 9.96232934e-01 -9.90329814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34964924600001 meters 0.062107620359913 Centerline is valid? [True, True] Translation: X:86.76, Y:-23.51, Z:-9.91 [[ 8.11806509e-01 5.79690502e-01 7.02076452e-02 8.67646089e+01] [-5.77692153e-01 8.14835369e-01 -4.81154714e-02 -2.35128144e+01] [-8.50997543e-02 -1.49795280e-03 9.96371310e-01 -9.90858187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37964924600001 meters 0.06218941211073149 Centerline is valid? [True, True] Translation: X:86.79, Y:-23.53, Z:-9.91 [[ 8.10708565e-01 5.81128839e-01 7.09992696e-02 8.67927778e+01] [-5.79089033e-01 8.13809892e-01 -4.86759794e-02 -2.35291531e+01] [-8.60669234e-02 -1.65286500e-03 9.96287987e-01 -9.91192098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40964924600001 meters 0.06158240364082732 Centerline is valid? [True, True] Translation: X:86.82, Y:-23.55, Z:-9.91 [[ 8.09518829e-01 5.82680548e-01 7.18515462e-02 8.68200161e+01] [-5.80595218e-01 8.12699250e-01 -4.92861169e-02 -2.35493305e+01] [-8.71117594e-02 -1.81862460e-03 9.96196885e-01 -9.91046317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43964924600002 meters 0.06170954761152211 Centerline is valid? [True, True] Translation: X:86.85, Y:-23.57, Z:-9.91 [[ 8.08960952e-01 5.83352933e-01 7.26741583e-02 8.68464756e+01] [-5.81218886e-01 8.12216604e-01 -4.98878124e-02 -2.35664274e+01] [-8.81293597e-02 -1.88230109e-03 9.96107260e-01 -9.91323898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46964924600002 meters 0.06314383211524813 Centerline is valid? [True, True] Translation: X:86.88, Y:-23.58, Z:-9.92 [[ 8.07671732e-01 5.84897027e-01 7.45777548e-02 8.68756961e+01] [-5.82654412e-01 8.11104864e-01 -5.12126602e-02 -2.35802496e+01] [-9.04445123e-02 -2.09003982e-03 9.95899303e-01 -9.91705095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49964924600002 meters 0.06315286853739344 Centerline is valid? [True, True] Translation: X:87.70, Y:-22.58, Z:-9.05 [[ 8.70228450e-01 -4.81766107e-01 -1.02975062e-01 8.76953557e+01] [-4.76899610e-01 -8.76229386e-01 6.92013312e-02 -2.25786575e+01] [-1.23568631e-01 -1.11122003e-02 -9.92273809e-01 -9.05152111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.529649246 meters 0.06338079888495396 Centerline is valid? [True, True] Translation: X:87.70, Y:-22.54, Z:-9.05 [[ 9.05073766e-01 -4.11278032e-01 -1.08128900e-01 8.76997903e+01] [-4.06882639e-01 -9.11440868e-01 6.10087058e-02 -2.25381997e+01] [-1.23644639e-01 -1.12216070e-02 -9.92263110e-01 -9.05374808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.559649246 meters 0.06374321728962774 Centerline is valid? [True, True] Translation: X:87.70, Y:-22.50, Z:-9.06 [[ 9.34579034e-01 -3.37400637e-01 -1.12795562e-01 8.76988097e+01] [-3.33502254e-01 -9.41292858e-01 5.23832256e-02 -2.24969120e+01] [-1.23847791e-01 -1.13386901e-02 -9.92236443e-01 -9.05610045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58964924600001 meters 0.0625477665751373 Centerline is valid? [True, True] Translation: X:87.69, Y:-22.46, Z:-9.06 [[ 9.57982206e-01 -2.62166469e-01 -1.16356502e-01 8.76914441e+01] [-2.58819864e-01 -9.64956116e-01 4.32662887e-02 -2.24609744e+01] [-1.23621889e-01 -1.13329606e-02 -9.92264679e-01 -9.06266586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61964924600001 meters 0.06328220524483948 Centerline is valid? [True, True] Translation: X:87.68, Y:-22.43, Z:-9.06 [[ 9.75366242e-01 -1.85173449e-01 -1.19881138e-01 8.76802637e+01] [-1.82367679e-01 -9.82640166e-01 3.40636655e-02 -2.24304999e+01] [-1.24107708e-01 -1.13621046e-02 -9.92203699e-01 -9.06367797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64964924600001 meters 0.06272216573478434 Centerline is valid? [True, True] Translation: X:87.66, Y:-22.40, Z:-9.07 [[ 9.86633530e-01 -1.07355585e-01 -1.22593051e-01 8.76639282e+01] [-1.05121748e-01 -9.94155903e-01 2.45654023e-02 -2.23954475e+01] [-1.24513838e-01 -1.13498538e-02 -9.92152954e-01 -9.06739725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67964924600001 meters 0.06249449640879249 Centerline is valid? [True, True] Translation: X:87.64, Y:-22.36, Z:-9.07 [[ 9.91911298e-01 -2.98604268e-02 -1.23370708e-01 8.76431305e+01] [-2.82507593e-02 -9.99491644e-01 1.47766013e-02 -2.23621045e+01] [-1.23749227e-01 -1.11717616e-02 -9.92250634e-01 -9.06970108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70964924600001 meters 0.061658607691556885 Centerline is valid? [True, True] Translation: X:87.51, Y:-23.64, Z:-9.94 [[ 9.93467314e-01 7.45280749e-02 8.64191055e-02 8.75127006e+01] [-7.44158028e-02 9.97217036e-01 -4.52444198e-03 -2.36352951e+01] [-8.65158022e-02 -1.93606190e-03 9.96248597e-01 -9.94368298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73964924600001 meters 0.061526387393259434 Centerline is valid? [True, True] Translation: X:87.54, Y:-23.64, Z:-9.95 [[ 9.93443727e-01 7.28970532e-02 8.80657798e-02 8.75435948e+01] [-7.27767670e-02 9.97337738e-01 -4.58020674e-03 -2.36403640e+01] [-8.81652092e-02 -1.85896508e-03 9.96104131e-01 -9.94705636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76964924600001 meters 0.061143679440348514 Centerline is valid? [True, True] Translation: X:87.58, Y:-23.65, Z:-9.95 [[ 9.93464061e-01 7.08839558e-02 8.94685644e-02 8.75757860e+01] [-7.07495853e-02 9.97483147e-01 -4.67628996e-03 -2.36455945e+01] [-8.95748591e-02 -1.68413782e-03 9.95978669e-01 -9.94928599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79964924600002 meters 0.06100756867369941 Centerline is valid? [True, True] Translation: X:87.61, Y:-23.65, Z:-9.95 [[ 9.93613591e-01 6.83774330e-02 8.97583344e-02 8.76067365e+01] [-6.82314954e-02 9.97658460e-01 -4.69687078e-03 -2.36510244e+01] [-8.98693217e-02 -1.45747074e-03 9.95952499e-01 -9.95390706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82964924600002 meters 0.06100756867369941 Centerline is valid? [True, True] Translation: X:87.64, Y:-23.65, Z:-9.96 [[ 9.93596032e-01 6.86335742e-02 8.97572185e-02 8.76388600e+01] [-6.84867627e-02 9.97640869e-01 -4.71809259e-03 -2.36529012e+01] [-8.98692890e-02 -1.45930325e-03 9.95952500e-01 -9.95733063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85964924600002 meters 0.06034867821356657 Centerline is valid? [True, True] Translation: X:87.67, Y:-23.66, Z:-9.96 [[ 9.93697307e-01 6.76054411e-02 8.94156982e-02 8.76711424e+01] [-6.74533495e-02 9.97711240e-01 -4.72508504e-03 -2.36595160e+01] [-8.95304887e-02 -1.33608407e-03 9.95983186e-01 -9.95899048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88964924600002 meters 0.06039379128613572 Centerline is valid? [True, True] Translation: X:87.70, Y:-23.66, Z:-9.96 [[ 9.93735601e-01 6.84006127e-02 8.83793621e-02 8.77014844e+01] [-6.82542963e-02 9.97656979e-01 -4.68010245e-03 -2.36631640e+01] [-8.84924092e-02 -1.38148674e-03 9.96075893e-01 -9.96226345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.919649246 meters 0.06034095257116783 Centerline is valid? [True, True] Translation: X:87.73, Y:-23.66, Z:-9.97 [[ 9.93729035e-01 6.87930975e-02 8.81482512e-02 8.77339729e+01] [-6.86474394e-02 9.97629975e-01 -4.68644970e-03 -2.36649640e+01] [-8.82617330e-02 -1.39409060e-03 9.96096342e-01 -9.96635369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.949649246 meters 0.06049058515013969 Centerline is valid? [True, True] Translation: X:87.77, Y:-23.67, Z:-9.97 [[ 9.93806252e-01 6.87698090e-02 8.72917352e-02 8.77651083e+01] [-6.86247790e-02 9.97631635e-01 -4.66484668e-03 -2.36667005e+01] [-8.74057971e-02 -1.35442224e-03 9.96171869e-01 -9.97230518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97964924600001 meters 0.06035251907857471 Centerline is valid? [True, True] Translation: X:87.80, Y:-23.67, Z:-9.98 [[ 9.93859985e-01 6.81119630e-02 8.71957038e-02 8.77961679e+01] [-6.79627519e-02 9.97676872e-01 -4.68223332e-03 -2.36687396e+01] [-8.73120531e-02 -1.27257564e-03 9.96180198e-01 -9.97784821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00964924600001 meters 0.06056910198291482 Centerline is valid? [True, True] Translation: X:87.83, Y:-23.67, Z:-9.98 [[ 9.93914406e-01 6.85513565e-02 8.62256582e-02 8.78268742e+01] [-6.84053444e-02 9.97646773e-01 -4.65038287e-03 -2.36719585e+01] [-8.63415396e-02 -1.27621331e-03 9.96264779e-01 -9.98097605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03964924600001 meters 0.06035700261778526 Centerline is valid? [True, True] Translation: X:87.86, Y:-23.67, Z:-9.98 [[ 9.93936402e-01 6.82885990e-02 8.61805997e-02 8.78590842e+01] [-6.81402240e-02 9.97664844e-01 -4.66561412e-03 -2.36748175e+01] [-8.62979628e-02 -1.23504165e-03 9.96268607e-01 -9.98424270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06964924600001 meters 0.060032045922804096 Centerline is valid? [True, True] Translation: X:87.89, Y:-23.68, Z:-9.99 [[ 9.93979838e-01 6.64759666e-02 8.70920583e-02 8.78901599e+01] [-6.63153951e-02 9.97787458e-01 -4.73889375e-03 -2.36774652e+01] [-8.72143860e-02 -1.06517942e-03 9.96188996e-01 -9.98879598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09964924600001 meters 0.05996584967628988 Centerline is valid? [True, True] Translation: X:87.92, Y:-23.68, Z:-9.99 [[ 9.93865003e-01 6.62445677e-02 8.85664385e-02 8.79224970e+01] [-6.60755347e-02 9.97802875e-01 -4.84222462e-03 -2.36792466e+01] [-8.86926180e-02 -1.03955719e-03 9.96058502e-01 -9.99220570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12964924600001 meters 0.05986457006615308 Centerline is valid? [True, True] Translation: X:87.95, Y:-23.68, Z:-10.00 [[ 9.94070646e-01 6.47727551e-02 8.73386603e-02 8.79535337e+01] [-6.46023444e-02 9.97899642e-01 -4.77926943e-03 -2.36825219e+01] [-8.74647843e-02 -8.91350760e-04 9.96167213e-01 -9.99782804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15964924600001 meters 0.059930098893522105 Centerline is valid? [True, True] Translation: X:87.98, Y:-23.68, Z:-10.00 [[ 9.94062922e-01 6.53499206e-02 8.69959463e-02 8.79849510e+01] [-6.51812168e-02 9.97861988e-01 -4.78149577e-03 -2.36849763e+01] [-8.71224182e-02 -9.17393978e-04 9.96197191e-01 -1.00011449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18964924600002 meters 0.06008176286631876 Centerline is valid? [True, True] Translation: X:88.02, Y:-23.69, Z:-10.00 [[ 9.94025959e-01 6.61600036e-02 8.68057964e-02 8.80173652e+01] [-6.59933388e-02 9.97808559e-01 -4.79145443e-03 -2.36870291e+01] [-8.69325693e-02 -9.65774249e-04 9.96213730e-01 -1.00049377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21964924600002 meters 0.05990653241708595 Centerline is valid? [True, True] Translation: X:88.05, Y:-23.69, Z:-10.01 [[ 9.94097739e-01 6.61633989e-02 8.59772683e-02 8.80492009e+01] [-6.59980199e-02 9.97808364e-01 -4.76766121e-03 -2.36903630e+01] [-8.61042820e-02 -9.34808234e-04 9.96285691e-01 -1.00073381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24964924600002 meters 0.05955765112849392 Centerline is valid? [True, True] Translation: X:88.08, Y:-23.70, Z:-10.01 [[ 9.94273869e-01 6.40257979e-02 8.55579948e-02 8.80814316e+01] [-6.38521936e-02 9.97947982e-01 -4.76692177e-03 -2.36963449e+01] [-8.56876342e-02 -7.23439891e-04 9.96321788e-01 -1.00099169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.279649246 meters 0.05954447196061109 Centerline is valid? [True, True] Translation: X:88.11, Y:-23.70, Z:-10.02 [[ 9.94364030e-01 6.35157189e-02 8.48877466e-02 8.81121151e+01] [-6.33424369e-02 9.97980615e-01 -4.73584652e-03 -2.36984522e+01] [-8.50171263e-02 -6.67841302e-04 9.96379266e-01 -1.00150842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.309649246 meters 0.05957638828290517 Centerline is valid? [True, True] Translation: X:88.14, Y:-23.70, Z:-10.02 [[ 9.94613137e-01 6.23190290e-02 8.28314394e-02 8.81422508e+01] [-6.21492085e-02 9.98056132e-01 -4.62952099e-03 -2.37022461e+01] [-8.29589333e-02 -5.43326005e-04 9.96552819e-01 -1.00218311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33964924600001 meters 0.05962170973088677 Centerline is valid? [True, True] Translation: X:88.17, Y:-23.70, Z:-10.03 [[ 9.94581669e-01 6.17153933e-02 8.36571266e-02 8.81729428e+01] [-6.15384840e-02 9.98093673e-01 -4.69410711e-03 -2.37049644e+01] [-8.37873474e-02 -4.79459863e-04 9.96483543e-01 -1.00261179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36964924600001 meters 0.059536709482025524 Centerline is valid? [True, True] Translation: X:88.21, Y:-23.71, Z:-10.03 [[ 9.94563451e-01 6.19834437e-02 8.36755353e-02 8.82054847e+01] [-6.18059760e-02 9.98077060e-01 -4.71211148e-03 -2.37084210e+01] [-8.38067052e-02 -4.85154277e-04 9.96481912e-01 -1.00287077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39964924600001 meters 0.059137543330831654 Centerline is valid? [True, True] Translation: X:88.24, Y:-23.71, Z:-10.03 [[ 9.94436637e-01 6.13094973e-02 8.56558299e-02 8.82362860e+01] [-6.11189445e-02 9.98118717e-01 -4.84776363e-03 -2.37149071e+01] [-8.57919010e-02 -4.14400149e-04 9.96312992e-01 -1.00272318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42964924600001 meters 0.058822617844681895 Centerline is valid? [True, True] Translation: X:88.27, Y:-23.72, Z:-10.03 [[ 9.94323415e-01 6.11078480e-02 8.71021081e-02 8.82682813e+01] [-6.09084213e-02 9.98131095e-01 -4.94791362e-03 -2.37189182e+01] [-8.72416789e-02 -3.85425528e-04 9.96187101e-01 -1.00273684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45964924600001 meters 0.05864415891148909 Centerline is valid? [True, True] Translation: X:88.30, Y:-23.72, Z:-10.03 [[ 9.94345291e-01 5.93876457e-02 8.80372029e-02 8.82983585e+01] [-5.91752580e-02 9.98234973e-01 -5.02271463e-03 -2.37218487e+01] [-8.81801020e-02 -2.15311550e-04 9.96104524e-01 -1.00331788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48964924600001 meters 0.058722218928558105 Centerline is valid? [True, True] Translation: X:88.33, Y:-23.72, Z:-10.04 [[ 9.94386280e-01 5.90177267e-02 8.78227398e-02 8.83307130e+01] [-5.88032844e-02 9.98256921e-01 -5.02916327e-03 -2.37239791e+01] [-8.79664676e-02 -1.63334588e-04 9.96123423e-01 -1.00368896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51964924600001 meters 0.05902552055701104 Centerline is valid? [True, True] Translation: X:88.36, Y:-23.73, Z:-10.05 [[ 9.94649362e-01 5.80471069e-02 8.54586453e-02 8.83612216e+01] [-5.78384858e-02 9.98313844e-01 -4.91720144e-03 -2.37270112e+01] [-8.55999780e-02 -5.19073679e-05 9.96329585e-01 -1.00454436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54964924600002 meters 0.05896873431788925 Centerline is valid? [True, True] Translation: X:88.39, Y:-23.73, Z:-10.05 [[ 9.94722194e-01 5.80353684e-02 8.46147320e-02 8.83930823e+01] [-5.78292910e-02 9.98314527e-01 -4.88652643e-03 -2.37311612e+01] [-8.47557075e-02 -3.24736644e-05 9.96401761e-01 -1.00470589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57964924600002 meters 0.05925334560156747 Centerline is valid? [True, True] Translation: X:88.42, Y:-23.74, Z:-10.05 [[ 9.94994452e-01 5.58069773e-02 8.28952439e-02 8.84229702e+01] [-5.55998781e-02 9.98441561e-01 -4.80649189e-03 -2.37394232e+01] [-8.30342925e-02 1.73467304e-04 9.96546675e-01 -1.00524941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60964924600002 meters 0.05928377910323091 Centerline is valid? [True, True] Translation: X:88.45, Y:-23.74, Z:-10.06 [[ 9.95135484e-01 5.49379963e-02 8.17752115e-02 8.84540067e+01] [-5.47320940e-02 9.98489734e-01 -4.75910152e-03 -2.37433532e+01] [-8.19131647e-02 2.60222236e-04 9.96639436e-01 -1.00578099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63964924600002 meters 0.05931421846087523 Centerline is valid? [True, True] Translation: X:88.49, Y:-23.75, Z:-10.06 [[ 9.95247213e-01 5.45933387e-02 8.06384087e-02 8.84859009e+01] [-5.43907294e-02 9.98508627e-01 -4.70864789e-03 -2.37465064e+01] [-8.07752075e-02 3.00286827e-04 9.96732299e-01 -1.00624955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.669649246 meters 0.05923908944591404 Centerline is valid? [True, True] Translation: X:88.52, Y:-23.75, Z:-10.06 [[ 9.95270879e-01 5.29785797e-02 8.14195715e-02 8.85178189e+01] [-5.27651675e-02 9.98595546e-01 -4.77205870e-03 -2.37493205e+01] [-8.15580384e-02 4.53373726e-04 9.96668491e-01 -1.00646588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.699649246 meters 0.058657556862219844 Centerline is valid? [True, True] Translation: X:88.55, Y:-23.75, Z:-10.07 [[ 9.95015418e-01 5.32591639e-02 8.43076463e-02 8.85498048e+01] [-5.30296431e-02 9.98580615e-01 -4.96106988e-03 -2.37490637e+01] [-8.44522038e-02 4.65536626e-04 9.96427423e-01 -1.00651227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72964924600001 meters 0.05878139895492068 Centerline is valid? [True, True] Translation: X:88.58, Y:-23.75, Z:-10.07 [[ 9.94902291e-01 5.33654422e-02 8.55661180e-02 8.85805412e+01] [-5.31276138e-02 9.98574932e-01 -5.05583525e-03 -2.37507659e+01] [-8.57139874e-02 4.84138400e-04 9.96319667e-01 -1.00698239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75964924600001 meters 0.05854294208664709 Centerline is valid? [True, True] Translation: X:88.61, Y:-23.75, Z:-10.07 [[ 9.94691100e-01 5.48900737e-02 8.70442108e-02 8.86113610e+01] [-5.46480735e-02 9.98492332e-01 -5.16249549e-03 -2.37523166e+01] [-8.71963468e-02 3.78289890e-04 9.96191073e-01 -1.00697134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78964924600001 meters 0.058339018376155446 Centerline is valid? [True, True] Translation: X:88.64, Y:-23.75, Z:-10.07 [[ 9.94547144e-01 5.49240214e-02 8.86528686e-02 8.86433099e+01] [-5.46714909e-02 9.98490456e-01 -5.27604059e-03 -2.37541697e+01] [-8.88088246e-02 4.00486603e-04 9.96048609e-01 -1.00691865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81964924600001 meters 0.05810064330449007 Centerline is valid? [True, True] Translation: X:88.67, Y:-23.76, Z:-10.07 [[ 9.94424267e-01 5.50686202e-02 8.99323279e-02 8.86739011e+01] [-5.48072947e-02 9.98482486e-01 -5.37458482e-03 -2.37562117e+01] [-9.00918253e-02 4.15669972e-04 9.95933376e-01 -1.00708275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84964924600001 meters 0.05809852351013818 Centerline is valid? [True, True] Translation: X:88.71, Y:-23.76, Z:-10.07 [[ 9.94339788e-01 5.51758259e-02 9.07965546e-02 8.87053759e+01] [-5.49089217e-02 9.98476565e-01 -5.43681018e-03 -2.37581673e+01] [-9.09582125e-02 4.20495776e-04 9.95854621e-01 -1.00737561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87964924600001 meters 0.05805939193012757 Centerline is valid? [True, True] Translation: X:88.74, Y:-23.76, Z:-10.08 [[ 9.94296172e-01 5.63709444e-02 9.05397138e-02 8.87382881e+01] [-5.61086969e-02 9.98409840e-01 -5.44118111e-03 -2.37584542e+01] [-9.07024656e-02 3.30080189e-04 9.95877981e-01 -1.00762905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90964924600001 meters 0.05817632500067919 Centerline is valid? [True, True] Translation: X:88.77, Y:-23.76, Z:-10.08 [[ 9.94334238e-01 5.69409180e-02 8.97616595e-02 8.87708808e+01] [-5.66833413e-02 9.98377505e-01 -5.41817790e-03 -2.37595179e+01] [-8.99245377e-02 2.99489005e-04 9.95948537e-01 -1.00813250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93964924600002 meters 0.05844497149457237 Centerline is valid? [True, True] Translation: X:88.80, Y:-23.77, Z:-10.08 [[ 9.94485408e-01 4.98039005e-02 9.22948758e-02 8.88017713e+01] [-4.94984560e-02 9.98758517e-01 -5.59703458e-03 -2.37705167e+01] [-9.24590475e-02 9.97715364e-04 9.95715988e-01 -1.00796455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96964924600002 meters 0.05857924163316181 Centerline is valid? [True, True] Translation: X:88.83, Y:-23.77, Z:-10.08 [[ 9.94654087e-01 4.80383554e-02 9.14087678e-02 8.88333017e+01] [-4.77295657e-02 9.98844807e-01 -5.56242230e-03 -2.37740390e+01] [-9.15703827e-02 1.16978529e-03 9.95797920e-01 -1.00835503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99964924600002 meters 0.0588835354990712 Centerline is valid? [True, True] Translation: X:88.86, Y:-23.78, Z:-10.09 [[ 9.94891874e-01 4.70536198e-02 8.93090981e-02 8.88643435e+01] [-4.67531271e-02 9.98891581e-01 -5.45474579e-03 -2.37760361e+01] [-8.94667718e-02 1.25140265e-03 9.95989021e-01 -1.00901797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.029649246 meters 0.058870792512837465 Centerline is valid? [True, True] Translation: X:88.90, Y:-23.77, Z:-10.10 [[ 9.94944483e-01 4.90358840e-02 8.76410744e-02 8.88971904e+01] [-4.87524684e-02 9.98796441e-01 -5.37267529e-03 -2.37741629e+01] [-8.77990471e-02 1.07279493e-03 9.96137629e-01 -1.00977557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.059649246 meters 0.05870465190045864 Centerline is valid? [True, True] Translation: X:88.93, Y:-23.77, Z:-10.10 [[ 9.94876693e-01 5.15770270e-02 8.69492717e-02 8.89288477e+01] [-5.13070972e-02 9.98668658e-01 -5.33788368e-03 -2.37711607e+01] [-8.71088247e-02 8.49421325e-04 9.96198440e-01 -1.01032215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08964924600001 meters 0.05885846945032456 Centerline is valid? [True, True] Translation: X:88.96, Y:-23.77, Z:-10.11 [[ 9.94774715e-01 5.53974134e-02 8.57577623e-02 8.89600092e+01] [-5.51473577e-02 9.98464245e-01 -5.28394837e-03 -2.37678553e+01] [-8.59187765e-02 5.27024239e-04 9.96302005e-01 -1.01126454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11964924600001 meters 0.058573972167851034 Centerline is valid? [True, True] Translation: X:88.99, Y:-23.77, Z:-10.11 [[ 9.94674134e-01 5.74947228e-02 8.55437023e-02 8.89914848e+01] [-5.72516281e-02 9.98345742e-01 -5.29434807e-03 -2.37701699e+01] [-8.57065880e-02 3.68634854e-04 9.96320353e-01 -1.01132663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14964924600001 meters 0.05831192971563311 Centerline is valid? [True, True] Translation: X:89.03, Y:-23.77, Z:-10.11 [[ 9.94567647e-01 5.97693365e-02 8.52221936e-02 8.90251014e+01] [-5.95346997e-02 9.98212197e-01 -5.29433085e-03 -2.37706654e+01] [-8.53862717e-02 1.91892472e-04 9.96347905e-01 -1.01118559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17964924600001 meters 0.05821120456732526 Centerline is valid? [True, True] Translation: X:89.06, Y:-23.77, Z:-10.12 [[ 9.94395807e-01 6.31924087e-02 8.47567067e-02 8.90569405e+01] [-6.29707172e-02 9.98001359e-01 -5.28916969e-03 -2.37690276e+01] [-8.49215439e-02 -7.76624462e-05 9.96387638e-01 -1.01156723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20964924600001 meters 0.058236154221237776 Centerline is valid? [True, True] Translation: X:89.09, Y:-23.77, Z:-10.12 [[ 9.94331232e-01 6.41753696e-02 8.47757249e-02 8.90896184e+01] [-6.39553126e-02 9.97938627e-01 -5.31184485e-03 -2.37700180e+01] [-8.49418601e-02 -1.40124748e-04 9.96385900e-01 -1.01192055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23964924600001 meters 0.05824629603750451 Centerline is valid? [True, True] Translation: X:89.12, Y:-23.77, Z:-10.12 [[ 9.94172163e-01 6.54183101e-02 8.56863792e-02 8.91214449e+01] [-6.51960211e-02 9.97857903e-01 -5.39302104e-03 -2.37700488e+01] [-8.58556329e-02 -2.24819597e-04 9.96307563e-01 -1.01228799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26964924600001 meters 0.05821517108983876 Centerline is valid? [True, True] Translation: X:89.15, Y:-23.77, Z:-10.13 [[ 9.94092122e-01 6.57672699e-02 8.63453504e-02 8.91531462e+01] [-6.55410970e-02 9.97834961e-01 -5.45475896e-03 -2.37706977e+01] [-8.65171540e-02 -2.36636074e-04 9.96250333e-01 -1.01255608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29964924600002 meters 0.05824059649991986 Centerline is valid? [True, True] Translation: X:89.18, Y:-23.78, Z:-10.13 [[ 9.94140576e-01 6.49964080e-02 8.63711929e-02 8.91846558e+01] [-6.47653983e-02 9.97885487e-01 -5.47707930e-03 -2.37751175e+01] [-8.65445503e-02 -1.48877937e-04 9.96247970e-01 -1.01288994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32964924600002 meters 0.05812917199757889 Centerline is valid? [True, True] Translation: X:89.22, Y:-23.78, Z:-10.13 [[ 9.94125505e-01 6.37360716e-02 8.74768134e-02 8.92154518e+01] [-6.34921446e-02 9.97966789e-01 -5.57087498e-03 -2.37800708e+01] [-8.76540203e-02 -1.59415830e-05 9.96150979e-01 -1.01316422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35964924600002 meters 0.05809953065594305 Centerline is valid? [True, True] Translation: X:89.25, Y:-23.79, Z:-10.14 [[ 9.94170027e-01 6.28022198e-02 8.76461012e-02 8.92481575e+01] [-6.25520766e-02 9.98025989e-01 -5.60033949e-03 -2.37853609e+01] [-8.78248006e-02 8.52440221e-05 9.96135933e-01 -1.01353210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38964924600002 meters 0.05805641965706914 Centerline is valid? [True, True] Translation: X:89.28, Y:-23.79, Z:-10.14 [[ 9.94148892e-01 6.30319452e-02 8.77208911e-02 8.92804079e+01] [-6.27801585e-02 9.98011506e-01 -5.62900781e-03 -2.37890155e+01] [-8.79012660e-02 8.89404281e-05 9.96129188e-01 -1.01382348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.419649246 meters 0.05787559922254192 Centerline is valid? [True, True] Translation: X:89.31, Y:-23.79, Z:-10.14 [[ 9.94141751e-01 6.31676898e-02 8.77041673e-02 8.93127270e+01] [-6.29144441e-02 9.98002922e-01 -5.65153795e-03 -2.37930779e+01] [-8.78860098e-02 1.00570913e-04 9.96130533e-01 -1.01392418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.449649246 meters 0.057937722419854405 Centerline is valid? [True, True] Translation: X:89.34, Y:-23.79, Z:-10.14 [[ 9.94126672e-01 6.42491141e-02 8.70873789e-02 8.93449948e+01] [-6.40014383e-02 9.97933891e-01 -5.63608166e-03 -2.37948595e+01] [-8.72695601e-02 2.92615975e-05 9.96184733e-01 -1.01423307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47964924600001 meters 0.0580536754520649 Centerline is valid? [True, True] Translation: X:89.38, Y:-23.80, Z:-10.15 [[ 9.94097992e-01 6.54856622e-02 8.64916801e-02 8.93769872e+01] [-6.52438775e-02 9.97853509e-01 -5.62239280e-03 -2.37962744e+01] [-8.66742126e-02 -5.38431919e-05 9.96236708e-01 -1.01465927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50964924600001 meters 0.05817183034528601 Centerline is valid? [True, True] Translation: X:89.41, Y:-23.80, Z:-10.15 [[ 9.94097149e-01 6.59524128e-02 8.61460226e-02 8.94082103e+01] [-6.57123268e-02 9.97822767e-01 -5.62280509e-03 -2.37976451e+01] [-8.63293002e-02 -7.12410786e-05 9.96266655e-01 -1.01511928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53964924600001 meters 0.05854819371717742 Centerline is valid? [True, True] Translation: X:89.44, Y:-23.80, Z:-10.16 [[ 9.94142194e-01 6.71667307e-02 8.46754253e-02 8.94398536e+01] [-6.69372879e-02 9.97741754e-01 -5.54906452e-03 -2.37975640e+01] [-8.48569198e-02 -1.51384142e-04 9.96393135e-01 -1.01563215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56964924600001 meters 0.058677973437245595 Centerline is valid? [True, True] Translation: X:89.47, Y:-23.80, Z:-10.16 [[ 9.94122261e-01 6.82504378e-02 8.40405108e-02 8.94701437e+01] [-6.80265288e-02 9.97668196e-01 -5.52834008e-03 -2.37986010e+01] [-8.42218564e-02 -2.21138286e-04 9.96447003e-01 -1.01606755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59964924600001 meters 0.058685451969507085 Centerline is valid? [True, True] Translation: X:89.50, Y:-23.80, Z:-10.16 [[ 9.94102173e-01 6.88068414e-02 8.38241490e-02 8.95028453e+01] [-6.85845578e-02 9.97629970e-01 -5.53192711e-03 -2.38009273e+01] [-8.40061177e-02 -2.49741435e-04 9.96465208e-01 -1.01639229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62964924600001 meters 0.058497189985689854 Centerline is valid? [True, True] Translation: X:89.53, Y:-23.80, Z:-10.17 [[ 9.94125982e-01 6.91493360e-02 8.32580439e-02 8.95341444e+01] [-6.89292310e-02 9.97606288e-01 -5.51866147e-03 -2.38048789e+01] [-8.34403599e-02 -2.52668186e-04 9.96512741e-01 -1.01657356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65964924600001 meters 0.05851391898986909 Centerline is valid? [True, True] Translation: X:89.57, Y:-23.81, Z:-10.17 [[ 9.94177695e-01 6.83665826e-02 8.32869854e-02 8.95660483e+01] [-6.81418689e-02 9.97660254e-01 -5.54103409e-03 -2.38074656e+01] [-8.34709366e-02 -1.66558351e-04 9.96510198e-01 -1.01707282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68964924600002 meters 0.05859843613371859 Centerline is valid? [True, True] Translation: X:89.60, Y:-23.81, Z:-10.18 [[ 9.94193872e-01 6.79933001e-02 8.33993788e-02 8.95983588e+01] [-6.77656290e-02 9.97685770e-01 -5.56089077e-03 -2.38095219e+01] [-8.35844767e-02 -1.23007839e-04 9.96500687e-01 -1.01756820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71964924600002 meters 0.058809725805634046 Centerline is valid? [True, True] Translation: X:89.63, Y:-23.81, Z:-10.18 [[ 9.94316252e-01 6.76689265e-02 8.21955478e-02 8.96296253e+01] [-6.74445679e-02 9.97707829e-01 -5.50623238e-03 -2.38106073e+01] [-8.23797424e-02 -6.87068672e-05 9.96601010e-01 -1.01808544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74964924600002 meters 0.058809725805634046 Centerline is valid? [True, True] Translation: X:89.66, Y:-23.81, Z:-10.18 [[ 9.94297837e-01 6.79395682e-02 8.21950547e-02 8.96617022e+01] [-6.77155247e-02 9.97689435e-01 -5.51358791e-03 -2.38129364e+01] [-8.23797285e-02 -8.37327332e-05 9.96601010e-01 -1.01842690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77964924600002 meters 0.05899343782702665 Centerline is valid? [True, True] Translation: X:89.69, Y:-23.82, Z:-10.19 [[ 9.94233259e-01 6.84758024e-02 8.25305443e-02 8.96930018e+01] [-6.82498447e-02 9.97652772e-01 -5.55925730e-03 -2.38154545e+01] [-8.27175009e-02 -1.05498325e-04 9.96573030e-01 -1.01882713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.809649246 meters 0.05875151540566768 Centerline is valid? [True, True] Translation: X:89.72, Y:-23.82, Z:-10.19 [[ 9.94237452e-01 6.92430585e-02 8.18369571e-02 8.97249074e+01] [-6.90217544e-02 9.97599808e-01 -5.53354681e-03 -2.38191945e+01] [-8.20236924e-02 -1.46870869e-04 9.96630369e-01 -1.01885728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83964924600001 meters 0.058603151336685165 Centerline is valid? [True, True] Translation: X:89.76, Y:-23.82, Z:-10.19 [[ 9.94152825e-01 6.96320745e-02 8.25320248e-02 8.97572680e+01] [-6.94066788e-02 9.97572728e-01 -5.60040458e-03 -2.38213622e+01] [-8.27216650e-02 -1.60615700e-04 9.96572677e-01 -1.01906700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86964924600001 meters 0.058761233187053966 Centerline is valid? [True, True] Translation: X:89.79, Y:-23.82, Z:-10.20 [[ 9.94103894e-01 6.93392585e-02 8.33637546e-02 8.97874337e+01] [-6.91064807e-02 9.97593130e-01 -5.67808305e-03 -2.38226198e+01] [-8.35568230e-02 -1.16371233e-04 9.96503007e-01 -1.01961772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89964924600001 meters 0.05878376458409397 Centerline is valid? [True, True] Translation: X:89.82, Y:-23.82, Z:-10.20 [[ 9.94069912e-01 6.97503078e-02 8.34260448e-02 8.98193197e+01] [-6.95170756e-02 9.97564473e-01 -5.70080705e-03 -2.38245538e+01] [-8.36204914e-02 -1.32533897e-04 9.96497665e-01 -1.02008557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92964924600001 meters 0.05859108698166777 Centerline is valid? [True, True] Translation: X:89.85, Y:-23.83, Z:-10.20 [[ 9.94014050e-01 7.02900303e-02 8.36383947e-02 8.98520947e+01] [-7.00557660e-02 9.97526585e-01 -5.73609936e-03 -2.38278283e+01] [-8.38347128e-02 -1.57588455e-04 9.96479662e-01 -1.02015306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95964924600001 meters 0.058561147525119026 Centerline is valid? [True, True] Translation: X:89.88, Y:-23.83, Z:-10.21 [[ 9.94033326e-01 7.03291831e-02 8.33759780e-02 8.98834837e+01] [-7.00945316e-02 9.97523828e-01 -5.74188943e-03 -2.38306069e+01] [-8.35733471e-02 -1.36570669e-04 9.96501619e-01 -1.02051740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98964924600001 meters 0.05880269670015807 Centerline is valid? [True, True] Translation: X:89.91, Y:-23.83, Z:-10.21 [[ 9.94045131e-01 7.15791656e-02 8.21626527e-02 8.99149848e+01] [-7.13537890e-02 9.97434898e-01 -5.67984608e-03 -2.38333990e+01] [-8.23584558e-02 -2.16593252e-04 9.96602748e-01 -1.02092516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01964924600001 meters 0.0589534154143848 Centerline is valid? [True, True] Translation: X:89.95, Y:-23.84, Z:-10.21 [[ 9.94080718e-01 7.17422230e-02 8.15878601e-02 8.99452163e+01] [-7.15187198e-02 9.97423185e-01 -5.66231634e-03 -2.38354573e+01] [-8.17838505e-02 -2.06259810e-04 9.96650069e-01 -1.02136415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04964924600002 meters 0.05903167416096596 Centerline is valid? [True, True] Translation: X:89.98, Y:-23.84, Z:-10.22 [[ 9.94085434e-01 7.24556485e-02 8.08970312e-02 8.99773253e+01] [-7.22377272e-02 9.97371603e-01 -5.62114504e-03 -2.38368783e+01] [-8.10916854e-02 -2.55919264e-04 9.96706613e-01 -1.02183881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07964924600002 meters 0.05896929777236387 Centerline is valid? [True, True] Translation: X:90.01, Y:-23.84, Z:-10.22 [[ 9.94117954e-01 7.25725614e-02 8.03910250e-02 9.00091952e+01] [-7.23562225e-02 9.97363105e-01 -5.60479655e-03 -2.38394048e+01] [-8.05857968e-02 -2.44962020e-04 9.96747646e-01 -1.02216009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10964924600002 meters 0.05876092317361619 Centerline is valid? [True, True] Translation: X:90.04, Y:-23.84, Z:-10.22 [[ 9.94084121e-01 7.33826993e-02 8.00733390e-02 9.00420311e+01] [-7.31692789e-02 9.97303812e-01 -5.60020934e-03 -2.38422603e+01] [-8.02684048e-02 -2.91829293e-04 9.96773243e-01 -1.02230533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13964924600002 meters 0.05863201809730944 Centerline is valid? [True, True] Translation: X:90.07, Y:-23.84, Z:-10.23 [[ 9.94011533e-01 7.31791622e-02 8.11534564e-02 9.00735137e+01] [-7.29573093e-02 9.97318778e-01 -5.69964500e-03 -2.38449788e+01] [-8.13529612e-02 -2.55224955e-04 9.96685322e-01 -1.02254826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.169649246 meters 0.05846300788516403 Centerline is valid? [True, True] Translation: X:90.10, Y:-23.85, Z:-10.23 [[ 9.93871797e-01 7.33042748e-02 8.27365372e-02 9.01041285e+01] [-7.30723310e-02 9.97309591e-01 -5.83209578e-03 -2.38465093e+01] [-8.29414597e-02 -2.49396118e-04 9.96554390e-01 -1.02290941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.199649246 meters 0.0586163409848873 Centerline is valid? [True, True] Translation: X:90.14, Y:-23.85, Z:-10.23 [[ 9.93932208e-01 7.18947007e-02 8.32461294e-02 9.01356344e+01] [-7.16533818e-02 9.97412221e-01 -5.88674974e-03 -2.38501426e+01] [-8.34539329e-02 -1.13836522e-04 9.96511630e-01 -1.02322879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22964924600001 meters 0.058448418856305265 Centerline is valid? [True, True] Translation: X:90.17, Y:-23.86, Z:-10.23 [[ 9.94077971e-01 6.79597243e-02 8.47966049e-02 9.01674137e+01] [-6.76932369e-02 9.97688036e-01 -6.01731956e-03 -2.38571164e+01] [-8.50094936e-02 2.41528147e-04 9.96380112e-01 -1.02322750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25964924600001 meters 0.0585760707930134 Centerline is valid? [True, True] Translation: X:90.20, Y:-23.86, Z:-10.24 [[ 9.94085782e-01 6.85394610e-02 8.42365763e-02 9.01984479e+01] [-6.82768657e-02 9.97648384e-01 -5.99764470e-03 -2.38588351e+01] [-8.44495595e-02 2.10763916e-04 9.96427733e-01 -1.02367340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28964924600001 meters 0.05864318228015358 Centerline is valid? [True, True] Translation: X:90.23, Y:-23.86, Z:-10.24 [[ 9.94162993e-01 6.85214607e-02 8.33351828e-02 9.02300993e+01] [-6.82625829e-02 9.97649616e-01 -5.95517112e-03 -2.38610917e+01] [-8.35473701e-02 2.31735924e-04 9.96503780e-01 -1.02412819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31964924600001 meters 0.058528520156988686 Centerline is valid? [True, True] Translation: X:90.26, Y:-23.86, Z:-10.25 [[ 9.94087448e-01 6.91008882e-02 8.37568675e-02 9.02620641e+01] [-6.88397346e-02 9.97609656e-01 -6.00544406e-03 -2.38629912e+01] [-8.39716413e-02 2.04136029e-04 9.96468124e-01 -1.02451578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34964924600001 meters 0.05868641108819616 Centerline is valid? [True, True] Translation: X:90.29, Y:-23.86, Z:-10.25 [[ 9.94063155e-01 6.88093247e-02 8.42835693e-02 9.02925067e+01] [-6.85419302e-02 9.97629798e-01 -6.06553905e-03 -2.38640517e+01] [-8.45011659e-02 2.52570358e-04 9.96423348e-01 -1.02494691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37964924600001 meters 0.058755566660886875 Centerline is valid? [True, True] Translation: X:90.33, Y:-23.87, Z:-10.25 [[ 9.94072322e-01 6.86430316e-02 8.43110493e-02 9.03254945e+01] [-6.83741436e-02 9.97641247e-01 -6.07602483e-03 -2.38668446e+01] [-8.45292572e-02 2.75312322e-04 9.96420960e-01 -1.02532593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40964924600001 meters 0.058802811229996345 Centerline is valid? [True, True] Translation: X:90.36, Y:-23.87, Z:-10.26 [[ 9.94049921e-01 6.88886427e-02 8.43748164e-02 9.03569239e+01] [-6.86182818e-02 9.97624317e-01 -6.10356927e-03 -2.38706131e+01] [-8.45948351e-02 2.77597622e-04 9.96415394e-01 -1.02563555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43964924600002 meters 0.058680785128915676 Centerline is valid? [True, True] Translation: X:90.39, Y:-23.87, Z:-10.26 [[ 9.94081468e-01 6.90133331e-02 8.38999118e-02 9.03898434e+01] [-6.87447396e-02 9.97615697e-01 -6.08954963e-03 -2.38741414e+01] [-8.41201291e-02 2.85830842e-04 9.96455580e-01 -1.02600058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46964924600002 meters 0.05857642379938582 Centerline is valid? [True, True] Translation: X:90.42, Y:-23.88, Z:-10.26 [[ 9.94119849e-01 6.88653431e-02 8.35660804e-02 9.04215129e+01] [-6.85964876e-02 9.97625913e-01 -6.08764731e-03 -2.38752310e+01] [-8.37869152e-02 3.19511422e-04 9.96483643e-01 -1.02646336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49964924600002 meters 0.05845787694808716 Centerline is valid? [True, True] Translation: X:90.45, Y:-23.88, Z:-10.27 [[ 9.93961542e-01 7.03595282e-02 8.42020820e-02 9.04537564e+01] [-7.00901116e-02 9.97521674e-01 -6.15518093e-03 -2.38767287e+01] [-8.44264774e-02 2.16279805e-04 9.96429688e-01 -1.02683948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52964924600002 meters 0.05836638656404333 Centerline is valid? [True, True] Translation: X:90.48, Y:-23.88, Z:-10.27 [[ 9.93874664e-01 7.04131516e-02 8.51771099e-02 9.04848000e+01] [-7.01359331e-02 9.97517886e-01 -6.24640951e-03 -2.38784738e+01] [-8.54055200e-02 2.34172066e-04 9.96346246e-01 -1.02722255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.559649246 meters 0.05834339814699231 Centerline is valid? [True, True] Translation: X:90.52, Y:-23.88, Z:-10.28 [[ 9.93792918e-01 7.19640809e-02 8.48339961e-02 9.05178614e+01] [-7.16933038e-02 9.97407217e-01 -6.23801921e-03 -2.38794429e+01] [-8.50629533e-02 1.17269860e-04 9.96375572e-01 -1.02756745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58964924600001 meters 0.058464718315317576 Centerline is valid? [True, True] Translation: X:90.55, Y:-23.88, Z:-10.28 [[ 9.93704394e-01 7.34187202e-02 8.46242813e-02 9.05509120e+01] [-7.31527129e-02 9.97301204e-01 -6.24413909e-03 -2.38793001e+01] [-8.48543344e-02 1.43326909e-05 9.96393367e-01 -1.02777686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61964924600001 meters 0.05880108693297562 Centerline is valid? [True, True] Translation: X:90.58, Y:-23.88, Z:-10.29 [[ 9.93747189e-01 7.43447078e-02 8.33029929e-02 9.05814048e+01] [-7.40881975e-02 9.97232602e-01 -6.17058793e-03 -2.38802965e+01] [-8.35312110e-02 -3.97641770e-05 9.96505161e-01 -1.02856022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64964924600001 meters 0.05872775981185665 Centerline is valid? [True, True] Translation: X:90.61, Y:-23.88, Z:-10.29 [[ 9.93765278e-01 7.43750629e-02 8.30597472e-02 9.06138252e+01] [-7.41186902e-02 9.97230339e-01 -6.17011739e-03 -2.38829166e+01] [-8.32886027e-02 -2.46312385e-05 9.96525468e-01 -1.02867369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67964924600001 meters 0.05863596737658188 Centerline is valid? [True, True] Translation: X:90.65, Y:-23.88, Z:-10.29 [[ 9.93603641e-01 7.56079545e-02 8.38763510e-02 9.06460924e+01] [-7.53489458e-02 9.97137616e-01 -6.25383222e-03 -2.38843044e+01] [-8.41091042e-02 -1.06164174e-04 9.96456546e-01 -1.02894776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70964924600001 meters 0.05856272968511161 Centerline is valid? [True, True] Translation: X:90.68, Y:-23.89, Z:-10.29 [[ 9.93529960e-01 7.67826004e-02 8.36818442e-02 9.06788469e+01] [-7.65271510e-02 9.97047842e-01 -6.26072117e-03 -2.38863382e+01] [-8.39155166e-02 -1.83719083e-04 9.96472856e-01 -1.02925095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73964924600001 meters 0.05864764553129133 Centerline is valid? [True, True] Translation: X:90.71, Y:-23.89, Z:-10.30 [[ 9.93486525e-01 7.82110903e-02 8.28706869e-02 9.07111250e+01] [-7.79649403e-02 9.96936778e-01 -6.20719848e-03 -2.38880771e+01] [-8.31023073e-02 -2.94240106e-04 9.96540978e-01 -1.02953062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76964924600001 meters 0.0587524763943007 Centerline is valid? [True, True] Translation: X:90.74, Y:-23.89, Z:-10.30 [[ 9.93218099e-01 7.89037304e-02 8.53932618e-02 9.07424763e+01] [-7.86430633e-02 9.96882182e-01 -6.41747420e-03 -2.38887686e+01] [-8.56333838e-02 -3.41636169e-04 9.96326657e-01 -1.02984070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79964924600002 meters 0.058748842282228306 Centerline is valid? [True, True] Translation: X:90.77, Y:-23.89, Z:-10.30 [[ 9.93117675e-01 7.94940665e-02 8.60114931e-02 9.07740182e+01] [-7.92300198e-02 9.96835269e-01 -6.48466890e-03 -2.38912452e+01] [-8.62547825e-02 -3.74653004e-04 9.96273041e-01 -1.02998370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82964924600002 meters 0.058658995041900926 Centerline is valid? [True, True] Translation: X:90.80, Y:-23.89, Z:-10.30 [[ 9.92893129e-01 7.99081119e-02 8.81925614e-02 9.08049227e+01] [-7.96300933e-02 9.96802154e-01 -6.67182777e-03 -2.38929063e+01] [-8.84436683e-02 -3.98369939e-04 9.96081101e-01 -1.03010120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85964924600002 meters 0.05858665176491437 Centerline is valid? [True, True] Translation: X:90.84, Y:-23.89, Z:-10.30 [[ 9.92635184e-01 8.16795018e-02 8.94642387e-02 9.08368053e+01] [-8.13996202e-02 9.96658493e-01 -6.77859955e-03 -2.38936202e+01] [-8.97189660e-02 -5.53678636e-04 9.95966968e-01 -1.03036756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88964924600002 meters 0.05862253353906567 Centerline is valid? [True, True] Translation: X:90.87, Y:-23.89, Z:-10.31 [[ 9.92311089e-01 8.50071757e-02 8.99582311e-02 9.08687960e+01] [-8.47359692e-02 9.96379986e-01 -6.83658125e-03 -2.38930097e+01] [-9.02137395e-02 -8.38682505e-04 9.95922074e-01 -1.03052977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.919649246 meters 0.05877162775858964 Centerline is valid? [True, True] Translation: X:90.90, Y:-23.89, Z:-10.31 [[ 9.92217522e-01 8.55340346e-02 9.04893306e-02 9.09000528e+01] [-8.52598289e-02 9.96334869e-01 -6.89854925e-03 -2.38934748e+01] [-9.07477361e-02 -8.70243399e-04 9.95873532e-01 -1.03112833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.949649246 meters 0.05872717657928214 Centerline is valid? [True, True] Translation: X:90.93, Y:-23.90, Z:-10.31 [[ 9.92235140e-01 8.69017273e-02 8.89804280e-02 9.09315668e+01] [-8.66400755e-02 9.96216430e-01 -6.80600369e-03 -2.38970902e+01] [-8.92352178e-02 -9.56114979e-04 9.96010121e-01 -1.03139577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97964924600001 meters 0.05878327142497994 Centerline is valid? [True, True] Translation: X:90.96, Y:-23.90, Z:-10.32 [[ 9.92270485e-01 8.72555018e-02 8.82369646e-02 9.09636528e+01] [-8.69977993e-02 9.96185503e-01 -6.76946934e-03 -2.39004414e+01] [-8.84910584e-02 -9.59277111e-04 9.96076509e-01 -1.03168753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00964924600001 meters 0.05906476288787407 Centerline is valid? [True, True] Translation: X:90.99, Y:-23.90, Z:-10.32 [[ 9.92504400e-01 8.66346109e-02 8.61943149e-02 9.09942559e+01] [-8.63845806e-02 9.96239781e-01 -6.63349314e-03 -2.39043901e+01] [-8.64448955e-02 -8.62088615e-04 9.96256261e-01 -1.03220439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03964924600001 meters 0.05921523107125804 Centerline is valid? [True, True] Translation: X:91.03, Y:-23.91, Z:-10.33 [[ 9.92586011e-01 8.58413736e-02 8.60480697e-02 9.10259026e+01] [-8.55875980e-02 9.96308517e-01 -6.64093014e-03 -2.39071604e+01] [-8.63004913e-02 -7.72953252e-04 9.96268853e-01 -1.03280387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06964924600001 meters 0.058901738353376705 Centerline is valid? [True, True] Translation: X:91.06, Y:-23.91, Z:-10.33 [[ 9.92562316e-01 8.36916040e-02 8.84068071e-02 9.10576727e+01] [-8.34128427e-02 9.96491537e-01 -6.84936803e-03 -2.39135358e+01] [-8.86698697e-02 -5.75838502e-04 9.96060903e-01 -1.03292409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09964924600001 meters 0.05871005850847838 Centerline is valid? [True, True] Translation: X:91.09, Y:-23.92, Z:-10.33 [[ 9.92615462e-01 8.19661982e-02 8.94208414e-02 9.10893336e+01] [-8.16733110e-02 9.96635022e-01 -6.93565758e-03 -2.39180609e+01] [-8.96884317e-02 -4.18855238e-04 9.95969784e-01 -1.03322267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12964924600001 meters 0.058413941063000976 Centerline is valid? [True, True] Translation: X:91.12, Y:-23.93, Z:-10.33 [[ 9.92734451e-01 8.01931844e-02 8.97070903e-02 9.11209061e+01] [-7.98907061e-02 9.96779308e-01 -6.96322359e-03 -2.39258297e+01] [-8.99765745e-02 -2.54130835e-04 9.95943850e-01 -1.03325992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15964924600001 meters 0.05840800539635693 Centerline is valid? [True, True] Translation: X:91.15, Y:-23.93, Z:-10.34 [[ 9.92728398e-01 8.00116334e-02 8.99359041e-02 9.11530814e+01] [-7.97049439e-02 9.96793906e-01 -7.00218024e-03 -2.39290260e+01] [-9.02078170e-02 -2.17073014e-04 9.95922940e-01 -1.03362082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18964924600002 meters 0.05874428260058536 Centerline is valid? [True, True] Translation: X:91.18, Y:-23.93, Z:-10.34 [[ 9.92695437e-01 8.14362266e-02 8.90163437e-02 9.11839809e+01] [-8.11393180e-02 9.96678504e-01 -6.95496642e-03 -2.39307371e+01] [-8.92870624e-02 -3.18561983e-04 9.96005883e-01 -1.03407157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21964924600002 meters 0.05883803268147907 Centerline is valid? [True, True] Translation: X:91.22, Y:-23.93, Z:-10.34 [[ 9.92647769e-01 8.22871604e-02 8.87650214e-02 9.12165818e+01] [-8.19936970e-02 9.96608590e-01 -6.95353224e-03 -2.39329684e+01] [-8.90361693e-02 -3.75764000e-04 9.96028323e-01 -1.03448245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24964924600002 meters 0.058950879980642856 Centerline is valid? [True, True] Translation: X:91.25, Y:-23.93, Z:-10.35 [[ 9.92656771e-01 8.31675950e-02 8.78389785e-02 9.12471405e+01] [-8.28814344e-02 9.96535484e-01 -6.90630155e-03 -2.39327956e+01] [-8.81090395e-02 -4.24633537e-04 9.96110745e-01 -1.03493778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27964924600002 meters 0.058940133903827054 Centerline is valid? [True, True] Translation: X:91.28, Y:-23.93, Z:-10.35 [[ 9.92570257e-01 8.37795103e-02 8.82342247e-02 9.12797687e+01] [-8.34923858e-02 9.96484205e-01 -6.94628283e-03 -2.39340306e+01] [-8.85059675e-02 -4.72212205e-04 9.96075535e-01 -1.03537054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.309649246 meters 0.058947715729683 Centerline is valid? [True, True] Translation: X:91.31, Y:-23.94, Z:-10.36 [[ 9.92699455e-01 8.47741805e-02 8.57970314e-02 9.13105443e+01] [-8.45044787e-02 9.96400053e-01 -6.77701772e-03 -2.39359631e+01] [-8.60626828e-02 -5.22691620e-04 9.96289587e-01 -1.03597571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33964924600001 meters 0.059083230064748 Centerline is valid? [True, True] Translation: X:91.34, Y:-23.94, Z:-10.36 [[ 9.92767807e-01 8.44334074e-02 8.53409702e-02 9.13433839e+01] [-8.41638577e-02 9.96429012e-01 -6.75793055e-03 -2.39388939e+01] [-8.56068137e-02 -4.73569381e-04 9.96328886e-01 -1.03648157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36964924600001 meters 0.05930194920065141 Centerline is valid? [True, True] Translation: X:91.38, Y:-23.94, Z:-10.37 [[ 9.92854480e-01 8.47765814e-02 8.39816183e-02 9.13754593e+01] [-8.45149442e-02 9.96399873e-01 -6.67210252e-03 -2.39408654e+01] [-8.42449118e-02 -4.73274903e-04 9.96444966e-01 -1.03691004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39964924600001 meters 0.05944229063866311 Centerline is valid? [True, True] Translation: X:91.41, Y:-23.94, Z:-10.37 [[ 9.92842431e-01 8.56793429e-02 8.32043122e-02 9.14064849e+01] [-8.54239805e-02 9.96322626e-01 -6.63085215e-03 -2.39423299e+01] [-8.34664659e-02 -5.24252169e-04 9.96510449e-01 -1.03739995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42964924600001 meters 0.05920602063916754 Centerline is valid? [True, True] Translation: X:91.44, Y:-23.95, Z:-10.37 [[ 9.92786671e-01 8.63212723e-02 8.32061492e-02 9.14391557e+01] [-8.60675949e-02 9.96267189e-01 -6.63761277e-03 -2.39455139e+01] [-8.34685235e-02 -5.71619657e-04 9.96510250e-01 -1.03741415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45964924600001 meters 0.05921828874924153 Centerline is valid? [True, True] Translation: X:91.47, Y:-23.95, Z:-10.38 [[ 9.92826576e-01 8.69135432e-02 8.21061835e-02 9.14698149e+01] [-8.66666137e-02 9.96215684e-01 -6.57340906e-03 -2.39474123e+01] [-8.23667860e-02 -5.89609672e-04 9.96601909e-01 -1.03775954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48964924600001 meters 0.0593230104990412 Centerline is valid? [True, True] Translation: X:91.50, Y:-23.95, Z:-10.38 [[ 9.92840726e-01 8.69097916e-02 8.19388843e-02 9.15009494e+01] [-8.66624109e-02 9.96216022e-01 -6.57753429e-03 -2.39493987e+01] [-8.22004815e-02 -5.70577343e-04 9.96615651e-01 -1.03831123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51964924600001 meters 0.05915133690389852 Centerline is valid? [True, True] Translation: X:91.53, Y:-23.95, Z:-10.39 [[ 9.92727213e-01 8.73106336e-02 8.28826492e-02 9.15331981e+01] [-8.70570833e-02 9.96180961e-01 -6.67516315e-03 -2.39516195e+01] [-8.31489298e-02 -5.88905574e-04 9.96536958e-01 -1.03853124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54964924600002 meters 0.0591996782493498 Centerline is valid? [True, True] Translation: X:91.56, Y:-23.95, Z:-10.39 [[ 9.92792512e-01 8.67064116e-02 8.27346690e-02 9.15647175e+01] [-8.64500812e-02 9.96233773e-01 -6.68235281e-03 -2.39546497e+01] [-8.30024743e-02 -5.18229018e-04 9.96549206e-01 -1.03902690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57964924600002 meters 0.05918084675948202 Centerline is valid? [True, True] Translation: X:91.60, Y:-23.96, Z:-10.39 [[ 9.92804576e-01 8.63923625e-02 8.29182397e-02 9.15961914e+01] [-8.61320273e-02 9.96261079e-01 -6.71839500e-03 -2.39588679e+01] [-8.31886330e-02 -4.71862786e-04 9.96533707e-01 -1.03935676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60964924600002 meters 0.05925697684423759 Centerline is valid? [True, True] Translation: X:91.63, Y:-23.96, Z:-10.40 [[ 9.92914153e-01 8.65779250e-02 8.13986990e-02 9.16275034e+01] [-8.63258880e-02 9.96244977e-01 -6.61714521e-03 -2.39638256e+01] [-8.16659438e-02 -4.56557844e-04 9.96659654e-01 -1.03950912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63964924600002 meters 0.05925697684423759 Centerline is valid? [True, True] Translation: X:91.66, Y:-23.97, Z:-10.40 [[ 9.92891420e-01 8.68387452e-02 8.13981550e-02 9.16595511e+01] [-8.65870347e-02 9.96222270e-01 -6.62383464e-03 -2.39666271e+01] [-8.16658602e-02 -4.71276285e-04 9.96659654e-01 -1.03985061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.669649246 meters 0.05935137829538761 Centerline is valid? [True, True] Translation: X:91.69, Y:-23.97, Z:-10.40 [[ 9.92880066e-01 8.67816645e-02 8.15972922e-02 9.16909139e+01] [-8.65267092e-02 9.96227255e-01 -6.66216686e-03 -2.39688611e+01] [-8.18676004e-02 -4.45612502e-04 9.96643114e-01 -1.04030992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.699649246 meters 0.059274049101575015 Centerline is valid? [True, True] Translation: X:91.72, Y:-23.97, Z:-10.41 [[ 9.92851225e-01 8.65963572e-02 8.21432592e-02 9.17228018e+01] [-8.63356143e-02 9.96243394e-01 -6.72761691e-03 -2.39718840e+01] [-8.24172665e-02 -4.12366057e-04 9.96597825e-01 -1.04063679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72964924600001 meters 0.05918501214616923 Centerline is valid? [True, True] Translation: X:91.76, Y:-23.97, Z:-10.41 [[ 9.92829845e-01 8.70396833e-02 8.19328551e-02 9.17556251e+01] [-8.67803060e-02 9.96204752e-01 -6.72829511e-03 -2.39749162e+01] [-8.22075283e-02 -4.30106048e-04 9.96615140e-01 -1.04097653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75964924600001 meters 0.05899183360459144 Centerline is valid? [True, True] Translation: X:91.79, Y:-23.98, Z:-10.41 [[ 9.92998604e-01 8.61133629e-02 8.08595112e-02 9.17869623e+01] [-8.58559559e-02 9.96285291e-01 -6.66133673e-03 -2.39801423e+01] [-8.11327718e-02 -3.27572553e-04 9.96703249e-01 -1.04121524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78964924600001 meters 0.059214756863192004 Centerline is valid? [True, True] Translation: X:91.82, Y:-23.98, Z:-10.42 [[ 9.93163485e-01 8.47931458e-02 8.02272654e-02 9.18166513e+01] [-8.45338077e-02 9.96398557e-01 -6.62962817e-03 -2.39844033e+01] [-8.05004784e-02 -1.97611612e-04 9.96754550e-01 -1.04195558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81964924600001 meters 0.05918704911727952 Centerline is valid? [True, True] Translation: X:91.85, Y:-23.99, Z:-10.42 [[ 9.93132130e-01 8.50614699e-02 8.03313062e-02 9.18501323e+01] [-8.48013279e-02 9.96375684e-01 -6.65066783e-03 -2.39880795e+01] [-8.06058758e-02 -2.07209532e-04 9.96746031e-01 -1.04178067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84964924600001 meters 0.0592418924492929 Centerline is valid? [True, True] Translation: X:91.88, Y:-23.99, Z:-10.42 [[ 9.93072846e-01 8.51692013e-02 8.09476982e-02 9.18809496e+01] [-8.49032565e-02 9.96366484e-01 -6.72803617e-03 -2.39909067e+01] [-8.12265949e-02 -1.91293158e-04 9.96695642e-01 -1.04218975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87964924600001 meters 0.059307270349469095 Centerline is valid? [True, True] Translation: X:91.91, Y:-23.99, Z:-10.43 [[ 9.93047989e-01 8.49024198e-02 8.15307958e-02 9.19115577e+01] [-8.46307874e-02 9.96389258e-01 -6.78793658e-03 -2.39938728e+01] [-8.18127214e-02 -1.59268672e-04 9.96647708e-01 -1.04288325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90964924600001 meters 0.05895788278268418 Centerline is valid? [True, True] Translation: X:91.94, Y:-24.00, Z:-10.43 [[ 9.93035999e-01 8.43882432e-02 8.22078432e-02 9.19433407e+01] [-8.41095398e-02 9.96432944e-01 -6.85366117e-03 -2.39977936e+01] [-8.24929716e-02 -1.08531591e-04 9.96591640e-01 -1.04289724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93964924600002 meters 0.05888894972926026 Centerline is valid? [True, True] Translation: X:91.97, Y:-24.00, Z:-10.43 [[ 9.92966659e-01 8.40203153e-02 8.34134278e-02 9.19748903e+01] [-8.37304466e-02 9.96464040e-01 -6.97347002e-03 -2.40010822e+01] [-8.37043945e-02 -5.98203285e-05 9.96490628e-01 -1.04325897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96964924600002 meters 0.05871363272414354 Centerline is valid? [True, True] Translation: X:92.01, Y:-24.00, Z:-10.43 [[ 9.92947589e-01 8.49039861e-02 8.27429729e-02 9.20066192e+01] [-8.46203076e-02 9.96389131e-01 -6.93567759e-03 -2.40039010e+01] [-8.30330655e-02 -1.14971482e-04 9.96546786e-01 -1.04346261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99964924600002 meters 0.05878950204498953 Centerline is valid? [True, True] Translation: X:92.04, Y:-24.01, Z:-10.44 [[ 9.92977930e-01 8.40668720e-02 8.32321577e-02 9.20374532e+01] [-8.37750387e-02 9.96460115e-01 -6.99874223e-03 -2.40077732e+01] [-8.35258878e-02 -2.31806601e-05 9.96505607e-01 -1.04403515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02964924600002 meters 0.0588429029141352 Centerline is valid? [True, True] Translation: X:92.07, Y:-24.01, Z:-10.44 [[ 9.93155161e-01 8.35139575e-02 8.16593240e-02 9.20685441e+01] [-8.32304891e-02 9.96506607e-01 -6.87515630e-03 -2.40125738e+01] [-8.19482274e-02 3.15514858e-05 9.96636587e-01 -1.04434221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.059649246 meters 0.058971323941939616 Centerline is valid? [True, True] Translation: X:92.10, Y:-24.02, Z:-10.45 [[ 9.93271515e-01 8.28080597e-02 8.09600018e-02 9.20990697e+01] [-8.25256681e-02 9.96565509e-01 -6.83375510e-03 -2.40164178e+01] [-8.12478354e-02 1.06496058e-04 9.96693924e-01 -1.04478910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08964924600001 meters 0.05899054921585961 Centerline is valid? [True, True] Translation: X:92.13, Y:-24.02, Z:-10.45 [[ 9.93331236e-01 8.22586042e-02 8.07872324e-02 9.21305591e+01] [-8.19742389e-02 9.96611004e-01 -6.83595809e-03 -2.40217764e+01] [-8.10757612e-02 1.67898809e-04 9.96707928e-01 -1.04509296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11964924600001 meters 0.05891493564232276 Centerline is valid? [True, True] Translation: X:92.16, Y:-24.02, Z:-10.45 [[ 9.93302717e-01 8.21407329e-02 8.12564651e-02 9.21622716e+01] [-8.18506968e-02 9.96620720e-01 -6.89959653e-03 -2.40244026e+01] [-8.15486147e-02 2.02489690e-04 9.96669345e-01 -1.04529422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14964924600001 meters 0.05884153992073839 Centerline is valid? [True, True] Translation: X:92.19, Y:-24.03, Z:-10.46 [[ 9.93205974e-01 8.27408815e-02 8.18281156e-02 9.21925496e+01] [-8.24484574e-02 9.96571082e-01 -6.95200331e-03 -2.40271500e+01] [-8.21227486e-02 1.58169308e-04 9.96622210e-01 -1.04590089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17964924600001 meters 0.05854240991120049 Centerline is valid? [True, True] Translation: X:92.22, Y:-24.03, Z:-10.46 [[ 9.93065840e-01 8.32422953e-02 8.30117875e-02 9.22244218e+01] [-8.29415833e-02 9.96529328e-01 -7.07050767e-03 -2.40288585e+01] [-8.33122461e-02 1.36350557e-04 9.96523482e-01 -1.04575992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20964924600001 meters 0.05869814090669339 Centerline is valid? [True, True] Translation: X:92.25, Y:-24.03, Z:-10.46 [[ 9.92897075e-01 8.58653043e-02 8.23562299e-02 9.22547834e+01] [-8.55766171e-02 9.96306753e-01 -7.03540940e-03 -2.40287346e+01] [-8.26561656e-02 -6.23301408e-05 9.96578123e-01 -1.04640517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23964924600001 meters 0.058847528946085144 Centerline is valid? [True, True] Translation: X:92.29, Y:-24.03, Z:-10.47 [[ 9.92800586e-01 8.72337473e-02 8.20808688e-02 9.22872255e+01] [-8.69502045e-02 9.96187858e-01 -7.02947945e-03 -2.40296992e+01] [-8.23811727e-02 -1.58077014e-04 9.96600882e-01 -1.04677162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26964924600001 meters 0.05866884237057145 Centerline is valid? [True, True] Translation: X:92.32, Y:-24.03, Z:-10.47 [[ 9.92596531e-01 8.89614954e-02 8.26920706e-02 9.23190292e+01] [-8.86778137e-02 9.96035026e-01 -7.10437072e-03 -2.40292434e+01] [-8.29962141e-02 -2.81178299e-04 9.96549823e-01 -1.04696319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29964924600002 meters 0.05869520282397392 Centerline is valid? [True, True] Translation: X:92.35, Y:-24.03, Z:-10.47 [[ 9.92550395e-01 8.99317215e-02 8.21948784e-02 9.23509605e+01] [-8.96531608e-02 9.95947875e-01 -7.08105834e-03 -2.40315600e+01] [-8.24986262e-02 -3.40723396e-04 9.96591120e-01 -1.04742725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32964924600002 meters 0.058215530529335986 Centerline is valid? [True, True] Translation: X:92.38, Y:-24.04, Z:-10.48 [[ 9.92468490e-01 8.98075201e-02 8.33120983e-02 9.23829182e+01] [-8.95191939e-02 9.95959091e-01 -7.19747594e-03 -2.40350887e+01] [-8.36218292e-02 -3.14763812e-04 9.96497512e-01 -1.04762470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35964924600002 meters 0.05822852815075747 Centerline is valid? [True, True] Translation: X:92.41, Y:-24.04, Z:-10.48 [[ 9.92384986e-01 9.01735058e-02 8.39093457e-02 9.24132030e+01] [-8.98806117e-02 9.95926017e-01 -7.26940360e-03 -2.40372917e+01] [-8.42230081e-02 -3.27776327e-04 9.96446876e-01 -1.04809829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38964924600002 meters 0.058384593095283446 Centerline is valid? [True, True] Translation: X:92.45, Y:-24.04, Z:-10.48 [[ 9.92443072e-01 8.94522066e-02 8.39943492e-02 9.24455713e+01] [-8.91546692e-02 9.95991085e-01 -7.29413928e-03 -2.40409329e+01] [-8.43100998e-02 -2.49470422e-04 9.96439534e-01 -1.04838247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.419649246 meters 0.058658386665708925 Centerline is valid? [True, True] Translation: X:92.48, Y:-24.04, Z:-10.49 [[ 9.92344907e-01 8.93254864e-02 8.52792011e-02 9.24777235e+01] [-8.90162609e-02 9.96002465e-01 -7.42937868e-03 -2.40437938e+01] [-8.56019273e-02 -2.18729517e-04 9.96329394e-01 -1.04864609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.449649246 meters 0.058527790759260366 Centerline is valid? [True, True] Translation: X:92.51, Y:-24.05, Z:-10.49 [[ 9.92422238e-01 8.87308741e-02 8.49996113e-02 9.25102310e+01] [-8.84198848e-02 9.96055626e-01 -7.42387450e-03 -2.40479820e+01] [-8.53230680e-02 -1.48037698e-04 9.96353327e-01 -1.04885595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47964924600001 meters 0.05849914564031883 Centerline is valid? [True, True] Translation: X:92.54, Y:-24.05, Z:-10.49 [[ 9.92767619e-01 8.58223119e-02 8.39463287e-02 9.25406360e+01] [-8.55065103e-02 9.96310451e-01 -7.35674477e-03 -2.40537787e+01] [-8.42679775e-02 1.25580366e-04 9.96443120e-01 -1.04924977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50964924600001 meters 0.05849877090238204 Centerline is valid? [True, True] Translation: X:92.57, Y:-24.06, Z:-10.49 [[ 9.92917282e-01 8.44614763e-02 8.35555454e-02 9.25723670e+01] [-8.41431293e-02 9.96426715e-01 -7.33050165e-03 -2.40566138e+01] [-8.38761226e-02 2.47956718e-04 9.96476159e-01 -1.04937377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53964924600001 meters 0.05857463293857512 Centerline is valid? [True, True] Translation: X:92.60, Y:-24.06, Z:-10.50 [[ 9.92888895e-01 8.69333552e-02 8.13279468e-02 9.26029916e+01] [-8.66384919e-02 9.96214128e-01 -7.15424648e-03 -2.40559072e+01] [-8.16419922e-02 5.72412211e-05 9.96661719e-01 -1.05029671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56964924600001 meters 0.058716137543393734 Centerline is valid? [True, True] Translation: X:92.63, Y:-24.06, Z:-10.51 [[ 9.92895892e-01 8.77429593e-02 8.03674162e-02 9.26349583e+01] [-8.74562821e-02 9.96143149e-01 -7.08700853e-03 -2.40574749e+01] [-8.06792861e-02 8.02622860e-06 9.96740113e-01 -1.05077365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59964924600001 meters 0.058888161199263454 Centerline is valid? [True, True] Translation: X:92.67, Y:-24.06, Z:-10.51 [[ 9.92742784e-01 8.94685055e-02 8.03564046e-02 9.26678389e+01] [-8.91861954e-02 9.95989645e-01 -7.10277144e-03 -2.40584306e+01] [-8.06696213e-02 -1.15456904e-04 9.96740889e-01 -1.05090308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62964924600001 meters 0.059118152897330994 Centerline is valid? [True, True] Translation: X:92.70, Y:-24.06, Z:-10.51 [[ 9.92641203e-01 9.00796576e-02 8.09264920e-02 9.26984766e+01] [-8.97934828e-02 9.95934553e-01 -7.17605266e-03 -2.40598336e+01] [-8.12439061e-02 -1.43426021e-04 9.96694240e-01 -1.05149270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65964924600001 meters 0.058782818554598805 Centerline is valid? [True, True] Translation: X:92.73, Y:-24.06, Z:-10.52 [[ 9.92390380e-01 9.15167296e-02 8.23773183e-02 9.27305245e+01] [-9.12236582e-02 9.95803508e-01 -7.32239890e-03 -2.40602764e+01] [-8.27017445e-02 -2.48082095e-04 9.96574312e-01 -1.05150527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68964924600002 meters 0.05851636196181379 Centerline is valid? [True, True] Translation: X:92.76, Y:-24.06, Z:-10.51 [[ 9.92231018e-01 9.31583698e-02 8.24568100e-02 9.27636181e+01] [-9.28689319e-02 9.95651236e-01 -7.34701244e-03 -2.40623366e+01] [-8.27826604e-02 -3.67742241e-04 9.96567557e-01 -1.05138308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71964924600002 meters 0.05828584225106999 Centerline is valid? [True, True] Translation: X:92.79, Y:-24.06, Z:-10.52 [[ 9.91894229e-01 9.49983688e-02 8.43868949e-02 9.27948828e+01] [-9.46996437e-02 9.95477299e-01 -7.54488534e-03 -2.40626650e+01] [-8.47219899e-02 -5.07680653e-04 9.96404500e-01 -1.05162940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74964924600002 meters 0.058201748041293896 Centerline is valid? [True, True] Translation: X:92.83, Y:-24.06, Z:-10.52 [[ 9.91693750e-01 9.68712140e-02 8.46136755e-02 9.28279825e+01] [-9.65761059e-02 9.95296712e-01 -7.58364507e-03 -2.40646110e+01] [-8.49503499e-02 -6.51005874e-04 9.96384973e-01 -1.05171506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77964924600002 meters 0.05851680147264956 Centerline is valid? [True, True] Translation: X:92.86, Y:-24.06, Z:-10.52 [[ 9.91313561e-01 9.98677244e-02 8.55795676e-02 9.28597344e+01] [-9.95748369e-02 9.95000321e-01 -7.69496483e-03 -2.40628031e+01] [-8.59201759e-02 -8.93448511e-04 9.96301624e-01 -1.05225498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.809649246 meters 0.0586290892528674 Centerline is valid? [True, True] Translation: X:92.89, Y:-24.06, Z:-10.53 [[ 9.91145919e-01 1.01666472e-01 8.54031365e-02 9.28917229e+01] [-1.01379506e-01 9.94818013e-01 -7.70176490e-03 -2.40635695e+01] [-8.57435899e-02 -1.02455491e-03 9.96316710e-01 -1.05254443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83964924600001 meters 0.0592741566326379 Centerline is valid? [True, True] Translation: X:92.92, Y:-24.06, Z:-10.53 [[ 9.90899575e-01 1.04465451e-01 8.48822787e-02 9.29224977e+01] [-1.04190427e-01 9.94527746e-01 -7.67580323e-03 -2.40611302e+01] [-8.52196375e-02 -1.23797072e-03 9.96361421e-01 -1.05312511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86964924600001 meters 0.05971041990247843 Centerline is valid? [True, True] Translation: X:92.95, Y:-24.06, Z:-10.54 [[ 9.90702134e-01 1.06787664e-01 8.42951769e-02 9.29544606e+01] [-1.06523244e-01 9.94280850e-01 -7.64128869e-03 -2.40612473e+01] [-8.46290755e-02 -1.40915472e-03 9.96411528e-01 -1.05358674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89964924600001 meters 0.05977655332079284 Centerline is valid? [True, True] Translation: X:92.98, Y:-24.06, Z:-10.54 [[ 9.90746384e-01 1.07305812e-01 8.31087586e-02 9.29849980e+01] [-1.07048920e-01 9.94225059e-01 -7.55392503e-03 -2.40631690e+01] [-8.34393905e-02 -1.41267890e-03 9.96511853e-01 -1.05392661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92964924600001 meters 0.05982996589100049 Centerline is valid? [True, True] Translation: X:93.02, Y:-24.07, Z:-10.54 [[ 9.90765289e-01 1.07306429e-01 8.28822774e-02 9.30178691e+01] [-1.07049497e-01 9.94225022e-01 -7.55059486e-03 -2.40655998e+01] [-8.32138615e-02 -1.39163881e-03 9.96530740e-01 -1.05432992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95964924600001 meters 0.05998426432519979 Centerline is valid? [True, True] Translation: X:93.05, Y:-24.07, Z:-10.55 [[ 9.90678959e-01 1.08571116e-01 8.22648904e-02 9.30487005e+01] [-1.08320396e-01 9.94087608e-01 -7.51794681e-03 -2.40669570e+01] [-8.25947400e-02 -1.46309380e-03 9.96582143e-01 -1.05475481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98964924600001 meters 0.05999375608851116 Centerline is valid? [True, True] Translation: X:93.08, Y:-24.07, Z:-10.55 [[ 9.90736861e-01 1.08878044e-01 8.11544430e-02 9.30806911e+01] [-1.08633666e-01 9.94054056e-01 -7.43377181e-03 -2.40701359e+01] [-8.14812777e-02 -1.45119294e-03 9.96673816e-01 -1.05519207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01964924600001 meters 0.05995076635301897 Centerline is valid? [True, True] Translation: X:93.11, Y:-24.07, Z:-10.56 [[ 9.90806045e-01 1.07905218e-01 8.16078790e-02 9.31113643e+01] [-1.07653166e-01 9.94160257e-01 -7.49525741e-03 -2.40734670e+01] [-8.19400874e-02 -1.35900020e-03 9.96636330e-01 -1.05564535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04964924600002 meters 0.0601485302392082 Centerline is valid? [True, True] Translation: X:93.14, Y:-24.08, Z:-10.56 [[ 9.90847263e-01 1.07643891e-01 8.14524065e-02 9.31432033e+01] [-1.07390363e-01 9.94188645e-01 -7.49993582e-03 -2.40770497e+01] [-8.17863799e-02 -1.31591259e-03 9.96649014e-01 -1.05603682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07964924600002 meters 0.05980915346273268 Centerline is valid? [True, True] Translation: X:93.18, Y:-24.08, Z:-10.56 [[ 9.90889914e-01 1.07797395e-01 8.07273182e-02 9.31753708e+01] [-1.07547949e-01 9.94172026e-01 -7.44452326e-03 -2.40826368e+01] [-8.10593417e-02 -1.30535449e-03 9.96708422e-01 -1.05607771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10964924600002 meters 0.05966514063757807 Centerline is valid? [True, True] Translation: X:93.21, Y:-24.09, Z:-10.56 [[ 9.90808817e-01 1.07829891e-01 8.16737609e-02 9.32069368e+01] [-1.07572996e-01 9.94168505e-01 -7.55209668e-03 -2.40871852e+01] [-8.20118225e-02 -1.30320721e-03 9.96630505e-01 -1.05624664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13964924600002 meters 0.05920670789076151 Centerline is valid? [True, True] Translation: X:93.24, Y:-24.09, Z:-10.57 [[ 9.90899642e-01 1.05904759e-01 8.30787692e-02 9.32370866e+01] [-1.05630418e-01 9.94375621e-01 -7.70313079e-03 -2.40927350e+01] [-8.34273009e-02 -1.14261561e-03 9.96513211e-01 -1.05653245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.169649246 meters 0.059160640314161676 Centerline is valid? [True, True] Translation: X:93.27, Y:-24.10, Z:-10.57 [[ 9.91013082e-01 1.04517348e-01 8.34817100e-02 9.32680013e+01] [-1.04233856e-01 9.94522548e-01 -7.75911239e-03 -2.40972684e+01] [-8.38354049e-02 -1.01223870e-03 9.96479102e-01 -1.05694544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.199649246 meters 0.058659522250938956 Centerline is valid? [True, True] Translation: X:93.30, Y:-24.10, Z:-10.57 [[ 9.91236553e-01 1.02228087e-01 8.36630943e-02 9.32991858e+01] [-1.01933555e-01 9.94760663e-01 -7.79571568e-03 -2.41044851e+01] [-8.40216962e-02 -8.00678275e-04 9.96463604e-01 -1.05703596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22964924600001 meters 0.058819027994109825 Centerline is valid? [True, True] Translation: X:93.33, Y:-24.11, Z:-10.58 [[ 9.91290983e-01 1.02307900e-01 8.29173170e-02 9.33294227e+01] [-1.02016994e-01 9.94752476e-01 -7.74882035e-03 -2.41071146e+01] [-8.32749720e-02 -7.77639659e-04 9.96526304e-01 -1.05765000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25964924600001 meters 0.05876397449644232 Centerline is valid? [True, True] Translation: X:93.36, Y:-24.11, Z:-10.58 [[ 9.91313660e-01 1.01025847e-01 8.42081094e-02 9.33612780e+01] [-1.00720389e-01 9.94883575e-01 -7.87879286e-03 -2.41141087e+01] [-8.45732266e-02 -6.71118534e-04 9.96417041e-01 -1.05784524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28964924600001 meters 0.05886979657940165 Centerline is valid? [True, True] Translation: X:93.39, Y:-24.12, Z:-10.58 [[ 9.91263808e-01 1.01439380e-01 8.42977728e-02 9.33924924e+01] [-1.01133036e-01 9.94841485e-01 -7.90751084e-03 -2.41176809e+01] [-8.46650545e-02 -6.86860381e-04 9.96409232e-01 -1.05831529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31964924600001 meters 0.05864004222197216 Centerline is valid? [True, True] Translation: X:93.42, Y:-24.12, Z:-10.58 [[ 9.91248209e-01 1.00759388e-01 8.52908818e-02 9.34238436e+01] [-1.00441294e-01 9.94910634e-01 -8.02352935e-03 -2.41233651e+01] [-8.56652512e-02 -6.13417452e-04 9.96323787e-01 -1.05846930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34964924600001 meters 0.05862844689635607 Centerline is valid? [True, True] Translation: X:93.46, Y:-24.13, Z:-10.59 [[ 9.91240778e-01 1.00999659e-01 8.50928245e-02 9.34563707e+01] [-1.00682250e-01 9.94886271e-01 -8.02443176e-03 -2.41278948e+01] [-8.54681478e-02 -6.13193081e-04 9.96340715e-01 -1.05873978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37964924600001 meters 0.058430985060469565 Centerline is valid? [True, True] Translation: X:93.49, Y:-24.13, Z:-10.59 [[ 9.91315586e-01 1.00652523e-01 8.46314286e-02 9.34874716e+01] [-1.00335174e-01 9.94921485e-01 -8.00572368e-03 -2.41325794e+01] [-8.50074230e-02 -5.55310443e-04 9.96380163e-01 -1.05915160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40964924600001 meters 0.058401916270991075 Centerline is valid? [True, True] Translation: X:93.52, Y:-24.13, Z:-10.60 [[ 9.91296637e-01 1.00766273e-01 8.47179810e-02 9.35197505e+01] [-1.00447633e-01 9.94909972e-01 -8.02627497e-03 -2.41349404e+01] [-8.50955419e-02 -5.53301236e-04 9.96372642e-01 -1.05960158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43964924600002 meters 0.05856475130644952 Centerline is valid? [True, True] Translation: X:93.55, Y:-24.14, Z:-10.60 [[ 9.91245396e-01 1.01298702e-01 8.46825665e-02 9.35514568e+01] [-1.00980285e-01 9.94855890e-01 -8.04613717e-03 -2.41365489e+01] [-8.50620133e-02 -5.75573252e-04 9.96375493e-01 -1.06023986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46964924600002 meters 0.05887983236377386 Centerline is valid? [True, True] Translation: X:93.58, Y:-24.14, Z:-10.61 [[ 9.91276663e-01 1.01963860e-01 8.35101673e-02 9.35827665e+01] [-1.01654810e-01 9.94787921e-01 -7.95562431e-03 -2.41394185e+01] [-8.38860919e-02 -6.02985456e-04 9.96475168e-01 -1.06064040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49964924600002 meters 0.0588775483476081 Centerline is valid? [True, True] Translation: X:93.61, Y:-24.15, Z:-10.61 [[ 9.91679707e-01 1.00554204e-01 8.03754321e-02 9.36137978e+01] [-1.00261895e-01 9.94931481e-01 -7.67468067e-03 -2.41454853e+01] [-8.07397690e-02 -4.47768087e-04 9.96735115e-01 -1.06132662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52964924600002 meters 0.059063109918937165 Centerline is valid? [True, True] Translation: X:93.65, Y:-24.15, Z:-10.62 [[ 9.91759486e-01 1.00441744e-01 7.95272183e-02 9.36455662e+01] [-1.00153770e-01 9.94942854e-01 -7.61178720e-03 -2.41491976e+01] [-7.98895787e-02 -4.15888564e-04 9.96803633e-01 -1.06187212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.559649246 meters 0.059063109918937165 Centerline is valid? [True, True] Translation: X:93.68, Y:-24.15, Z:-10.62 [[ 9.91733464e-01 1.00699654e-01 7.95255673e-02 9.36775739e+01] [-1.00411128e-01 9.94916782e-01 -7.62899191e-03 -2.41524590e+01] [-7.98895583e-02 -4.19325370e-04 9.96803633e-01 -1.06221440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58964924600001 meters 0.058972601229307565 Centerline is valid? [True, True] Translation: X:93.71, Y:-24.16, Z:-10.62 [[ 9.91902760e-01 9.97534025e-02 7.86013554e-02 9.37096090e+01] [-9.94669437e-02 9.95012139e-01 -7.56107018e-03 -2.41582553e+01] [-7.89635452e-02 -3.18390210e-04 9.96877453e-01 -1.06233459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61964924600001 meters 0.059006907640475066 Centerline is valid? [True, True] Translation: X:93.74, Y:-24.16, Z:-10.63 [[ 9.92022315e-01 9.87207973e-02 7.83959900e-02 9.37405316e+01] [-9.84311418e-02 9.95115148e-01 -7.55997342e-03 -2.41632792e+01] [-7.87593638e-02 -2.16944483e-04 9.96893633e-01 -1.06273552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64964924600001 meters 0.05891667043659954 Centerline is valid? [True, True] Translation: X:93.77, Y:-24.17, Z:-10.63 [[ 9.92020018e-01 9.76511113e-02 7.97530185e-02 9.37709210e+01] [-9.73460917e-02 9.95220703e-01 -7.71301150e-03 -2.41688355e+01] [-8.01250393e-02 -1.12182847e-04 9.96784814e-01 -1.06311790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67964924600001 meters 0.058909497694977817 Centerline is valid? [True, True] Translation: X:93.80, Y:-24.17, Z:-10.64 [[ 9.91968755e-01 9.78868052e-02 8.01009533e-02 9.38018043e+01] [-9.75784206e-02 9.95197548e-01 -7.76475459e-03 -2.41735819e+01] [-8.04763394e-02 -1.13730561e-04 9.96756513e-01 -1.06350128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70964924600001 meters 0.05902532978454203 Centerline is valid? [True, True] Translation: X:93.83, Y:-24.18, Z:-10.64 [[ 9.92095645e-01 9.59661561e-02 8.08500378e-02 9.38330887e+01] [-9.56441886e-02 9.95384596e-01 -7.85467150e-03 -2.41818722e+01] [-8.12306648e-02 5.97491150e-05 9.96695327e-01 -1.06364033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73964924600001 meters 0.058895398696087495 Centerline is valid? [True, True] Translation: X:93.86, Y:-24.19, Z:-10.64 [[ 9.92193964e-01 9.34179956e-02 8.26088071e-02 9.38642837e+01] [-9.30713760e-02 9.95626934e-01 -8.04532931e-03 -2.41909704e+01] [-8.29991319e-02 2.94011835e-04 9.96549576e-01 -1.06369809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76964924600001 meters 0.05876650175420203 Centerline is valid? [True, True] Translation: X:93.90, Y:-24.20, Z:-10.64 [[ 9.92239679e-01 9.24706129e-02 8.31240356e-02 9.38972609e+01] [-9.21147792e-02 9.95715336e-01 -8.11400041e-03 -2.41966855e+01] [-8.35181837e-02 3.94080975e-04 9.96506175e-01 -1.06381260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79964924600002 meters 0.05890896359395099 Centerline is valid? [True, True] Translation: X:93.93, Y:-24.20, Z:-10.64 [[ 9.92444174e-01 9.12753534e-02 8.19961646e-02 9.39274707e+01] [-9.09231236e-02 9.95825561e-01 -8.02727454e-03 -2.42029708e+01] [-8.23865689e-02 5.11274449e-04 9.96600317e-01 -1.06443373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82964924600002 meters 0.05893237652720575 Centerline is valid? [True, True] Translation: X:93.96, Y:-24.21, Z:-10.65 [[ 9.92569533e-01 9.01080128e-02 8.17695989e-02 9.39586315e+01] [-8.97523210e-02 9.95931803e-01 -8.02274042e-03 -2.42080888e+01] [-8.21598572e-02 6.24116431e-04 9.96618968e-01 -1.06465515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85964924600002 meters 0.05919629113171401 Centerline is valid? [True, True] Translation: X:93.99, Y:-24.21, Z:-10.65 [[ 9.92529527e-01 9.02758888e-02 8.20694937e-02 9.39907436e+01] [-8.99166045e-02 9.95916596e-01 -8.07085496e-03 -2.42116110e+01] [-8.24629744e-02 6.31151651e-04 9.96593929e-01 -1.06505810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88964924600002 meters 0.05927304628130666 Centerline is valid? [True, True] Translation: X:94.02, Y:-24.21, Z:-10.65 [[ 9.92402637e-01 9.12529373e-02 8.25221658e-02 9.40219067e+01] [-9.08911232e-02 9.95827580e-01 -8.13843665e-03 -2.42146090e+01] [-8.29205049e-02 5.76073649e-04 9.96555998e-01 -1.06539347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.919649246 meters 0.059324982341331586 Centerline is valid? [True, True] Translation: X:94.05, Y:-24.22, Z:-10.66 [[ 9.92284888e-01 9.30538328e-02 8.19248705e-02 9.40528716e+01] [-9.27018378e-02 9.95660981e-01 -8.09812415e-03 -2.42162809e+01] [-8.23229585e-02 4.41060163e-04 9.96605607e-01 -1.06604491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.949649246 meters 0.05918779629122078 Centerline is valid? [True, True] Translation: X:94.09, Y:-24.22, Z:-10.66 [[ 9.92304368e-01 9.25708215e-02 8.22355474e-02 9.40859922e+01] [-9.22128280e-02 9.95705976e-01 -8.14888652e-03 -2.42191079e+01] [-8.26367751e-02 5.03003290e-04 9.96579606e-01 -1.06627046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97964924600001 meters 0.0594286032409083 Centerline is valid? [True, True] Translation: X:94.12, Y:-24.22, Z:-10.67 [[ 9.92464085e-01 9.15862707e-02 8.14063556e-02 9.41163360e+01] [-9.12303354e-02 9.95796964e-01 -8.08903532e-03 -2.42224246e+01] [-8.18050464e-02 6.01347905e-04 9.96648169e-01 -1.06675847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00964924600001 meters 0.059448071330034026 Centerline is valid? [True, True] Translation: X:94.15, Y:-24.23, Z:-10.67 [[ 9.92513521e-01 9.20714010e-02 8.02481690e-02 9.41478588e+01] [-9.17258074e-02 9.95752245e-01 -7.99021526e-03 -2.42252418e+01] [-8.06429647e-02 5.69568577e-04 9.96742890e-01 -1.06719635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03964924600001 meters 0.05960065878175724 Centerline is valid? [True, True] Translation: X:94.18, Y:-24.23, Z:-10.68 [[ 9.92409346e-01 9.26921327e-02 8.08199107e-02 9.41785656e+01] [-9.23419565e-02 9.95694669e-01 -8.06783385e-03 -2.42277800e+01] [-8.12197789e-02 5.43525037e-04 9.96696068e-01 -1.06754865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06964924600001 meters 0.0594700378779527 Centerline is valid? [True, True] Translation: X:94.21, Y:-24.23, Z:-10.68 [[ 9.92283978e-01 9.34687727e-02 8.14622305e-02 9.42102141e+01] [-9.31149423e-02 9.95622090e-01 -8.14008487e-03 -2.42302377e+01] [-8.18664399e-02 4.91924912e-04 9.96643188e-01 -1.06762573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09964924600001 meters 0.059624230110339266 Centerline is valid? [True, True] Translation: X:94.24, Y:-24.24, Z:-10.68 [[ 9.92464008e-01 9.10379718e-02 8.20200041e-02 9.42429344e+01] [-9.06694602e-02 9.95847165e-01 -8.21421932e-03 -2.42372401e+01] [-8.24271944e-02 7.15607531e-04 9.96596832e-01 -1.06784784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12964924600001 meters 0.060331358492960487 Centerline is valid? [True, True] Translation: X:94.27, Y:-24.25, Z:-10.68 [[ 9.92951804e-01 8.56104172e-02 8.19607923e-02 9.42735400e+01] [-8.52220845e-02 9.96327980e-01 -8.23114879e-03 -2.42457165e+01] [-8.23645027e-02 1.18826447e-03 9.96601564e-01 -1.06807923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15964924600001 meters 0.05985681052647421 Centerline is valid? [True, True] Translation: X:94.31, Y:-24.24, Z:-10.69 [[ 9.92778457e-01 8.78011686e-02 8.17428247e-02 9.43054115e+01] [-8.74209078e-02 9.96137497e-01 -8.22631587e-03 -2.42433483e+01] [-8.21493730e-02 1.02087724e-03 9.96619505e-01 -1.06853977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18964924600002 meters 0.05968500059379487 Centerline is valid? [True, True] Translation: X:94.34, Y:-24.24, Z:-10.69 [[ 9.92627602e-01 8.84034944e-02 8.29172243e-02 9.43375400e+01] [-8.80127253e-02 9.96084241e-01 -8.36336668e-03 -2.42439040e+01] [-8.33318913e-02 1.00393773e-03 9.96521343e-01 -1.06865260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21964924600002 meters 0.05936172921076645 Centerline is valid? [True, True] Translation: X:94.37, Y:-24.25, Z:-10.69 [[ 9.92494612e-01 9.00437975e-02 8.27439457e-02 9.43688045e+01] [-8.96587029e-02 9.95937414e-01 -8.36565519e-03 -2.42452007e+01] [-8.31610667e-02 8.84152854e-04 9.96535727e-01 -1.06891859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24964924600002 meters 0.059305408462552264 Centerline is valid? [True, True] Translation: X:94.40, Y:-24.25, Z:-10.69 [[ 9.92336780e-01 9.14849693e-02 8.30554967e-02 9.44002902e+01] [-9.11005180e-02 9.95806149e-01 -8.41485913e-03 -2.42468907e+01] [-8.34770074e-02 7.83975436e-04 9.96509395e-01 -1.06929608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27964924600002 meters 0.059323692665938205 Centerline is valid? [True, True] Translation: X:94.43, Y:-24.25, Z:-10.70 [[ 9.92204172e-01 9.48811618e-02 8.07987965e-02 9.44327443e+01] [-9.45271201e-02 9.95488479e-01 -8.20433551e-03 -2.42450804e+01] [-8.12127080e-02 5.02698375e-04 9.96696666e-01 -1.06975771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.309649246 meters 0.05946471788068775 Centerline is valid? [True, True] Translation: X:94.46, Y:-24.25, Z:-10.70 [[ 9.92096229e-01 9.65411435e-02 8.01553529e-02 9.44642242e+01] [-9.61966878e-02 9.95328921e-01 -8.15692365e-03 -2.42463850e+01] [-8.05684197e-02 3.81773732e-04 9.96749008e-01 -1.07047507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33964924600001 meters 0.05925157188102632 Centerline is valid? [True, True] Translation: X:94.50, Y:-24.24, Z:-10.71 [[ 9.91919771e-01 9.87821001e-02 7.96069438e-02 9.44970708e+01] [-9.84480278e-02 9.95109064e-01 -8.12012059e-03 -2.42447896e+01] [-8.00197139e-02 2.17361534e-04 9.96793257e-01 -1.07083286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36964924600001 meters 0.05937011944185894 Centerline is valid? [True, True] Translation: X:94.53, Y:-24.25, Z:-10.71 [[ 9.91802766e-01 9.94812435e-02 8.01919889e-02 9.45290200e+01] [-9.91427480e-02 9.95039421e-01 -8.20165650e-03 -2.42456863e+01] [-8.06101012e-02 1.83971450e-04 9.96745694e-01 -1.07132116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39964924600001 meters 0.05951560932937477 Centerline is valid? [True, True] Translation: X:94.56, Y:-24.25, Z:-10.72 [[ 9.91674014e-01 1.01655557e-01 7.90493352e-02 9.45595021e+01] [-1.01332110e-01 9.94819656e-01 -8.10286393e-03 -2.42454168e+01] [-7.94635336e-02 2.51636822e-05 9.96837773e-01 -1.07182908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42964924600001 meters 0.0595341536356071 Centerline is valid? [True, True] Translation: X:94.59, Y:-24.25, Z:-10.72 [[ 9.91540850e-01 1.02549119e-01 7.95639432e-02 9.45912335e+01] [-1.02222989e-01 9.94727941e-01 -8.17209428e-03 -2.42484636e+01] [-7.99825185e-02 -3.02987985e-05 9.96796266e-01 -1.07211142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45964924600001 meters 0.059292539844487284 Centerline is valid? [True, True] Translation: X:94.62, Y:-24.25, Z:-10.72 [[ 9.91401991e-01 1.03971284e-01 7.94485059e-02 9.46236454e+01] [-1.03649324e-01 9.94580291e-01 -8.17691217e-03 -2.42519618e+01] [-7.98680822e-02 -1.28176940e-04 9.96805434e-01 -1.07214861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48964924600001 meters 0.05941387145704362 Centerline is valid? [True, True] Translation: X:94.66, Y:-24.26, Z:-10.73 [[ 9.91304233e-01 1.04862392e-01 7.94971515e-02 9.46551285e+01] [-1.04540995e-01 9.94486726e-01 -8.20565089e-03 -2.42550544e+01] [-7.99193261e-02 -1.76414873e-04 9.96801319e-01 -1.07265815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51964924600001 meters 0.059166441895623895 Centerline is valid? [True, True] Translation: X:94.69, Y:-24.26, Z:-10.73 [[ 9.91231728e-01 1.05881087e-01 7.90497090e-02 9.46870301e+01] [-1.05565635e-01 9.94378768e-01 -8.17079236e-03 -2.42584657e+01] [-7.94704847e-02 -2.45784057e-04 9.96837189e-01 -1.07276524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54964924600002 meters 0.05922365862498954 Centerline is valid? [True, True] Translation: X:94.72, Y:-24.26, Z:-10.73 [[ 9.91189488e-01 1.06574046e-01 7.86471386e-02 9.47189346e+01] [-1.06262540e-01 9.94304729e-01 -8.14733235e-03 -2.42602388e+01] [-7.90675160e-02 -2.81694568e-04 9.96869223e-01 -1.07330569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57964924600002 meters 0.05946866118867368 Centerline is valid? [True, True] Translation: X:94.75, Y:-24.26, Z:-10.74 [[ 9.91013647e-01 1.08892146e-01 7.76817338e-02 9.47495819e+01] [-1.08593943e-01 9.94053472e-01 -8.06543055e-03 -2.42594286e+01] [-7.80980593e-02 -4.42814025e-04 9.96945584e-01 -1.07383751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60964924600002 meters 0.05957380163509163 Centerline is valid? [True, True] Translation: X:94.78, Y:-24.26, Z:-10.74 [[ 9.90900513e-01 1.10165306e-01 7.73290272e-02 9.47817894e+01] [-1.09872431e-01 9.93913140e-01 -8.04480316e-03 -2.42612529e+01] [-7.77445945e-02 -5.24728631e-04 9.96973171e-01 -1.07417957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63964924600002 meters 0.05968442806137109 Centerline is valid? [True, True] Translation: X:94.81, Y:-24.26, Z:-10.74 [[ 9.90524625e-01 1.12991568e-01 7.80632597e-02 9.48139876e+01] [-1.12700472e-01 9.93595674e-01 -8.13879109e-03 -2.42621508e+01] [-7.84829319e-02 -7.36093210e-04 9.96915186e-01 -1.07441805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.669649246 meters 0.05956668378546395 Centerline is valid? [True, True] Translation: X:94.85, Y:-24.27, Z:-10.75 [[ 9.90413014e-01 1.13365183e-01 7.89328598e-02 9.48455327e+01] [-1.13067171e-01 9.93553102e-01 -8.24918404e-03 -2.42653247e+01] [-7.93591579e-02 -7.54615924e-04 9.96845803e-01 -1.07464893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.699649246 meters 0.059686002266540174 Centerline is valid? [True, True] Translation: X:94.88, Y:-24.27, Z:-10.75 [[ 9.90369195e-01 1.13013094e-01 7.99806052e-02 9.48760301e+01] [-1.12704453e-01 9.93593240e-01 -8.37737775e-03 -2.42688496e+01] [-8.04149420e-02 -7.17473525e-04 9.96761216e-01 -1.07502088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72964924600001 meters 0.05946236682930557 Centerline is valid? [True, True] Translation: X:94.91, Y:-24.27, Z:-10.75 [[ 9.90362867e-01 1.12267642e-01 8.11009759e-02 9.49071915e+01] [-1.11946418e-01 9.93677792e-01 -8.51145748e-03 -2.42730972e+01] [-8.15438000e-02 -6.49532306e-04 9.96669547e-01 -1.07527982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75964924600001 meters 0.05930703041220792 Centerline is valid? [True, True] Translation: X:94.94, Y:-24.28, Z:-10.75 [[ 9.90261895e-01 1.12928731e-01 8.14154854e-02 9.49395998e+01] [-1.12605846e-01 9.93602851e-01 -8.56139336e-03 -2.42774402e+01] [-8.18614857e-02 -6.89838017e-04 9.96643478e-01 -1.07536287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78964924600001 meters 0.059263982312667725 Centerline is valid? [True, True] Translation: X:94.97, Y:-24.28, Z:-10.76 [[ 9.90302778e-01 1.13203352e-01 8.05320335e-02 9.49703303e+01] [-1.12886566e-01 9.93571605e-01 -8.49048245e-03 -2.42823883e+01] [-8.09754929e-02 -6.82836376e-04 9.96715859e-01 -1.07565918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81964924600001 meters 0.059214863180098186 Centerline is valid? [True, True] Translation: X:95.00, Y:-24.29, Z:-10.76 [[ 9.90342329e-01 1.13201148e-01 8.00473082e-02 9.50031534e+01] [-1.12886902e-01 9.93571870e-01 -8.45498538e-03 -2.42869789e+01] [-8.04898677e-02 -6.62962689e-04 9.96755207e-01 -1.07601587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84964924600001 meters 0.05931541156527311 Centerline is valid? [True, True] Translation: X:95.03, Y:-24.29, Z:-10.77 [[ 9.90460423e-01 1.12602255e-01 7.94284784e-02 9.50340486e+01] [-1.12289257e-01 9.93639968e-01 -8.41054038e-03 -2.42927892e+01] [-7.98703566e-02 -5.88657420e-04 9.96805086e-01 -1.07653664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87964924600001 meters 0.05943503433565974 Centerline is valid? [True, True] Translation: X:95.07, Y:-24.30, Z:-10.77 [[ 9.90603867e-01 1.11965188e-01 7.85351891e-02 9.50656044e+01] [-1.11655679e-01 9.93711998e-01 -8.33515669e-03 -2.42977759e+01] [-7.89746070e-02 -5.12061434e-04 9.96876496e-01 -1.07705255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90964924600001 meters 0.05940135047516116 Centerline is valid? [True, True] Translation: X:95.10, Y:-24.30, Z:-10.78 [[ 9.90755864e-01 1.10776412e-01 7.83032870e-02 9.50968701e+01] [-1.10463677e-01 9.93845273e-01 -8.32759038e-03 -2.43026404e+01] [-7.87438523e-02 -3.99059983e-04 9.96894802e-01 -1.07750770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93964924600002 meters 0.05923442501398962 Centerline is valid? [True, True] Translation: X:95.13, Y:-24.31, Z:-10.78 [[ 9.90682610e-01 1.10890179e-01 7.90653840e-02 9.51288420e+01] [-1.10570153e-01 9.93832588e-01 -8.42777796e-03 -2.43056993e+01] [-7.95123130e-02 -3.93018529e-04 9.96833806e-01 -1.07768638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96964924600002 meters 0.05917890014420282 Centerline is valid? [True, True] Translation: X:95.16, Y:-24.31, Z:-10.78 [[ 9.90663454e-01 1.10781524e-01 7.94567449e-02 9.51593770e+01] [-1.10456460e-01 9.93844716e-01 -8.48832127e-03 -2.43088906e+01] [-7.99080152e-02 -3.67441077e-04 9.96802174e-01 -1.07821571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99964924600002 meters 0.059088159692568545 Centerline is valid? [True, True] Translation: X:95.19, Y:-24.31, Z:-10.78 [[ 9.90613957e-01 1.10947132e-01 7.98418582e-02 9.51914925e+01] [-1.10618097e-01 9.93826242e-01 -8.54615079e-03 -2.43135780e+01] [-8.02971048e-02 -3.66018141e-04 9.96770907e-01 -1.07819668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02964924600002 meters 0.05905016594907874 Centerline is valid? [True, True] Translation: X:95.22, Y:-24.32, Z:-10.79 [[ 9.90614055e-01 1.10891399e-01 7.99180350e-02 9.52225357e+01] [-1.10560116e-01 9.93832470e-01 -8.57213682e-03 -2.43176296e+01] [-8.03757144e-02 -3.44068025e-04 9.96764579e-01 -1.07855001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.059649246 meters 0.05925179897023448 Centerline is valid? [True, True] Translation: X:95.26, Y:-24.32, Z:-10.79 [[ 9.90492174e-01 1.11954678e-01 7.99462474e-02 9.52553075e+01] [-1.11625091e-01 9.93713229e-01 -8.59409382e-03 -2.43210471e+01] [-8.04057927e-02 -4.11624428e-04 9.96762128e-01 -1.07891224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08964924600001 meters 0.05932236137452204 Centerline is valid? [True, True] Translation: X:95.29, Y:-24.33, Z:-10.79 [[ 9.90502806e-01 1.11309038e-01 8.07123897e-02 9.52869092e+01] [-1.10969186e-01 9.93785783e-01 -8.69816349e-03 -2.43255072e+01] [-8.11790096e-02 -3.41032829e-04 9.96699479e-01 -1.07931079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11964924600001 meters 0.0592865582248372 Centerline is valid? [True, True] Translation: X:95.32, Y:-24.33, Z:-10.80 [[ 9.90528568e-01 1.10884390e-01 8.09802990e-02 9.53184444e+01] [-1.10539377e-01 9.93833270e-01 -8.74514901e-03 -2.43308069e+01] [-8.14506159e-02 -2.89191898e-04 9.96677337e-01 -1.07961785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14964924600001 meters 0.05921531319854413 Centerline is valid? [True, True] Translation: X:95.35, Y:-24.33, Z:-10.80 [[ 9.90602644e-01 1.10907892e-01 8.00364979e-02 9.53503292e+01] [-1.10569571e-01 9.93830653e-01 -8.66046191e-03 -2.43348426e+01] [-8.05032385e-02 -2.70524793e-04 9.96754310e-01 -1.07982153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17964924600001 meters 0.059287317809633366 Centerline is valid? [True, True] Translation: X:95.38, Y:-24.34, Z:-10.80 [[ 9.90565299e-01 1.11143929e-01 8.01711676e-02 9.53823771e+01] [-1.10803818e-01 9.93804283e-01 -8.69258908e-03 -2.43390778e+01] [-8.06405783e-02 -2.72694378e-04 9.96743208e-01 -1.08011036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20964924600001 meters 0.059351202042839946 Centerline is valid? [True, True] Translation: X:95.41, Y:-24.34, Z:-10.81 [[ 9.90548069e-01 1.11222569e-01 8.02749266e-02 9.54134460e+01] [-1.10880092e-01 9.93795489e-01 -8.72534471e-03 -2.43440770e+01] [-8.07473152e-02 -2.58017899e-04 9.96734571e-01 -1.08052020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23964924600001 meters 0.05937838597793404 Centerline is valid? [True, True] Translation: X:95.45, Y:-24.35, Z:-10.81 [[ 9.90498114e-01 1.11725370e-01 8.01930697e-02 9.54459141e+01] [-1.11383705e-01 9.93739082e-01 -8.73537999e-03 -2.43482730e+01] [-8.06669510e-02 -2.79823837e-04 9.96741072e-01 -1.08066022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26964924600001 meters 0.059469896047799835 Centerline is valid? [True, True] Translation: X:95.48, Y:-24.35, Z:-10.81 [[ 9.90522484e-01 1.11962959e-01 7.95581872e-02 9.54770600e+01] [-1.11625691e-01 9.93712343e-01 -8.68820354e-03 -2.43523274e+01] [-8.00307095e-02 -2.74876653e-04 9.96792361e-01 -1.08110753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29964924600002 meters 0.05973431886187478 Centerline is valid? [True, True] Translation: X:95.51, Y:-24.36, Z:-10.82 [[ 9.90562089e-01 1.12671154e-01 7.80510060e-02 9.55076541e+01] [-1.12347320e-01 9.93632284e-01 -8.54186209e-03 -2.43551009e+01] [-7.85164208e-02 -3.07576555e-04 9.96912773e-01 -1.08180980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32964924600002 meters 0.059592120294093776 Centerline is valid? [True, True] Translation: X:95.54, Y:-24.36, Z:-10.82 [[ 9.90793157e-01 1.11056590e-01 7.74296758e-02 9.55386843e+01] [-1.10731708e-01 9.93814071e-01 -8.49007015e-03 -2.43611289e+01] [-7.78935795e-02 -1.62016829e-04 9.96961666e-01 -1.08209627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35964924600002 meters 0.05961084455840077 Centerline is valid? [True, True] Translation: X:95.57, Y:-24.36, Z:-10.82 [[ 9.90799129e-01 1.11329901e-01 7.69593400e-02 9.55702578e+01] [-1.11008434e-01 9.93783490e-01 -8.45586641e-03 -2.43647537e+01] [-7.74223123e-02 -1.65070786e-04 9.96998374e-01 -1.08242656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38964924600002 meters 0.05938668308124267 Centerline is valid? [True, True] Translation: X:95.60, Y:-24.37, Z:-10.83 [[ 9.90792610e-01 1.11790144e-01 7.63738727e-02 9.56016746e+01] [-1.11473615e-01 9.93731820e-01 -8.40850070e-03 -2.43693052e+01] [-7.68351350e-02 -1.82591301e-04 9.97043795e-01 -1.08250832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.419649246 meters 0.05950739297401622 Centerline is valid? [True, True] Translation: X:95.63, Y:-24.37, Z:-10.83 [[ 9.90709956e-01 1.12069625e-01 7.70336457e-02 9.56330504e+01] [-1.11747015e-01 9.93700339e-01 -8.49945930e-03 -2.43736436e+01] [-7.75008911e-02 -1.87781013e-04 9.96992265e-01 -1.08283642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.449649246 meters 0.05950739297401622 Centerline is valid? [True, True] Translation: X:95.67, Y:-24.38, Z:-10.83 [[ 9.90680287e-01 1.12332861e-01 7.70317894e-02 9.56650036e+01] [-1.12009740e-01 9.93670615e-01 -8.51624530e-03 -2.43773639e+01] [-7.75008797e-02 -1.91434335e-04 9.96992265e-01 -1.08317870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47964924600001 meters 0.05961657013937627 Centerline is valid? [True, True] Translation: X:95.70, Y:-24.38, Z:-10.84 [[ 9.90681469e-01 1.12148743e-01 7.72844512e-02 9.56973042e+01] [-1.11821308e-01 9.93691418e-01 -8.56505724e-03 -2.43815216e+01] [-7.77574564e-02 -1.56804910e-04 9.96972293e-01 -1.08356140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50964924600001 meters 0.05953595611904666 Centerline is valid? [True, True] Translation: X:95.73, Y:-24.39, Z:-10.83 [[ 9.91242821e-01 1.05419534e-01 7.95260436e-02 9.57286487e+01] [-1.05049318e-01 9.94427754e-01 -8.83645106e-03 -2.43943540e+01] [-8.00144395e-02 4.04912011e-04 9.96793622e-01 -1.08341361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53964924600001 meters 0.059879030825783 Centerline is valid? [True, True] Translation: X:95.76, Y:-24.40, Z:-10.84 [[ 9.91495859e-01 1.03614540e-01 7.87400120e-02 9.57607050e+01] [-1.03244514e-01 9.94617369e-01 -8.76698334e-03 -2.43963451e+01] [-7.92245705e-02 5.62953366e-04 9.96856635e-01 -1.08380751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56964924600001 meters 0.05998315742306124 Centerline is valid? [True, True] Translation: X:95.79, Y:-24.41, Z:-10.84 [[ 9.91644951e-01 9.87591604e-02 8.29874621e-02 9.57914703e+01] [-9.83292816e-02 9.95110838e-01 -9.26134173e-03 -2.44062311e+01] [-8.34963653e-02 1.02386525e-03 9.96507556e-01 -1.08364257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59964924600001 meters 0.06007644322891393 Centerline is valid? [True, True] Translation: X:95.82, Y:-24.41, Z:-10.84 [[ 9.91929032e-01 9.63316224e-02 8.24440112e-02 9.58241914e+01] [-9.58975374e-02 9.95348525e-01 -9.21821881e-03 -2.44054798e+01] [-8.29485310e-02 1.23764120e-03 9.96553064e-01 -1.08381530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62964924600001 meters 0.06026752130780189 Centerline is valid? [True, True] Translation: X:95.86, Y:-24.40, Z:-10.85 [[ 9.91927111e-01 9.90635441e-02 7.91645212e-02 9.58551448e+01] [-9.86706232e-02 9.95080620e-01 -8.86946225e-03 -2.44030456e+01] [-7.96537213e-02 9.86647415e-04 9.96822106e-01 -1.08488920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65964924600001 meters 0.060449307337679295 Centerline is valid? [True, True] Translation: X:95.89, Y:-24.39, Z:-10.86 [[ 9.91544189e-01 1.06688807e-01 7.38757090e-02 9.58862832e+01] [-1.06366516e-01 9.94292394e-01 -8.29459236e-03 -2.43907592e+01] [-7.43389957e-02 3.66553101e-04 9.97232961e-01 -1.08632357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68964924600002 meters 0.060435266647203174 Centerline is valid? [True, True] Translation: X:95.92, Y:-24.39, Z:-10.87 [[ 9.91302918e-01 1.09861018e-01 7.24505476e-02 9.59187612e+01] [-1.09559249e-01 9.93946950e-01 -8.13824922e-03 -2.43895405e+01] [-7.29060772e-02 1.29842630e-04 9.97338803e-01 -1.08669913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71964924600002 meters 0.060414387116723325 Centerline is valid? [True, True] Translation: X:95.95, Y:-24.39, Z:-10.87 [[ 9.90895732e-01 1.13556870e-01 7.23220891e-02 9.59515823e+01] [-1.13264868e-01 9.93531490e-01 -8.13931848e-03 -2.43893931e+01] [-7.27785485e-02 -1.26335903e-04 9.97348117e-01 -1.08681989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74964924600002 meters 0.06042132755218694 Centerline is valid? [True, True] Translation: X:95.98, Y:-24.39, Z:-10.87 [[ 9.90581604e-01 1.15759597e-01 7.31286715e-02 9.59823725e+01] [-1.15465455e-01 9.93277224e-01 -8.25141800e-03 -2.43900304e+01] [-7.35922246e-02 -2.70132454e-04 9.97288379e-01 -1.08729997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77964924600002 meters 0.06003746587379612 Centerline is valid? [True, True] Translation: X:96.02, Y:-24.39, Z:-10.87 [[ 9.90093026e-01 1.19431573e-01 7.38369789e-02 9.60157172e+01] [-1.19140805e-01 9.92842291e-01 -8.34590537e-03 -2.43887059e+01] [-7.43052399e-02 -5.33774377e-04 9.97235402e-01 -1.08710442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.809649246 meters 0.05980598717673181 Centerline is valid? [True, True] Translation: X:96.05, Y:-24.39, Z:-10.87 [[ 9.89812331e-01 1.21380712e-01 7.44195630e-02 9.60485676e+01] [-1.21089379e-01 9.92605802e-01 -8.43110087e-03 -2.43904040e+01] [-7.48926631e-02 -6.66211035e-04 9.97191378e-01 -1.08721116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83964924600001 meters 0.06025499503742754 Centerline is valid? [True, True] Translation: X:96.08, Y:-24.39, Z:-10.88 [[ 9.89458577e-01 1.23509147e-01 7.56122746e-02 9.60791397e+01] [-1.23212868e-01 9.92343097e-01 -8.58881727e-03 -2.43877875e+01] [-7.60941162e-02 -8.18126312e-04 9.97100304e-01 -1.08797865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86964924600001 meters 0.06030624710571811 Centerline is valid? [True, True] Translation: X:96.11, Y:-24.39, Z:-10.88 [[ 9.89387912e-01 1.23730158e-01 7.61735405e-02 9.61110643e+01] [-1.23428830e-01 9.92315559e-01 -8.66926335e-03 -2.43906710e+01] [-7.66608387e-02 -8.24746637e-04 9.97056887e-01 -1.08817579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89964924600001 meters 0.060477215803242404 Centerline is valid? [True, True] Translation: X:96.14, Y:-24.39, Z:-10.88 [[ 9.89075224e-01 1.25766723e-01 7.68955996e-02 9.61432298e+01] [-1.25464465e-01 9.92059364e-01 -8.76853269e-03 -2.43934261e+01] [-7.73877893e-02 -9.74926850e-04 9.97000592e-01 -1.08832536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92964924600001 meters 0.060254479232203895 Centerline is valid? [True, True] Translation: X:96.18, Y:-24.40, Z:-10.88 [[ 9.88881764e-01 1.26753453e-01 7.77587192e-02 9.61754049e+01] [-1.26445909e-01 9.91933702e-01 -8.88606182e-03 -2.43986734e+01] [-7.82578333e-02 -1.04500744e-03 9.96932605e-01 -1.08815073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95964924600001 meters 0.060032096191028686 Centerline is valid? [True, True] Translation: X:96.21, Y:-24.40, Z:-10.88 [[ 9.88452473e-01 1.28124922e-01 8.09055795e-02 9.62069968e+01] [-1.27794920e-01 9.91757334e-01 -9.26544370e-03 -2.44005317e+01] [-8.14258361e-02 -1.18087137e-03 9.96678704e-01 -1.08825408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98964924600001 meters 0.059957300478820114 Centerline is valid? [True, True] Translation: X:96.24, Y:-24.40, Z:-10.88 [[ 9.88316937e-01 1.28740688e-01 8.15810418e-02 9.62392037e+01] [-1.28405674e-01 9.91677538e-01 -9.36180526e-03 -2.44041086e+01] [-8.21073319e-02 -1.22303799e-03 9.96622742e-01 -1.08849359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01964924600001 meters 0.05990522888319743 Centerline is valid? [True, True] Translation: X:96.27, Y:-24.41, Z:-10.89 [[ 9.88153881e-01 1.29163452e-01 8.28776811e-02 9.62702908e+01] [-1.28817554e-01 9.91622518e-01 -9.52996436e-03 -2.44082184e+01] [-8.34142979e-02 -1.25902888e-03 9.96514159e-01 -1.08878059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04964924600002 meters 0.059844585209743735 Centerline is valid? [True, True] Translation: X:96.30, Y:-24.41, Z:-10.89 [[ 9.88049222e-01 1.29773180e-01 8.31724487e-02 9.63028518e+01] [-1.29425438e-01 9.91542858e-01 -9.58210098e-03 -2.44120831e+01] [-8.37125472e-02 -1.29704316e-03 9.96489100e-01 -1.08912876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07964924600002 meters 0.06002685027778276 Centerline is valid? [True, True] Translation: X:96.33, Y:-24.42, Z:-10.90 [[ 9.87963548e-01 1.30123666e-01 8.36412568e-02 9.63337460e+01] [-1.29771309e-01 9.91496904e-01 -9.65897954e-03 -2.44166896e+01] [-8.41869090e-02 -1.31151570e-03 9.96449118e-01 -1.08955404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10964924600002 meters 0.0598303748862871 Centerline is valid? [True, True] Translation: X:96.37, Y:-24.42, Z:-10.90 [[ 9.87910089e-01 1.30343318e-01 8.39301785e-02 9.63662574e+01] [-1.29987935e-01 9.91468043e-01 -9.70857072e-03 -2.44232308e+01] [-8.44795371e-02 -1.31871560e-03 9.96424342e-01 -1.08969008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13964924600002 meters 0.05992824904158935 Centerline is valid? [True, True] Translation: X:96.40, Y:-24.43, Z:-10.90 [[ 9.87670433e-01 1.31674785e-01 8.46691630e-02 9.63981103e+01] [-1.31315867e-01 9.91291951e-01 -9.81887408e-03 -2.44270792e+01] [-8.52247580e-02 -1.42059291e-03 9.96360739e-01 -1.08997195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.169649246 meters 0.060000434784328316 Centerline is valid? [True, True] Translation: X:96.43, Y:-24.43, Z:-10.90 [[ 9.87568047e-01 1.32821735e-01 8.40698415e-02 9.64299102e+01] [-1.32470970e-01 9.91138814e-01 -9.76188596e-03 -2.44302569e+01] [-8.46214736e-02 -1.49628678e-03 9.96412047e-01 -1.09037883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.199649246 meters 0.06037952306993093 Centerline is valid? [True, True] Translation: X:96.46, Y:-24.43, Z:-10.91 [[ 9.87251975e-01 1.34835598e-01 8.45748102e-02 9.64602707e+01] [-1.34486220e-01 9.90866596e-01 -9.84103984e-03 -2.44323238e+01] [-8.51292767e-02 -1.65856050e-03 9.96368534e-01 -1.09067450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22964924600001 meters 0.0604545455416856 Centerline is valid? [True, True] Translation: X:96.49, Y:-24.44, Z:-10.91 [[ 9.87151590e-01 1.35423248e-01 8.48073271e-02 9.64915548e+01] [-1.35072901e-01 9.90786382e-01 -9.88217247e-03 -2.44357400e+01] [-8.53642206e-02 -1.69996946e-03 9.96348363e-01 -1.09115516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25964924600001 meters 0.05999040778726456 Centerline is valid? [True, True] Translation: X:96.52, Y:-24.44, Z:-10.92 [[ 9.87477254e-01 1.32962953e-01 8.49089306e-02 9.65222733e+01] [-1.32600895e-01 9.91119921e-01 -9.91491061e-03 -2.44432506e+01] [-8.54732484e-02 -1.46825146e-03 9.96339384e-01 -1.09158074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28964924600001 meters 0.05981191081292853 Centerline is valid? [True, True] Translation: X:96.55, Y:-24.45, Z:-10.92 [[ 9.87715433e-01 1.32842812e-01 8.22861476e-02 9.65534646e+01] [-1.32500927e-01 9.91136137e-01 -9.62617714e-03 -2.44503566e+01] [-8.28355429e-02 -1.39506711e-03 9.96562254e-01 -1.09190853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31964924600001 meters 0.06018080299322184 Centerline is valid? [True, True] Translation: X:96.58, Y:-24.45, Z:-10.93 [[ 9.87828674e-01 1.31992420e-01 8.22952755e-02 9.65841524e+01] [-1.31645897e-01 9.91249867e-01 -9.64667973e-03 -2.44538942e+01] [-8.28484695e-02 -1.30456854e-03 9.96561302e-01 -1.09250278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34964924600001 meters 0.05974270818718679 Centerline is valid? [True, True] Translation: X:96.62, Y:-24.46, Z:-10.93 [[ 9.87908790e-01 1.31593825e-01 8.19712592e-02 9.66161380e+01] [-1.31247306e-01 9.91302932e-01 -9.62504529e-03 -2.44605891e+01] [-8.25249461e-02 -1.24984006e-03 9.96588215e-01 -1.09267675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37964924600001 meters 0.059750519486276917 Centerline is valid? [True, True] Translation: X:96.65, Y:-24.47, Z:-10.93 [[ 9.87988298e-01 1.31017223e-01 8.19366293e-02 9.66476425e+01] [-1.30667180e-01 9.91379391e-01 -9.64318266e-03 -2.44651923e+01] [-8.24937087e-02 -1.17907664e-03 9.96590888e-01 -1.09303944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40964924600001 meters 0.05943888463864304 Centerline is valid? [True, True] Translation: X:96.68, Y:-24.47, Z:-10.93 [[ 9.88004939e-01 1.30431632e-01 8.26669855e-02 9.66779836e+01] [-1.30071676e-01 9.91456672e-01 -9.74818635e-03 -2.44693722e+01] [-8.32322062e-02 -1.12137711e-03 9.96529549e-01 -1.09336292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43964924600002 meters 0.05928949703160373 Centerline is valid? [True, True] Translation: X:96.71, Y:-24.47, Z:-10.94 [[ 9.87918887e-01 1.29996879e-01 8.43628151e-02 9.67096398e+01] [-1.29618728e-01 9.91513807e-01 -9.96778824e-03 -2.44740275e+01] [-8.49426773e-02 -1.08763453e-03 9.96385246e-01 -1.09361306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46964924600002 meters 0.05901913721249975 Centerline is valid? [True, True] Translation: X:96.74, Y:-24.48, Z:-10.94 [[ 9.87769540e-01 1.30250662e-01 8.57094015e-02 9.67400839e+01] [-1.29859536e-01 9.91480478e-01 -1.01470190e-02 -2.44787173e+01] [-8.63008543e-02 -1.10726683e-03 9.96268506e-01 -1.09367426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49964924600002 meters 0.05881970629910112 Centerline is valid? [True, True] Translation: X:96.77, Y:-24.49, Z:-10.94 [[ 9.87613474e-01 1.30439566e-01 8.72074844e-02 9.67718932e+01] [-1.30033779e-01 9.91455623e-01 -1.03423249e-02 -2.44851440e+01] [-8.78113992e-02 -1.12569941e-03 9.96136482e-01 -1.09357263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52964924600002 meters 0.05906535596360871 Centerline is valid? [True, True] Translation: X:96.80, Y:-24.49, Z:-10.94 [[ 9.87356286e-01 1.32233482e-01 8.74177916e-02 9.68029070e+01] [-1.31830831e-01 9.91217787e-01 -1.03889543e-02 -2.44870170e+01] [-8.80238375e-02 -1.26676080e-03 9.96117563e-01 -1.09393185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.559649246 meters 0.059231885351801516 Centerline is valid? [True, True] Translation: X:96.84, Y:-24.49, Z:-10.94 [[ 9.87315802e-01 1.32534724e-01 8.74188484e-02 9.68354488e+01] [-1.32131585e-01 9.91177543e-01 -1.04078302e-02 -2.44907660e+01] [-8.80269983e-02 -1.27497579e-03 9.96117273e-01 -1.09439093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58964924600001 meters 0.05930493290753389 Centerline is valid? [True, True] Translation: X:96.87, Y:-24.49, Z:-10.95 [[ 9.87325833e-01 1.33417285e-01 8.59507330e-02 9.68664458e+01] [-1.33028683e-01 9.91059093e-01 -1.02588738e-02 -2.44943555e+01] [-8.65509665e-02 -1.30506171e-03 9.96246569e-01 -1.09486215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61964924600001 meters 0.05947484712709783 Centerline is valid? [True, True] Translation: X:96.90, Y:-24.50, Z:-10.95 [[ 9.87319863e-01 1.33911820e-01 8.52473660e-02 9.68977343e+01] [-1.33530655e-01 9.90992361e-01 -1.01835666e-02 -2.44972507e+01] [-8.58431884e-02 -1.32869907e-03 9.96307775e-01 -1.09532139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64964924600001 meters 0.05976624076010898 Centerline is valid? [True, True] Translation: X:96.93, Y:-24.50, Z:-10.96 [[ 9.87330784e-01 1.34710432e-01 8.38511943e-02 9.69290687e+01] [-1.34342888e-01 9.90884081e-01 -1.00362790e-02 -2.44998557e+01] [-8.44388050e-02 -1.35568432e-03 9.96427745e-01 -1.09585890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67964924600001 meters 0.06001669758761583 Centerline is valid? [True, True] Translation: X:96.96, Y:-24.50, Z:-10.97 [[ 9.87629374e-01 1.34557796e-01 8.05134667e-02 9.69604382e+01] [-1.34216667e-01 9.90904937e-01 -9.65877549e-03 -2.45021836e+01] [-8.10808552e-02 -1.26695874e-03 9.96706722e-01 -1.09663343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70964924600001 meters 0.060095537787892846 Centerline is valid? [True, True] Translation: X:96.99, Y:-24.51, Z:-10.97 [[ 9.88007754e-01 1.33321864e-01 7.78842677e-02 9.69902619e+01] [-1.32998379e-01 9.91072158e-01 -9.34923556e-03 -2.45068176e+01] [-7.84353868e-02 -1.12136412e-03 9.96918569e-01 -1.09721967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73964924600001 meters 0.06018314840678564 Centerline is valid? [True, True] Translation: X:97.02, Y:-24.51, Z:-10.98 [[ 9.88120085e-01 1.32820209e-01 7.73142299e-02 9.70223110e+01] [-1.32500202e-01 9.91139562e-01 -9.27711925e-03 -2.45109986e+01] [-7.78613809e-02 -1.07724322e-03 9.96963613e-01 -1.09767389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76964924600001 meters 0.05995207279510388 Centerline is valid? [True, True] Translation: X:97.05, Y:-24.52, Z:-10.98 [[ 9.88419573e-01 1.31198382e-01 7.62478367e-02 9.70545576e+01] [-1.30880832e-01 9.91355710e-01 -9.16864826e-03 -2.45188509e+01] [-7.67916401e-02 -9.16908877e-04 9.97046741e-01 -1.09803656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79964924600002 meters 0.059930399923615055 Centerline is valid? [True, True] Translation: X:97.08, Y:-24.52, Z:-10.99 [[ 9.88542113e-01 1.29953055e-01 7.67899415e-02 9.70847884e+01] [-1.29625484e-01 9.91519822e-01 -9.25615643e-03 -2.45239256e+01] [-7.73416149e-02 -8.03832921e-04 9.97004327e-01 -1.09855404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82964924600002 meters 0.059173117678922596 Centerline is valid? [True, True] Translation: X:97.12, Y:-24.54, Z:-10.98 [[ 9.88865434e-01 1.25718840e-01 7.96236632e-02 9.71157207e+01] [-1.25351111e-01 9.92065801e-01 -9.62001109e-03 -2.45357903e+01] [-8.02013299e-02 -4.68018229e-04 9.96778575e-01 -1.09834567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85964924600002 meters 0.05903815196082809 Centerline is valid? [True, True] Translation: X:97.15, Y:-24.54, Z:-10.99 [[ 9.88834497e-01 1.25328037e-01 8.06177485e-02 9.71475280e+01] [-1.24949779e-01 9.92115259e-01 -9.73987105e-03 -2.45420113e+01] [-8.12027773e-02 -4.42049363e-04 9.96697504e-01 -1.09856733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88964924600002 meters 0.058887072884758696 Centerline is valid? [True, True] Translation: X:97.18, Y:-24.55, Z:-10.99 [[ 9.88954693e-01 1.23666361e-01 8.17021841e-02 9.71783269e+01] [-1.23270581e-01 9.92323811e-01 -9.89025722e-03 -2.45485370e+01] [-8.22981149e-02 -2.90459415e-04 9.96607714e-01 -1.09890880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91964924600002 meters 0.058475844692385426 Centerline is valid? [True, True] Translation: X:97.21, Y:-24.56, Z:-10.99 [[ 9.89112373e-01 1.21534652e-01 8.29821741e-02 9.72099423e+01] [-1.21117221e-01 9.92587185e-01 -1.00647741e-02 -2.45576136e+01] [-8.35902614e-02 -9.53776763e-05 9.96500205e-01 -1.09902164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.949649246 meters 0.05850946671109669 Centerline is valid? [True, True] Translation: X:97.24, Y:-24.57, Z:-10.99 [[ 9.89375096e-01 1.19385255e-01 8.29703596e-02 9.72419404e+01] [-1.18958892e-01 9.92847999e-01 -1.00812690e-02 -2.45661305e+01] [-8.35805104e-02 1.04094418e-04 9.96501022e-01 -1.09921153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97964924600001 meters 0.0585342656267729 Centerline is valid? [True, True] Translation: X:97.27, Y:-24.57, Z:-11.00 [[ 9.89474840e-01 1.18785952e-01 8.26404236e-02 9.72745437e+01] [-1.18359022e-01 9.92919869e-01 -1.00635706e-02 -2.45719611e+01] [-8.32507294e-02 1.76410269e-04 9.96528617e-01 -1.09960270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00964924600001 meters 0.058689428719860416 Centerline is valid? [True, True] Translation: X:97.31, Y:-24.58, Z:-11.00 [[ 9.89484603e-01 1.18825960e-01 8.24658194e-02 9.73056205e+01] [-1.18399097e-01 9.92915079e-01 -1.00648237e-02 -2.45770984e+01] [-8.30775179e-02 1.95109564e-04 9.96543069e-01 -1.10020061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03964924600001 meters 0.058853468619203424 Centerline is valid? [True, True] Translation: X:97.34, Y:-24.58, Z:-11.00 [[ 9.89673579e-01 1.18322618e-01 8.09071433e-02 9.73374082e+01] [-1.17908139e-01 9.92975172e-01 -9.89840813e-03 -2.45841835e+01] [-8.15099901e-02 2.56582270e-04 9.96672492e-01 -1.10046344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06964924600001 meters 0.058901549237378455 Centerline is valid? [True, True] Translation: X:97.37, Y:-24.59, Z:-11.01 [[ 9.89883905e-01 1.17322725e-01 7.97824045e-02 9.73672640e+01] [-1.16916003e-01 9.93093783e-01 -9.76656363e-03 -2.45910629e+01] [-8.03772498e-02 3.39924334e-04 9.96764457e-01 -1.10077898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09964924600001 meters 0.059158206395735095 Centerline is valid? [True, True] Translation: X:97.40, Y:-24.60, Z:-11.01 [[ 9.89850708e-01 1.17025400e-01 8.06264929e-02 9.73970975e+01] [-1.16608423e-01 9.93128851e-01 -9.87727717e-03 -2.45961748e+01] [-8.12283885e-02 3.75301585e-04 9.96695444e-01 -1.10128788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12964924600001 meters 0.058933658330179266 Centerline is valid? [True, True] Translation: X:97.43, Y:-24.60, Z:-11.01 [[ 9.89801988e-01 1.16988907e-01 8.12749667e-02 9.74286303e+01] [-1.16563660e-01 9.93133142e-01 -9.97377736e-03 -2.46003592e+01] [-8.18836843e-02 3.98357086e-04 9.96641813e-01 -1.10134497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15964924600001 meters 0.05906788571924402 Centerline is valid? [True, True] Translation: X:97.46, Y:-24.60, Z:-11.02 [[ 9.89698919e-01 1.17510632e-01 8.17759208e-02 9.74603314e+01] [-1.17080353e-01 9.93071553e-01 -1.00539031e-02 -2.46033303e+01] [-8.23907812e-02 3.75983332e-04 9.96600029e-01 -1.10172288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18964924600002 meters 0.05887744924467624 Centerline is valid? [True, True] Translation: X:97.49, Y:-24.61, Z:-11.02 [[ 9.89527998e-01 1.18826208e-01 8.19431134e-02 9.74925815e+01] [-1.18397135e-01 9.92915027e-01 -1.00929572e-02 -2.46051871e+01] [-8.25618565e-02 2.85433883e-04 9.96585901e-01 -1.10206049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21964924600002 meters 0.05878892673624655 Centerline is valid? [True, True] Translation: X:97.52, Y:-24.61, Z:-11.03 [[ 9.89195634e-01 1.21539891e-01 8.19759265e-02 9.75242910e+01] [-1.21118277e-01 9.92586545e-01 -1.01150346e-02 -2.46050385e+01] [-8.25975818e-02 7.69650658e-05 9.96582979e-01 -1.10253362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24964924600002 meters 0.05876731836058284 Centerline is valid? [True, True] Translation: X:97.56, Y:-24.60, Z:-11.03 [[ 9.89095423e-01 1.23204610e-01 8.06899539e-02 9.75569114e+01] [-1.22800130e-01 9.92381289e-01 -9.97526331e-03 -2.46049868e+01] [-8.13041989e-02 -4.22495582e-05 9.96689332e-01 -1.10269382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27964924600002 meters 0.059138775658377565 Centerline is valid? [True, True] Translation: X:97.59, Y:-24.61, Z:-11.04 [[ 9.89014836e-01 1.24029009e-01 8.04143008e-02 9.75883111e+01] [-1.23628522e-01 9.92278588e-01 -9.95952293e-03 -2.46060718e+01] [-8.10286586e-02 -9.13851799e-05 9.96711768e-01 -1.10356115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.309649246 meters 0.05934244983119089 Centerline is valid? [True, True] Translation: X:97.62, Y:-24.61, Z:-11.04 [[ 9.88860771e-01 1.25861239e-01 7.94564315e-02 9.76204503e+01] [-1.25474564e-01 9.92047832e-01 -9.86069118e-03 -2.46068678e+01] [-8.00656594e-02 -2.18910420e-04 9.96789568e-01 -1.10384546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33964924600001 meters 0.05967965129749858 Centerline is valid? [True, True] Translation: X:97.65, Y:-24.61, Z:-11.05 [[ 9.88785326e-01 1.26907127e-01 7.87283940e-02 9.76504011e+01] [-1.26529166e-01 9.91914564e-01 -9.79118427e-03 -2.46093039e+01] [-7.93344117e-02 -2.80058742e-04 9.96848019e-01 -1.10460084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36964924600001 meters 0.05967965129749858 Centerline is valid? [True, True] Translation: X:97.68, Y:-24.61, Z:-11.05 [[ 9.88754522e-01 1.27147327e-01 7.87277138e-02 9.76823138e+01] [-1.26769692e-01 9.91883799e-01 -9.79665335e-03 -2.46134872e+01] [-7.93343622e-02 -2.93802726e-04 9.96848019e-01 -1.10494242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39964924600001 meters 0.05953616932273682 Centerline is valid? [True, True] Translation: X:97.71, Y:-24.62, Z:-11.05 [[ 9.88664985e-01 1.28816632e-01 7.71221311e-02 9.77136173e+01] [-1.28457808e-01 9.91668350e-01 -9.61642842e-03 -2.46175836e+01] [-7.77183324e-02 -3.99513884e-04 9.96975276e-01 -1.10501107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42964924600001 meters 0.05960037320954914 Centerline is valid? [True, True] Translation: X:97.75, Y:-24.62, Z:-11.05 [[ 9.88565290e-01 1.29396532e-01 7.74287038e-02 9.77463613e+01] [-1.29035443e-01 9.91592835e-01 -9.66972570e-03 -2.46208458e+01] [-7.80289769e-02 -4.31891890e-04 9.96950998e-01 -1.10549657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45964924600001 meters 0.05980075153392563 Centerline is valid? [True, True] Translation: X:97.78, Y:-24.62, Z:-11.06 [[ 9.88595177e-01 1.30098489e-01 7.58548530e-02 9.77781369e+01] [-1.29752500e-01 9.91500970e-01 -9.49289691e-03 -2.46240759e+01] [-7.64451718e-02 -4.57724683e-04 9.97073681e-01 -1.10586393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48964924600001 meters 0.06000672218880954 Centerline is valid? [True, True] Translation: X:97.81, Y:-24.62, Z:-11.06 [[ 9.88431693e-01 1.31220286e-01 7.60527763e-02 9.78095948e+01] [-1.30874457e-01 9.91353094e-01 -9.53516351e-03 -2.46248008e+01] [-7.66463620e-02 -5.28507965e-04 9.97058201e-01 -1.10634107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51964924600001 meters 0.060060764741308524 Centerline is valid? [True, True] Translation: X:97.84, Y:-24.63, Z:-11.07 [[ 9.88578587e-01 1.30305246e-01 7.57160555e-02 9.78409400e+01] [-1.29958169e-01 9.91473829e-01 -9.51421397e-03 -2.46297841e+01] [-7.63102395e-02 -4.34371720e-04 9.97084028e-01 -1.10667222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54964924600002 meters 0.05990667375253559 Centerline is valid? [True, True] Translation: X:97.87, Y:-24.64, Z:-11.07 [[ 9.88530603e-01 1.30436427e-01 7.61156062e-02 9.78722458e+01] [-1.30085221e-01 9.91456579e-01 -9.57532057e-03 -2.46354040e+01] [-7.67142892e-02 -4.36018044e-04 9.97053022e-01 -1.10683071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57964924600002 meters 0.05972757119809237 Centerline is valid? [True, True] Translation: X:97.90, Y:-24.64, Z:-11.07 [[ 9.88633257e-01 1.29368294e-01 7.66037028e-02 9.79039634e+01] [-1.29007982e-01 9.91596556e-01 -9.65453441e-03 -2.46416148e+01] [-7.72089585e-02 -3.37695325e-04 9.97014876e-01 -1.10703093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60964924600002 meters 0.05986058241146991 Centerline is valid? [True, True] Translation: X:97.93, Y:-24.64, Z:-11.07 [[ 9.88531561e-01 1.29725549e-01 7.73087008e-02 9.79343329e+01] [-1.29358059e-01 9.91549878e-01 -9.76382226e-03 -2.46446169e+01] [-7.79220501e-02 -3.48657057e-04 9.96959394e-01 -1.10739199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63964924600002 meters 0.059877038117776726 Centerline is valid? [True, True] Translation: X:97.97, Y:-24.65, Z:-11.08 [[ 9.88485346e-01 1.29547886e-01 7.81924876e-02 9.79652583e+01] [-1.29170738e-01 9.91573112e-01 -9.88355001e-03 -2.46474046e+01] [-7.88139612e-02 -3.30436965e-04 9.96889287e-01 -1.10792205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66964924600002 meters 0.059391367939407705 Centerline is valid? [True, True] Translation: X:98.00, Y:-24.66, Z:-11.08 [[ 9.88810937e-01 1.26011501e-01 7.98375386e-02 9.79969611e+01] [-1.25605449e-01 9.92028780e-01 -1.01079448e-02 -2.46569628e+01] [-8.04748533e-02 -3.31835625e-05 9.96756639e-01 -1.10762027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.699649246 meters 0.05964744034883968 Centerline is valid? [True, True] Translation: X:98.03, Y:-24.66, Z:-11.08 [[ 9.88991377e-01 1.24092179e-01 8.06051381e-02 9.80274251e+01] [-1.23670339e-01 9.92270684e-01 -1.02243092e-02 -2.46634969e+01] [-8.12508723e-02 1.43288895e-04 9.96693672e-01 -1.10822861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72964924600001 meters 0.05979061921594655 Centerline is valid? [True, True] Translation: X:98.06, Y:-24.67, Z:-11.09 [[ 9.89220719e-01 1.22936748e-01 7.95545401e-02 9.80572439e+01] [-1.22520441e-01 9.92414475e-01 -1.01119225e-02 -2.46712669e+01] [-8.01942040e-02 2.55865914e-04 9.96779225e-01 -1.10867053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75964924600001 meters 0.05971790072439236 Centerline is valid? [True, True] Translation: X:98.09, Y:-24.68, Z:-11.09 [[ 9.89230792e-01 1.22973611e-01 7.93721017e-02 9.80902427e+01] [-1.22558879e-01 9.92409908e-01 -1.00943824e-02 -2.46757176e+01] [-8.00110028e-02 2.57918055e-04 9.96793947e-01 -1.10885060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78964924600001 meters 0.05965868446235362 Centerline is valid? [True, True] Translation: X:98.12, Y:-24.68, Z:-11.09 [[ 9.88989011e-01 1.24444768e-01 8.00889262e-02 9.81226353e+01] [-1.24025348e-01 9.92226523e-01 -1.02098229e-02 -2.46782906e+01] [-8.07369158e-02 1.64345715e-04 9.96735433e-01 -1.10917983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81964924600001 meters 0.05965625754396039 Centerline is valid? [True, True] Translation: X:98.15, Y:-24.68, Z:-11.10 [[ 9.88984863e-01 1.24625853e-01 7.98582386e-02 9.81545912e+01] [-1.24208900e-01 9.92203796e-01 -1.01870878e-02 -2.46831504e+01] [-8.05052220e-02 1.55771641e-04 9.96754175e-01 -1.10960277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84964924600001 meters 0.05991873136756462 Centerline is valid? [True, True] Translation: X:98.18, Y:-24.69, Z:-11.10 [[ 9.89000723e-01 1.24321083e-01 8.01363780e-02 9.81848431e+01] [-1.23898184e-01 9.92242020e-01 -1.02476342e-02 -2.46894571e+01] [-8.07886785e-02 2.06165918e-04 9.96731231e-01 -1.11012718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87964924600001 meters 0.0600302379754898 Centerline is valid? [True, True] Translation: X:98.22, Y:-24.70, Z:-11.10 [[ 9.89017216e-01 1.24020002e-01 8.03989152e-02 9.82172672e+01] [-1.23592707e-01 9.92279689e-01 -1.02888733e-02 -2.46976978e+01] [-8.10542367e-02 2.39153301e-04 9.96709664e-01 -1.11038966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90964924600001 meters 0.05992275578275367 Centerline is valid? [True, True] Translation: X:98.25, Y:-24.70, Z:-11.11 [[ 9.89194412e-01 1.23677599e-01 7.87290676e-02 9.82477283e+01] [-1.23264983e-01 9.92322413e-01 -1.00981968e-02 -2.47028176e+01] [-7.93735391e-02 2.84542695e-04 9.96844903e-01 -1.11099862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93964924600002 meters 0.05985962358517914 Centerline is valid? [True, True] Translation: X:98.28, Y:-24.71, Z:-11.11 [[ 9.89261563e-01 1.23625135e-01 7.79640029e-02 9.82790720e+01] [-1.23219884e-01 9.92328948e-01 -1.00059651e-02 -2.47068593e+01] [-7.86029258e-02 2.91801320e-04 9.96905961e-01 -1.11129819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96964924600002 meters 0.060155325919746254 Centerline is valid? [True, True] Translation: X:98.31, Y:-24.71, Z:-11.12 [[ 9.89242418e-01 1.24420668e-01 7.69346159e-02 9.83093950e+01] [-1.24027072e-01 9.92229529e-01 -9.89177979e-03 -2.47116113e+01] [-7.75675396e-02 2.43393054e-04 9.96987070e-01 -1.11179622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99964924600002 meters 0.06018243964110325 Centerline is valid? [True, True] Translation: X:98.34, Y:-24.72, Z:-11.12 [[ 9.89287539e-01 1.24350392e-01 7.64666234e-02 9.83412290e+01] [-1.23959846e-01 9.92238333e-01 -9.85128010e-03 -2.47160797e+01] [-7.70981255e-02 2.66957760e-04 9.97023474e-01 -1.11200151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02964924600002 meters 0.06007425750535336 Centerline is valid? [True, True] Translation: X:98.37, Y:-24.72, Z:-11.12 [[ 9.89257701e-01 1.24549250e-01 7.65289783e-02 9.83733092e+01] [-1.24158565e-01 9.92213395e-01 -9.86054815e-03 -2.47204403e+01] [-7.71612012e-02 2.52895059e-04 9.97018598e-01 -1.11222618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.059649246 meters 0.06028600924519665 Centerline is valid? [True, True] Translation: X:98.41, Y:-24.72, Z:-11.13 [[ 9.89342198e-01 1.23808111e-01 7.66392032e-02 9.84059493e+01] [-1.23412432e-01 9.92306123e-01 -9.89597321e-03 -2.47245046e+01] [-7.72747523e-02 3.32273409e-04 9.97009780e-01 -1.11261959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08964924600001 meters 0.060367989437096814 Centerline is valid? [True, True] Translation: X:98.44, Y:-24.73, Z:-11.13 [[ 9.89186426e-01 1.24172285e-01 7.80477980e-02 9.84365400e+01] [-1.23761250e-01 9.92260618e-01 -1.01004797e-02 -2.47266263e+01] [-7.86979559e-02 3.31964444e-04 9.96898451e-01 -1.11311426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11964924600001 meters 0.06037879426730183 Centerline is valid? [True, True] Translation: X:98.47, Y:-24.73, Z:-11.14 [[ 9.89035867e-01 1.25285342e-01 7.81769582e-02 9.84681085e+01] [-1.24874993e-01 9.92120716e-01 -1.01351565e-02 -2.47307754e+01] [-7.88307663e-02 2.61686178e-04 9.96887979e-01 -1.11367352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14964924600001 meters 0.060098031620323705 Centerline is valid? [True, True] Translation: X:98.50, Y:-24.74, Z:-11.14 [[ 9.88905494e-01 1.26490662e-01 7.78847645e-02 9.85011798e+01] [-1.26085615e-01 9.91967781e-01 -1.01162754e-02 -2.47352085e+01] [-7.85387914e-02 1.83891886e-04 9.96911041e-01 -1.11371459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17964924600001 meters 0.060125439509266784 Centerline is valid? [True, True] Translation: X:98.53, Y:-24.74, Z:-11.14 [[ 9.88805220e-01 1.27103011e-01 7.81604827e-02 9.85330569e+01] [-1.26695290e-01 9.91889510e-01 -1.01736677e-02 -2.47387306e+01] [-7.88196667e-02 1.57210710e-04 9.96888878e-01 -1.11409164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20964924600001 meters 0.05999793925629482 Centerline is valid? [True, True] Translation: X:98.56, Y:-24.74, Z:-11.14 [[ 9.88653198e-01 1.27452767e-01 7.95024924e-02 9.85637839e+01] [-1.27030507e-01 9.91844630e-01 -1.03672895e-02 -2.47431324e+01] [-8.01754599e-02 1.50412026e-04 9.96780755e-01 -1.11440170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23964924600001 meters 0.059789665495191116 Centerline is valid? [True, True] Translation: X:98.60, Y:-24.75, Z:-11.14 [[ 9.88605740e-01 1.27498748e-01 8.00172445e-02 9.85958048e+01] [-1.27069820e-01 9.91838718e-01 -1.04507723e-02 -2.47480596e+01] [-8.06966616e-02 1.63916668e-04 9.96738693e-01 -1.11441283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26964924600001 meters 0.05979740574080122 Centerline is valid? [True, True] Translation: X:98.63, Y:-24.75, Z:-11.15 [[ 9.88682663e-01 1.26652042e-01 8.04105273e-02 9.86266246e+01] [-1.26214556e-01 9.91947174e-01 -1.05209053e-02 -2.47543902e+01] [-8.10954895e-02 2.52857684e-04 9.96706305e-01 -1.11495985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29964924600002 meters 0.059856836426308006 Centerline is valid? [True, True] Translation: X:98.66, Y:-24.76, Z:-11.15 [[ 9.88679629e-01 1.26908146e-01 8.00431980e-02 9.86593241e+01] [-1.26473880e-01 9.91914442e-01 -1.04927669e-02 -2.47592155e+01] [-8.07276217e-02 2.50611059e-04 9.96736168e-01 -1.11539420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32964924600002 meters 0.06000744967035346 Centerline is valid? [True, True] Translation: X:98.69, Y:-24.76, Z:-11.16 [[ 9.88588250e-01 1.27698845e-01 7.99141794e-02 9.86917764e+01] [-1.27266941e-01 9.91812968e-01 -1.04958577e-02 -2.47610370e+01] [-8.06002283e-02 2.05648473e-04 9.96746488e-01 -1.11577514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35964924600002 meters 0.06020734600248084 Centerline is valid? [True, True] Translation: X:98.72, Y:-24.76, Z:-11.16 [[ 9.88535633e-01 1.28870525e-01 7.86745839e-02 9.87230918e+01] [-1.28453960e-01 9.91661420e-01 -1.03541870e-02 -2.47634846e+01] [-7.93528990e-02 1.29420943e-04 9.96846578e-01 -1.11620652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38964924600002 meters 0.0603261371493488 Centerline is valid? [True, True] Translation: X:98.75, Y:-24.77, Z:-11.17 [[ 9.88446057e-01 1.30008105e-01 7.79248663e-02 9.87548021e+01] [-1.29601594e-01 9.91512930e-01 -1.02731310e-02 -2.47661655e+01] [-7.85991028e-02 5.52489296e-05 9.96906304e-01 -1.11650633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41964924600002 meters 0.060731978841190574 Centerline is valid? [True, True] Translation: X:98.79, Y:-24.77, Z:-11.17 [[ 9.88399054e-01 1.30355071e-01 7.79414196e-02 9.87853709e+01] [-1.29948024e-01 9.91467374e-01 -1.02935632e-02 -2.47708414e+01] [-7.86181928e-02 4.58145925e-05 9.96904799e-01 -1.11730742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.449649246 meters 0.060211318361371655 Centerline is valid? [True, True] Translation: X:98.82, Y:-24.78, Z:-11.17 [[ 9.88350304e-01 1.29747940e-01 7.95559491e-02 9.88181204e+01] [-1.29319951e-01 9.91547002e-01 -1.05305634e-02 -2.47759465e+01] [-8.02497817e-02 1.19714133e-04 9.96774778e-01 -1.11697751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47964924600001 meters 0.06017934039923135 Centerline is valid? [True, True] Translation: X:98.85, Y:-24.78, Z:-11.17 [[ 9.88281687e-01 1.30075103e-01 7.98734938e-02 9.88491881e+01] [-1.29644099e-01 9.91504139e-01 -1.05806674e-02 -2.47792530e+01] [-8.05711811e-02 1.01552654e-04 9.96748852e-01 -1.11724588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50964924600001 meters 0.060246670751952044 Centerline is valid? [True, True] Translation: X:98.88, Y:-24.78, Z:-11.17 [[ 9.88233970e-01 1.29024581e-01 8.21357284e-02 9.88800812e+01] [-1.28563606e-01 9.91641373e-01 -1.08989071e-02 -2.47837335e+01] [-8.28554134e-02 2.11004790e-04 9.96561557e-01 -1.11741883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53964924600001 meters 0.06015582810538535 Centerline is valid? [True, True] Translation: X:98.91, Y:-24.79, Z:-11.18 [[ 9.88343677e-01 1.27725474e-01 8.28431005e-02 9.89116586e+01] [-1.27250477e-01 9.91809502e-01 -1.10103826e-02 -2.47897533e+01] [-8.35708806e-02 3.40217905e-04 9.96501777e-01 -1.11764628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56964924600001 meters 0.06049565881302226 Centerline is valid? [True, True] Translation: X:98.94, Y:-24.79, Z:-11.18 [[ 9.88433755e-01 1.26971234e-01 8.29277869e-02 9.89433678e+01] [-1.26491026e-01 9.91906309e-01 -1.10405498e-02 -2.47943621e+01] [-8.36584273e-02 4.23231290e-04 9.96494400e-01 -1.11810180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59964924600001 meters 0.060520373268896664 Centerline is valid? [True, True] Translation: X:98.97, Y:-24.80, Z:-11.19 [[ 9.88390496e-01 1.27819241e-01 8.21368887e-02 9.89743926e+01] [-1.27349369e-01 9.91797412e-01 -1.09559318e-02 -2.47981320e+01] [-8.28635325e-02 3.68657873e-04 9.96560836e-01 -1.11854988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62964924600001 meters 0.06056885127442118 Centerline is valid? [True, True] Translation: X:99.00, Y:-24.80, Z:-11.19 [[ 9.88371321e-01 1.28336806e-01 8.15585426e-02 9.90043619e+01] [-1.27873892e-01 9.91730583e-01 -1.08958290e-02 -2.48036465e+01] [-8.22824369e-02 3.39916635e-04 9.96608993e-01 -1.11884401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65964924600001 meters 0.06058118231745832 Centerline is valid? [True, True] Translation: X:99.04, Y:-24.81, Z:-11.19 [[ 9.88291957e-01 1.28471906e-01 8.23041716e-02 9.90365163e+01] [-1.27999250e-01 9.91713086e-01 -1.10157373e-02 -2.48089040e+01] [-8.30373368e-02 3.51892373e-04 9.96546375e-01 -1.11903891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68964924600002 meters 0.06041155632569869 Centerline is valid? [True, True] Translation: X:99.07, Y:-24.81, Z:-11.19 [[ 9.88234300e-01 1.28401033e-01 8.31032106e-02 9.90672178e+01] [-1.27918546e-01 9.91722260e-01 -1.11267344e-02 -2.48147415e+01] [-8.38439880e-02 3.65378732e-04 9.96478827e-01 -1.11936327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71964924600002 meters 0.06049813046051343 Centerline is valid? [True, True] Translation: X:99.10, Y:-24.82, Z:-11.20 [[ 9.88188582e-01 1.28725249e-01 8.31452734e-02 9.90993310e+01] [-1.28242061e-01 9.91680233e-01 -1.11484914e-02 -2.48188139e+01] [-8.38886165e-02 3.54090691e-04 9.96475075e-01 -1.11970980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74964924600002 meters 0.0605483371053982 Centerline is valid? [True, True] Translation: X:99.13, Y:-24.82, Z:-11.20 [[ 9.88074565e-01 1.29591716e-01 8.31543159e-02 9.91318575e+01] [-1.29109732e-01 9.91567394e-01 -1.11705284e-02 -2.48195267e+01] [-8.39007162e-02 3.01283573e-04 9.96474073e-01 -1.12014179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77964924600002 meters 0.060679027547280426 Centerline is valid? [True, True] Translation: X:99.16, Y:-24.82, Z:-11.21 [[ 9.87946711e-01 1.30718652e-01 8.29091741e-02 9.91631966e+01] [-1.30241609e-01 9.91419479e-01 -1.11597803e-02 -2.48226512e+01] [-8.36565616e-02 2.27043943e-04 9.96494620e-01 -1.12075895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.809649246 meters 0.060667213246440324 Centerline is valid? [True, True] Translation: X:99.20, Y:-24.82, Z:-11.21 [[ 9.87706616e-01 1.33492264e-01 8.13354517e-02 9.91955085e+01] [-1.33040947e-01 9.91049855e-01 -1.09677257e-02 -2.48247359e+01] [-8.20715942e-02 1.19496948e-05 9.96626436e-01 -1.12097458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83964924600001 meters 0.06056664256082863 Centerline is valid? [True, True] Translation: X:99.23, Y:-24.82, Z:-11.21 [[ 9.87371330e-01 1.36499182e-01 8.04103815e-02 9.92267822e+01] [-1.36066384e-01 9.90640160e-01 -1.08633440e-02 -2.48247015e+01] [-8.11405908e-02 -2.14995440e-04 9.96702643e-01 -1.12130939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86964924600001 meters 0.060629733375988606 Centerline is valid? [True, True] Translation: X:99.26, Y:-24.83, Z:-11.22 [[ 9.87356568e-01 1.36424153e-01 8.07183902e-02 9.92586200e+01] [-1.35987165e-01 9.90650498e-01 -1.09124390e-02 -2.48275687e+01] [-8.14524338e-02 -2.02196754e-04 9.96677210e-01 -1.12170761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89964924600001 meters 0.06076070009715664 Centerline is valid? [True, True] Translation: X:99.29, Y:-24.83, Z:-11.22 [[ 9.87192554e-01 1.37519359e-01 8.08658640e-02 9.92903314e+01] [-1.37082987e-01 9.90499041e-01 -1.09500992e-02 -2.48290728e+01] [-8.16034114e-02 -2.75477803e-04 9.96664842e-01 -1.12218835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92964924600001 meters 0.0607287642682025 Centerline is valid? [True, True] Translation: X:99.32, Y:-24.84, Z:-11.22 [[ 9.87609149e-01 1.34148709e-01 8.14388908e-02 9.93211948e+01] [-1.33693029e-01 9.90961212e-01 -1.10476565e-02 -2.48369219e+01] [-8.21848108e-02 2.29547318e-05 9.96617106e-01 -1.12243512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95964924600001 meters 0.06068920190256369 Centerline is valid? [True, True] Translation: X:99.35, Y:-24.84, Z:-11.23 [[ 9.87614168e-01 1.33470532e-01 8.24855883e-02 9.93530169e+01] [-1.32999140e-01 9.91052777e-01 -1.12081008e-02 -2.48414273e+01] [-8.32435225e-02 9.87669010e-05 9.96529230e-01 -1.12279186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98964924600001 meters 0.06091836767310953 Centerline is valid? [True, True] Translation: X:99.38, Y:-24.85, Z:-11.23 [[ 9.87541596e-01 1.34079187e-01 8.23672676e-02 9.93849656e+01] [-1.33609647e-01 9.90970619e-01 -1.12113839e-02 -2.48450258e+01] [-8.31267554e-02 6.66463990e-05 9.96538980e-01 -1.12314341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01964924600001 meters 0.06098854770047664 Centerline is valid? [True, True] Translation: X:99.42, Y:-24.85, Z:-11.23 [[ 9.87390345e-01 1.35321459e-01 8.21487029e-02 9.94174953e+01] [-1.34857805e-01 9.90801747e-01 -1.11924298e-02 -2.48494401e+01] [-8.29076543e-02 -2.70966562e-05 9.96557234e-01 -1.12349664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04964924600002 meters 0.06072388318375251 Centerline is valid? [True, True] Translation: X:99.45, Y:-24.86, Z:-11.24 [[ 9.87335331e-01 1.34645012e-01 8.39027138e-02 9.94489808e+01] [-1.34157035e-01 9.90893898e-01 -1.14530298e-02 -2.48555460e+01] [-8.46807805e-02 5.18416237e-05 9.96408131e-01 -1.12353888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07964924600002 meters 0.060833942291300694 Centerline is valid? [True, True] Translation: X:99.48, Y:-24.86, Z:-11.24 [[ 9.87700800e-01 1.30981114e-01 8.53878082e-02 9.94792368e+01] [-1.30460287e-01 9.91384786e-01 -1.16755967e-02 -2.48648545e+01] [-8.61814566e-02 3.92278192e-04 9.96279380e-01 -1.12394618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10964924600002 meters 0.06066726689104499 Centerline is valid? [True, True] Translation: X:99.51, Y:-24.87, Z:-11.24 [[ 9.87866446e-01 1.29858739e-01 8.51856317e-02 9.95105723e+01] [-1.29334725e-01 9.91532375e-01 -1.16652160e-02 -2.48710976e+01] [-8.59791420e-02 5.06215205e-04 9.96296809e-01 -1.12408727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13964924600002 meters 0.06065357838769508 Centerline is valid? [True, True] Translation: X:99.54, Y:-24.88, Z:-11.25 [[ 9.87850733e-01 1.29720605e-01 8.55774103e-02 9.95420038e+01] [-1.29189609e-01 9.91550439e-01 -1.17375932e-02 -2.48767312e+01] [-8.63769264e-02 5.39277857e-04 9.96262383e-01 -1.12452751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16964924600002 meters 0.06094488906249332 Centerline is valid? [True, True] Translation: X:99.57, Y:-24.88, Z:-11.25 [[ 9.87909709e-01 1.29103350e-01 8.58296630e-02 9.95745163e+01] [-1.28565153e-01 9.91630953e-01 -1.17921350e-02 -2.48825641e+01] [-8.66337546e-02 6.14860912e-04 9.96240039e-01 -1.12497052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.199649246 meters 0.060813742601952235 Centerline is valid? [True, True] Translation: X:99.61, Y:-24.89, Z:-11.25 [[ 9.88004748e-01 1.29290067e-01 8.44434523e-02 9.96058630e+01] [-1.28768034e-01 9.91606629e-01 -1.16226779e-02 -2.48896472e+01] [-8.52373839e-02 6.09643672e-04 9.96360485e-01 -1.12512744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22964924600001 meters 0.0608094121930537 Centerline is valid? [True, True] Translation: X:99.64, Y:-24.89, Z:-11.26 [[ 9.87996125e-01 1.30146782e-01 8.32194223e-02 9.96368461e+01] [-1.29641283e-01 9.91494587e-01 -1.14726103e-02 -2.48945764e+01] [-8.40047300e-02 5.46221852e-04 9.96465206e-01 -1.12563570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25964924600001 meters 0.0608094121930537 Centerline is valid? [True, True] Translation: X:99.67, Y:-24.90, Z:-11.26 [[ 9.87963444e-01 1.30396193e-01 8.32169874e-02 9.96686899e+01] [-1.29890092e-01 9.91461819e-01 -1.14902411e-02 -2.48991654e+01] [-8.40047494e-02 5.42875954e-04 9.96465206e-01 -1.12597794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28964924600001 meters 0.060705952144842264 Centerline is valid? [True, True] Translation: X:99.70, Y:-24.90, Z:-11.26 [[ 9.87880084e-01 1.31252210e-01 8.28601091e-02 9.97004917e+01] [-1.30751647e-01 9.91348888e-01 -1.14625004e-02 -2.49038490e+01] [-8.36477555e-02 4.89480093e-04 9.96495265e-01 -1.12634095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31964924600001 meters 0.06043569214203153 Centerline is valid? [True, True] Translation: X:99.73, Y:-24.91, Z:-11.26 [[ 9.87905724e-01 1.31055694e-01 8.28654727e-02 9.97334606e+01] [-1.30552765e-01 9.91374868e-01 -1.14824367e-02 -2.49082681e+01] [-8.36555858e-02 5.25248425e-04 9.96494590e-01 -1.12643594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34964924600001 meters 0.060601701853915904 Centerline is valid? [True, True] Translation: X:99.76, Y:-24.91, Z:-11.27 [[ 9.87731977e-01 1.31542574e-01 8.41551694e-02 9.97644609e+01] [-1.31023552e-01 9.91310388e-01 -1.16851827e-02 -2.49109705e+01] [-8.49609927e-02 5.15519446e-04 9.96384145e-01 -1.12696725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37964924600001 meters 0.06039081795815558 Centerline is valid? [True, True] Translation: X:99.80, Y:-24.91, Z:-11.27 [[ 9.87620083e-01 1.31592289e-01 8.53817401e-02 9.97964534e+01] [-1.31056551e-01 9.91303778e-01 -1.18743357e-02 -2.49141624e+01] [-8.62018126e-02 5.37496018e-04 9.96277551e-01 -1.12739568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40964924600001 meters 0.06010798984838886 Centerline is valid? [True, True] Translation: X:99.83, Y:-24.92, Z:-11.27 [[ 9.87389390e-01 1.32738904e-01 8.62703620e-02 9.98281519e+01] [-1.32194650e-01 9.91150933e-01 -1.20167962e-02 -2.49168123e+01] [-8.71020461e-02 4.60776709e-04 9.96199288e-01 -1.12743442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43964924600002 meters 0.060052131751252506 Centerline is valid? [True, True] Translation: X:99.86, Y:-24.92, Z:-11.28 [[ 9.87194278e-01 1.33821132e-01 8.68295044e-02 9.98594263e+01] [-1.33272189e-01 9.91005426e-01 -1.21148423e-02 -2.49210959e+01] [-8.76697319e-02 3.87744891e-04 9.96149521e-01 -1.12760120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46964924600002 meters 0.06004856402420913 Centerline is valid? [True, True] Translation: X:99.89, Y:-24.92, Z:-11.28 [[ 9.86794681e-01 1.36012858e-01 8.79588508e-02 9.98918895e+01] [-1.35456393e-01 9.90707048e-01 -1.22926747e-02 -2.49220871e+01] [-8.88134152e-02 2.15757383e-04 9.96048257e-01 -1.12754835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49964924600002 meters 0.06003386309000546 Centerline is valid? [True, True] Translation: X:99.92, Y:-24.92, Z:-11.28 [[ 9.86574936e-01 1.37514680e-01 8.80886373e-02 9.99238985e+01] [-1.36960714e-01 9.90499724e-01 -1.23312716e-02 -2.49246475e+01] [-8.89475018e-02 1.01040881e-04 9.96036310e-01 -1.12803340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52964924600002 meters 0.060131544960061435 Centerline is valid? [True, True] Translation: X:99.96, Y:-24.92, Z:-11.29 [[ 9.86154167e-01 1.40625092e-01 8.78893762e-02 9.99557370e+01] [-1.40083826e-01 9.90062907e-01 -1.23273017e-02 -2.49233329e+01] [-8.87495392e-02 -1.55260120e-04 9.96053962e-01 -1.12889861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.559649246 meters 0.060341637581540285 Centerline is valid? [True, True] Translation: X:99.99, Y:-24.92, Z:-11.29 [[ 9.85692114e-01 1.44639038e-01 8.65482771e-02 9.99881306e+01] [-1.44127719e-01 9.89484367e-01 -1.21609606e-02 -2.49212835e+01] [-8.73971168e-02 -4.87042809e-04 9.96173432e-01 -1.12923045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58964924600001 meters 0.0604122580321261 Centerline is valid? [True, True] Translation: X:100.02, Y:-24.93, Z:-11.30 [[ 9.85390443e-01 1.46802129e-01 8.63412365e-02 1.00018603e+02] [-1.46299770e-01 9.89165660e-01 -1.21521232e-02 -2.49257583e+01] [-8.71897437e-02 -6.57117014e-04 9.96191506e-01 -1.12950077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61964924600001 meters 0.06037835601714902 Centerline is valid? [True, True] Translation: X:100.05, Y:-24.93, Z:-11.30 [[ 9.85285037e-01 1.47361736e-01 8.65905040e-02 1.00050509e+02] [-1.46857070e-01 9.89082424e-01 -1.22049131e-02 -2.49305996e+01] [-8.74436827e-02 -6.91109464e-04 9.96169225e-01 -1.12979126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64964924600001 meters 0.06057297340355991 Centerline is valid? [True, True] Translation: X:100.08, Y:-24.93, Z:-11.30 [[ 9.85215510e-01 1.47766083e-01 8.66924713e-02 1.00082415e+02] [-1.47259795e-01 9.89022086e-01 -1.22419506e-02 -2.49347442e+01] [-8.75497139e-02 -7.05355946e-04 9.96159902e-01 -1.13021820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67964924600001 meters 0.060625632994140054 Centerline is valid? [True, True] Translation: X:100.11, Y:-24.94, Z:-11.31 [[ 9.85287813e-01 1.47342146e-01 8.65922438e-02 1.00114056e+02] [-1.46833398e-01 9.89085374e-01 -1.22505629e-02 -2.49388335e+01] [-8.74521460e-02 -6.44303077e-04 9.96168513e-01 -1.13076531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70964924600001 meters 0.06056485815577078 Centerline is valid? [True, True] Translation: X:100.15, Y:-24.94, Z:-11.31 [[ 9.85153987e-01 1.48065804e-01 8.68800338e-02 1.00145490e+02] [-1.47554604e-01 9.88977271e-01 -1.23124746e-02 -2.49438473e+01] [-8.77454352e-02 -6.89865602e-04 9.96142692e-01 -1.13100126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73964924600001 meters 0.060442084690003825 Centerline is valid? [True, True] Translation: X:100.18, Y:-24.95, Z:-11.31 [[ 9.85123759e-01 1.48586273e-01 8.63324960e-02 1.00177312e+02] [-1.48081674e-01 9.88899193e-01 -1.22557568e-02 -2.49488077e+01] [-8.71951728e-02 -7.10823367e-04 9.96190994e-01 -1.13131734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76964924600001 meters 0.06036211215519617 Centerline is valid? [True, True] Translation: X:100.21, Y:-24.96, Z:-11.31 [[ 9.85013655e-01 1.48413744e-01 8.78718398e-02 1.00207727e+02] [-1.47888472e-01 9.88925117e-01 -1.24945037e-02 -2.49550770e+01] [-8.87530256e-02 -6.87975328e-04 9.96053426e-01 -1.13147122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79964924600002 meters 0.06039981769707877 Centerline is valid? [True, True] Translation: X:100.24, Y:-24.96, Z:-11.32 [[ 9.85002970e-01 1.48022812e-01 8.86475911e-02 1.00239468e+02] [-1.47484998e-01 9.88983739e-01 -1.26229426e-02 -2.49601510e+01] [-8.95395096e-02 -6.40553811e-04 9.95983065e-01 -1.13172058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82964924600002 meters 0.06040634051066028 Centerline is valid? [True, True] Translation: X:100.27, Y:-24.97, Z:-11.32 [[ 9.85101273e-01 1.47167456e-01 8.89787742e-02 1.00270674e+02] [-1.46620387e-01 9.89111441e-01 -1.26893717e-02 -2.49670472e+01] [-8.98773861e-02 -5.45786087e-04 9.95952688e-01 -1.13181257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85964924600002 meters 0.0604345230038188 Centerline is valid? [True, True] Translation: X:100.30, Y:-24.97, Z:-11.32 [[ 9.85048525e-01 1.46683327e-01 9.03515604e-02 1.00301599e+02] [-1.46115227e-01 9.89183382e-01 -1.29064897e-02 -2.49728910e+01] [-9.12674289e-02 -4.88220061e-04 9.95826299e-01 -1.13207646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88964924600002 meters 0.06037907454155864 Centerline is valid? [True, True] Translation: X:100.33, Y:-24.98, Z:-11.32 [[ 9.84965211e-01 1.46874910e-01 9.09466521e-02 1.00332979e+02] [-1.46298148e-01 9.89154954e-01 -1.30126736e-02 -2.49783148e+01] [-9.18715667e-02 -4.88295898e-04 9.95770745e-01 -1.13240685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91964924600002 meters 0.06014410605457391 Centerline is valid? [True, True] Translation: X:100.36, Y:-24.99, Z:-11.33 [[ 9.85119828e-01 1.45933833e-01 9.07867833e-02 1.00364022e+02] [-1.45353203e-01 9.89294280e-01 -1.30105331e-02 -2.49858265e+01] [-9.17135224e-02 -3.79215547e-04 9.95785361e-01 -1.13264034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.949649246 meters 0.059963324038482944 Centerline is valid? [True, True] Translation: X:100.39, Y:-24.99, Z:-11.33 [[ 9.85072059e-01 1.45894281e-01 9.13668314e-02 1.00394133e+02] [-1.45303893e-01 9.89300123e-01 -1.31166304e-02 -2.49910097e+01] [-9.23028589e-02 -3.55130157e-04 9.95730916e-01 -1.13299106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97964924600001 meters 0.06012737613523985 Centerline is valid? [True, True] Translation: X:100.42, Y:-25.00, Z:-11.34 [[ 9.85089296e-01 1.45701481e-01 9.14885649e-02 1.00424953e+02] [-1.45106928e-01 9.89328549e-01 -1.31530437e-02 -2.49966493e+01] [-9.24286670e-02 -3.18702048e-04 9.95719258e-01 -1.13353757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00964924600001 meters 0.060342569485016366 Centerline is valid? [True, True] Translation: X:100.46, Y:-25.00, Z:-11.34 [[ 9.85282801e-01 1.46187374e-01 8.85835983e-02 1.00455695e+02] [-1.45630142e-01 9.89256863e-01 -1.27561909e-02 -2.50031226e+01] [-8.94967267e-02 -3.31986447e-04 9.95987061e-01 -1.13416048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03964924600001 meters 0.0603932797891938 Centerline is valid? [True, True] Translation: X:100.49, Y:-25.01, Z:-11.34 [[ 9.85311771e-01 1.46810251e-01 8.72207830e-02 1.00487547e+02] [-1.46270839e-01 9.89164606e-01 -1.25787113e-02 -2.50082727e+01] [-8.81223952e-02 -3.63904819e-04 9.96109588e-01 -1.13442854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06964924600001 meters 0.060459171200863124 Centerline is valid? [True, True] Translation: X:100.52, Y:-25.01, Z:-11.35 [[ 9.85383858e-01 1.47008998e-01 8.60639643e-02 1.00519529e+02] [-1.46482856e-01 9.89135090e-01 -1.24316528e-02 -2.50138989e+01] [-8.69564520e-02 -3.56945215e-04 9.96212050e-01 -1.13459573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09964924600001 meters 0.060383547035900244 Centerline is valid? [True, True] Translation: X:100.55, Y:-25.02, Z:-11.35 [[ 9.85664103e-01 1.45784663e-01 8.49300201e-02 1.00549498e+02] [-1.45265764e-01 9.89316321e-01 -1.22912576e-02 -2.50197212e+01] [-8.58145318e-02 -2.22372830e-04 9.96311104e-01 -1.13531521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12964924600001 meters 0.06033240827498615 Centerline is valid? [True, True] Translation: X:100.58, Y:-25.03, Z:-11.36 [[ 9.85923761e-01 1.44274301e-01 8.44941656e-02 1.00581278e+02] [-1.43754415e-01 9.89537730e-01 -1.22371857e-02 -2.50251032e+01] [-8.53756762e-02 -8.14772547e-05 9.96348828e-01 -1.13588813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15964924600001 meters 0.06023710896417981 Centerline is valid? [True, True] Translation: X:100.61, Y:-25.03, Z:-11.36 [[ 9.85946280e-01 1.44321301e-01 8.41504347e-02 1.00613750e+02] [-1.43803949e-01 9.89530878e-01 -1.22092584e-02 -2.50301905e+01] [-8.50315096e-02 -6.34919440e-05 9.96378261e-01 -1.13617152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18964924600002 meters 0.06023807742502596 Centerline is valid? [True, True] Translation: X:100.64, Y:-25.04, Z:-11.37 [[ 9.85924886e-01 1.44510126e-01 8.40770017e-02 1.00644531e+02] [-1.43992318e-01 9.89503320e-01 -1.22226036e-02 -2.50375041e+01] [-8.49607623e-02 -5.58732910e-05 9.96384296e-01 -1.13665289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21964924600002 meters 0.06017709847958626 Centerline is valid? [True, True] Translation: X:100.68, Y:-25.04, Z:-11.37 [[ 9.85871682e-01 1.44552956e-01 8.46254648e-02 1.00675861e+02] [-1.44026554e-01 9.89497065e-01 -1.23251832e-02 -2.50432921e+01] [-8.55182907e-02 -3.72650442e-05 9.96336600e-01 -1.13661578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24964924600002 meters 0.06024288896774179 Centerline is valid? [True, True] Translation: X:100.71, Y:-25.05, Z:-11.37 [[ 9.85663332e-01 1.45378756e-01 8.56318423e-02 1.00706452e+02] [-1.44840863e-01 9.89376071e-01 -1.24945908e-02 -2.50471859e+01] [-8.65385437e-02 -8.75299084e-05 9.96248500e-01 -1.13694428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27964924600002 meters 0.060185436050087325 Centerline is valid? [True, True] Translation: X:100.74, Y:-25.05, Z:-11.37 [[ 9.85560529e-01 1.45288471e-01 8.69580583e-02 1.00737956e+02] [-1.44732496e-01 9.89389335e-01 -1.26984013e-02 -2.50512967e+01] [-8.78803067e-02 -7.06137434e-05 9.96131039e-01 -1.13708569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.309649246 meters 0.059923937969837394 Centerline is valid? [True, True] Translation: X:100.77, Y:-25.06, Z:-11.37 [[ 9.85616909e-01 1.44665466e-01 8.73568095e-02 1.00770251e+02] [-1.44100110e-01 9.89480623e-01 -1.27771425e-02 -2.50576392e+01] [-8.82862815e-02 5.24183349e-06 9.96095142e-01 -1.13741006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33964924600001 meters 0.059914552075259184 Centerline is valid? [True, True] Translation: X:100.80, Y:-25.06, Z:-11.38 [[ 9.85581839e-01 1.44692744e-01 8.77066085e-02 1.00803084e+02] [-1.44120819e-01 9.89476634e-01 -1.28522454e-02 -2.50627506e+01] [-8.86432665e-02 2.65913793e-05 9.96063437e-01 -1.13765218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36964924600001 meters 0.05990302112177998 Centerline is valid? [True, True] Translation: X:100.83, Y:-25.07, Z:-11.38 [[ 9.85577914e-01 1.43547811e-01 8.96113931e-02 1.00833490e+02] [-1.42943598e-01 9.89643371e-01 -1.31577719e-02 -2.50683403e+01] [-9.05720904e-02 1.58634406e-04 9.95889889e-01 -1.13792009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39964924600001 meters 0.05984436311440367 Centerline is valid? [True, True] Translation: X:100.86, Y:-25.08, Z:-11.38 [[ 9.85808878e-01 1.40691366e-01 9.15794510e-02 1.00864641e+02] [-1.40046019e-01 9.90053401e-01 -1.34676113e-02 -2.50778360e+01] [-9.25633235e-02 4.51153211e-04 9.95706698e-01 -1.13785865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42964924600001 meters 0.060075694920173534 Centerline is valid? [True, True] Translation: X:100.89, Y:-25.09, Z:-11.38 [[ 9.86365970e-01 1.36882560e-01 9.13528267e-02 1.00894607e+02] [-1.36222083e-01 9.90586936e-01 -1.34560512e-02 -2.50863079e+01] [-9.23348155e-02 8.28318627e-04 9.95727671e-01 -1.13803699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45964924600001 meters 0.06018571118331841 Centerline is valid? [True, True] Translation: X:100.93, Y:-25.09, Z:-11.39 [[ 9.86449763e-01 1.37695821e-01 8.92004830e-02 1.00926179e+02] [-1.37067801e-01 9.90474277e-01 -1.31576428e-02 -2.50881687e+01] [-9.01625364e-02 7.52839484e-04 9.95926780e-01 -1.13869105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48964924600001 meters 0.06061205262655824 Centerline is valid? [True, True] Translation: X:100.96, Y:-25.09, Z:-11.40 [[ 9.86625741e-01 1.37617140e-01 8.73565677e-02 1.00958030e+02] [-1.37012806e-01 9.90485204e-01 -1.29054860e-02 -2.50874242e+01] [-8.83014039e-02 7.63916148e-04 9.96093509e-01 -1.13963047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51964924600001 meters 0.06053409767573293 Centerline is valid? [True, True] Translation: X:100.99, Y:-25.09, Z:-11.40 [[ 9.86542711e-01 1.38934785e-01 8.62009509e-02 1.00988294e+02] [-1.38349628e-01 9.90301314e-01 -1.27548901e-02 -2.50896407e+01] [-8.71370129e-02 6.57374368e-04 9.96196120e-01 -1.14022156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54964924600002 meters 0.06047498305126901 Centerline is valid? [True, True] Translation: X:101.02, Y:-25.09, Z:-11.41 [[ 9.86394397e-01 1.40749213e-01 8.49455875e-02 1.01020437e+02] [-1.40186187e-01 9.90045151e-01 -1.25869537e-02 -2.50920869e+01] [-8.58715708e-02 5.07502593e-04 9.96306085e-01 -1.14060318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57964924600002 meters 0.060355615990452346 Centerline is valid? [True, True] Translation: X:101.05, Y:-25.10, Z:-11.41 [[ 9.86253991e-01 1.42073866e-01 8.43687268e-02 1.01052449e+02] [-1.41521547e-01 9.89855974e-01 -1.25221170e-02 -2.50958984e+01] [-8.52919538e-02 4.09995165e-04 9.96355918e-01 -1.14085078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60964924600002 meters 0.06025575536158738 Centerline is valid? [True, True] Translation: X:101.08, Y:-25.10, Z:-11.41 [[ 9.86004657e-01 1.43632123e-01 8.46441336e-02 1.01084558e+02] [-1.43080828e-01 9.89631108e-01 -1.25756329e-02 -2.50997945e+01] [-8.55727326e-02 2.88679855e-04 9.96331885e-01 -1.14106277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63964924600002 meters 0.060336725538975976 Centerline is valid? [True, True] Translation: X:101.12, Y:-25.10, Z:-11.42 [[ 9.85868795e-01 1.44716016e-01 8.43800605e-02 1.01116004e+02] [-1.44170510e-01 9.89473208e-01 -1.25552671e-02 -2.51028198e+01] [-8.53087574e-02 2.12729716e-04 9.96354541e-01 -1.14154668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66964924600002 meters 0.060399960210188605 Centerline is valid? [True, True] Translation: X:101.15, Y:-25.10, Z:-11.42 [[ 9.85507650e-01 1.47511232e-01 8.37562422e-02 1.01148757e+02] [-1.46982176e-01 9.89060380e-01 -1.24821385e-02 -2.51017567e+01] [-8.46812364e-02 -9.43175020e-06 9.96408093e-01 -1.14192739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.699649246 meters 0.06041325929355623 Centerline is valid? [True, True] Translation: X:101.18, Y:-25.10, Z:-11.42 [[ 9.85331084e-01 1.48744583e-01 8.36522823e-02 1.01181025e+02] [-1.48219376e-01 9.88875645e-01 -1.24890499e-02 -2.51043551e+01] [-8.45793831e-02 -9.30399702e-05 9.96416740e-01 -1.14230905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72964924600001 meters 0.06048340193671053 Centerline is valid? [True, True] Translation: X:101.21, Y:-25.10, Z:-11.43 [[ 9.84956411e-01 1.51423632e-01 8.32571422e-02 1.01211487e+02] [-1.50910924e-01 9.88468915e-01 -1.24538430e-02 -2.51047783e+01] [-8.41829031e-02 -2.97919754e-04 9.96450275e-01 -1.14282755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75964924600001 meters 0.06051491922668463 Centerline is valid? [True, True] Translation: X:101.24, Y:-25.11, Z:-11.43 [[ 9.84515636e-01 1.54099938e-01 8.35593872e-02 1.01244287e+02] [-1.53591934e-01 9.88055132e-01 -1.25129462e-02 -2.51060762e+01] [-8.44895256e-02 -5.14856728e-04 9.96424234e-01 -1.14306301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78964924600001 meters 0.060375298924416954 Centerline is valid? [True, True] Translation: X:101.28, Y:-25.11, Z:-11.43 [[ 9.84274161e-01 1.55014666e-01 8.47043590e-02 1.01276168e+02] [-1.54494098e-01 9.87911999e-01 -1.27065454e-02 -2.51091180e+01] [-8.56501535e-02 -5.79599241e-04 9.96325105e-01 -1.14341869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81964924600001 meters 0.06033409724237272 Centerline is valid? [True, True] Translation: X:101.31, Y:-25.11, Z:-11.44 [[ 9.84097796e-01 1.56726890e-01 8.35955184e-02 1.01308211e+02] [-1.56224559e-01 9.87641731e-01 -1.25577641e-02 -2.51118021e+01] [-8.45305619e-02 -7.01605061e-04 9.96420640e-01 -1.14360478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84964924600001 meters 0.06053958885928288 Centerline is valid? [True, True] Translation: X:101.34, Y:-25.11, Z:-11.44 [[ 9.83872905e-01 1.58084103e-01 8.36870603e-02 1.01339395e+02] [-1.57583909e-01 9.87425327e-01 -1.25910638e-02 -2.51140608e+01] [-8.46251699e-02 -7.99727632e-04 9.96412536e-01 -1.14420515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87964924600001 meters 0.06085443556058307 Centerline is valid? [True, True] Translation: X:101.37, Y:-25.12, Z:-11.44 [[ 9.83645132e-01 1.59842841e-01 8.30212021e-02 1.01370706e+02] [-1.59355008e-01 9.87142045e-01 -1.25126069e-02 -2.51163659e+01] [-8.39537699e-02 -9.21879392e-04 9.96469224e-01 -1.14446482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90964924600001 meters 0.06062307046114448 Centerline is valid? [True, True] Translation: X:101.40, Y:-25.12, Z:-11.44 [[ 9.83407153e-01 1.61279464e-01 8.30620595e-02 1.01402716e+02] [-1.60794864e-01 9.86908241e-01 -1.25353556e-02 -2.51215410e+01] [-8.39963265e-02 -1.02859417e-03 9.96465533e-01 -1.14449815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93964924600002 meters 0.06097669908575938 Centerline is valid? [True, True] Translation: X:101.43, Y:-25.12, Z:-11.45 [[ 9.82862995e-01 1.65020670e-01 8.21493252e-02 1.01434777e+02] [-1.64558122e-01 9.86289233e-01 -1.24166819e-02 -2.51226237e+01] [-8.30720041e-02 -1.31444152e-03 9.96542681e-01 -1.14463571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96964924600002 meters 0.061311035572443766 Centerline is valid? [True, True] Translation: X:101.47, Y:-25.12, Z:-11.45 [[ 9.82424449e-01 1.67323040e-01 8.27357426e-02 1.01466277e+02] [-1.66860323e-01 9.85900984e-01 -1.25252926e-02 -2.51243338e+01] [-8.36650201e-02 -1.50015903e-03 9.96492807e-01 -1.14501772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99964924600002 meters 0.061366963841992 Centerline is valid? [True, True] Translation: X:101.50, Y:-25.13, Z:-11.45 [[ 9.82368622e-01 1.67055011e-01 8.39316071e-02 1.01497358e+02] [-1.66575906e-01 9.85946471e-01 -1.27288721e-02 -2.51276255e+01] [-8.48784936e-02 -1.47653901e-03 9.96390215e-01 -1.14531101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02964924600002 meters 0.060844638844002215 Centerline is valid? [True, True] Translation: X:101.53, Y:-25.13, Z:-11.46 [[ 9.82540201e-01 1.65567564e-01 8.48653938e-02 1.01528637e+02] [-1.65071341e-01 9.86197521e-01 -1.28803102e-02 -2.51333602e+01] [-8.58266025e-02 -1.35342181e-03 9.96309170e-01 -1.14550586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.059649246 meters 0.061023625248329015 Centerline is valid? [True, True] Translation: X:101.56, Y:-25.14, Z:-11.46 [[ 9.82556956e-01 1.65806488e-01 8.42023554e-02 1.01559146e+02] [-1.65317164e-01 9.86157393e-01 -1.27997051e-02 -2.51367373e+01] [-8.51590494e-02 -1.34365529e-03 9.96366464e-01 -1.14594311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08964924600001 meters 0.06125357608583309 Centerline is valid? [True, True] Translation: X:101.59, Y:-25.14, Z:-11.46 [[ 9.82561703e-01 1.66184937e-01 8.33970364e-02 1.01590582e+02] [-1.65704808e-01 9.86093685e-01 -1.26949198e-02 -2.51398861e+01] [-8.43469954e-02 -1.34574786e-03 9.96435534e-01 -1.14647733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11964924600001 meters 0.0617160792012812 Centerline is valid? [True, True] Translation: X:101.62, Y:-25.14, Z:-11.47 [[ 9.82377007e-01 1.67553170e-01 8.28332767e-02 1.01622420e+02] [-1.67082766e-01 9.85861997e-01 -1.26282046e-02 -2.51422724e+01] [-8.37780754e-02 -1.43435519e-03 9.96483405e-01 -1.14717147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14964924600001 meters 0.061831726041750724 Centerline is valid? [True, True] Translation: X:101.65, Y:-25.15, Z:-11.48 [[ 9.82421870e-01 1.68106855e-01 8.11625172e-02 1.01652619e+02] [-1.67655598e-01 9.85767737e-01 -1.23922654e-02 -2.51491503e+01] [-8.20906157e-02 -1.43291780e-03 9.96623840e-01 -1.14758795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17964924600001 meters 0.061831726041750724 Centerline is valid? [True, True] Translation: X:101.68, Y:-25.15, Z:-11.48 [[ 9.82378925e-01 1.68358811e-01 8.11600784e-02 1.01684408e+02] [-1.67907096e-01 9.85724730e-01 -1.24082148e-02 -2.51541986e+01] [-8.20905287e-02 -1.43778433e-03 9.96623840e-01 -1.14793017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20964924600001 meters 0.06206271871113626 Centerline is valid? [True, True] Translation: X:101.71, Y:-25.16, Z:-11.48 [[ 9.82288431e-01 1.68367825e-01 8.22296436e-02 1.01714406e+02] [-1.67902072e-01 9.85723197e-01 -1.25965218e-02 -2.51594121e+01] [-8.31765162e-02 -1.43310995e-03 9.96533799e-01 -1.14839606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23964924600001 meters 0.061755013308670004 Centerline is valid? [True, True] Translation: X:101.75, Y:-25.17, Z:-11.48 [[ 9.81983383e-01 1.69527887e-01 8.34801256e-02 1.01746098e+02] [-1.69051250e-01 9.85524178e-01 -1.27972123e-02 -2.51669895e+01] [-8.44411665e-02 -1.54576984e-03 9.96427268e-01 -1.14834889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26964924600001 meters 0.061391507416234094 Centerline is valid? [True, True] Translation: X:101.78, Y:-25.18, Z:-11.48 [[ 9.81925008e-01 1.69579068e-01 8.40608025e-02 1.01777418e+02] [-1.69094338e-01 9.85515378e-01 -1.29051830e-02 -2.51750566e+01] [-8.50316625e-02 -1.54228388e-03 9.96377056e-01 -1.14845773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29964924600002 meters 0.06119157373119708 Centerline is valid? [True, True] Translation: X:101.81, Y:-25.18, Z:-11.49 [[ 9.82118338e-01 1.68758883e-01 8.34506368e-02 1.01809404e+02] [-1.68276613e-01 9.85656310e-01 -1.28304602e-02 -2.51838237e+01] [-8.44189008e-02 -1.44176026e-03 9.96429310e-01 -1.14885923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32964924600002 meters 0.061223367927180805 Centerline is valid? [True, True] Translation: X:101.84, Y:-25.19, Z:-11.49 [[ 9.82136509e-01 1.68627987e-01 8.35013750e-02 1.01840738e+02] [-1.68142713e-01 9.85678760e-01 -1.28611935e-02 -2.51901832e+01] [-8.44742889e-02 -1.40870007e-03 9.96424664e-01 -1.14921953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35964924600002 meters 0.06144303201822947 Centerline is valid? [True, True] Translation: X:101.87, Y:-25.19, Z:-11.50 [[ 9.82281539e-01 1.67879701e-01 8.33029695e-02 1.01871328e+02] [-1.67392081e-01 9.85806608e-01 -1.28538989e-02 -2.51945590e+01] [-8.42785265e-02 -1.31810982e-03 9.96441364e-01 -1.14980923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38964924600002 meters 0.0607767258291718 Centerline is valid? [True, True] Translation: X:101.90, Y:-25.20, Z:-11.50 [[ 9.82271302e-01 1.67490569e-01 8.42021288e-02 1.01902489e+02] [-1.66990133e-01 9.85872835e-01 -1.30018813e-02 -2.52039138e+01] [-8.51902839e-02 -1.28954988e-03 9.96363866e-01 -1.14998306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41964924600002 meters 0.060324071992125215 Centerline is valid? [True, True] Translation: X:101.93, Y:-25.21, Z:-11.50 [[ 9.82568966e-01 1.65614258e-01 8.44401867e-02 1.01932539e+02] [-1.65102366e-01 9.86189984e-01 -1.30584882e-02 -2.52137014e+01] [-8.54367382e-02 -1.11040937e-03 9.96342978e-01 -1.15021491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.449649246 meters 0.060706525062323526 Centerline is valid? [True, True] Translation: X:101.96, Y:-25.22, Z:-11.51 [[ 9.82358747e-01 1.66373167e-01 8.53888854e-02 1.01962562e+02] [-1.65850978e-01 9.86062167e-01 -1.32233392e-02 -2.52170927e+01] [-8.63987582e-02 -1.17176727e-03 9.96259947e-01 -1.15073963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47964924600001 meters 0.06060051426229599 Centerline is valid? [True, True] Translation: X:101.99, Y:-25.22, Z:-11.51 [[ 9.82397659e-01 1.66331472e-01 8.50216443e-02 1.01994176e+02] [-1.65812004e-01 9.86069232e-01 -1.31851406e-02 -2.52249409e+01] [-8.60303314e-02 -1.14455800e-03 9.96291861e-01 -1.15105246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50964924600001 meters 0.06047520199008894 Centerline is valid? [True, True] Translation: X:102.03, Y:-25.23, Z:-11.51 [[ 9.82466544e-01 1.66477822e-01 8.39322661e-02 1.02025797e+02] [-1.65970258e-01 9.86044562e-01 -1.30381990e-02 -2.52317143e+01] [-8.49315256e-02 -1.12066553e-03 9.96386160e-01 -1.15133829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53964924600001 meters 0.060180266964734816 Centerline is valid? [True, True] Translation: X:102.06, Y:-25.24, Z:-11.51 [[ 9.82612170e-01 1.65401447e-01 8.43545152e-02 1.02056724e+02] [-1.64883118e-01 9.86225803e-01 -1.31233811e-02 -2.52391442e+01] [-8.53632257e-02 -1.01344156e-03 9.96349383e-01 -1.15145589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56964924600001 meters 0.06045209486390664 Centerline is valid? [True, True] Translation: X:102.09, Y:-25.24, Z:-11.52 [[ 9.82528018e-01 1.65523385e-01 8.50923260e-02 1.02086738e+02] [-1.64994577e-01 9.86205346e-01 -1.32591573e-02 -2.52413401e+01] [-8.61132074e-02 -1.01227874e-03 9.96284844e-01 -1.15216724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59964924600001 meters 0.060119422108543125 Centerline is valid? [True, True] Translation: X:102.12, Y:-25.25, Z:-11.52 [[ 9.82608606e-01 1.64604239e-01 8.59405149e-02 1.02117509e+02] [-1.64059650e-01 9.86359262e-01 -1.34103445e-02 -2.52497659e+01] [-8.69756224e-02 -9.22250885e-04 9.96210013e-01 -1.15224103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62964924600001 meters 0.059793271561047426 Centerline is valid? [True, True] Translation: X:102.15, Y:-25.26, Z:-11.52 [[ 9.82715792e-01 1.63868802e-01 8.61201970e-02 1.02149039e+02] [-1.63317309e-01 9.86481785e-01 -1.34589713e-02 -2.52561828e+01] [-8.71615112e-02 -8.38575199e-04 9.96193840e-01 -1.15244920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65964924600001 meters 0.060139091710825744 Centerline is valid? [True, True] Translation: X:102.18, Y:-25.26, Z:-11.53 [[ 9.82564737e-01 1.65104448e-01 8.54813377e-02 1.02179158e+02] [-1.64564028e-01 9.86275658e-01 -1.33793799e-02 -2.52603219e+01] [-8.65171577e-02 -9.21046336e-04 9.96249935e-01 -1.15282534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68964924600002 meters 0.06009594864873314 Centerline is valid? [True, True] Translation: X:102.21, Y:-25.26, Z:-11.53 [[ 9.82403717e-01 1.65520094e-01 8.65218813e-02 1.02210557e+02] [-1.64966378e-01 9.86205959e-01 -1.35609722e-02 -2.52647736e+01] [-8.75730083e-02 -9.50851873e-04 9.96157650e-01 -1.15312155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71964924600002 meters 0.060188823263387196 Centerline is valid? [True, True] Translation: X:102.24, Y:-25.27, Z:-11.54 [[ 9.82270880e-01 1.66442051e-01 8.62610118e-02 1.02242086e+02] [-1.65893473e-01 9.86050720e-01 -1.35400234e-02 -2.52675942e+01] [-8.73113621e-02 -1.01016815e-03 9.96180559e-01 -1.15364711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74964924600002 meters 0.06001599360573659 Centerline is valid? [True, True] Translation: X:102.27, Y:-25.27, Z:-11.54 [[ 9.82257347e-01 1.66573951e-01 8.61604522e-02 1.02274617e+02] [-1.66025492e-01 9.86028456e-01 -1.35432942e-02 -2.52726873e+01] [-8.72126176e-02 -1.00183123e-03 9.96189217e-01 -1.15409996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77964924600002 meters 0.05972274675104795 Centerline is valid? [True, True] Translation: X:102.31, Y:-25.28, Z:-11.54 [[ 9.82619931e-01 1.64359927e-01 8.62779551e-02 1.02305667e+02] [-1.63799414e-01 9.86400122e-01 -1.35849707e-02 -2.52809460e+01] [-8.73374102e-02 -7.83415491e-04 9.96178480e-01 -1.15441747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.809649246 meters 0.05964647402404809 Centerline is valid? [True, True] Translation: X:102.34, Y:-25.29, Z:-11.55 [[ 9.82614584e-01 1.64223047e-01 8.65989016e-02 1.02336738e+02] [-1.63656077e-01 9.86422942e-01 -1.36552928e-02 -2.52867141e+01] [-8.76656571e-02 -7.54546678e-04 9.96149669e-01 -1.15468474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83964924600001 meters 0.06030691719732582 Centerline is valid? [True, True] Translation: X:102.37, Y:-25.29, Z:-11.56 [[ 9.82876985e-01 1.64926452e-01 8.21711550e-02 1.02367382e+02] [-1.64417034e-01 9.86305577e-01 -1.29748796e-02 -2.52866477e+01] [-8.31857693e-02 -7.57626998e-04 9.96533770e-01 -1.15573171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86964924600001 meters 0.060172060337929115 Centerline is valid? [True, True] Translation: X:102.40, Y:-25.29, Z:-11.56 [[ 9.83041663e-01 1.63598044e-01 8.28539049e-02 1.02398965e+02] [-1.63073974e-01 9.86526877e-01 -1.30996407e-02 -2.52916562e+01] [-8.38806796e-02 -6.33823038e-04 9.96475604e-01 -1.15584881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89964924600001 meters 0.05995834431092935 Centerline is valid? [True, True] Translation: X:102.43, Y:-25.30, Z:-11.56 [[ 9.83376085e-01 1.61291536e-01 8.34057360e-02 1.02429589e+02] [-1.60750468e-01 9.86906715e-01 -1.32069346e-02 -2.52966426e+01] [-8.44438477e-02 -4.20127470e-04 9.96428151e-01 -1.15625707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92964924600001 meters 0.05986882418105817 Centerline is valid? [True, True] Translation: X:102.46, Y:-25.30, Z:-11.57 [[ 9.83428058e-01 1.61398034e-01 8.25828643e-02 1.02461529e+02] [-1.60866505e-01 9.86889309e-01 -1.30942409e-02 -2.53009422e+01] [-8.36135306e-02 -4.07572808e-04 9.96498174e-01 -1.15667953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95964924600001 meters 0.06004740235409391 Centerline is valid? [True, True] Translation: X:102.49, Y:-25.30, Z:-11.57 [[ 9.83241108e-01 1.63355259e-01 8.09443195e-02 1.02494287e+02] [-1.62849628e-01 9.86567162e-01 -1.28543312e-02 -2.53001694e+01] [-8.19568301e-02 -5.42845455e-04 9.96635733e-01 -1.15708294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98964924600001 meters 0.060216685239923774 Centerline is valid? [True, True] Translation: X:102.53, Y:-25.30, Z:-11.57 [[ 9.82974993e-01 1.65138993e-01 8.05560386e-02 1.02526639e+02] [-1.64643599e-01 9.86270069e-01 -1.27998571e-02 -2.53014632e+01] [-8.15637653e-02 -6.81096681e-04 9.96667893e-01 -1.15739299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01964924600001 meters 0.06070457245489497 Centerline is valid? [True, True] Translation: X:102.56, Y:-25.30, Z:-11.58 [[ 9.82426735e-01 1.68352331e-01 8.05928220e-02 1.02557769e+02] [-1.67865692e-01 9.85726448e-01 -1.28249791e-02 -2.53011838e+01] [-8.16015913e-02 -9.29167538e-04 9.96664596e-01 -1.15788421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04964924600002 meters 0.06088677646310637 Centerline is valid? [True, True] Translation: X:102.59, Y:-25.30, Z:-11.58 [[ 9.82348849e-01 1.69467533e-01 7.91927620e-02 1.02589297e+02] [-1.69000000e-01 9.85535275e-01 -1.26182807e-02 -2.53049709e+01] [-8.01856494e-02 -9.88023295e-04 9.96779457e-01 -1.15830530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07964924600002 meters 0.061354116941389814 Centerline is valid? [True, True] Translation: X:102.62, Y:-25.31, Z:-11.59 [[ 9.81790258e-01 1.72260726e-01 8.00882802e-02 1.02619987e+02] [-1.71790288e-01 9.85050646e-01 -1.27797496e-02 -2.53056606e+01] [-8.10924611e-02 -1.21135508e-03 9.96705847e-01 -1.15869014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10964924600002 meters 0.06154114788600348 Centerline is valid? [True, True] Translation: X:102.65, Y:-25.31, Z:-11.59 [[ 9.81605171e-01 1.73244286e-01 8.02353089e-02 1.02652492e+02] [-1.72774130e-01 9.84878053e-01 -1.28187363e-02 -2.53105084e+01] [-8.12427677e-02 -1.27964793e-03 9.96693521e-01 -1.15893065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13964924600002 meters 0.06152323594320713 Centerline is valid? [True, True] Translation: X:102.68, Y:-25.32, Z:-11.59 [[ 9.81435696e-01 1.73636656e-01 8.14511233e-02 1.02683487e+02] [-1.73151663e-01 9.84808913e-01 -1.30348602e-02 -2.53172037e+01] [-8.24771217e-02 -1.31052028e-03 9.96592097e-01 -1.15899307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16964924600002 meters 0.061402338692028775 Centerline is valid? [True, True] Translation: X:102.72, Y:-25.32, Z:-11.59 [[ 9.81481857e-01 1.73537793e-01 8.11048601e-02 1.02715614e+02] [-1.73055165e-01 9.84826379e-01 -1.29966475e-02 -2.53231064e+01] [-8.21296152e-02 -1.27964125e-03 9.96620835e-01 -1.15928603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.199649246 meters 0.060714777423006974 Centerline is valid? [True, True] Translation: X:102.75, Y:-25.33, Z:-11.59 [[ 9.81563944e-01 1.72582118e-01 8.21439970e-02 1.02746470e+02] [-1.72081899e-01 9.84994410e-01 -1.31845758e-02 -2.53315389e+01] [-8.31867999e-02 -1.19399080e-03 9.96533256e-01 -1.15934509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22964924600001 meters 0.06078177305736719 Centerline is valid? [True, True] Translation: X:102.78, Y:-25.34, Z:-11.60 [[ 9.81703821e-01 1.71549478e-01 8.26340381e-02 1.02776480e+02] [-1.71037992e-01 9.85174898e-01 -1.32825424e-02 -2.53379505e+01] [-8.36875933e-02 -1.09403728e-03 9.96491440e-01 -1.15979734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25964924600001 meters 0.06058901796490855 Centerline is valid? [True, True] Translation: X:102.81, Y:-25.34, Z:-11.60 [[ 9.81796140e-01 1.71116041e-01 8.24356668e-02 1.02808338e+02] [-1.70604118e-01 9.85250335e-01 -1.32669792e-02 -2.53446940e+01] [-8.34899613e-02 -1.03839526e-03 9.96508077e-01 -1.16010682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28964924600001 meters 0.06038217992328958 Centerline is valid? [True, True] Translation: X:102.84, Y:-25.35, Z:-11.60 [[ 9.81738261e-01 1.71015563e-01 8.33286509e-02 1.02839932e+02] [-1.70490254e-01 9.85267800e-01 -1.34326245e-02 -2.53532195e+01] [-8.43982244e-02 -1.01940147e-03 9.96431583e-01 -1.15996744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31964924600001 meters 0.06025747265497037 Centerline is valid? [True, True] Translation: X:102.87, Y:-25.36, Z:-11.60 [[ 9.81934641e-01 1.69465411e-01 8.41774007e-02 1.02869684e+02] [-1.68921823e-01 9.85535748e-01 -1.35907087e-02 -2.53617617e+01] [-8.52629925e-02 -8.74212267e-04 9.96358097e-01 -1.16017371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34964924600001 meters 0.05990423776719244 Centerline is valid? [True, True] Translation: X:102.90, Y:-25.37, Z:-11.60 [[ 9.81963980e-01 1.68303778e-01 8.61427868e-02 1.02899489e+02] [-1.67728231e-01 9.85734875e-01 -1.39282927e-02 -2.53693779e+01] [-8.72581335e-02 -7.71495505e-04 9.96185436e-01 -1.16042537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37964924600001 meters 0.05996532148563511 Centerline is valid? [True, True] Translation: X:102.93, Y:-25.38, Z:-11.61 [[ 9.81935711e-01 1.68457567e-01 8.61644251e-02 1.02931902e+02] [-1.67880764e-01 9.85708607e-01 -1.39495638e-02 -2.53754326e+01] [-8.72829250e-02 -7.67774666e-04 9.96183267e-01 -1.16083645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40964924600001 meters 0.05985443488124302 Centerline is valid? [True, True] Translation: X:102.96, Y:-25.38, Z:-11.61 [[ 9.81888795e-01 1.68558263e-01 8.65014863e-02 1.02962592e+02] [-1.67975096e-01 9.85691403e-01 -1.40294229e-02 -2.53823806e+01] [-8.76285465e-02 -7.54762362e-04 9.96152934e-01 -1.16108432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43964924600002 meters 0.059935748168155514 Centerline is valid? [True, True] Translation: X:103.00, Y:-25.39, Z:-11.61 [[ 9.81709995e-01 1.69405082e-01 8.68757961e-02 1.02995147e+02] [-1.68819358e-01 9.85546162e-01 -1.40991688e-02 -2.53878438e+01] [-8.80085782e-02 -8.25021240e-04 9.96119375e-01 -1.16139987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46964924600002 meters 0.060200283135987215 Centerline is valid? [True, True] Translation: X:103.03, Y:-25.39, Z:-11.62 [[ 9.81436828e-01 1.70770528e-01 8.72879073e-02 1.03026821e+02] [-1.70182563e-01 9.85310389e-01 -1.41891423e-02 -2.53920111e+01] [-8.84287692e-02 -9.29132966e-04 9.96082070e-01 -1.16173277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49964924600002 meters 0.06019761274255174 Centerline is valid? [True, True] Translation: X:103.06, Y:-25.40, Z:-11.62 [[ 9.81219185e-01 1.71970929e-01 8.73779735e-02 1.03059240e+02] [-1.71384649e-01 9.85101499e-01 -1.42245656e-02 -2.53973458e+01] [-8.85223844e-02 -1.01782665e-03 9.96073668e-01 -1.16196814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52964924600002 meters 0.06073681622528559 Centerline is valid? [True, True] Translation: X:103.09, Y:-25.40, Z:-11.63 [[ 9.81117698e-01 1.73211717e-01 8.60567429e-02 1.03089719e+02] [-1.72645773e-01 9.84884011e-01 -1.40329179e-02 -2.53991359e+01] [-8.71865759e-02 -1.08938878e-03 9.96191404e-01 -1.16263953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.559649246 meters 0.060511543574597225 Centerline is valid? [True, True] Translation: X:103.12, Y:-25.41, Z:-11.63 [[ 9.81211001e-01 1.73069826e-01 8.52748850e-02 1.03121251e+02] [-1.72512085e-01 9.84908998e-01 -1.39228916e-02 -2.54061165e+01] [-8.63976340e-02 -1.04965382e-03 9.96260180e-01 -1.16291721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58964924600001 meters 0.060615359234460674 Centerline is valid? [True, True] Translation: X:103.15, Y:-25.41, Z:-11.64 [[ 9.81462124e-01 1.72015320e-01 8.45152568e-02 1.03152098e+02] [-1.71461669e-01 9.85093839e-01 -1.38211497e-02 -2.54129066e+01] [-8.56329083e-02 -9.26192063e-04 9.96326326e-01 -1.16350981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61964924600001 meters 0.0606828613215208 Centerline is valid? [True, True] Translation: X:103.18, Y:-25.42, Z:-11.64 [[ 9.81519574e-01 1.71844365e-01 8.41952502e-02 1.03183643e+02] [-1.71293106e-01 9.85123705e-01 -1.37824951e-02 -2.54194391e+01] [-8.53111810e-02 -8.94277235e-04 9.96353955e-01 -1.16389749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64964924600001 meters 0.060616023611613355 Centerline is valid? [True, True] Translation: X:103.22, Y:-25.43, Z:-11.64 [[ 9.81693817e-01 1.71160460e-01 8.35544544e-02 1.03215125e+02] [-1.70614152e-01 9.85242827e-01 -1.36887600e-02 -2.54283254e+01] [-8.46644014e-02 -8.17401325e-04 9.96409189e-01 -1.16412103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67964924600001 meters 0.06077031628018867 Centerline is valid? [True, True] Translation: X:103.25, Y:-25.43, Z:-11.65 [[ 9.81701540e-01 1.70940462e-01 8.39133118e-02 1.03245663e+02] [-1.70386610e-01 9.85281053e-01 -1.37713735e-02 -2.54341333e+01] [-8.50322811e-02 -7.78326150e-04 9.96377893e-01 -1.16456833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70964924600001 meters 0.060600666996729814 Centerline is valid? [True, True] Translation: X:103.28, Y:-25.44, Z:-11.65 [[ 9.81711011e-01 1.70798482e-01 8.40914411e-02 1.03277634e+02] [-1.70240253e-01 9.85305697e-01 -1.38181254e-02 -2.54437477e+01] [-8.52158908e-02 -7.50342315e-04 9.96362228e-01 -1.16466266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73964924600001 meters 0.06057634493681744 Centerline is valid? [True, True] Translation: X:103.31, Y:-25.45, Z:-11.65 [[ 9.81808759e-01 1.70455930e-01 8.36441102e-02 1.03309972e+02] [-1.69900520e-01 9.85365056e-01 -1.37666441e-02 -2.54507476e+01] [-8.47665894e-02 -6.94966058e-04 9.96400593e-01 -1.16501522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76964924600001 meters 0.060347828310026254 Centerline is valid? [True, True] Translation: X:103.34, Y:-25.46, Z:-11.65 [[ 9.82498416e-01 1.66142364e-01 8.42233733e-02 1.03339140e+02] [-1.65561378e-01 9.86101731e-01 -1.38854713e-02 -2.54621061e+01] [-8.53597793e-02 -3.01684131e-04 9.96350148e-01 -1.16527521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79964924600002 meters 0.06022956976773544 Centerline is valid? [True, True] Translation: X:103.37, Y:-25.47, Z:-11.66 [[ 9.82611086e-01 1.65494134e-01 8.41851805e-02 1.03371137e+02] [-1.64909840e-01 9.86210748e-01 -1.38962291e-02 -2.54698429e+01] [-8.53240743e-02 -2.28375909e-04 9.96353226e-01 -1.16568696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82964924600002 meters 0.06023273032194654 Centerline is valid? [True, True] Translation: X:103.40, Y:-25.48, Z:-11.66 [[ 9.83402553e-01 1.60679662e-01 8.42701956e-02 1.03402148e+02] [-1.60074646e-01 9.87006586e-01 -1.39321989e-02 -2.54838922e+01] [-8.54138591e-02 2.11438186e-04 9.96345536e-01 -1.16603267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85964924600002 meters 0.06013263109071101 Centerline is valid? [True, True] Translation: X:103.43, Y:-25.49, Z:-11.66 [[ 9.83611572e-01 1.59475255e-01 8.41184758e-02 1.03434809e+02] [-1.58866204e-01 9.87201869e-01 -1.39283688e-02 -2.54908738e+01] [-8.52631467e-02 3.36521807e-04 9.96358411e-01 -1.16604835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88964924600002 meters 0.06081879085555732 Centerline is valid? [True, True] Translation: X:103.46, Y:-25.50, Z:-11.67 [[ 9.83907953e-01 1.58977088e-01 8.15562695e-02 1.03464211e+02] [-1.58400987e-01 9.87282195e-01 -1.35275614e-02 -2.54975819e+01] [-8.26696251e-02 3.91281702e-04 9.96576931e-01 -1.16729583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91964924600002 meters 0.061154318261879954 Centerline is valid? [True, True] Translation: X:103.50, Y:-25.50, Z:-11.68 [[ 9.84045670e-01 1.58513750e-01 8.07930130e-02 1.03495034e+02] [-1.57945337e-01 9.87356670e-01 -1.34192766e-02 -2.55038803e+01] [-8.18986602e-02 4.44301389e-04 9.96640563e-01 -1.16773914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.949649246 meters 0.06132099524885158 Centerline is valid? [True, True] Translation: X:103.53, Y:-25.51, Z:-11.68 [[ 9.84478664e-01 1.57293817e-01 7.78486713e-02 1.03526374e+02] [-1.56760717e-01 9.87551698e-01 -1.29506970e-02 -2.55102883e+01] [-7.89166521e-02 5.46071389e-04 9.96881068e-01 -1.16816761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97964924600001 meters 0.06174511486658767 Centerline is valid? [True, True] Translation: X:103.56, Y:-25.52, Z:-11.69 [[ 9.85005251e-01 1.54963221e-01 7.58357149e-02 1.03557298e+02] [-1.54450111e-01 9.87919979e-01 -1.26205920e-02 -2.55180799e+01] [-7.68753454e-02 7.18514891e-04 9.97040453e-01 -1.16864288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00964924600001 meters 0.061774661731342925 Centerline is valid? [True, True] Translation: X:103.59, Y:-25.52, Z:-11.69 [[ 9.84844451e-01 1.55831585e-01 7.61441068e-02 1.03589356e+02] [-1.55316508e-01 9.87783420e-01 -1.26766836e-02 -2.55232285e+01] [-7.71893139e-02 6.58124735e-04 9.97016237e-01 -1.16894791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03964924600001 meters 0.06169010563621333 Centerline is valid? [True, True] Translation: X:103.62, Y:-25.53, Z:-11.69 [[ 9.84780633e-01 1.56274017e-01 7.60627095e-02 1.03621588e+02] [-1.55761259e-01 9.87713543e-01 -1.26644394e-02 -2.55285747e+01] [-7.71072910e-02 6.24071275e-04 9.97022606e-01 -1.16932163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06964924600001 meters 0.06169010563621333 Centerline is valid? [True, True] Translation: X:103.65, Y:-25.53, Z:-11.70 [[ 9.84739610e-01 1.56533937e-01 7.60593669e-02 1.03653289e+02] [-1.56020406e-01 9.87672384e-01 -1.26844764e-02 -2.55340425e+01] [-7.71072872e-02 6.24093074e-04 9.97022606e-01 -1.16966417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09964924600001 meters 0.0618004228674812 Centerline is valid? [True, True] Translation: X:103.69, Y:-25.54, Z:-11.70 [[ 9.84610130e-01 1.57561464e-01 7.56126791e-02 1.03685615e+02] [-1.57055417e-01 9.87509023e-01 -1.26303158e-02 -2.55381554e+01] [-7.66582540e-02 5.60555954e-04 9.97057269e-01 -1.16999532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12964924600001 meters 0.061687592964623165 Centerline is valid? [True, True] Translation: X:103.72, Y:-25.54, Z:-11.70 [[ 9.84521320e-01 1.58149233e-01 7.55419827e-02 1.03717977e+02] [-1.57644302e-01 9.87415077e-01 -1.26388120e-02 -2.55424202e+01] [-7.65901111e-02 5.34416740e-04 9.97062520e-01 -1.17042115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15964924600001 meters 0.061899389403885084 Centerline is valid? [True, True] Translation: X:103.75, Y:-25.54, Z:-11.71 [[ 9.84104401e-01 1.60129385e-01 7.67926344e-02 1.03748903e+02] [-1.59611830e-01 9.87095949e-01 -1.28705366e-02 -2.55448572e+01] [-7.78626495e-02 4.08938747e-04 9.96964012e-01 -1.17072834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18964924600002 meters 0.061612554689361144 Centerline is valid? [True, True] Translation: X:103.78, Y:-25.55, Z:-11.71 [[ 9.84054607e-01 1.60423386e-01 7.68171126e-02 1.03781674e+02] [-1.59905222e-01 9.87048214e-01 -1.28896535e-02 -2.55498993e+01] [-7.78899956e-02 4.00665454e-04 9.96961879e-01 -1.17075751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21964924600002 meters 0.061486050101940234 Centerline is valid? [True, True] Translation: X:103.81, Y:-25.55, Z:-11.71 [[ 9.83817801e-01 1.61881944e-01 7.67904338e-02 1.03812943e+02] [-1.61366880e-01 9.86810084e-01 -1.29068932e-02 -2.55544829e+01] [-7.78669674e-02 3.06598602e-04 9.96963711e-01 -1.17121135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24964924600002 meters 0.0615802999688298 Centerline is valid? [True, True] Translation: X:103.84, Y:-25.56, Z:-11.72 [[ 9.83668360e-01 1.62140881e-01 7.81466125e-02 1.03843659e+02] [-1.61606362e-01 9.86767569e-01 -1.31585659e-02 -2.55563746e+01] [-7.92460844e-02 3.14675101e-04 9.96855034e-01 -1.17170707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27964924600002 meters 0.0615028767794549 Centerline is valid? [True, True] Translation: X:103.88, Y:-25.56, Z:-11.72 [[ 9.83365620e-01 1.64015882e-01 7.80438897e-02 1.03876063e+02] [-1.63488111e-01 9.86457684e-01 -1.31482333e-02 -2.55597363e+01] [-7.91435137e-02 1.70272408e-04 9.96863218e-01 -1.17205326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.309649246 meters 0.06152189861051626 Centerline is valid? [True, True] Translation: X:103.91, Y:-25.56, Z:-11.72 [[ 9.83109819e-01 1.65586933e-01 7.79490340e-02 1.03908430e+02] [-1.65063782e-01 9.86195196e-01 -1.31523478e-02 -2.55630466e+01] [-7.90508197e-02 6.36399127e-05 9.96870585e-01 -1.17239596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33964924600001 meters 0.06164937028552519 Centerline is valid? [True, True] Translation: X:103.94, Y:-25.56, Z:-11.73 [[ 9.82443799e-01 1.69840008e-01 7.71916675e-02 1.03940831e+02] [-1.69338495e-01 9.85471616e-01 -1.30448421e-02 -2.55622878e+01] [-7.82857334e-02 -2.55696604e-04 9.96930930e-01 -1.17259785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36964924600001 meters 0.06177004310778279 Centerline is valid? [True, True] Translation: X:103.97, Y:-25.56, Z:-11.73 [[ 9.81995103e-01 1.72320172e-01 7.74039795e-02 1.03973919e+02] [-1.71822220e-01 9.85040896e-01 -1.30979996e-02 -2.55642765e+01] [-7.85031348e-02 -4.37552187e-04 9.96913771e-01 -1.17295612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39964924600001 meters 0.061499484821781684 Centerline is valid? [True, True] Translation: X:104.00, Y:-25.57, Z:-11.73 [[ 9.81421315e-01 1.74912359e-01 7.88534715e-02 1.04004924e+02] [-1.74401923e-01 9.84583804e-01 -1.33679818e-02 -2.55663240e+01] [-7.99760762e-02 -6.32574731e-04 9.96796583e-01 -1.17301114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42964924600001 meters 0.06134845344805656 Centerline is valid? [True, True] Translation: X:104.04, Y:-25.57, Z:-11.73 [[ 9.81709123e-01 1.72643690e-01 8.02580479e-02 1.04036128e+02] [-1.72106628e-01 9.84984242e-01 -1.36144220e-02 -2.55726145e+01] [-8.14033565e-02 -4.47539694e-04 9.96681139e-01 -1.17304693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45964924600001 meters 0.061363611240189 Centerline is valid? [True, True] Translation: X:104.07, Y:-25.58, Z:-11.74 [[ 9.81887246e-01 1.71554712e-01 8.04140352e-02 1.04066764e+02] [-1.71010312e-01 9.85174536e-01 -1.36604278e-02 -2.55780595e+01] [-8.15653706e-02 -3.38629396e-04 9.96667937e-01 -1.17351699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48964924600001 meters 0.061361979278430075 Centerline is valid? [True, True] Translation: X:104.10, Y:-25.59, Z:-11.74 [[ 9.82051263e-01 1.70486192e-01 8.06831841e-02 1.04097833e+02] [-1.69933111e-01 9.85360038e-01 -1.37234843e-02 -2.55855600e+01] [-8.18416499e-02 -2.33579336e-04 9.96645318e-01 -1.17380027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51964924600001 meters 0.06143359197614611 Centerline is valid? [True, True] Translation: X:104.13, Y:-25.59, Z:-11.74 [[ 9.82096013e-01 1.70114537e-01 8.09225899e-02 1.04129398e+02] [-1.69555412e-01 9.85424279e-01 -1.37823202e-02 -2.55921133e+01] [-8.20876578e-02 -1.85301339e-04 9.96625096e-01 -1.17411295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54964924600002 meters 0.06146807822851586 Centerline is valid? [True, True] Translation: X:104.16, Y:-25.60, Z:-11.74 [[ 9.82066449e-01 1.70142737e-01 8.12215436e-02 1.04159895e+02] [-1.69577517e-01 9.85419414e-01 -1.38579828e-02 -2.55987676e+01] [-8.23951211e-02 -1.63887675e-04 9.96599728e-01 -1.17438111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57964924600002 meters 0.06146087254647533 Centerline is valid? [True, True] Translation: X:104.19, Y:-25.60, Z:-11.75 [[ 9.81871316e-01 1.71362331e-01 8.10164809e-02 1.04192332e+02] [-1.70803501e-01 9.85208041e-01 -1.38303625e-02 -2.56043711e+01] [-8.21880916e-02 -2.58262394e-04 9.96616802e-01 -1.17471851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60964924600002 meters 0.06146450099478031 Centerline is valid? [True, True] Translation: X:104.22, Y:-25.61, Z:-11.75 [[ 9.81764971e-01 1.72548125e-01 7.97789806e-02 1.04223026e+02] [-1.72008366e-01 9.85001033e-01 -1.36413398e-02 -2.56087453e+01] [-8.09361659e-02 -3.30062539e-04 9.96719232e-01 -1.17528473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63964924600002 meters 0.06159426223013215 Centerline is valid? [True, True] Translation: X:104.25, Y:-25.62, Z:-11.76 [[ 9.81865135e-01 1.72408986e-01 7.88416058e-02 1.04253376e+02] [-1.71880052e-01 9.85025407e-01 -1.34979588e-02 -2.56153392e+01] [-7.99881543e-02 -2.98124239e-04 9.96795770e-01 -1.17576098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66964924600002 meters 0.06181879357622843 Centerline is valid? [True, True] Translation: X:104.28, Y:-25.62, Z:-11.76 [[ 9.81827568e-01 1.72749966e-01 7.85625552e-02 1.04283258e+02] [-1.72224374e-01 9.84965662e-01 -1.34688323e-02 -2.56218320e+01] [-7.97081595e-02 -3.06316054e-04 9.96818196e-01 -1.17624918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.699649246 meters 0.06162100632479614 Centerline is valid? [True, True] Translation: X:104.31, Y:-25.63, Z:-11.76 [[ 9.81825125e-01 1.72412604e-01 7.93304358e-02 1.04314781e+02] [-1.71874972e-01 9.85024781e-01 -1.36079162e-02 -2.56282756e+01] [-8.04886214e-02 -2.74322446e-04 9.96755490e-01 -1.17644308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72964924600001 meters 0.06120577517640609 Centerline is valid? [True, True] Translation: X:104.35, Y:-25.64, Z:-11.77 [[ 9.81839980e-01 1.71590010e-01 8.09142941e-02 1.04346155e+02] [-1.71026334e-01 9.85168428e-01 -1.38982622e-02 -2.56362315e+01] [-8.20990108e-02 -1.92605608e-04 9.96624160e-01 -1.17654577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75964924600001 meters 0.061069297725075064 Centerline is valid? [True, True] Translation: X:104.38, Y:-25.64, Z:-11.77 [[ 9.81891922e-01 1.70849641e-01 8.18453069e-02 1.04377509e+02] [-1.70268734e-01 9.85297106e-01 -1.40773133e-02 -2.56436711e+01] [-8.30470479e-02 -1.13296577e-04 9.96545621e-01 -1.17673156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78964924600001 meters 0.06096723288559383 Centerline is valid? [True, True] Translation: X:104.41, Y:-25.65, Z:-11.77 [[ 9.81952059e-01 1.70320857e-01 8.22250488e-02 1.04407263e+02] [-1.69731053e-01 9.85388656e-01 -1.41621437e-02 -2.56511411e+01] [-8.34357387e-02 -4.95979159e-05 9.96513158e-01 -1.17697887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81964924600001 meters 0.06086179363530375 Centerline is valid? [True, True] Translation: X:104.44, Y:-25.66, Z:-11.77 [[ 9.82197071e-01 1.68594879e-01 8.28533692e-02 1.04438653e+02] [-1.67988443e-01 9.85685423e-01 -1.42873851e-02 -2.56591180e+01] [-8.40761383e-02 1.14619277e-04 9.96459327e-01 -1.17700977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84964924600001 meters 0.061015782921962934 Centerline is valid? [True, True] Translation: X:104.47, Y:-25.67, Z:-11.78 [[ 9.82252032e-01 1.68439266e-01 8.25176265e-02 1.04469084e+02] [-1.67835541e-01 9.85712023e-01 -1.42491788e-02 -2.56664211e+01] [-8.37387378e-02 1.46894331e-04 9.96487733e-01 -1.17773881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87964924600001 meters 0.061235210381593484 Centerline is valid? [True, True] Translation: X:104.50, Y:-25.67, Z:-11.78 [[ 9.82329655e-01 1.68375682e-01 8.17195126e-02 1.04498794e+02] [-1.67781526e-01 9.85722882e-01 -1.41336289e-02 -2.56728325e+01] [-8.29325529e-02 1.72858267e-04 9.96555147e-01 -1.17820149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90964924600001 meters 0.06128199166985272 Centerline is valid? [True, True] Translation: X:104.53, Y:-25.68, Z:-11.79 [[ 9.82229493e-01 1.69565584e-01 8.04533154e-02 1.04530795e+02] [-1.68992395e-01 9.85518901e-01 -1.39307326e-02 -2.56770061e+01] [-8.16504358e-02 8.71779373e-05 9.96661025e-01 -1.17858890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93964924600002 meters 0.0614576164916353 Centerline is valid? [True, True] Translation: X:104.56, Y:-25.68, Z:-11.79 [[ 9.82133149e-01 1.70453893e-01 7.97492801e-02 1.04562596e+02] [-1.69892212e-01 9.85365653e-01 -1.38263182e-02 -2.56814664e+01] [-8.09389511e-02 3.05038367e-05 9.96719060e-01 -1.17905638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96964924600002 meters 0.06159157086099408 Centerline is valid? [True, True] Translation: X:104.59, Y:-25.68, Z:-11.80 [[ 9.82094495e-01 1.71267632e-01 7.84716559e-02 1.04592958e+02] [-1.70724857e-01 9.85224542e-01 -1.36244408e-02 -2.56843772e+01] [-7.96456270e-02 -1.65739109e-05 9.96823241e-01 -1.17970698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99964924600002 meters 0.061424106309550884 Centerline is valid? [True, True] Translation: X:104.62, Y:-25.69, Z:-11.80 [[ 9.82049296e-01 1.71741698e-01 7.79998090e-02 1.04624469e+02] [-1.71206461e-01 9.85142013e-01 -1.35484660e-02 -2.56892527e+01] [-7.91677255e-02 -4.88098294e-05 9.96861309e-01 -1.17963851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02964924600002 meters 0.0613090209909456 Centerline is valid? [True, True] Translation: X:104.65, Y:-25.69, Z:-11.80 [[ 9.81961026e-01 1.72590762e-01 7.72332321e-02 1.04654730e+02] [-1.72067150e-01 9.84993614e-01 -1.34341539e-02 -2.56943416e+01] [-7.83928513e-02 -9.74865738e-05 9.96922540e-01 -1.18005907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05964924600002 meters 0.06128034456553936 Centerline is valid? [True, True] Translation: X:104.69, Y:-25.70, Z:-11.80 [[ 9.81703875e-01 1.73968525e-01 7.74109473e-02 1.04687760e+02] [-1.73445187e-01 9.84751195e-01 -1.34851856e-02 -2.56988238e+01] [-7.85765208e-02 -1.88097292e-04 9.96908067e-01 -1.18035146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08964924600001 meters 0.06135881231674909 Centerline is valid? [True, True] Translation: X:104.72, Y:-25.70, Z:-11.81 [[ 9.81619738e-01 1.74180154e-01 7.79997715e-02 1.04719149e+02] [-1.73648967e-01 9.84713783e-01 -1.35942060e-02 -2.57040811e+01] [-7.91752909e-02 -2.00238833e-04 9.96860689e-01 -1.18069508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11964924600001 meters 0.06142519735152564 Centerline is valid? [True, True] Translation: X:104.75, Y:-25.71, Z:-11.81 [[ 9.81610802e-01 1.74495529e-01 7.74050635e-02 1.04749209e+02] [-1.73971936e-01 9.84657945e-01 -1.35091639e-02 -2.57087017e+01] [-7.85747994e-02 -2.05567492e-04 9.96908200e-01 -1.18115752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14964924600001 meters 0.06130586825736745 Centerline is valid? [True, True] Translation: X:104.78, Y:-25.71, Z:-11.82 [[ 9.81711379e-01 1.73823647e-01 7.76408903e-02 1.04780426e+02] [-1.73293437e-01 9.84776788e-01 -1.35669887e-02 -2.57145129e+01] [-7.88172100e-02 -1.35789539e-04 9.96889076e-01 -1.18153204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17964924600001 meters 0.061277340064036026 Centerline is valid? [True, True] Translation: X:104.81, Y:-25.72, Z:-11.82 [[ 9.81799580e-01 1.73200554e-01 7.79176072e-02 1.04810501e+02] [-1.72662927e-01 9.84886574e-01 -1.36363432e-02 -2.57205241e+01] [-7.91018274e-02 -6.53261433e-05 9.96866539e-01 -1.18195988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20964924600001 meters 0.06115797351380783 Centerline is valid? [True, True] Translation: X:104.84, Y:-25.73, Z:-11.82 [[ 9.81783171e-01 1.72984814e-01 7.86006330e-02 1.04840842e+02] [-1.72436348e-01 9.84924491e-01 -1.37641958e-02 -2.57278852e+01] [-7.97966853e-02 -4.01503946e-05 9.96811159e-01 -1.18221765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23964924600001 meters 0.06086689998302927 Centerline is valid? [True, True] Translation: X:104.87, Y:-25.73, Z:-11.82 [[ 9.81597530e-01 1.73813932e-01 7.90885992e-02 1.04872539e+02] [-1.73259988e-01 9.84778507e-01 -1.38660824e-02 -2.57346348e+01] [-8.02948710e-02 -9.19775331e-05 9.96771150e-01 -1.18213741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26964924600001 meters 0.060744328108859956 Centerline is valid? [True, True] Translation: X:104.90, Y:-25.74, Z:-11.82 [[ 9.81535560e-01 1.73980667e-01 7.94900796e-02 1.04904339e+02] [-1.73420084e-01 9.84749064e-01 -1.39554515e-02 -2.57411902e+01] [-8.07057603e-02 -8.74044118e-05 9.96737966e-01 -1.18233374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29964924600002 meters 0.06065399154352896 Centerline is valid? [True, True] Translation: X:104.93, Y:-25.75, Z:-11.83 [[ 9.81644072e-01 1.71921661e-01 8.25703218e-02 1.04934865e+02] [-1.71307718e-01 9.85110619e-01 -1.45166935e-02 -2.57483739e+01] [-8.38366349e-02 1.05292709e-04 9.96479507e-01 -1.18269776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32964924600002 meters 0.06065872650628038 Centerline is valid? [True, True] Translation: X:104.97, Y:-25.76, Z:-11.83 [[ 9.82222494e-01 1.68421599e-01 8.29043914e-02 1.04966182e+02] [-1.67788612e-01 9.85714961e-01 -1.45944152e-02 -2.57587975e+01] [-8.41781138e-02 4.24550165e-04 9.96450633e-01 -1.18288532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35964924600002 meters 0.06053075110589134 Centerline is valid? [True, True] Translation: X:105.00, Y:-25.76, Z:-11.83 [[ 9.82548034e-01 1.65345532e-01 8.52068957e-02 1.04998369e+02] [-1.64663324e-01 9.86235430e-01 -1.50222134e-02 -2.57649188e+01] [-8.65179153e-02 7.29595525e-04 9.96250028e-01 -1.18257317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38964924600002 meters 0.060465388429137075 Centerline is valid? [True, True] Translation: X:105.03, Y:-25.77, Z:-11.83 [[ 9.82574541e-01 1.65332649e-01 8.49257674e-02 1.05029398e+02] [-1.64653097e-01 9.86237575e-01 -1.49934472e-02 -2.57706428e+01] [-8.62358892e-02 7.48888909e-04 9.96274465e-01 -1.18303679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41964924600002 meters 0.06082522232450083 Centerline is valid? [True, True] Translation: X:105.06, Y:-25.78, Z:-11.84 [[ 9.82476633e-01 1.65387971e-01 8.59446606e-02 1.05059331e+02] [-1.64689952e-01 9.86228277e-01 -1.51988968e-02 -2.57764870e+01] [-8.72747692e-02 7.78338992e-04 9.96183973e-01 -1.18353810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.449649246 meters 0.060633718520145694 Centerline is valid? [True, True] Translation: X:105.09, Y:-25.78, Z:-11.84 [[ 9.82425064e-01 1.65946519e-01 8.54561124e-02 1.05090187e+02] [-1.65257695e-01 9.86134481e-01 -1.51221803e-02 -2.57817874e+01] [-8.67806922e-02 7.34128765e-04 9.96227169e-01 -1.18394561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47964924600001 meters 0.060356076328777285 Centerline is valid? [True, True] Translation: X:105.12, Y:-25.79, Z:-11.84 [[ 9.82319700e-01 1.67283675e-01 8.40486776e-02 1.05122027e+02] [-1.66620577e-01 9.85908607e-01 -1.48930287e-02 -2.57852589e+01] [-8.53556752e-02 6.25476305e-04 9.96350349e-01 -1.18423926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50964924600001 meters 0.06034697721035224 Centerline is valid? [True, True] Translation: X:105.15, Y:-25.79, Z:-11.85 [[ 9.82184005e-01 1.68919936e-01 8.23446136e-02 1.05153581e+02] [-1.68287673e-01 9.85629653e-01 -1.46097902e-02 -2.57893667e+01] [-8.36291778e-02 4.91918812e-04 9.96496823e-01 -1.18459919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53964924600001 meters 0.060305491936135956 Centerline is valid? [True, True] Translation: X:105.18, Y:-25.80, Z:-11.85 [[ 9.82091470e-01 1.69443407e-01 8.23727926e-02 1.05184296e+02] [-1.68810782e-01 9.85539808e-01 -1.46358302e-02 -2.57953211e+01] [-8.36616111e-02 4.68308469e-04 9.96494112e-01 -1.18502781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56964924600001 meters 0.06021863142128324 Centerline is valid? [True, True] Translation: X:105.22, Y:-25.80, Z:-11.85 [[ 9.82081027e-01 1.69616770e-01 8.21401714e-02 1.05215288e+02] [-1.68987301e-01 9.85509988e-01 -1.46067241e-02 -2.58008566e+01] [-8.34275047e-02 4.64340761e-04 9.96513741e-01 -1.18534888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59964924600001 meters 0.060146596530590506 Centerline is valid? [True, True] Translation: X:105.25, Y:-25.81, Z:-11.86 [[ 9.82072696e-01 1.69505227e-01 8.24693776e-02 1.05247342e+02] [-1.68868621e-01 9.85529164e-01 -1.46852376e-02 -2.58058410e+01] [-8.37652013e-02 4.95480750e-04 9.96485397e-01 -1.18566860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62964924600001 meters 0.06028164023867969 Centerline is valid? [True, True] Translation: X:105.28, Y:-25.81, Z:-11.86 [[ 9.81832336e-01 1.71315447e-01 8.15860371e-02 1.05278012e+02] [-1.70696775e-01 9.85216163e-01 -1.45506931e-02 -2.58079775e+01] [-8.28726409e-02 3.59867550e-04 9.96560081e-01 -1.18640765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65964924600001 meters 0.060240751104328895 Centerline is valid? [True, True] Translation: X:105.31, Y:-25.81, Z:-11.86 [[ 9.81658899e-01 1.72353602e-01 8.14864506e-02 1.05311279e+02] [-1.71738672e-01 9.85035102e-01 -1.45490723e-02 -2.58118286e+01] [-8.27745992e-02 2.87851457e-04 9.96568253e-01 -1.18626901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68964924600002 meters 0.06010717286242115 Centerline is valid? [True, True] Translation: X:105.34, Y:-25.82, Z:-11.87 [[ 9.81297779e-01 1.74196515e-01 8.19160802e-02 1.05341228e+02] [-1.73579421e-01 9.84710896e-01 -1.46504256e-02 -2.58159955e+01] [-8.32157099e-02 1.57484266e-04 9.96531545e-01 -1.18689164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71964924600002 meters 0.059841659871223314 Centerline is valid? [True, True] Translation: X:105.37, Y:-25.82, Z:-11.87 [[ 9.81064290e-01 1.75361758e-01 8.22259829e-02 1.05374035e+02] [-1.74742576e-01 9.84504062e-01 -1.47235824e-02 -2.58201447e+01] [-8.35337675e-02 7.64007673e-05 9.96504944e-01 -1.18671029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74964924600002 meters 0.05974598760566562 Centerline is valid? [True, True] Translation: X:105.41, Y:-25.82, Z:-11.87 [[ 9.80483027e-01 1.77959504e-01 8.35670254e-02 1.05405253e+02] [-1.77327203e-01 9.84037804e-01 -1.49887738e-02 -2.58206947e+01] [-8.49005070e-02 -1.22468554e-04 9.96389426e-01 -1.18733568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77964924600002 meters 0.05966337392850958 Centerline is valid? [True, True] Translation: X:105.44, Y:-25.82, Z:-11.87 [[ 9.80195552e-01 1.79176451e-01 8.43355139e-02 1.05437364e+02] [-1.78535298e-01 9.83816932e-01 -1.51457135e-02 -2.58241162e+01] [-8.56844617e-02 -2.11105080e-04 9.96322302e-01 -1.18747154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80964924600002 meters 0.05993869410368595 Centerline is valid? [True, True] Translation: X:105.47, Y:-25.83, Z:-11.88 [[ 9.79856724e-01 1.81336623e-01 8.36530290e-02 1.05469764e+02] [-1.80711949e-01 9.83421012e-01 -1.50434206e-02 -2.58254145e+01] [-8.49940695e-02 -3.76704999e-04 9.96381386e-01 -1.18799891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83964924600001 meters 0.05978363989666637 Centerline is valid? [True, True] Translation: X:105.50, Y:-25.83, Z:-11.88 [[ 9.80205349e-01 1.79412090e-01 8.37184348e-02 1.05500398e+02] [-1.78777516e-01 9.83773992e-01 -1.50775705e-02 -2.58313540e+01] [-8.50651172e-02 -1.87858551e-04 9.96375376e-01 -1.18815767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86964924600001 meters 0.05993648029044419 Centerline is valid? [True, True] Translation: X:105.53, Y:-25.84, Z:-11.89 [[ 9.80613171e-01 1.77350722e-01 8.33338437e-02 1.05532716e+02] [-1.76713827e-01 9.84147713e-01 -1.50167169e-02 -2.58380760e+01] [-8.46760373e-02 -6.52089140e-07 9.96408535e-01 -1.18850038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89964924600001 meters 0.059883046705786994 Centerline is valid? [True, True] Translation: X:105.56, Y:-25.84, Z:-11.89 [[ 9.80731227e-01 1.77007049e-01 8.26726409e-02 1.05563913e+02] [-1.76377081e-01 9.84209582e-01 -1.49205774e-02 -2.58431118e+01] [-8.40082528e-02 5.15171489e-05 9.96465058e-01 -1.18887349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92964924600001 meters 0.059962984172839254 Centerline is valid? [True, True] Translation: X:105.60, Y:-25.84, Z:-11.89 [[ 9.80800054e-01 1.77430423e-01 8.09302157e-02 1.05595543e+02] [-1.76826665e-01 9.84133347e-01 -1.46248579e-02 -2.58441263e+01] [-8.22410187e-02 3.34412636e-05 9.96612469e-01 -1.18927290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95964924600001 meters 0.060143909659171664 Centerline is valid? [True, True] Translation: X:105.63, Y:-25.85, Z:-11.90 [[ 9.80668518e-01 1.78311947e-01 8.05860233e-02 1.05626818e+02] [-1.77714701e-01 9.83974008e-01 -1.45820464e-02 -2.58459156e+01] [-8.18947055e-02 -2.11672534e-05 9.96640987e-01 -1.19002794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98964924600001 meters 0.060143909659171664 Centerline is valid? [True, True] Translation: X:105.66, Y:-25.85, Z:-11.90 [[ 9.80622650e-01 1.78564962e-01 8.05839477e-02 1.05658448e+02] [-1.77967626e-01 9.83928124e-01 -1.45935076e-02 -2.58518324e+01] [-8.18947016e-02 -3.06098198e-05 9.96640987e-01 -1.19036980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01964924600001 meters 0.06020637985097529 Centerline is valid? [True, True] Translation: X:105.69, Y:-25.85, Z:-11.90 [[ 9.79736026e-01 1.82580140e-01 8.23517517e-02 1.05691207e+02] [-1.81968469e-01 9.83190912e-01 -1.49367733e-02 -2.58514776e+01] [-8.36946520e-02 -3.51327273e-04 9.96491386e-01 -1.19043439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04964924600002 meters 0.060190041427526424 Centerline is valid? [True, True] Translation: X:105.72, Y:-25.85, Z:-11.91 [[ 9.79323325e-01 1.84202435e-01 8.36378425e-02 1.05722183e+02] [-1.83575601e-01 9.82888211e-01 -1.51909012e-02 -2.58549334e+01] [-8.50048504e-02 -4.77063311e-04 9.96380423e-01 -1.19077091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07964924600002 meters 0.06034208105003995 Centerline is valid? [True, True] Translation: X:105.75, Y:-25.86, Z:-11.91 [[ 9.78514573e-01 1.88597602e-01 8.33077183e-02 1.05754621e+02] [-1.87990064e-01 9.82054094e-01 -1.51490185e-02 -2.58563773e+01] [-8.46697544e-02 -8.37487956e-04 9.96408717e-01 -1.19081793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10964924600002 meters 0.06037800286545834 Centerline is valid? [True, True] Translation: X:105.79, Y:-25.86, Z:-11.91 [[ 9.77620610e-01 1.93363617e-01 8.28761427e-02 1.05786773e+02] [-1.92777838e-01 9.81126399e-01 -1.50895252e-02 -2.58593231e+01] [-8.42297366e-02 -1.22485276e-03 9.96445609e-01 -1.19082723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13964924600002 meters 0.06090001282667288 Centerline is valid? [True, True] Translation: X:105.82, Y:-25.86, Z:-11.91 [[ 9.77080601e-01 1.95994595e-01 8.30639352e-02 1.05817695e+02] [-1.95413772e-01 9.80603928e-01 -1.51457390e-02 -2.58609709e+01] [-8.44213042e-02 -1.43322907e-03 9.96429119e-01 -1.19138647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16964924600002 meters 0.061017416516140704 Centerline is valid? [True, True] Translation: X:105.85, Y:-25.87, Z:-11.92 [[ 9.76562834e-01 1.98493993e-01 8.32175861e-02 1.05849417e+02] [-1.97918411e-01 9.80100744e-01 -1.51932503e-02 -2.58661488e+01] [-8.45773869e-02 -1.63312888e-03 9.96415575e-01 -1.19158475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.199649246 meters 0.06195827210808104 Centerline is valid? [True, True] Translation: X:105.88, Y:-25.87, Z:-11.92 [[ 9.76003309e-01 2.01456250e-01 8.26614843e-02 1.05880612e+02] [-2.00897135e-01 9.79495755e-01 -1.51131287e-02 -2.58665440e+01] [-8.40112072e-02 -1.85599178e-03 9.96463081e-01 -1.19225012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22964924600001 meters 0.0619227785829248 Centerline is valid? [True, True] Translation: X:105.91, Y:-25.87, Z:-11.93 [[ 9.76014104e-01 2.01331293e-01 8.28382747e-02 1.05911614e+02] [-2.00767682e-01 9.79521496e-01 -1.51649625e-02 -2.58724118e+01] [-8.41950523e-02 -1.83003117e-03 9.96447612e-01 -1.19267534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25964924600001 meters 0.06221314407113105 Centerline is valid? [True, True] Translation: X:105.94, Y:-25.88, Z:-11.93 [[ 9.76037084e-01 2.01456143e-01 8.22619779e-02 1.05942410e+02] [-2.00899166e-01 9.79495866e-01 -1.50789316e-02 -2.58786432e+01] [-8.36130106e-02 -1.80876626e-03 9.96496660e-01 -1.19314693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28964924600001 meters 0.06154131599284391 Centerline is valid? [True, True] Translation: X:105.97, Y:-25.89, Z:-11.93 [[ 9.76167403e-01 2.00772780e-01 8.23862417e-02 1.05973393e+02] [-2.00209875e-01 9.79636306e-01 -1.51232872e-02 -2.58902267e+01] [-8.37448979e-02 -1.73167916e-03 9.96485722e-01 -1.19319736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31964924600001 meters 0.06187799544398864 Centerline is valid? [True, True] Translation: X:106.00, Y:-25.90, Z:-11.94 [[ 9.76218996e-01 2.00543470e-01 8.23333958e-02 1.06003180e+02] [-1.99978704e-01 9.79683347e-01 -1.51346640e-02 -2.58955026e+01] [-8.36958147e-02 -1.69017924e-03 9.96489917e-01 -1.19367037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34964924600001 meters 0.060984420966190334 Centerline is valid? [True, True] Translation: X:106.03, Y:-25.91, Z:-11.93 [[ 9.76217715e-01 1.99409461e-01 8.50578585e-02 1.06034441e+02] [-1.98800605e-01 9.79914906e-01 -1.56555908e-02 -2.59057124e+01] [-8.64713363e-02 -1.62628860e-03 9.96253012e-01 -1.19345268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37964924600001 meters 0.06065086861438969 Centerline is valid? [True, True] Translation: X:106.07, Y:-25.91, Z:-11.94 [[ 9.76211362e-01 1.99518342e-01 8.48752490e-02 1.06066753e+02] [-1.98910777e-01 9.79892765e-01 -1.56420107e-02 -2.59126583e+01] [-8.62895105e-02 -1.61269319e-03 9.96268799e-01 -1.19374282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40964924600001 meters 0.06130260313465542 Centerline is valid? [True, True] Translation: X:106.10, Y:-25.92, Z:-11.94 [[ 9.75806850e-01 2.01246437e-01 8.54450857e-02 1.06097269e+02] [-2.00635014e-01 9.79539077e-01 -1.57730403e-02 -2.59154811e+01] [-8.68710685e-02 -1.75183519e-03 9.96218023e-01 -1.19430652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43964924600002 meters 0.061157634877364794 Centerline is valid? [True, True] Translation: X:106.13, Y:-25.92, Z:-11.95 [[ 9.75524023e-01 2.02522082e-01 8.56603045e-02 1.06128452e+02] [-2.01910748e-01 9.79275947e-01 -1.58325173e-02 -2.59210915e+01] [-8.70915102e-02 -1.85073517e-03 9.96198596e-01 -1.19453771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46964924600002 meters 0.061781544731938295 Centerline is valid? [True, True] Translation: X:106.16, Y:-25.92, Z:-11.95 [[ 9.74784287e-01 2.06164890e-01 8.53910546e-02 1.06159982e+02] [-2.05569450e-01 9.78514908e-01 -1.58043326e-02 -2.59226887e+01] [-8.68147184e-02 -2.14797706e-03 9.96222159e-01 -1.19476596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49964924600002 meters 0.06254868145940547 Centerline is valid? [True, True] Translation: X:106.19, Y:-25.93, Z:-11.95 [[ 9.74292755e-01 2.08694659e-01 8.48538006e-02 1.06191688e+02] [-2.08114324e-01 9.77978057e-01 -1.57272706e-02 -2.59253060e+01] [-8.62673525e-02 -2.33632558e-03 9.96269284e-01 -1.19524524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52964924600002 meters 0.06181529220293483 Centerline is valid? [True, True] Translation: X:106.22, Y:-25.93, Z:-11.96 [[ 9.74858247e-01 2.06108804e-01 8.46791526e-02 1.06221448e+02] [-2.05520864e-01 9.78526827e-01 -1.56978998e-02 -2.59343278e+01] [-8.60962979e-02 -2.10010555e-03 9.96284606e-01 -1.19557203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55964924600002 meters 0.062219808571665314 Centerline is valid? [True, True] Translation: X:106.25, Y:-25.94, Z:-11.96 [[ 9.75007093e-01 2.06110632e-01 8.29432102e-02 1.06251229e+02] [-2.05545020e-01 9.78526571e-01 -1.53945944e-02 -2.59385526e+01] [-8.43351247e-02 -2.03872506e-03 9.96435362e-01 -1.19627657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58964924600001 meters 0.0626719649118411 Centerline is valid? [True, True] Translation: X:106.28, Y:-25.94, Z:-11.97 [[ 9.74843664e-01 2.07534457e-01 8.12974787e-02 1.06282661e+02] [-2.06994580e-01 9.78225451e-01 -1.51066485e-02 -2.59425950e+01] [-8.26624128e-02 -2.10151685e-03 9.96575391e-01 -1.19677411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61964924600001 meters 0.06353420271449162 Centerline is valid? [True, True] Translation: X:106.31, Y:-25.95, Z:-11.97 [[ 9.74467736e-01 2.09593187e-01 8.05191077e-02 1.06313025e+02] [-2.09069002e-01 9.77786122e-01 -1.49816961e-02 -2.59467850e+01] [-8.18705275e-02 -2.23487000e-03 9.96640468e-01 -1.19735793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64964924600001 meters 0.0634132227662637 Centerline is valid? [True, True] Translation: X:106.35, Y:-25.95, Z:-11.98 [[ 9.74397534e-01 2.09944098e-01 8.04544619e-02 1.06345174e+02] [-2.09420558e-01 9.77710812e-01 -1.49866079e-02 -2.59545033e+01] [-8.18075471e-02 -2.24590455e-03 9.96645615e-01 -1.19762861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67964924600001 meters 0.06226451986542235 Centerline is valid? [True, True] Translation: X:106.38, Y:-25.97, Z:-11.98 [[ 9.74801136e-01 2.08097129e-01 8.03637338e-02 1.06375953e+02] [-2.07566353e-01 9.78105991e-01 -1.49959674e-02 -2.59670044e+01] [-8.17248673e-02 -2.06272111e-03 9.96652794e-01 -1.19778476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70964924600001 meters 0.061475840162071214 Centerline is valid? [True, True] Translation: X:106.41, Y:-25.98, Z:-11.98 [[ 9.75566347e-01 2.04256297e-01 8.09300247e-02 1.06406083e+02] [-2.03704139e-01 9.78915890e-01 -1.51097403e-02 -2.59785068e+01] [-8.23099467e-02 -1.74522691e-03 9.96605251e-01 -1.19799553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73964924600001 meters 0.061238491445736495 Centerline is valid? [True, True] Translation: X:106.44, Y:-25.99, Z:-11.99 [[ 9.76046846e-01 2.01630277e-01 8.17177181e-02 1.06435479e+02] [-2.01058066e-01 9.79460497e-01 -1.52574019e-02 -2.59864672e+01] [-8.31156309e-02 -1.53806738e-03 9.96538723e-01 -1.19850659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76964924600001 meters 0.06026534332041006 Centerline is valid? [True, True] Translation: X:106.47, Y:-26.00, Z:-11.99 [[ 9.77050939e-01 1.96816838e-01 8.14530204e-02 1.06465645e+02] [-1.96230094e-01 9.80439650e-01 -1.52263768e-02 -2.60003065e+01] [-8.28565782e-02 -1.10658809e-03 9.96560868e-01 -1.19878267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79964924600002 meters 0.059903488380562454 Centerline is valid? [True, True] Translation: X:106.50, Y:-26.01, Z:-11.99 [[ 9.77592667e-01 1.93768304e-01 8.22582629e-02 1.06495701e+02] [-1.93157460e-01 9.81046963e-01 -1.53965035e-02 -2.60119790e+01] [-8.36825734e-02 -8.37288182e-04 9.96492110e-01 -1.19901720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82964924600002 meters 0.05962091232851083 Centerline is valid? [True, True] Translation: X:106.53, Y:-26.02, Z:-11.99 [[ 9.77966394e-01 1.91977225e-01 8.20151040e-02 1.06526040e+02] [-1.91362050e-01 9.81399158e-01 -1.53707382e-02 -2.60211604e+01] [-8.34403857e-02 -6.62513025e-04 9.96512550e-01 -1.19930533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85964924600002 meters 0.0599320486048489 Centerline is valid? [True, True] Translation: X:106.56, Y:-26.03, Z:-12.00 [[ 9.77875340e-01 1.93414411e-01 7.96911901e-02 1.06556009e+02] [-1.92836867e-01 9.81116870e-01 -1.49542823e-02 -2.60255904e+01] [-8.10787447e-02 -7.43975554e-04 9.96707421e-01 -1.19987954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88964924600002 meters 0.060178852103785915 Centerline is valid? [True, True] Translation: X:106.59, Y:-26.03, Z:-12.01 [[ 9.77881833e-01 1.93983089e-01 7.82156047e-02 1.06587418e+02] [-1.93427259e-01 9.81004579e-01 -1.46939507e-02 -2.60301741e+01] [-7.95802443e-02 -7.60082539e-04 9.96828173e-01 -1.20051057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91964924600002 meters 0.06043507632738312 Centerline is valid? [True, True] Translation: X:106.62, Y:-26.03, Z:-12.01 [[ 9.77873606e-01 1.94392591e-01 7.72963924e-02 1.06618151e+02] [-1.93849566e-01 9.80923511e-01 -1.45399894e-02 -2.60346193e+01] [-7.86483148e-02 -7.65600273e-04 9.96902130e-01 -1.20101385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.949649246 meters 0.06049700395121079 Centerline is valid? [True, True] Translation: X:106.65, Y:-26.04, Z:-12.01 [[ 9.77799504e-01 1.94761845e-01 7.73042901e-02 1.06648842e+02] [-1.94218579e-01 9.80850252e-01 -1.45577242e-02 -2.60401321e+01] [-7.86592216e-02 -7.79393881e-04 9.96901259e-01 -1.20138350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97964924600001 meters 0.060235881870077945 Centerline is valid? [True, True] Translation: X:106.68, Y:-26.05, Z:-12.01 [[ 9.77574416e-01 1.95827098e-01 7.74597266e-02 1.06681396e+02] [-1.95283487e-01 9.80638072e-01 -1.46058749e-02 -2.60477765e+01] [-7.88201830e-02 -8.48275864e-04 9.96888489e-01 -1.20147327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00964924600001 meters 0.0602200821605171 Centerline is valid? [True, True] Translation: X:106.71, Y:-26.05, Z:-12.02 [[ 9.77461978e-01 1.96390952e-01 7.74511144e-02 1.06713040e+02] [-1.95847488e-01 9.80525285e-01 -1.46262721e-02 -2.60547327e+01] [-7.88152435e-02 -8.71981300e-04 9.96888859e-01 -1.20176545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03964924600001 meters 0.06009884017112665 Centerline is valid? [True, True] Translation: X:106.74, Y:-26.06, Z:-12.02 [[ 9.77473681e-01 1.95903899e-01 7.85293871e-02 1.06744708e+02] [-1.95341727e-01 9.80622755e-01 -1.48533462e-02 -2.60602301e+01] [-7.99175323e-02 -8.21311120e-04 9.96801140e-01 -1.20207469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06964924600001 meters 0.05999001114069126 Centerline is valid? [True, True] Translation: X:106.78, Y:-26.07, Z:-12.02 [[ 9.77451630e-01 1.95971075e-01 7.86361757e-02 1.06775517e+02] [-1.95406071e-01 9.80609343e-01 -1.48924369e-02 -2.60666017e+01] [-8.00298555e-02 -8.09349392e-04 9.96792138e-01 -1.20244205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09964924600001 meters 0.05979056079391799 Centerline is valid? [True, True] Translation: X:106.81, Y:-26.08, Z:-12.03 [[ 9.77676489e-01 1.94634066e-01 7.91597324e-02 1.06806680e+02] [-1.94055418e-01 9.80875687e-01 -1.50127209e-02 -2.60758025e+01] [-8.05678438e-02 -6.83790689e-04 9.96748893e-01 -1.20262938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12964924600001 meters 0.05960936036581577 Centerline is valid? [True, True] Translation: X:106.84, Y:-26.08, Z:-12.03 [[ 9.77645271e-01 1.94874462e-01 7.89535780e-02 1.06838777e+02] [-1.94298115e-01 9.80827955e-01 -1.49921835e-02 -2.60831683e+01] [-8.03614701e-02 -6.83494092e-04 9.96765553e-01 -1.20278611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15964924600001 meters 0.0597960320464999 Centerline is valid? [True, True] Translation: X:106.87, Y:-26.09, Z:-12.03 [[ 9.77327025e-01 1.95669142e-01 8.09040983e-02 1.06869199e+02] [-1.95064542e-01 9.80669687e-01 -1.53879425e-02 -2.60879317e+01] [-8.23511423e-02 -7.42468853e-04 9.96603100e-01 -1.20310997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18964924600002 meters 0.05945460313740766 Centerline is valid? [True, True] Translation: X:106.90, Y:-26.10, Z:-12.03 [[ 9.77324670e-01 1.95281962e-01 8.18623567e-02 1.06900507e+02] [-1.94660009e-01 9.80746892e-01 -1.55889468e-02 -2.60964228e+01] [-8.33304920e-02 -6.99864863e-04 9.96521720e-01 -1.20301315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21964924600002 meters 0.05918636109720259 Centerline is valid? [True, True] Translation: X:106.93, Y:-26.10, Z:-12.03 [[ 9.77177146e-01 1.95536376e-01 8.30081373e-02 1.06930833e+02] [-1.94895963e-01 9.80696192e-01 -1.58285562e-02 -2.61022627e+01] [-8.45008227e-02 -7.10647463e-04 9.96423156e-01 -1.20313179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24964924600002 meters 0.05939415916335818 Centerline is valid? [True, True] Translation: X:106.96, Y:-26.11, Z:-12.04 [[ 9.76972286e-01 1.96497753e-01 8.31491706e-02 1.06963096e+02] [-1.95857099e-01 9.80503967e-01 -1.58735088e-02 -2.61066096e+01] [-8.46472004e-02 -7.77377089e-04 9.96410682e-01 -1.20363205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27964924600002 meters 0.059558937867578994 Centerline is valid? [True, True] Translation: X:106.99, Y:-26.11, Z:-12.04 [[ 9.76939827e-01 1.97082895e-01 8.21395516e-02 1.06993170e+02] [-1.96457808e-01 9.80386506e-01 -1.57044236e-02 -2.61104521e+01] [-8.36235813e-02 -7.94679399e-04 9.96497097e-01 -1.20418631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30964924600002 meters 0.05973707876967659 Centerline is valid? [True, True] Translation: X:107.02, Y:-26.11, Z:-12.05 [[ 9.76748374e-01 1.97813504e-01 8.26585280e-02 1.07024373e+02] [-1.97181569e-01 9.80239309e-01 -1.58216615e-02 -2.61143218e+01] [-8.41548767e-02 -8.44956133e-04 9.96452328e-01 -1.20479397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33964924600001 meters 0.059907999523771155 Centerline is valid? [True, True] Translation: X:107.06, Y:-26.12, Z:-12.05 [[ 9.76730984e-01 1.98054359e-01 8.22864203e-02 1.07056287e+02] [-1.97427221e-01 9.80190677e-01 -1.57711589e-02 -2.61205708e+01] [-8.37799288e-02 -8.41399771e-04 9.96483926e-01 -1.20527175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36964924600001 meters 0.05975011320194 Centerline is valid? [True, True] Translation: X:107.09, Y:-26.13, Z:-12.05 [[ 9.76630598e-01 1.98724549e-01 8.18610373e-02 1.07087462e+02] [-1.98104342e-01 9.80054995e-01 -1.57123023e-02 -2.61279739e+01] [-8.33507387e-02 -8.71911764e-04 9.96519891e-01 -1.20528933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39964924600001 meters 0.05990577374285552 Centerline is valid? [True, True] Translation: X:107.12, Y:-26.13, Z:-12.06 [[ 9.76398752e-01 1.99678006e-01 8.23053532e-02 1.07118249e+02] [-1.99052721e-01 9.79861119e-01 -1.58177525e-02 -2.61343518e+01] [-8.38062728e-02 -9.38670716e-04 9.96481624e-01 -1.20569066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42964924600001 meters 0.06001372265746402 Centerline is valid? [True, True] Translation: X:107.15, Y:-26.14, Z:-12.06 [[ 9.76238773e-01 2.00684480e-01 8.17532709e-02 1.07149365e+02] [-2.00069245e-01 9.79655422e-01 -1.57337376e-02 -2.61397688e+01] [-8.32475521e-02 -9.96430533e-04 9.96528400e-01 -1.20609770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45964924600001 meters 0.06011749452563964 Centerline is valid? [True, True] Translation: X:107.18, Y:-26.15, Z:-12.07 [[ 9.76336189e-01 2.00588194e-01 8.08209269e-02 1.07180259e+02] [-1.99985078e-01 9.79675179e-01 -1.55727781e-02 -2.61460375e+01] [-8.23019715e-02 -9.58712485e-04 9.96606977e-01 -1.20654183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48964924600001 meters 0.06043813934077577 Centerline is valid? [True, True] Translation: X:107.21, Y:-26.15, Z:-12.07 [[ 9.76282128e-01 2.01122679e-01 8.01428354e-02 1.07210843e+02] [-2.00529851e-01 9.79565575e-01 -1.54616816e-02 -2.61507988e+01] [-8.16148574e-02 -9.76067414e-04 9.96663465e-01 -1.20715378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51964924600001 meters 0.06035842578539779 Centerline is valid? [True, True] Translation: X:107.24, Y:-26.16, Z:-12.07 [[ 9.76247185e-01 2.01474932e-01 7.96824078e-02 1.07241840e+02] [-2.00888677e-01 9.79493178e-01 -1.53900536e-02 -2.61582130e+01] [-8.11490849e-02 -9.82796937e-04 9.96701490e-01 -1.20740030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54964924600002 meters 0.060447693972534494 Centerline is valid? [True, True] Translation: X:107.27, Y:-26.16, Z:-12.08 [[ 9.76185600e-01 2.01986246e-01 7.91405809e-02 1.07272964e+02] [-2.01408108e-01 9.79387848e-01 -1.53041538e-02 -2.61642439e+01] [-8.06005518e-02 -9.99860123e-04 9.96745981e-01 -1.20784533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57964924600002 meters 0.060617389242666846 Centerline is valid? [True, True] Translation: X:107.30, Y:-26.17, Z:-12.08 [[ 9.76052852e-01 2.02771976e-01 7.87677362e-02 1.07303682e+02] [-2.02200308e-01 9.79225430e-01 -1.52510157e-02 -2.61696544e+01] [-8.02238489e-02 -1.04106314e-03 9.96776329e-01 -1.20823537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60964924600002 meters 0.0606782404551213 Centerline is valid? [True, True] Translation: X:107.34, Y:-26.18, Z:-12.09 [[ 9.75960947e-01 2.03063368e-01 7.91549000e-02 1.07335268e+02] [-2.02485634e-01 9.79165031e-01 -1.53430613e-02 -2.61751826e+01] [-8.06213239e-02 -1.05350146e-03 9.96744246e-01 -1.20860387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63964924600002 meters 0.06089349867365835 Centerline is valid? [True, True] Translation: X:107.37, Y:-26.18, Z:-12.09 [[ 9.75199826e-01 2.06086727e-01 8.07066278e-02 1.07367275e+02] [-2.05494691e-01 9.78532855e-01 -1.56647263e-02 -2.61780000e+01] [-8.22023791e-02 -1.30854511e-03 9.96614799e-01 -1.20872823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66964924600002 meters 0.06140245231523671 Centerline is valid? [True, True] Translation: X:107.40, Y:-26.18, Z:-12.09 [[ 9.74489739e-01 2.09048238e-01 8.16613950e-02 1.07399746e+02] [-2.08451422e-01 9.77904078e-01 -1.58624833e-02 -2.61804525e+01] [-8.31730354e-02 -1.56460674e-03 9.96533892e-01 -1.20897143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.699649246 meters 0.06174868894494428 Centerline is valid? [True, True] Translation: X:107.43, Y:-26.18, Z:-12.09 [[ 9.74199193e-01 2.10176308e-01 8.22304811e-02 1.07431084e+02] [-2.09573569e-01 9.77662101e-01 -1.59917469e-02 -2.61836429e+01] [-8.37547112e-02 -1.65418852e-03 9.96485028e-01 -1.20934727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72964924600001 meters 0.06147572070740634 Centerline is valid? [True, True] Translation: X:107.46, Y:-26.19, Z:-12.10 [[ 9.74018617e-01 2.10621742e-01 8.32238910e-02 1.07462479e+02] [-2.10004171e-01 9.77566170e-01 -1.62058892e-02 -2.61894501e+01] [-8.47701730e-02 -1.69252648e-03 9.96399093e-01 -1.20954035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75964924600001 meters 0.06093752403684959 Centerline is valid? [True, True] Translation: X:107.49, Y:-26.20, Z:-12.10 [[ 9.74197790e-01 2.10162973e-01 8.22811717e-02 1.07493952e+02] [-2.09556145e-01 9.77665032e-01 -1.60408078e-02 -2.61979533e+01] [-8.38146082e-02 -1.61560567e-03 9.96480056e-01 -1.20967701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78964924600001 meters 0.06134649744365562 Centerline is valid? [True, True] Translation: X:107.53, Y:-26.20, Z:-12.10 [[ 9.73866953e-01 2.11393327e-01 8.30422714e-02 1.07525644e+02] [-2.10777647e-01 9.77399572e-01 -1.62129747e-02 -2.62021631e+01] [-8.45927952e-02 -1.71417427e-03 9.96414131e-01 -1.21008236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81964924600001 meters 0.06192744233786237 Centerline is valid? [True, True] Translation: X:107.56, Y:-26.21, Z:-12.11 [[ 9.73668860e-01 2.12719517e-01 8.19716932e-02 1.07555881e+02] [-2.12122318e-01 9.77111678e-01 -1.60278259e-02 -2.62052331e+01] [-8.35049301e-02 -1.78223061e-03 9.96505770e-01 -1.21064065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84964924600001 meters 0.06200131772873732 Centerline is valid? [True, True] Translation: X:107.59, Y:-26.21, Z:-12.11 [[ 9.73565280e-01 2.13485174e-01 8.12079136e-02 1.07587297e+02] [-2.12901151e-01 9.76944601e-01 -1.58853887e-02 -2.62117415e+01] [-8.27269278e-02 -1.82379544e-03 9.96570584e-01 -1.21101338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87964924600001 meters 0.06200131772873732 Centerline is valid? [True, True] Translation: X:107.62, Y:-26.22, Z:-12.11 [[ 9.73508962e-01 2.13743180e-01 8.12043925e-02 1.07618845e+02] [-2.13158554e-01 9.76888179e-01 -1.59033653e-02 -2.62181096e+01] [-8.27268470e-02 -1.82734217e-03 9.96570584e-01 -1.21135571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90964924600001 meters 0.062199633855292015 Centerline is valid? [True, True] Translation: X:107.65, Y:-26.22, Z:-12.12 [[ 9.73456356e-01 2.14391552e-01 8.01185708e-02 1.07648980e+02] [-2.13822615e-01 9.76746080e-01 -1.57157581e-02 -2.62241974e+01] [-8.16248257e-02 -1.83255772e-03 9.96661442e-01 -1.21178886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93964924600002 meters 0.06231164649857168 Centerline is valid? [True, True] Translation: X:107.68, Y:-26.23, Z:-12.12 [[ 9.73485476e-01 2.14304273e-01 7.99981645e-02 1.07680951e+02] [-2.13736196e-01 9.76765264e-01 -1.56989496e-02 -2.62307293e+01] [-8.15037803e-02 -1.81580398e-03 9.96671378e-01 -1.21218725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96964924600002 meters 0.062269495946429 Centerline is valid? [True, True] Translation: X:107.71, Y:-26.24, Z:-12.13 [[ 9.73442292e-01 2.14745867e-01 7.93367322e-02 1.07711673e+02] [-2.14186838e-01 9.76668273e-01 -1.55911180e-02 -2.62388188e+01] [-8.08337974e-02 -1.81583016e-03 9.96725940e-01 -1.21263484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99964924600002 meters 0.06189269554754704 Centerline is valid? [True, True] Translation: X:107.74, Y:-26.25, Z:-12.13 [[ 9.73926859e-01 2.12846000e-01 7.85051151e-02 1.07742510e+02] [-2.12290981e-01 9.77084412e-01 -1.54463934e-02 -2.62483015e+01] [-7.99938273e-02 -1.62227046e-03 9.96794039e-01 -1.21309582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02964924600002 meters 0.06192450099117648 Centerline is valid? [True, True] Translation: X:107.77, Y:-26.25, Z:-12.13 [[ 9.73910546e-01 2.13048328e-01 7.81579017e-02 1.07774175e+02] [-2.12497441e-01 9.77040329e-01 -1.53958801e-02 -2.62548713e+01] [-7.96434885e-02 -1.61414409e-03 9.96822105e-01 -1.21345161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05964924600002 meters 0.061370227437765136 Centerline is valid? [True, True] Translation: X:107.80, Y:-26.27, Z:-12.14 [[ 9.74394109e-01 2.10627781e-01 7.86896348e-02 1.07803953e+02] [-2.10059473e-01 9.77565330e-01 -1.55255868e-02 -2.62652470e+01] [-8.01943786e-02 -1.40146287e-03 9.96778259e-01 -1.21378827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08964924600001 meters 0.06099095745589236 Centerline is valid? [True, True] Translation: X:107.84, Y:-26.27, Z:-12.14 [[ 9.74581600e-01 2.09888948e-01 7.83411451e-02 1.07835674e+02] [-2.09322711e-01 9.77724331e-01 -1.54640209e-02 -2.62743142e+01] [-7.98417708e-02 -1.32763059e-03 9.96806666e-01 -1.21405354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11964924600001 meters 0.06091520511321711 Centerline is valid? [True, True] Translation: X:107.86, Y:-26.28, Z:-12.15 [[ 9.75006798e-01 2.08078947e-01 7.78774412e-02 1.07864965e+02] [-2.07511878e-01 9.78111357e-01 -1.53945673e-02 -2.62829958e+01] [-7.93760951e-02 -1.15068636e-03 9.96844076e-01 -1.21463675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14964924600001 meters 0.060425882300857034 Centerline is valid? [True, True] Translation: X:107.90, Y:-26.29, Z:-12.15 [[ 9.75178911e-01 2.07353059e-01 7.76582302e-02 1.07897046e+02] [-2.06785673e-01 9.78265586e-01 -1.53664841e-02 -2.62920552e+01] [-7.91566616e-02 -1.07353812e-03 9.96861610e-01 -1.21481324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17964924600001 meters 0.060819716359559295 Centerline is valid? [True, True] Translation: X:107.93, Y:-26.30, Z:-12.15 [[ 9.75216509e-01 2.07304636e-01 7.73146123e-02 1.07928103e+02] [-2.06740390e-01 9.78275881e-01 -1.53203091e-02 -2.62989150e+01] [-7.88109916e-02 -1.04343476e-03 9.96889030e-01 -1.21549811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20964924600001 meters 0.06086073507079469 Centerline is valid? [True, True] Translation: X:107.96, Y:-26.31, Z:-12.16 [[ 9.75148784e-01 2.07486105e-01 7.76811788e-02 1.07958845e+02] [-2.06915408e-01 9.78237409e-01 -1.54137882e-02 -2.63059890e+01] [-7.91887820e-02 -1.04269603e-03 9.96859092e-01 -1.21580480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23964924600001 meters 0.060016510980037824 Centerline is valid? [True, True] Translation: X:107.99, Y:-26.32, Z:-12.16 [[ 9.75583628e-01 2.05032068e-01 7.87301499e-02 1.07989922e+02] [-2.04436089e-01 9.78754901e-01 -1.56438189e-02 -2.63184301e+01] [-8.02650047e-02 -8.33430274e-04 9.96773211e-01 -1.21566116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26964924600001 meters 0.059876328033727874 Centerline is valid? [True, True] Translation: X:108.02, Y:-26.33, Z:-12.16 [[ 9.75581888e-01 2.04921623e-01 7.90386470e-02 1.08020895e+02] [-2.04320347e-01 9.78778039e-01 -1.57081892e-02 -2.63258167e+01] [-8.05802395e-02 -8.24578918e-04 9.96747784e-01 -1.21588966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29964924600002 meters 0.06002249055130618 Centerline is valid? [True, True] Translation: X:108.05, Y:-26.33, Z:-12.16 [[ 9.75546483e-01 2.04824828e-01 7.97235765e-02 1.08051416e+02] [-2.04211156e-01 9.78798316e-01 -1.58638302e-02 -2.63319500e+01] [-8.12826087e-02 -8.04539963e-04 9.96690770e-01 -1.21635627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32964924600002 meters 0.060015965947852704 Centerline is valid? [True, True] Translation: X:108.08, Y:-26.34, Z:-12.17 [[ 9.75548371e-01 2.05003087e-01 7.92408335e-02 1.08082711e+02] [-2.04396064e-01 9.78761001e-01 -1.57845370e-02 -2.63383993e+01] [-8.07937163e-02 -7.97935101e-04 9.96730525e-01 -1.21679383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35964924600002 meters 0.06020578660199276 Centerline is valid? [True, True] Translation: X:108.11, Y:-26.35, Z:-12.17 [[ 9.75708338e-01 2.04619861e-01 7.82556825e-02 1.08112358e+02] [-2.04025155e-01 9.78841237e-01 -1.56067036e-02 -2.63458223e+01] [-7.97933305e-02 -7.38536912e-04 9.96811155e-01 -1.21732146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38964924600002 meters 0.05950289642950659 Centerline is valid? [True, True] Translation: X:108.14, Y:-26.36, Z:-12.17 [[ 9.75874116e-01 2.03837023e-01 7.82315697e-02 1.08143947e+02] [-2.03238984e-01 9.79004613e-01 -1.56167400e-02 -2.63577380e+01] [-7.97723374e-02 -6.59732422e-04 9.96812891e-01 -1.21707266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41964924600002 meters 0.05962531713187273 Centerline is valid? [True, True] Translation: X:108.17, Y:-26.36, Z:-12.18 [[ 9.75808008e-01 2.03808993e-01 7.91241160e-02 1.08173996e+02] [-2.03195138e-01 9.79010461e-01 -1.58193647e-02 -2.63647601e+01] [-8.06874661e-02 -6.40972918e-04 9.96739245e-01 -1.21757272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.449649246 meters 0.0595163441660113 Centerline is valid? [True, True] Translation: X:108.21, Y:-26.37, Z:-12.18 [[ 9.75911506e-01 2.03173797e-01 7.94804367e-02 1.08205325e+02] [-2.02550802e-01 9.79142523e-01 -1.59088940e-02 -2.63731480e+01] [-8.10549457e-02 -5.73153521e-04 9.96709470e-01 -1.21786422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47964924600001 meters 0.05943501082586833 Centerline is valid? [True, True] Translation: X:108.24, Y:-26.38, Z:-12.18 [[ 9.76093448e-01 2.01721453e-01 8.09322911e-02 1.08235411e+02] [-2.01068817e-01 9.79442832e-01 -1.62194330e-02 -2.63809204e+01] [-8.25403600e-02 -4.41277749e-04 9.96587625e-01 -1.21824377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50964924600001 meters 0.0593729469259089 Centerline is valid? [True, True] Translation: X:108.27, Y:-26.39, Z:-12.19 [[ 9.76181757e-01 2.01504783e-01 8.04052277e-02 1.08267816e+02] [-2.00858577e-01 9.79487447e-01 -1.61298831e-02 -2.63874478e+01] [-8.20061598e-02 -4.04381991e-04 9.96631741e-01 -1.21857779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53964924600001 meters 0.05956189236285632 Centerline is valid? [True, True] Translation: X:108.30, Y:-26.39, Z:-12.19 [[ 9.76300405e-01 2.01896577e-01 7.79441598e-02 1.08297780e+02] [-2.01288848e-01 9.79406765e-01 -1.56585070e-02 -2.63936244e+01] [-7.95004364e-02 -4.01883417e-04 9.96834750e-01 -1.21911894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56964924600001 meters 0.05931056907252733 Centerline is valid? [True, True] Translation: X:108.33, Y:-26.41, Z:-12.19 [[ 9.76917039e-01 1.98217019e-01 7.96436540e-02 1.08328827e+02] [-1.97568471e-01 9.80158154e-01 -1.60216352e-02 -2.64056665e+01] [-8.12391376e-02 -8.32665515e-05 9.96694635e-01 -1.21906358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59964924600001 meters 0.058954932077183754 Centerline is valid? [True, True] Translation: X:108.36, Y:-26.41, Z:-12.19 [[ 9.77083958e-01 1.96805257e-01 8.10840857e-02 1.08360341e+02] [-1.96127855e-01 9.80442599e-01 -1.63148741e-02 -2.64135816e+01] [-8.27091447e-02 3.81539584e-05 9.96573728e-01 -1.21894127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62964924600001 meters 0.05905926911694432 Centerline is valid? [True, True] Translation: X:108.39, Y:-26.42, Z:-12.19 [[ 9.77275601e-01 1.95324661e-01 8.23448679e-02 1.08390898e+02] [-1.94618975e-01 9.80738621e-01 -1.65895327e-02 -2.64196153e+01] [-8.39991370e-02 1.86671789e-04 9.96465810e-01 -1.21943904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65964924600001 meters 0.05903848255018036 Centerline is valid? [True, True] Translation: X:108.42, Y:-26.43, Z:-12.20 [[ 9.77336503e-01 1.94804770e-01 8.28520421e-02 1.08422750e+02] [-1.94086732e-01 9.80842004e-01 -1.67123632e-02 -2.64250844e+01] [-8.45204111e-02 2.53120592e-04 9.96421716e-01 -1.21956967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68964924600002 meters 0.058894210812745984 Centerline is valid? [True, True] Translation: X:108.45, Y:-26.43, Z:-12.20 [[ 9.77298414e-01 1.93266315e-01 8.68098016e-02 1.08453543e+02] [-1.92469794e-01 9.81146242e-01 -1.75336669e-02 -2.64312947e+01] [-8.85617778e-02 4.27360198e-04 9.96070594e-01 -1.21955404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71964924600002 meters 0.05863187521521038 Centerline is valid? [True, True] Translation: X:108.49, Y:-26.43, Z:-12.20 [[ 9.77095803e-01 1.94140596e-01 8.71390915e-02 1.08485926e+02] [-1.93339717e-01 9.80973645e-01 -1.76198980e-02 -2.64322162e+01] [-8.89018898e-02 3.68881099e-04 9.96040319e-01 -1.21987972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74964924600002 meters 0.0587849690363843 Centerline is valid? [True, True] Translation: X:108.52, Y:-26.43, Z:-12.21 [[ 9.76782022e-01 1.96910121e-01 8.43995626e-02 1.08517661e+02] [-1.96167516e-01 9.80421535e-01 -1.70856382e-02 -2.64326608e+01] [-8.61114839e-02 1.32491648e-04 9.96285499e-01 -1.22050308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77964924600002 meters 0.0590240710266939 Centerline is valid? [True, True] Translation: X:108.55, Y:-26.44, Z:-12.21 [[ 9.76558899e-01 1.98653267e-01 8.28830250e-02 1.08548066e+02] [-1.97941723e-01 9.80069834e-01 -1.67986604e-02 -2.64357643e+01] [-8.45682613e-02 -1.12743469e-06 9.96417688e-01 -1.22106216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80964924600002 meters 0.05936268522683238 Centerline is valid? [True, True] Translation: X:108.58, Y:-26.44, Z:-12.22 [[ 9.76452602e-01 2.00319854e-01 8.00766599e-02 1.08579609e+02] [-1.99659971e-01 9.79730545e-01 -1.62466953e-02 -2.64388465e+01] [-8.17080853e-02 -1.23975684e-04 9.96656297e-01 -1.22176907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83964924600001 meters 0.059526104968672014 Centerline is valid? [True, True] Translation: X:108.61, Y:-26.44, Z:-12.22 [[ 9.76414267e-01 2.00701532e-01 7.95868937e-02 1.08609485e+02] [-2.00049407e-01 9.79652426e-01 -1.61665749e-02 -2.64445536e+01] [-8.12121498e-02 -1.36036496e-04 9.96696829e-01 -1.22246314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86964924600001 meters 0.05966005789536094 Centerline is valid? [True, True] Translation: X:108.64, Y:-26.45, Z:-12.23 [[ 9.76427187e-01 2.00883815e-01 7.89660785e-02 1.08641265e+02] [-2.00241078e-01 9.79615065e-01 -1.60572618e-02 -2.64494678e+01] [-8.05820041e-02 -1.33505718e-04 9.96747974e-01 -1.22281857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89964924600001 meters 0.05961589603881351 Centerline is valid? [True, True] Translation: X:108.67, Y:-26.46, Z:-12.23 [[ 9.76416656e-01 2.01132095e-01 7.84626953e-02 1.08672909e+02] [-2.00496888e-01 9.79564118e-01 -1.59729719e-02 -2.64551092e+01] [-8.00719182e-02 -1.35250437e-04 9.96789080e-01 -1.22309991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92964924600001 meters 0.05988564231081463 Centerline is valid? [True, True] Translation: X:108.70, Y:-26.46, Z:-12.24 [[ 9.76186992e-01 2.02531562e-01 7.77169423e-02 1.08703617e+02] [-2.01911287e-01 9.79275709e-01 -1.58403935e-02 -2.64593933e+01] [-7.93144934e-02 -2.28741709e-04 9.96849617e-01 -1.22365164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95964924600001 meters 0.05985869811364436 Centerline is valid? [True, True] Translation: X:108.73, Y:-26.47, Z:-12.24 [[ 9.75947044e-01 2.03314114e-01 7.86812419e-02 1.08734353e+02] [-2.02679423e-01 9.79113524e-01 -1.60548402e-02 -2.64656434e+01] [-8.03020436e-02 -2.78394805e-04 9.96770537e-01 -1.22394972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98964924600001 meters 0.05945987483234159 Centerline is valid? [True, True] Translation: X:108.77, Y:-26.47, Z:-12.23 [[ 9.75343524e-01 2.05275336e-01 8.10373141e-02 1.08766144e+02] [-2.04607186e-01 9.78704168e-01 -1.65545175e-02 -2.64737453e+01] [-8.27097911e-02 -4.34475378e-04 9.96573581e-01 -1.22346310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01964924600001 meters 0.0596293527496606 Centerline is valid? [True, True] Translation: X:108.80, Y:-26.48, Z:-12.24 [[ 9.75129954e-01 2.05666517e-01 8.26005875e-02 1.08796571e+02] [-2.04971918e-01 9.78622029e-01 -1.68948857e-02 -2.64802336e+01] [-8.43094668e-02 -4.56091693e-04 9.96439514e-01 -1.22397847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04964924600002 meters 0.059164295686811204 Centerline is valid? [True, True] Translation: X:108.83, Y:-26.49, Z:-12.24 [[ 9.74943946e-01 2.05380358e-01 8.54588232e-02 1.08827618e+02] [-2.04633741e-01 9.78682139e-01 -1.75015395e-02 -2.64894672e+01] [-8.72314963e-02 -4.24738670e-04 9.96187977e-01 -1.22373263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07964924600002 meters 0.059007934661289486 Centerline is valid? [True, True] Translation: X:108.86, Y:-26.50, Z:-12.24 [[ 9.74809114e-01 2.05894901e-01 8.57582694e-02 1.08859169e+02] [-2.05143231e-01 9.78574006e-01 -1.75832223e-02 -2.64961154e+01] [-8.75411091e-02 -4.52443126e-04 9.96160805e-01 -1.22402825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10964924600002 meters 0.059043775289931565 Centerline is valid? [True, True] Translation: X:108.89, Y:-26.50, Z:-12.24 [[ 9.74818239e-01 2.05313447e-01 8.70390171e-02 1.08888614e+02] [-2.04534529e-01 9.78696196e-01 -1.78712916e-02 -2.65033633e+01] [-8.88539714e-02 -3.81223410e-04 9.96044591e-01 -1.22447642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13964924600002 meters 0.05902440547345117 Centerline is valid? [True, True] Translation: X:108.92, Y:-26.51, Z:-12.25 [[ 9.74694645e-01 2.06133512e-01 8.64830890e-02 1.08919484e+02] [-2.05366074e-01 9.78523779e-01 -1.77760837e-02 -2.65105273e+01] [-8.82900057e-02 -4.34438841e-04 9.96094717e-01 -1.22471729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16964924600002 meters 0.059074987757127766 Centerline is valid? [True, True] Translation: X:108.95, Y:-26.52, Z:-12.25 [[ 9.74556490e-01 2.06823900e-01 8.63916790e-02 1.08950254e+02] [-2.06058976e-01 9.78378070e-01 -1.77778187e-02 -2.65169173e+01] [-8.82006020e-02 -4.76292344e-04 9.96102619e-01 -1.22517658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.199649246 meters 0.05938646501968367 Centerline is valid? [True, True] Translation: X:108.98, Y:-26.52, Z:-12.26 [[ 9.74110670e-01 2.09210073e-01 8.56711664e-02 1.08980420e+02] [-2.08464949e-01 9.77870496e-01 -1.76538600e-02 -2.65206707e+01] [-8.74686713e-02 -6.62621875e-04 9.96167050e-01 -1.22564818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22964924600001 meters 0.059415222177485905 Centerline is valid? [True, True] Translation: X:109.01, Y:-26.53, Z:-12.26 [[ 9.73924971e-01 2.09940512e-01 8.59949578e-02 1.09011426e+02] [-2.09191749e-01 9.77713895e-01 -1.77299658e-02 -2.65265958e+01] [-8.78007033e-02 -7.21779187e-04 9.96137799e-01 -1.22592734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25964924600001 meters 0.05925619202298271 Centerline is valid? [True, True] Translation: X:109.04, Y:-26.53, Z:-12.26 [[ 9.73569998e-01 2.10882818e-01 8.76920531e-02 1.09042338e+02] [-2.10106727e-01 9.77511014e-01 -1.80936747e-02 -2.65332868e+01] [-8.95355928e-02 -8.09231400e-04 9.95983294e-01 -1.22606395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28964924600001 meters 0.05933367112315033 Centerline is valid? [True, True] Translation: X:109.07, Y:-26.54, Z:-12.26 [[ 9.73336491e-01 2.11827346e-01 8.80071090e-02 1.09074731e+02] [-2.11047607e-01 9.77306709e-01 -1.81797679e-02 -2.65388468e+01] [-8.98609100e-02 -8.78658225e-04 9.95953937e-01 -1.22646166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31964924600001 meters 0.05987046395967239 Centerline is valid? [True, True] Translation: X:109.11, Y:-26.54, Z:-12.27 [[ 9.72513526e-01 2.15894804e-01 8.72174083e-02 1.09105511e+02] [-2.15142934e-01 9.76415871e-01 -1.80434107e-02 -2.65398101e+01] [-8.90559403e-02 -1.21674821e-03 9.96025883e-01 -1.22682758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34964924600001 meters 0.06052999775282759 Centerline is valid? [True, True] Translation: X:109.14, Y:-26.54, Z:-12.27 [[ 9.71809939e-01 2.19143288e-01 8.69578209e-02 1.09137500e+02] [-2.18408194e-01 9.75691530e-01 -1.79971902e-02 -2.65425890e+01] [-8.87879728e-02 -1.50245236e-03 9.96049416e-01 -1.22718397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37964924600001 meters 0.061561447331107744 Centerline is valid? [True, True] Translation: X:109.17, Y:-26.54, Z:-12.27 [[ 9.70913064e-01 2.23159965e-01 8.67608861e-02 1.09168487e+02] [-2.22442174e-01 9.74780095e-01 -1.79790526e-02 -2.65442188e+01] [-8.85849895e-02 -1.84318314e-03 9.96066917e-01 -1.22742985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40964924600001 meters 0.06099671344881914 Centerline is valid? [True, True] Translation: X:109.20, Y:-26.55, Z:-12.28 [[ 9.71551383e-01 2.20097870e-01 8.74347617e-02 1.09198251e+02] [-2.19355686e-01 9.75476535e-01 -1.81276626e-02 -2.65548022e+01] [-8.92804183e-02 -1.56735646e-03 9.96005296e-01 -1.22759906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43964924600002 meters 0.0606252596418095 Centerline is valid? [True, True] Translation: X:109.23, Y:-26.56, Z:-12.28 [[ 9.71938681e-01 2.18613003e-01 8.68536478e-02 1.09228981e+02] [-2.17873076e-01 9.75810631e-01 -1.80259789e-02 -2.65627767e+01] [-8.86934262e-02 -1.40292524e-03 9.96057984e-01 -1.22803475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46964924600002 meters 0.0608616251495049 Centerline is valid? [True, True] Translation: X:109.26, Y:-26.57, Z:-12.29 [[ 9.71927720e-01 2.19732178e-01 8.41087187e-02 1.09260134e+02] [-2.19040924e-01 9.75559173e-01 -1.74749469e-02 -2.65681712e+01] [-8.58928402e-02 -1.43886623e-03 9.96303342e-01 -1.22885066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49964924600002 meters 0.06090702460394074 Centerline is valid? [True, True] Translation: X:109.29, Y:-26.58, Z:-12.29 [[ 9.72028224e-01 2.19375356e-01 8.38783925e-02 1.09291834e+02] [-2.18684883e-01 9.75639553e-01 -1.74466427e-02 -2.65763754e+01] [-8.56624408e-02 -1.38430734e-03 9.96323256e-01 -1.22923923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52964924600002 meters 0.061009190776920796 Centerline is valid? [True, True] Translation: X:109.32, Y:-26.58, Z:-12.30 [[ 9.72103167e-01 2.19010279e-01 8.39638585e-02 1.09322785e+02] [-2.18314991e-01 9.75721645e-01 -1.74881951e-02 -2.65841765e+01] [-8.57554486e-02 -1.33023918e-03 9.96315328e-01 -1.22965919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55964924600002 meters 0.06068796393124802 Centerline is valid? [True, True] Translation: X:109.35, Y:-26.59, Z:-12.30 [[ 9.72028633e-01 2.19368037e-01 8.38927904e-02 1.09354889e+02] [-2.18673610e-01 9.75641258e-01 -1.74925407e-02 -2.65932652e+01] [-8.56865719e-02 -1.34188885e-03 9.96321239e-01 -1.22987497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58964924600001 meters 0.061226203963700085 Centerline is valid? [True, True] Translation: X:109.38, Y:-26.60, Z:-12.30 [[ 9.72107703e-01 2.19395373e-01 8.28992417e-02 1.09384909e+02] [-2.18715339e-01 9.75635162e-01 -1.73098646e-02 -2.66001512e+01] [-8.46771193e-02 -1.30428302e-03 9.96407589e-01 -1.23047210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61964924600001 meters 0.06120306045208135 Centerline is valid? [True, True] Translation: X:109.42, Y:-26.61, Z:-12.31 [[ 9.72088062e-01 2.19647590e-01 8.24605141e-02 1.09416879e+02] [-2.18974124e-01 9.75578414e-01 -1.72363105e-02 -2.66073417e+01] [-8.42326116e-02 -1.30150720e-03 9.96445269e-01 -1.23091375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64964924600001 meters 0.06143206581315039 Centerline is valid? [True, True] Translation: X:109.45, Y:-26.61, Z:-12.32 [[ 9.72373543e-01 2.18919160e-01 8.10191016e-02 1.09446368e+02] [-2.18264520e-01 9.75742271e-01 -1.69593791e-02 -2.66148736e+01] [-8.27664952e-02 -1.19274377e-03 9.96568254e-01 -1.23151962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67964924600001 meters 0.06117732147328951 Centerline is valid? [True, True] Translation: X:109.48, Y:-26.62, Z:-12.32 [[ 9.72489817e-01 2.18833599e-01 7.98461752e-02 1.09477429e+02] [-2.18196920e-01 9.75761501e-01 -1.67211337e-02 -2.66237474e+01] [-8.15699697e-02 -1.16105725e-03 9.96666941e-01 -1.23177459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70964924600001 meters 0.061433792614823984 Centerline is valid? [True, True] Translation: X:109.51, Y:-26.63, Z:-12.32 [[ 9.72566914e-01 2.19059971e-01 7.82708533e-02 1.09506899e+02] [-2.18447403e-01 9.75710733e-01 -1.64102962e-02 -2.66325584e+01] [-7.99645506e-02 -1.13795354e-03 9.96797058e-01 -1.23222542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73964924600001 meters 0.06129625126051737 Centerline is valid? [True, True] Translation: X:109.54, Y:-26.64, Z:-12.33 [[ 9.72911954e-01 2.17783692e-01 7.75409187e-02 1.09538019e+02] [-2.17177197e-01 9.75996541e-01 -1.62732000e-02 -2.66419799e+01] [-7.92237060e-02 -1.00772863e-03 9.96856353e-01 -1.23261529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76964924600001 meters 0.061067566823742474 Centerline is valid? [True, True] Translation: X:109.57, Y:-26.65, Z:-12.33 [[ 9.73985434e-01 2.13190834e-01 7.68247525e-02 1.09567072e+02] [-2.12579475e-01 9.77010389e-01 -1.61451524e-02 -2.66548029e+01] [-7.85005799e-02 -6.06222276e-04 9.96913884e-01 -1.23313790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79964924600002 meters 0.061067566823742474 Centerline is valid? [True, True] Translation: X:109.60, Y:-26.66, Z:-12.33 [[ 9.73932697e-01 2.13432792e-01 7.68215099e-02 1.09598525e+02] [-2.12820970e-01 9.76957558e-01 -1.61605644e-02 -2.66616239e+01] [-7.85005491e-02 -6.09926110e-04 9.96913884e-01 -1.23348018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82964924600002 meters 0.06141613340562256 Centerline is valid? [True, True] Translation: X:109.63, Y:-26.67, Z:-12.34 [[ 9.74117516e-01 2.13437941e-01 7.44265453e-02 1.09629424e+02] [-2.12861906e-01 9.76956459e-01 -1.56807565e-02 -2.66674640e+01] [-7.60583625e-02 -5.67676667e-04 9.97103206e-01 -1.23429609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85964924600002 meters 0.060913985939195996 Centerline is valid? [True, True] Translation: X:109.66, Y:-26.68, Z:-12.34 [[ 9.75274440e-01 2.08538275e-01 7.31543215e-02 1.09659391e+02] [-2.07968079e-01 9.78014189e-01 -1.54117991e-02 -2.66834296e+01] [-7.47599144e-02 -1.83029981e-04 9.97201545e-01 -1.23411465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88964924600002 meters 0.06101681749986946 Centerline is valid? [True, True] Translation: X:109.69, Y:-26.69, Z:-12.35 [[ 9.75640275e-01 2.06831598e-01 7.31214327e-02 1.09689145e+02] [-2.06255792e-01 9.78376558e-01 -1.54226841e-02 -2.66922504e+01] [-7.47301940e-02 -3.47272960e-05 9.97203789e-01 -1.23473493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91964924600002 meters 0.06099086090083984 Centerline is valid? [True, True] Translation: X:109.72, Y:-26.70, Z:-12.35 [[ 9.75565961e-01 2.07301659e-01 7.27810305e-02 1.09721154e+02] [-2.06731135e-01 9.78277067e-01 -1.53694069e-02 -2.66994230e+01] [-7.43861166e-02 -5.22348634e-05 9.97229514e-01 -1.23477011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.949649246 meters 0.06083242340779021 Centerline is valid? [True, True] Translation: X:109.75, Y:-26.71, Z:-12.35 [[ 9.75572248e-01 2.07225911e-01 7.29123504e-02 1.09752710e+02] [-2.06651577e-01 9.78293116e-01 -1.54176840e-02 -2.67061062e+01] [-7.45245941e-02 -2.63875658e-05 9.97219176e-01 -1.23506497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97964924600001 meters 0.060846242458193506 Centerline is valid? [True, True] Translation: X:109.78, Y:-26.71, Z:-12.35 [[ 9.74763185e-01 2.10895969e-01 7.32094450e-02 1.09784694e+02] [-2.10325680e-01 9.77508469e-01 -1.55016449e-02 -2.67076709e+01] [-7.48320870e-02 -2.87393469e-04 9.97196107e-01 -1.23524804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00964924600001 meters 0.0608699916187066 Centerline is valid? [True, True] Translation: X:109.82, Y:-26.71, Z:-12.36 [[ 9.74230228e-01 2.12970377e-01 7.42905230e-02 1.09817603e+02] [-2.12387584e-01 9.77058560e-01 -1.57506782e-02 -2.67083420e+01] [-7.59406194e-02 -4.33597875e-04 9.97112248e-01 -1.23552365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03964924600001 meters 0.06089464122343542 Centerline is valid? [True, True] Translation: X:109.85, Y:-26.71, Z:-12.36 [[ 9.74168319e-01 2.13358477e-01 7.39881550e-02 1.09849974e+02] [-2.12780232e-01 9.76973880e-01 -1.57038448e-02 -2.67133188e+01] [-7.56350432e-02 -4.45028675e-04 9.97135468e-01 -1.23590940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06964924600001 meters 0.06094599235249506 Centerline is valid? [True, True] Translation: X:109.88, Y:-26.72, Z:-12.36 [[ 9.74075236e-01 2.13926058e-01 7.35736075e-02 1.09881323e+02] [-2.13354244e-01 9.76849746e-01 -1.56378040e-02 -2.67175221e+01] [-7.52156936e-02 -4.64843737e-04 9.97167179e-01 -1.23638000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09964924600001 meters 0.06121220761750575 Centerline is valid? [True, True] Translation: X:109.91, Y:-26.72, Z:-12.37 [[ 9.73999962e-01 2.14197527e-01 7.37800311e-02 1.09911995e+02] [-2.13621892e-01 9.76790253e-01 -1.56999368e-02 -2.67234053e+01] [-7.54305029e-02 -4.69292017e-04 9.97150951e-01 -1.23694146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12964924600001 meters 0.06118468764793937 Centerline is valid? [True, True] Translation: X:109.94, Y:-26.73, Z:-12.37 [[ 9.73850878e-01 2.14981851e-01 7.34661187e-02 1.09943750e+02] [-2.14411839e-01 9.76617912e-01 -1.56530489e-02 -2.67311142e+01] [-7.51134488e-02 -5.08270257e-04 9.97174865e-01 -1.23690538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15964924600001 meters 0.061226965097345196 Centerline is valid? [True, True] Translation: X:109.97, Y:-26.74, Z:-12.37 [[ 9.73684215e-01 2.15830059e-01 7.31876710e-02 1.09974154e+02] [-2.15265320e-01 9.76430786e-01 -1.56128746e-02 -2.67372933e+01] [-7.48324228e-02 -5.52757889e-04 9.97195970e-01 -1.23731266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18964924600002 meters 0.06130242317026907 Centerline is valid? [True, True] Translation: X:110.01, Y:-26.74, Z:-12.37 [[ 9.73342651e-01 2.17334871e-01 7.32778122e-02 1.10005769e+02] [-2.16771768e-01 9.76096884e-01 -1.56484327e-02 -2.67442687e+01] [-7.49271943e-02 -6.53273983e-04 9.97188793e-01 -1.23746389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21964924600002 meters 0.06176334974084465 Centerline is valid? [True, True] Translation: X:110.04, Y:-26.75, Z:-12.38 [[ 9.73170897e-01 2.18172306e-01 7.30701746e-02 1.10035457e+02] [-2.17613192e-01 9.75910017e-01 -1.56248982e-02 -2.67493764e+01] [-7.47188354e-02 -6.95337727e-04 9.97204398e-01 -1.23826765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24964924600002 meters 0.06125304141520806 Centerline is valid? [True, True] Translation: X:110.07, Y:-26.76, Z:-12.38 [[ 9.72869449e-01 2.18838707e-01 7.50643493e-02 1.10067077e+02] [-2.18249239e-01 9.75760759e-01 -1.60689520e-02 -2.67563066e+01] [-7.67613551e-02 -7.49744668e-04 9.97049213e-01 -1.23816804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27964924600002 meters 0.061151960051190606 Centerline is valid? [True, True] Translation: X:110.10, Y:-26.76, Z:-12.38 [[ 9.72828399e-01 2.18956550e-01 7.52524819e-02 1.10099290e+02] [-2.18363088e-01 9.75734327e-01 -1.61271468e-02 -2.67642076e+01] [-7.69575742e-02 -7.43417914e-04 9.97034091e-01 -1.23843254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30964924600002 meters 0.061159661477371716 Centerline is valid? [True, True] Translation: X:110.13, Y:-26.77, Z:-12.39 [[ 9.73044968e-01 2.18127019e-01 7.48605001e-02 1.10129731e+02] [-2.17535376e-01 9.75920172e-01 -1.60679443e-02 -2.67724040e+01] [-7.65627249e-02 -6.49974659e-04 9.97064555e-01 -1.23882284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33964924600001 meters 0.061262870942043086 Centerline is valid? [True, True] Translation: X:110.16, Y:-26.78, Z:-12.39 [[ 9.73170473e-01 2.17466210e-01 7.51510424e-02 1.10159786e+02] [-2.16867046e-01 9.76067673e-01 -1.61425813e-02 -2.67805475e+01] [-7.68629690e-02 -5.88301079e-04 9.97041493e-01 -1.23920744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36964924600001 meters 0.06055334838851889 Centerline is valid? [True, True] Translation: X:110.19, Y:-26.79, Z:-12.39 [[ 9.73980513e-01 2.12154958e-01 7.97009007e-02 1.10189427e+02] [-2.11461450e-01 9.77236025e-01 -1.71407807e-02 -2.67944894e+01] [-8.15230930e-02 -1.58881625e-04 9.96671440e-01 -1.23850954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39964924600001 meters 0.06039411134421689 Centerline is valid? [True, True] Translation: X:110.22, Y:-26.80, Z:-12.39 [[ 9.74104208e-01 2.11142797e-01 8.08684808e-02 1.10219073e+02] [-2.10424061e-01 9.77455224e-01 -1.74068659e-02 -2.68013213e+01] [-8.27206534e-02 -6.05727526e-05 9.96572772e-01 -1.23900423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42964924600001 meters 0.060866525539260474 Centerline is valid? [True, True] Translation: X:110.25, Y:-26.80, Z:-12.40 [[ 9.74128995e-01 2.12534446e-01 7.68232385e-02 1.10250630e+02] [-2.11888916e-01 9.77153563e-01 -1.65529835e-02 -2.68015151e+01] [-7.85861804e-02 -1.53251568e-04 9.96907312e-01 -1.23988244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45964924600001 meters 0.0610547980906221 Centerline is valid? [True, True] Translation: X:110.28, Y:-26.81, Z:-12.40 [[ 9.74055414e-01 2.13457137e-01 7.51804589e-02 1.10282335e+02] [-2.12840441e-01 9.76952408e-01 -1.62153832e-02 -2.68061910e+01] [-7.69090196e-02 -2.06760263e-04 9.97038094e-01 -1.24043087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48964924600001 meters 0.061317144834145035 Centerline is valid? [True, True] Translation: X:110.31, Y:-26.81, Z:-12.41 [[ 9.73732969e-01 2.14839471e-01 7.54195354e-02 1.10313157e+02] [-2.14221532e-01 9.76649329e-01 -1.62856526e-02 -2.68111993e+01] [-7.71572397e-02 -2.98611568e-04 9.97018892e-01 -1.24098388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51964924600001 meters 0.061387871883532494 Centerline is valid? [True, True] Translation: X:110.34, Y:-26.82, Z:-12.41 [[ 9.73528687e-01 2.15934242e-01 7.49286262e-02 1.10344543e+02] [-2.15325984e-01 9.76407841e-01 -1.62002809e-02 -2.68179238e+01] [-7.66590935e-02 -3.62641960e-04 9.97057296e-01 -1.24132687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54964924600002 meters 0.0614156130210977 Centerline is valid? [True, True] Translation: X:110.38, Y:-26.82, Z:-12.42 [[ 9.73195076e-01 2.17937315e-01 7.34484269e-02 1.10375644e+02] [-2.17357254e-01 9.75962645e-01 -1.58977971e-02 -2.68246344e+01] [-7.51476442e-02 -4.92890585e-04 9.97172296e-01 -1.24151731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57964924600002 meters 0.06156437777645967 Centerline is valid? [True, True] Translation: X:110.41, Y:-26.83, Z:-12.42 [[ 9.72827526e-01 2.19414964e-01 7.39167030e-02 1.10407400e+02] [-2.18830387e-01 9.75631447e-01 -1.60168891e-02 -2.68305844e+01] [-7.56298051e-02 -5.93550117e-04 9.97135788e-01 -1.24181531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60964924600002 meters 0.06144161397171372 Centerline is valid? [True, True] Translation: X:110.44, Y:-26.83, Z:-12.42 [[ 9.72339680e-01 2.21123049e-01 7.52339245e-02 1.10439390e+02] [-2.20520712e-01 9.75245653e-01 -1.63257993e-02 -2.68346040e+01] [-7.69815683e-02 -7.16416112e-04 9.97032259e-01 -1.24204777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63964924600002 meters 0.06158197208761504 Centerline is valid? [True, True] Translation: X:110.47, Y:-26.84, Z:-12.42 [[ 9.71987544e-01 2.22371477e-01 7.60995488e-02 1.10470660e+02] [-2.21757451e-01 9.74961680e-01 -1.65334620e-02 -2.68396825e+01] [-7.78707143e-02 -8.05322821e-04 9.96963140e-01 -1.24238426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66964924600002 meters 0.06183294768527173 Centerline is valid? [True, True] Translation: X:110.50, Y:-26.84, Z:-12.43 [[ 9.71408517e-01 2.24848191e-01 7.62153766e-02 1.10502633e+02] [-2.24238370e-01 9.74393308e-01 -1.65781565e-02 -2.68436907e+01] [-7.79913214e-02 -9.86249395e-04 9.96953550e-01 -1.24275366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.699649246 meters 0.06218289664638628 Centerline is valid? [True, True] Translation: X:110.53, Y:-26.85, Z:-12.43 [[ 9.70696137e-01 2.27844212e-01 7.63938821e-02 1.10533876e+02] [-2.27239231e-01 9.73696847e-01 -1.66367732e-02 -2.68477191e+01] [-7.81750746e-02 -1.21043551e-03 9.96938911e-01 -1.24309896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72964924600001 meters 0.06250364514174271 Centerline is valid? [True, True] Translation: X:110.56, Y:-26.85, Z:-12.43 [[ 9.70299174e-01 2.29528525e-01 7.63948252e-02 1.10564881e+02] [-2.28927341e-01 9.73301028e-01 -1.66547798e-02 -2.68531087e+01] [-7.81779089e-02 -1.32874512e-03 9.96938538e-01 -1.24347884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75964924600001 meters 0.0626236997320393 Centerline is valid? [True, True] Translation: X:110.60, Y:-26.86, Z:-12.44 [[ 9.69950659e-01 2.31140162e-01 7.59601468e-02 1.10595671e+02] [-2.30548991e-01 9.72919413e-01 -1.65824529e-02 -2.68593347e+01] [-7.77359723e-02 -1.42837401e-03 9.96972958e-01 -1.24378927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78964924600001 meters 0.0627855181930448 Centerline is valid? [True, True] Translation: X:110.63, Y:-26.87, Z:-12.44 [[ 9.70024539e-01 2.30898509e-01 7.57513849e-02 1.10626006e+02] [-2.30309326e-01 9.72976836e-01 -1.65436322e-02 -2.68676283e+01] [-7.75242428e-02 -1.39852117e-03 9.96989486e-01 -1.24418329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81964924600001 meters 0.06244828923014803 Centerline is valid? [True, True] Translation: X:110.66, Y:-26.88, Z:-12.44 [[ 9.70233648e-01 2.29885255e-01 7.61540340e-02 1.10656302e+02] [-2.29284956e-01 9.73216867e-01 -1.66534614e-02 -2.68764333e+01] [-7.79427756e-02 -1.30322570e-03 9.96956983e-01 -1.24447072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84964924600001 meters 0.06233888805201251 Centerline is valid? [True, True] Translation: X:110.69, Y:-26.88, Z:-12.45 [[ 9.70345135e-01 2.29015839e-01 7.73438055e-02 1.10686687e+02] [-2.28392254e-01 9.73421915e-01 -1.69337907e-02 -2.68848529e+01] [-7.91662615e-02 -1.23310465e-03 9.96860664e-01 -1.24482906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87964924600001 meters 0.06257413447941179 Centerline is valid? [True, True] Translation: X:110.72, Y:-26.89, Z:-12.46 [[ 9.70862629e-01 2.27175733e-01 7.62688808e-02 1.10716197e+02] [-2.26562257e-01 9.73853215e-01 -1.67170341e-02 -2.68947388e+01] [-7.80723992e-02 -1.04970603e-03 9.96947139e-01 -1.24562043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90964924600001 meters 0.06230691257757812 Centerline is valid? [True, True] Translation: X:110.75, Y:-26.91, Z:-12.46 [[ 9.71254463e-01 2.25600610e-01 7.59548137e-02 1.10746298e+02] [-2.24985736e-01 9.74219460e-01 -1.66691830e-02 -2.69050586e+01] [-7.77572355e-02 -8.98731308e-04 9.96971918e-01 -1.24585670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93964924600002 meters 0.0617373145273012 Centerline is valid? [True, True] Translation: X:110.78, Y:-26.92, Z:-12.46 [[ 9.72515237e-01 2.20299400e-01 7.53809495e-02 1.10775476e+02] [-2.19676439e-01 9.75432196e-01 -1.65617898e-02 -2.69226325e+01] [-7.71775574e-02 -4.52825587e-04 9.97017261e-01 -1.24595286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96964924600002 meters 0.06171575260100795 Centerline is valid? [True, True] Translation: X:110.80, Y:-26.93, Z:-12.46 [[ 9.73275175e-01 2.17593274e-01 7.34070857e-02 1.10804291e+02] [-2.16993295e-01 9.76039509e-01 -1.61489126e-02 -2.69325722e+01] [-7.51621106e-02 -2.11509705e-04 9.97171305e-01 -1.24634522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99964924600002 meters 0.06216888930408719 Centerline is valid? [True, True] Translation: X:110.83, Y:-26.94, Z:-12.47 [[ 9.74692355e-01 2.12365420e-01 6.98265066e-02 1.10833576e+02] [-2.11808696e-01 9.77190305e-01 -1.53682767e-02 -2.69428803e+01] [-7.14974758e-02 1.89480482e-04 9.97440763e-01 -1.24718768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02964924600002 meters 0.06248788248205156 Centerline is valid? [True, True] Translation: X:110.86, Y:-26.95, Z:-12.48 [[ 9.75191514e-01 2.10505522e-01 6.84758098e-02 1.10862919e+02] [-2.09964496e-01 9.77592611e-01 -1.50863269e-02 -2.69510441e+01] [-7.01172008e-02 3.34569063e-04 9.97538704e-01 -1.24793337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05964924600002 meters 0.06296114761078299 Centerline is valid? [True, True] Translation: X:110.89, Y:-26.96, Z:-12.49 [[ 9.75709964e-01 2.08579505e-01 6.69675764e-02 1.10893220e+02] [-2.08056547e-01 9.78005298e-01 -1.47685514e-02 -2.69601709e+01] [-6.85750616e-02 4.76780068e-04 9.97645846e-01 -1.24861628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08964924600001 meters 0.06301018707867917 Centerline is valid? [True, True] Translation: X:110.92, Y:-26.97, Z:-12.49 [[ 9.75866491e-01 2.07819550e-01 6.70494325e-02 1.10923960e+02] [-2.07292481e-01 9.78167029e-01 -1.48017101e-02 -2.69695866e+01] [-6.86616289e-02 5.45649699e-04 9.97639856e-01 -1.24892875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11964924600001 meters 0.06273796349106578 Centerline is valid? [True, True] Translation: X:110.95, Y:-26.98, Z:-12.49 [[ 9.76314658e-01 2.04919621e-01 6.94091986e-02 1.10954353e+02] [-2.04346062e-01 9.78778482e-01 -1.53417819e-02 -2.69823545e+01] [-7.10800621e-02 7.94910164e-04 9.97470297e-01 -1.24855308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14964924600001 meters 0.06255653907919416 Centerline is valid? [True, True] Translation: X:110.99, Y:-26.99, Z:-12.49 [[ 9.76518549e-01 2.03748227e-01 6.99870242e-02 1.10985959e+02] [-2.03160875e-01 9.79022902e-01 -1.54859850e-02 -2.69922745e+01] [-7.16741416e-02 9.03726527e-04 9.97427692e-01 -1.24864718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17964924600001 meters 0.06256426568107012 Centerline is valid? [True, True] Translation: X:111.02, Y:-27.00, Z:-12.49 [[ 9.76758174e-01 2.01788852e-01 7.22822818e-02 1.11015523e+02] [-2.01154924e-01 9.79428420e-01 -1.60208048e-02 -2.70040923e+01] [-7.40281409e-02 1.10851514e-03 9.97255537e-01 -1.24878688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20964924600001 meters 0.06269357248428005 Centerline is valid? [True, True] Translation: X:111.05, Y:-27.01, Z:-12.49 [[ 9.77010484e-01 1.99664940e-01 7.47290128e-02 1.11046003e+02] [-1.98980442e-01 9.79863341e-01 -1.65715615e-02 -2.70136268e+01] [-7.65329800e-02 1.32097730e-03 9.97066175e-01 -1.24886273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23964924600001 meters 0.06252405632883641 Centerline is valid? [True, True] Translation: X:111.08, Y:-27.02, Z:-12.49 [[ 9.76965941e-01 1.99480736e-01 7.57956846e-02 1.11077126e+02] [-1.98774435e-01 9.79900785e-01 -1.68278319e-02 -2.70210590e+01] [-7.76290791e-02 1.37397431e-03 9.96981363e-01 -1.24915299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26964924600001 meters 0.06237080494000986 Centerline is valid? [True, True] Translation: X:111.11, Y:-27.03, Z:-12.49 [[ 9.76624710e-01 2.00705582e-01 7.69509331e-02 1.11108638e+02] [-1.99979755e-01 9.79650722e-01 -1.71043863e-02 -2.70274690e+01] [-7.88179830e-02 1.31593759e-03 9.96888155e-01 -1.24939917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29964924600002 meters 0.061871080540186925 Centerline is valid? [True, True] Translation: X:111.14, Y:-27.03, Z:-12.49 [[ 9.76235824e-01 2.02057650e-01 7.83346752e-02 1.11141070e+02] [-2.01308166e-01 9.79372834e-01 -1.74320079e-02 -2.70310247e+01] [-8.02411234e-02 1.24834088e-03 9.96774701e-01 -1.24943952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32964924600002 meters 0.061714556486848746 Centerline is valid? [True, True] Translation: X:111.17, Y:-27.03, Z:-12.50 [[ 9.75563371e-01 2.05063848e-01 7.88982078e-02 1.11172252e+02] [-2.04311647e-01 9.78748057e-01 -1.75781443e-02 -2.70342727e+01] [-8.08261095e-02 1.02877094e-03 9.96727687e-01 -1.24995148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35964924600002 meters 0.06134861912511233 Centerline is valid? [True, True] Translation: X:111.20, Y:-27.04, Z:-12.50 [[ 9.75020438e-01 2.07761230e-01 7.85520009e-02 1.11203970e+02] [-2.07022733e-01 9.78179225e-01 -1.75211683e-02 -2.70374929e+01] [-8.04781548e-02 8.21447280e-04 9.96756034e-01 -1.25024036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38964924600002 meters 0.061155482840423464 Centerline is valid? [True, True] Translation: X:111.24, Y:-27.04, Z:-12.51 [[ 9.74691195e-01 2.08932772e-01 7.95246515e-02 1.11235232e+02] [-2.08178043e-01 9.77929715e-01 -1.77587778e-02 -2.70412728e+01] [-8.14799105e-02 7.54038006e-04 9.96674699e-01 -1.25064899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41964924600002 meters 0.06122445104635209 Centerline is valid? [True, True] Translation: X:111.27, Y:-27.04, Z:-12.51 [[ 9.74069139e-01 2.11860461e-01 7.94006129e-02 1.11266106e+02] [-2.11116118e-01 9.77299783e-01 -1.77515957e-02 -2.70425424e+01] [-8.13590630e-02 5.28532355e-04 9.96684716e-01 -1.25109128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.449649246 meters 0.060827112702895675 Centerline is valid? [True, True] Translation: X:111.30, Y:-27.05, Z:-12.51 [[ 9.73357545e-01 2.14689836e-01 8.05193428e-02 1.11298666e+02] [-2.13932230e-01 9.76682228e-01 -1.80229629e-02 -2.70462920e+01] [-8.25111581e-02 3.17104413e-04 9.96590090e-01 -1.25122867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47964924600001 meters 0.06081404391020418 Centerline is valid? [True, True] Translation: X:111.33, Y:-27.05, Z:-12.52 [[ 9.72980193e-01 2.15981558e-01 8.16180731e-02 1.11330181e+02] [-2.15206893e-01 9.76397418e-01 -1.82777089e-02 -2.70516700e+01] [-8.36393239e-02 2.19076869e-04 9.96496069e-01 -1.25151556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50964924600001 meters 0.060602951138694114 Centerline is valid? [True, True] Translation: X:111.36, Y:-27.06, Z:-12.52 [[ 9.72470557e-01 2.18263444e-01 8.16215902e-02 1.11362291e+02] [-2.17495085e-01 9.75889885e-01 -1.82981136e-02 -2.70566526e+01] [-8.36474936e-02 4.20820806e-05 9.96495406e-01 -1.25189734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53964924600001 meters 0.06068704092804903 Centerline is valid? [True, True] Translation: X:111.39, Y:-27.06, Z:-12.52 [[ 9.72467106e-01 2.18357054e-01 8.14120679e-02 1.11394140e+02] [-2.17591003e-01 9.75868943e-01 -1.82746213e-02 -2.70634023e+01] [-8.34379012e-02 5.69345506e-05 9.96512977e-01 -1.25232019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56964924600001 meters 0.06081635397428982 Centerline is valid? [True, True] Translation: X:111.42, Y:-27.07, Z:-12.53 [[ 9.72642633e-01 2.17919955e-01 8.04810704e-02 1.11423894e+02] [-2.17167846e-01 9.75966639e-01 -1.80899716e-02 -2.70715914e+01] [-8.24890055e-02 1.17176840e-04 9.96591968e-01 -1.25279729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59964924600001 meters 0.06066841504168716 Centerline is valid? [True, True] Translation: X:111.45, Y:-27.08, Z:-12.53 [[ 9.72749849e-01 2.17255395e-01 8.09803949e-02 1.11454490e+02] [-2.16490044e-01 9.76114776e-01 -1.82210003e-02 -2.70806733e+01] [-8.30047707e-02 1.93025961e-04 9.96549131e-01 -1.25307410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62964924600001 meters 0.06045350265742 Centerline is valid? [True, True] Translation: X:111.49, Y:-27.09, Z:-12.53 [[ 9.72882513e-01 2.16166488e-01 8.22901325e-02 1.11485658e+02] [-2.15370521e-01 9.76356468e-01 -1.85360619e-02 -2.70911945e+01] [-8.43513785e-02 3.10541744e-04 9.96436023e-01 -1.25298788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65964924600001 meters 0.06011133584019312 Centerline is valid? [True, True] Translation: X:111.52, Y:-27.10, Z:-12.53 [[ 9.72760868e-01 2.16225289e-01 8.35638543e-02 1.11517073e+02] [-2.15402799e-01 9.76343441e-01 -1.88446274e-02 -2.70993785e+01] [-8.56617061e-02 3.31427993e-04 9.96324225e-01 -1.25315176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68964924600002 meters 0.06011133584019312 Centerline is valid? [True, True] Translation: X:111.55, Y:-27.11, Z:-12.53 [[ 9.72700718e-01 2.16497438e-01 8.35593969e-02 1.11548401e+02] [-2.15674254e-01 9.76283131e-01 -1.88643692e-02 -2.71066182e+01] [-8.56617172e-02 3.27774861e-04 9.96324226e-01 -1.25349396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71964924600002 meters 0.05997259580909419 Centerline is valid? [True, True] Translation: X:111.58, Y:-27.11, Z:-12.54 [[ 9.72399872e-01 2.17564302e-01 8.42867937e-02 1.11580056e+02] [-2.16728468e-01 9.76045955e-01 -1.90542560e-02 -2.71132373e+01] [-8.64133100e-02 2.61008428e-04 9.96259340e-01 -1.25379788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74964924600002 meters 0.060139882728791325 Centerline is valid? [True, True] Translation: X:111.61, Y:-27.12, Z:-12.54 [[ 9.72239347e-01 2.17975395e-01 8.50727866e-02 1.11609960e+02] [-2.17123476e-01 9.75954233e-01 -1.92543729e-02 -2.71193581e+01] [-8.72241258e-02 2.48559753e-04 9.96188682e-01 -1.25437685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77964924600002 meters 0.05993473566445383 Centerline is valid? [True, True] Translation: X:111.64, Y:-27.12, Z:-12.55 [[ 9.71836383e-01 2.19656391e-01 8.53528831e-02 1.11642623e+02] [-2.18803617e-01 9.75577294e-01 -1.93370386e-02 -2.71235480e+01] [-8.75158389e-02 1.16918082e-04 9.96163121e-01 -1.25454198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80964924600002 meters 0.05999264907033527 Centerline is valid? [True, True] Translation: X:111.67, Y:-27.13, Z:-12.55 [[ 9.71616234e-01 2.20459091e-01 8.57885896e-02 1.11672674e+02] [-2.19598379e-01 9.75396219e-01 -1.94619588e-02 -2.71293628e+01] [-8.79684317e-02 7.05199595e-05 9.96123260e-01 -1.25494733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83964924600001 meters 0.05987814557294882 Centerline is valid? [True, True] Translation: X:111.70, Y:-27.14, Z:-12.55 [[ 9.71249769e-01 2.22059733e-01 8.58100362e-02 1.11704643e+02] [-2.21203116e-01 9.75033062e-01 -1.94861379e-02 -2.71363190e+01] [-8.79947089e-02 -5.55404038e-05 9.96120941e-01 -1.25510313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86964924600001 meters 0.059840990201817434 Centerline is valid? [True, True] Translation: X:111.73, Y:-27.14, Z:-12.56 [[ 9.71366194e-01 2.21661881e-01 8.55203415e-02 1.11734680e+02] [-2.20807222e-01 9.75123587e-01 -1.94463339e-02 -2.71438268e+01] [-8.77034132e-02 6.00233030e-06 9.96146631e-01 -1.25565473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89964924600001 meters 0.059919724371551665 Centerline is valid? [True, True] Translation: X:111.77, Y:-27.15, Z:-12.56 [[ 9.70953384e-01 2.23673585e-01 8.49685445e-02 1.11766302e+02] [-2.22835575e-01 9.74664098e-01 -1.93443062e-02 -2.71510484e+01] [-8.71426001e-02 -1.51594897e-04 9.96195836e-01 -1.25591285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92964924600001 meters 0.0600354985172041 Centerline is valid? [True, True] Translation: X:111.80, Y:-27.16, Z:-12.56 [[ 9.70633348e-01 2.25206952e-01 8.45738331e-02 1.11797401e+02] [-2.24380340e-01 9.74310915e-01 -1.92796210e-02 -2.71572539e+01] [-8.67431134e-02 -2.63262360e-04 9.96230678e-01 -1.25635982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95964924600001 meters 0.0600539686510023 Centerline is valid? [True, True] Translation: X:111.83, Y:-27.16, Z:-12.57 [[ 9.70292358e-01 2.26854852e-01 8.40810053e-02 1.11828487e+02] [-2.26042014e-01 9.73928502e-01 -1.91906308e-02 -2.71629965e+01] [-8.62423752e-02 -3.85317326e-04 9.96274111e-01 -1.25665506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98964924600001 meters 0.0603156364657769 Centerline is valid? [True, True] Translation: X:111.86, Y:-27.17, Z:-12.57 [[ 9.70167496e-01 2.27439152e-01 8.39432044e-02 1.11859308e+02] [-2.26629352e-01 9.73792205e-01 -1.91801361e-02 -2.71693198e+01] [-8.61055520e-02 -4.16049459e-04 9.96285933e-01 -1.25723611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01964924600001 meters 0.06020890458305335 Centerline is valid? [True, True] Translation: X:111.89, Y:-27.18, Z:-12.58 [[ 9.70204470e-01 2.27215131e-01 8.41223605e-02 1.11890942e+02] [-2.26399051e-01 9.73844517e-01 -1.92438531e-02 -2.71771294e+01] [-8.62945942e-02 -3.74750283e-04 9.96269593e-01 -1.25768872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04964924600002 meters 0.06003972290594046 Centerline is valid? [True, True] Translation: X:111.92, Y:-27.19, Z:-12.58 [[ 9.70251755e-01 2.26847171e-01 8.45688683e-02 1.11921250e+02] [-2.26018912e-01 9.73930315e-01 -1.93698940e-02 -2.71865943e+01] [-8.67581902e-02 -3.20490028e-04 9.96229348e-01 -1.25775362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07964924600002 meters 0.05997184697642567 Centerline is valid? [True, True] Translation: X:111.95, Y:-27.19, Z:-12.58 [[ 9.70195296e-01 2.26735894e-01 8.55097801e-02 1.11952342e+02] [-2.25886711e-01 9.73956235e-01 -1.96072707e-02 -2.71943554e+01] [-8.77284556e-02 -2.92641202e-04 9.96144383e-01 -1.25804369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10964924600002 meters 0.05995743566327779 Centerline is valid? [True, True] Translation: X:111.98, Y:-27.20, Z:-12.58 [[ 9.70201824e-01 2.26390173e-01 8.63476163e-02 1.11982160e+02] [-2.25520896e-01 9.74036668e-01 -1.98215676e-02 -2.72025406e+01] [-8.85931526e-02 -2.42270836e-04 9.96067866e-01 -1.25831867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13964924600002 meters 0.059825803794035966 Centerline is valid? [True, True] Translation: X:112.01, Y:-27.21, Z:-12.59 [[ 9.70387068e-01 2.25528743e-01 8.65200768e-02 1.12013921e+02] [-2.24650852e-01 9.74236504e-01 -1.98803844e-02 -2.72127469e+01] [-8.87746152e-02 -1.45141012e-04 9.96051729e-01 -1.25851845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16964924600002 meters 0.06005909810100432 Centerline is valid? [True, True] Translation: X:112.05, Y:-27.22, Z:-12.59 [[ 9.70371943e-01 2.26036015e-01 8.53581415e-02 1.12045336e+02] [-2.25181433e-01 9.74118931e-01 -1.96374618e-02 -2.72192677e+01] [-8.75877552e-02 -1.65426641e-04 9.96156794e-01 -1.25897655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19964924600002 meters 0.0599802970189372 Centerline is valid? [True, True] Translation: X:112.08, Y:-27.23, Z:-12.59 [[ 9.70463908e-01 2.25772554e-01 8.50091586e-02 1.12076828e+02] [-2.24922151e-01 9.74180034e-01 -1.95777196e-02 -2.72274951e+01] [-8.72343368e-02 -1.20972550e-04 9.96187812e-01 -1.25944938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22964924600001 meters 0.05998338639491076 Centerline is valid? [True, True] Translation: X:112.11, Y:-27.24, Z:-12.60 [[ 9.70412080e-01 2.26190960e-01 8.44869526e-02 1.12108067e+02] [-2.25350478e-01 9.74082970e-01 -1.94815405e-02 -2.72352565e+01] [-8.67038500e-02 -1.34052941e-04 9.96234121e-01 -1.25984703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25964924600001 meters 0.060141123585987825 Centerline is valid? [True, True] Translation: X:112.14, Y:-27.24, Z:-12.60 [[ 9.70278564e-01 2.27399685e-01 8.27580266e-02 1.12137733e+02] [-2.26595625e-01 9.73801488e-01 -1.91071997e-02 -2.72419298e+01] [-8.49348606e-02 -2.13300428e-04 9.96386483e-01 -1.26038278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28964924600001 meters 0.060134031705684106 Centerline is valid? [True, True] Translation: X:112.17, Y:-27.25, Z:-12.61 [[ 9.70274213e-01 2.27372033e-01 8.28849244e-02 1.12169980e+02] [-2.26563857e-01 9.73807949e-01 -1.91545668e-02 -2.72487371e+01] [-8.50692110e-02 -1.93545960e-04 9.96375026e-01 -1.26064857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31964924600001 meters 0.060161158391900386 Centerline is valid? [True, True] Translation: X:112.20, Y:-27.26, Z:-12.61 [[ 9.70118772e-01 2.27850085e-01 8.33900872e-02 1.12200377e+02] [-2.27031445e-01 9.73696202e-01 -1.92984074e-02 -2.72552332e+01] [-8.55937550e-02 -2.10424736e-04 9.96330098e-01 -1.26110964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34964924600001 meters 0.06012971653644759 Centerline is valid? [True, True] Translation: X:112.23, Y:-27.26, Z:-12.61 [[ 9.69732933e-01 2.28912580e-01 8.49533311e-02 1.12231761e+02] [-2.28066053e-01 9.73446938e-01 -1.96706569e-02 -2.72624704e+01] [-8.72004208e-02 -2.99687123e-04 9.96190743e-01 -1.26110036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37964924600001 meters 0.05995009903620374 Centerline is valid? [True, True] Translation: X:112.26, Y:-27.27, Z:-12.61 [[ 9.69390903e-01 2.29962775e-01 8.60139480e-02 1.12261766e+02] [-2.29097110e-01 9.73199352e-01 -1.99382798e-02 -2.72696232e+01] [-8.82937807e-02 -3.77559851e-04 9.96094406e-01 -1.26129669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40964924600001 meters 0.0597293486683957 Centerline is valid? [True, True] Translation: X:112.29, Y:-27.28, Z:-12.61 [[ 9.68805909e-01 2.31347259e-01 8.88456921e-02 1.12292238e+02] [-2.30427305e-01 9.72871110e-01 -2.06169806e-02 -2.72759282e+01] [-9.12050891e-02 -4.98620831e-04 9.95832005e-01 -1.26132536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43964924600002 meters 0.05956642677612323 Centerline is valid? [True, True] Translation: X:112.32, Y:-27.28, Z:-12.61 [[ 9.68581402e-01 2.31902253e-01 8.98410387e-02 1.12323191e+02] [-2.30962848e-01 9.72738941e-01 -2.08594308e-02 -2.72831716e+01] [-9.22292259e-02 -5.45885426e-04 9.95737652e-01 -1.26148090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46964924600002 meters 0.05959584129677265 Centerline is valid? [True, True] Translation: X:112.36, Y:-27.29, Z:-12.62 [[ 9.68383585e-01 2.32457859e-01 9.05349400e-02 1.12355302e+02] [-2.31504242e-01 9.72606295e-01 -2.10423678e-02 -2.72906759e+01] [-9.29463163e-02 -5.82139070e-04 9.95670951e-01 -1.26175232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49964924600002 meters 0.059783961768048455 Centerline is valid? [True, True] Translation: X:112.39, Y:-27.30, Z:-12.62 [[ 9.68181613e-01 2.33334818e-01 9.04390818e-02 1.12386142e+02] [-2.32384576e-01 9.72396243e-01 -2.10465020e-02 -2.72971364e+01] [-9.28535051e-02 -6.39811431e-04 9.95679576e-01 -1.26227859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52964924600002 meters 0.06011125110289698 Centerline is valid? [True, True] Translation: X:112.42, Y:-27.30, Z:-12.63 [[ 9.67868221e-01 2.34801648e-01 8.99960749e-02 1.12416510e+02] [-2.33864733e-01 9.72043013e-01 -2.09682350e-02 -2.73024374e+01] [-9.24034320e-02 -7.52419765e-04 9.95721366e-01 -1.26278866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55964924600002 meters 0.06021638872064378 Centerline is valid? [True, True] Translation: X:112.45, Y:-27.31, Z:-12.63 [[ 9.67795613e-01 2.35435504e-01 8.91166345e-02 1.12447376e+02] [-2.34517748e-01 9.71889657e-01 -2.07826876e-02 -2.73088182e+01] [-9.15045179e-02 -7.86038557e-04 9.95804351e-01 -1.26320785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58964924600001 meters 0.06050901619583266 Centerline is valid? [True, True] Translation: X:112.48, Y:-27.31, Z:-12.64 [[ 9.67763445e-01 2.36298945e-01 8.71591799e-02 1.12478695e+02] [-2.35422872e-01 9.71680051e-01 -2.03457820e-02 -2.73143173e+01] [-8.94985232e-02 -8.29360316e-04 9.95986610e-01 -1.26393020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61964924600001 meters 0.060579893136143745 Centerline is valid? [True, True] Translation: X:112.51, Y:-27.32, Z:-12.64 [[ 9.67812588e-01 2.36705276e-01 8.54950723e-02 1.12508264e+02] [-2.35862086e-01 9.71581147e-01 -1.99787859e-02 -2.73210826e+01] [-8.77944844e-02 -8.29325675e-04 9.96138264e-01 -1.26447300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64964924600001 meters 0.06057444665622702 Centerline is valid? [True, True] Translation: X:112.54, Y:-27.33, Z:-12.65 [[ 9.68122848e-01 2.35952512e-01 8.40509624e-02 1.12538927e+02] [-2.35134078e-01 9.71764305e-01 -1.96494564e-02 -2.73315825e+01] [-8.63140636e-02 -7.40157839e-04 9.96267702e-01 -1.26480043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67964924600001 meters 0.060277136120484257 Centerline is valid? [True, True] Translation: X:112.57, Y:-27.34, Z:-12.65 [[ 9.68502755e-01 2.34609765e-01 8.34306443e-02 1.12569370e+02] [-2.33796743e-01 9.72089452e-01 -1.95238557e-02 -2.73444353e+01] [-8.56825364e-02 -5.96904853e-04 9.96322311e-01 -1.26489587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70964924600001 meters 0.06021082726937282 Centerline is valid? [True, True] Translation: X:112.60, Y:-27.35, Z:-12.65 [[ 9.68961063e-01 2.32476484e-01 8.40781916e-02 1.12598374e+02] [-2.31640527e-01 9.72601941e-01 -1.97010414e-02 -2.73547141e+01] [-8.63546412e-02 -3.86374608e-04 9.96264386e-01 -1.26516892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73964924600001 meters 0.06022710564310382 Centerline is valid? [True, True] Translation: X:112.63, Y:-27.36, Z:-12.66 [[ 9.69247220e-01 2.31046866e-01 8.47181943e-02 1.12627833e+02] [-2.30190901e-01 9.72942592e-01 -1.98711206e-02 -2.73638765e+01] [-8.70170997e-02 -2.41329062e-04 9.96206789e-01 -1.26562790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76964924600001 meters 0.059895358191701414 Centerline is valid? [True, True] Translation: X:112.66, Y:-27.37, Z:-12.66 [[ 9.69347585e-01 2.29819791e-01 8.68799322e-02 1.12658802e+02] [-2.28912748e-01 9.73233194e-01 -2.03986126e-02 -2.73743271e+01] [-8.92424388e-02 -1.14578176e-04 9.96009927e-01 -1.26564071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79964924600002 meters 0.05980547148395511 Centerline is valid? [True, True] Translation: X:112.69, Y:-27.38, Z:-12.66 [[ 9.69198898e-01 2.30335498e-01 8.71725594e-02 1.12690715e+02] [-2.29422503e-01 9.73111267e-01 -2.04884594e-02 -2.73821200e+01] [-8.95478193e-02 -1.41954535e-04 9.95982514e-01 -1.26580670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82964924600002 meters 0.05972014406751033 Centerline is valid? [True, True] Translation: X:112.72, Y:-27.39, Z:-12.66 [[ 9.69183271e-01 2.30192508e-01 8.77222684e-02 1.12720236e+02] [-2.29265020e-01 9.73145106e-01 -2.06434570e-02 -2.73892260e+01] [-9.01184654e-02 -1.04354516e-04 9.95931047e-01 -1.26623229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85964924600002 meters 0.05977573023846861 Centerline is valid? [True, True] Translation: X:112.75, Y:-27.40, Z:-12.67 [[ 9.69163557e-01 2.30260765e-01 8.77609276e-02 1.12750767e+02] [-2.29330975e-01 9.73128959e-01 -2.06720163e-02 -2.73965320e+01] [-9.01626545e-02 -9.17342172e-05 9.95927049e-01 -1.26660277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88964924600002 meters 0.059779157448802175 Centerline is valid? [True, True] Translation: X:112.78, Y:-27.40, Z:-12.67 [[ 9.69164342e-01 2.30189421e-01 8.79392284e-02 1.12781699e+02] [-2.29253347e-01 9.73145840e-01 -2.07382773e-02 -2.74048157e+01] [-9.03514264e-02 -6.15635459e-05 9.95909944e-01 -1.26700473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91964924600002 meters 0.05997736401301352 Centerline is valid? [True, True] Translation: X:112.81, Y:-27.41, Z:-12.67 [[ 9.69081817e-01 2.30628158e-01 8.76988253e-02 1.12812855e+02] [-2.29697765e-01 9.73041954e-01 -2.06952186e-02 -2.74127792e+01] [-9.01075365e-02 -8.88641100e-05 9.95932038e-01 -1.26742685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94964924600002 meters 0.059950273679016335 Centerline is valid? [True, True] Translation: X:112.84, Y:-27.42, Z:-12.68 [[ 9.69054268e-01 2.30910034e-01 8.72604211e-02 1.12844246e+02] [-2.29987930e-01 9.72975101e-01 -2.06156255e-02 -2.74199859e+01] [-8.96625718e-02 -9.11837615e-05 9.95972196e-01 -1.26786710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97964924600001 meters 0.05988624928886322 Centerline is valid? [True, True] Translation: X:112.88, Y:-27.43, Z:-12.68 [[ 9.69140078e-01 2.30695746e-01 8.68733644e-02 1.12875923e+02] [-2.29778852e-01 9.73025935e-01 -2.05477189e-02 -2.74270789e+01] [-8.92703079e-02 -4.80440217e-05 9.96007435e-01 -1.26840436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00964924600001 meters 0.06007839786399912 Centerline is valid? [True, True] Translation: X:112.90, Y:-27.44, Z:-12.68 [[ 9.70704989e-01 2.23288468e-01 8.87360417e-02 1.12904677e+02] [-2.22298528e-01 9.74752178e-01 -2.10132237e-02 -2.74438699e+01] [-9.11876605e-02 6.71749581e-04 9.95833500e-01 -1.26838746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03964924600001 meters 0.060580831780248284 Centerline is valid? [True, True] Translation: X:112.93, Y:-27.46, Z:-12.69 [[ 9.71711993e-01 2.19052014e-01 8.82724088e-02 1.12934737e+02] [-2.18052915e-01 9.75712579e-01 -2.09258157e-02 -2.74565761e+01] [-9.07123417e-02 1.08581003e-03 9.95876545e-01 -1.26865601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06964924600001 meters 0.061911217390430706 Centerline is valid? [True, True] Translation: X:112.96, Y:-27.47, Z:-12.69 [[ 9.73169086e-01 2.13930107e-01 8.47103210e-02 1.12962929e+02] [-2.12989040e-01 9.76847787e-01 -2.01014780e-02 -2.74680027e+01] [-8.70494009e-02 1.51976706e-03 9.96202837e-01 -1.26937797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09964924600001 meters 0.06327029162110825 Centerline is valid? [True, True] Translation: X:112.99, Y:-27.48, Z:-12.70 [[ 9.74211970e-01 2.09446805e-01 8.39230265e-02 1.12993447e+02] [-2.08505340e-01 9.77818164e-01 -1.99288845e-02 -2.74766000e+01] [-8.62355009e-02 1.91655864e-03 9.96272937e-01 -1.26995662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12964924600001 meters 0.06304545504291674 Centerline is valid? [True, True] Translation: X:113.03, Y:-27.48, Z:-12.70 [[ 9.74543348e-01 2.07993805e-01 8.36889446e-02 1.13025028e+02] [-2.07052090e-01 9.78128013e-01 -1.98751495e-02 -2.74819978e+01] [-8.59924091e-02 2.04122385e-03 9.96293701e-01 -1.27003120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15964924600001 meters 0.06327576782850822 Centerline is valid? [True, True] Translation: X:113.06, Y:-27.49, Z:-12.70 [[ 9.74871484e-01 2.06569609e-01 8.33941686e-02 1.13055959e+02] [-2.05627575e-01 9.78429480e-01 -1.98255520e-02 -2.74879997e+01] [-8.56906695e-02 2.17922463e-03 9.96319407e-01 -1.27026121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18964924600002 meters 0.06335924197376686 Centerline is valid? [True, True] Translation: X:113.09, Y:-27.49, Z:-12.71 [[ 9.74735826e-01 2.07289575e-01 8.31931542e-02 1.13086463e+02] [-2.06352914e-01 9.78277307e-01 -1.97986150e-02 -2.74946032e+01] [-8.54900214e-02 2.13126952e-03 9.96336747e-01 -1.27071401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21964924600002 meters 0.06250450481137368 Centerline is valid? [True, True] Translation: X:113.12, Y:-27.50, Z:-12.71 [[ 9.74300754e-01 2.09245551e-01 8.33926834e-02 1.13118476e+02] [-2.08310690e-01 9.77861137e-01 -1.98558255e-02 -2.74976298e+01] [-8.57012074e-02 1.97395839e-03 9.96318928e-01 -1.27094878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24964924600002 meters 0.062355944533610666 Centerline is valid? [True, True] Translation: X:113.15, Y:-27.50, Z:-12.71 [[ 9.73979050e-01 2.10447234e-01 8.41235534e-02 1.13149915e+02] [-2.09498540e-01 9.77603361e-01 -2.00506830e-02 -2.75031264e+01] [-8.64590794e-02 1.90518356e-03 9.96253581e-01 -1.27118392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27964924600002 meters 0.062307482775673925 Centerline is valid? [True, True] Translation: X:113.18, Y:-27.51, Z:-12.72 [[ 9.73752118e-01 2.11657835e-01 8.37124511e-02 1.13181601e+02] [-2.10721105e-01 9.77342155e-01 -1.99731598e-02 -2.75093548e+01] [-8.60431832e-02 1.80892640e-03 9.96289766e-01 -1.27156542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30964924600002 meters 0.06196278293281999 Centerline is valid? [True, True] Translation: X:113.21, Y:-27.51, Z:-12.72 [[ 9.73288884e-01 2.13153385e-01 8.52899949e-02 1.13212544e+02] [-2.12184772e-01 9.77017217e-01 -2.03710545e-02 -2.75122864e+01] [-8.76719527e-02 1.72968275e-03 9.96147899e-01 -1.27180563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33964924600001 meters 0.06168293730519081 Centerline is valid? [True, True] Translation: X:113.24, Y:-27.52, Z:-12.72 [[ 9.72716670e-01 2.15492894e-01 8.59365566e-02 1.13244207e+02] [-2.14516903e-01 9.76504179e-01 -2.05447333e-02 -2.75163069e+01] [-8.83446507e-02 1.54936056e-03 9.96088762e-01 -1.27199003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36964924600001 meters 0.061365782382876606 Centerline is valid? [True, True] Translation: X:113.27, Y:-27.52, Z:-12.72 [[ 9.72329871e-01 2.17280190e-01 8.58134116e-02 1.13274908e+02] [-2.16312099e-01 9.76108264e-01 -2.05361119e-02 -2.75211685e+01] [-8.82252705e-02 1.40539583e-03 9.96099557e-01 -1.27235850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39964924600001 meters 0.060687429482158904 Centerline is valid? [True, True] Translation: X:113.31, Y:-27.52, Z:-12.72 [[ 9.71617214e-01 2.19864283e-01 8.72908179e-02 1.13307610e+02] [-2.18871155e-01 9.75529719e-01 -2.09089610e-02 -2.75225534e+01] [-8.97519208e-02 1.21006433e-03 9.95963417e-01 -1.27233312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42964924600001 meters 0.06031920162808677 Centerline is valid? [True, True] Translation: X:113.34, Y:-27.53, Z:-12.73 [[ 9.71034056e-01 2.22607806e-01 8.68252704e-02 1.13338337e+02] [-2.21634141e-01 9.74907594e-01 -2.08204604e-02 -2.75268724e+01] [-8.92814124e-02 9.73931871e-04 9.96005964e-01 -1.27265615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45964924600001 meters 0.06009636114130943 Centerline is valid? [True, True] Translation: X:113.37, Y:-27.53, Z:-12.73 [[ 9.70085739e-01 2.26660978e-01 8.69394067e-02 1.13370551e+02] [-2.25700015e-01 9.73973524e-01 -2.08584998e-02 -2.75266900e+01] [-8.94044883e-02 6.12307805e-04 9.95995212e-01 -1.27318484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48964924600001 meters 0.0600436900249215 Centerline is valid? [True, True] Translation: X:113.40, Y:-27.53, Z:-12.74 [[ 9.69601054e-01 2.28762832e-01 8.68410165e-02 1.13402708e+02] [-2.27810567e-01 9.73482087e-01 -2.08559629e-02 -2.75304357e+01] [-8.93092432e-02 4.38662356e-04 9.96003849e-01 -1.27357824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51964924600001 meters 0.0599465133341302 Centerline is valid? [True, True] Translation: X:113.43, Y:-27.53, Z:-12.74 [[ 9.68771147e-01 2.32767547e-01 8.54501798e-02 1.13434455e+02] [-2.31859317e-01 9.72532396e-01 -2.05425345e-02 -2.75308818e+01] [-8.78847035e-02 8.85943312e-05 9.96130650e-01 -1.27411538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54964924600002 meters 0.060022562688586106 Centerline is valid? [True, True] Translation: X:113.47, Y:-27.54, Z:-12.74 [[ 9.68298064e-01 2.34638201e-01 8.56958271e-02 1.13467275e+02] [-2.33730432e-01 9.72082769e-01 -2.06197641e-02 -2.75358541e+01] [-8.81416213e-02 -6.36450530e-05 9.96107951e-01 -1.27439592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57964924600002 meters 0.06005508013719849 Centerline is valid? [True, True] Translation: X:113.50, Y:-27.54, Z:-12.75 [[ 9.67520529e-01 2.37533928e-01 8.64965880e-02 1.13498823e+02] [-2.36618352e-01 9.71379195e-01 -2.08378452e-02 -2.75379997e+01] [-8.89706812e-02 -3.05637112e-04 9.96034198e-01 -1.27490862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60964924600002 meters 0.06005508013719849 Centerline is valid? [True, True] Translation: X:113.53, Y:-27.55, Z:-12.75 [[ 9.67459993e-01 2.37782098e-01 8.64918262e-02 1.13530058e+02] [-2.36865747e-01 9.71318474e-01 -2.08575896e-02 -2.75457223e+01] [-8.89706701e-02 -3.08067545e-04 9.96034199e-01 -1.27525089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63964924600002 meters 0.06008692801225974 Centerline is valid? [True, True] Translation: X:113.56, Y:-27.55, Z:-12.76 [[ 9.66926398e-01 2.40042366e-01 8.62148663e-02 1.13561845e+02] [-2.39138740e-01 9.70762289e-01 -2.08144674e-02 -2.75510501e+01] [-8.86904949e-02 -4.91256421e-04 9.96059112e-01 -1.27554256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66964924600002 meters 0.06045480299385228 Centerline is valid? [True, True] Translation: X:113.59, Y:-27.56, Z:-12.76 [[ 9.66117465e-01 2.43878700e-01 8.44998500e-02 1.13593592e+02] [-2.43023599e-01 9.69805408e-01 -2.04206073e-02 -2.75555348e+01] [-8.69285626e-02 -8.06752289e-04 9.96214221e-01 -1.27593725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69964924600002 meters 0.060636921512403956 Centerline is valid? [True, True] Translation: X:113.62, Y:-27.56, Z:-12.76 [[ 9.65829372e-01 2.45202179e-01 8.39613891e-02 1.13624186e+02] [-2.44361161e-01 9.69471548e-01 -2.03111161e-02 -2.75616570e+01] [-8.63785078e-02 -8.99829947e-04 9.96261985e-01 -1.27636321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72964924600001 meters 0.06107854099371253 Centerline is valid? [True, True] Translation: X:113.66, Y:-27.57, Z:-12.77 [[ 9.65256615e-01 2.47955757e-01 8.24476221e-02 1.13655066e+02] [-2.47153312e-01 9.68770724e-01 -1.99630754e-02 -2.75656948e+01] [-8.48228021e-02 -1.10771235e-03 9.96395436e-01 -1.27688607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75964924600001 meters 0.061102310790185334 Centerline is valid? [True, True] Translation: X:113.69, Y:-27.57, Z:-12.77 [[ 9.64966264e-01 2.49159633e-01 8.22167093e-02 1.13685747e+02] [-2.48364543e-01 9.68461695e-01 -1.99248462e-02 -2.75735499e+01] [-8.45882010e-02 -1.19291103e-03 9.96415282e-01 -1.27709212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78964924600001 meters 0.061805336719160685 Centerline is valid? [True, True] Translation: X:113.72, Y:-27.58, Z:-12.78 [[ 9.64485013e-01 2.51150886e-01 8.18039917e-02 1.13715748e+02] [-2.50369168e-01 9.67947021e-01 -1.98455048e-02 -2.75783929e+01] [-8.41661462e-02 -1.34050543e-03 9.96450833e-01 -1.27761014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81964924600001 meters 0.06170030004947616 Centerline is valid? [True, True] Translation: X:113.75, Y:-27.59, Z:-12.78 [[ 9.64108012e-01 2.52582113e-01 8.18414143e-02 1.13746431e+02] [-2.51803255e-01 9.67574379e-01 -1.98731421e-02 -2.75869267e+01] [-8.42072558e-02 -1.44807893e-03 9.96447209e-01 -1.27766357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84964924600001 meters 0.06208861580553558 Centerline is valid? [True, True] Translation: X:113.78, Y:-27.59, Z:-12.78 [[ 9.63418770e-01 2.55005404e-01 8.24409991e-02 1.13777504e+02] [-2.54222154e-01 9.66938217e-01 -2.00394911e-02 -2.75920919e+01] [-8.48255312e-02 -1.65190657e-03 9.96394450e-01 -1.27790495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87964924600001 meters 0.06234040252619606 Centerline is valid? [True, True] Translation: X:113.81, Y:-27.60, Z:-12.78 [[ 9.62904752e-01 2.56895303e-01 8.25786961e-02 1.13808630e+02] [-2.56114786e-01 9.66437556e-01 -2.00914410e-02 -2.75978704e+01] [-8.49685501e-02 -1.80348100e-03 9.96382002e-01 -1.27820933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90964924600001 meters 0.06332928515184957 Centerline is valid? [True, True] Translation: X:113.84, Y:-27.60, Z:-12.79 [[ 9.62058462e-01 2.59957463e-01 8.28591128e-02 1.13840177e+02] [-2.59181222e-01 9.65617869e-01 -2.01798452e-02 -2.76004600e+01] [-8.52561412e-02 -2.06133520e-03 9.96356935e-01 -1.27881273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93964924600002 meters 0.06356485414757883 Centerline is valid? [True, True] Translation: X:113.87, Y:-27.61, Z:-12.79 [[ 9.61736493e-01 2.61222617e-01 8.26175726e-02 1.13871487e+02] [-2.60453866e-01 9.65276194e-01 -2.01408198e-02 -2.76071497e+01] [-8.50100137e-02 -2.14790478e-03 9.96377782e-01 -1.27921666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96964924600002 meters 0.06373368704575183 Centerline is valid? [True, True] Translation: X:113.90, Y:-27.61, Z:-12.80 [[ 9.61539596e-01 2.61895660e-01 8.27784336e-02 1.13902020e+02] [-2.61124684e-01 9.65093704e-01 -2.02000561e-02 -2.76146665e+01] [-8.51792521e-02 -2.19233858e-03 9.96363231e-01 -1.27962725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99964924600002 meters 0.06387263049658486 Centerline is valid? [True, True] Translation: X:113.93, Y:-27.62, Z:-12.80 [[ 9.61737735e-01 2.61238428e-01 8.25530897e-02 1.13931621e+02] [-2.60467186e-01 9.65272010e-01 -2.01690964e-02 -2.76232886e+01] [-8.49551299e-02 -2.10498987e-03 9.96382555e-01 -1.27995662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02964924600002 meters 0.06292249247079261 Centerline is valid? [True, True] Translation: X:113.96, Y:-27.64, Z:-12.80 [[ 9.61846408e-01 2.60379575e-01 8.39878867e-02 1.13962064e+02] [-2.59576883e-01 9.65504151e-01 -2.05323398e-02 -2.76370562e+01] [-8.64368551e-02 -2.05235660e-03 9.96255217e-01 -1.27990866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05964924600002 meters 0.06218484494316513 Centerline is valid? [True, True] Translation: X:113.99, Y:-27.65, Z:-12.80 [[ 9.61923447e-01 2.59971762e-01 8.43680309e-02 1.13992288e+02] [-2.59159829e-01 9.65614105e-01 -2.06296713e-02 -2.76484457e+01] [-8.68300926e-02 -2.02063984e-03 9.96221086e-01 -1.28008595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08964924600001 meters 0.06298771354524034 Centerline is valid? [True, True] Translation: X:114.02, Y:-27.65, Z:-12.81 [[ 9.61680543e-01 2.61098331e-01 8.36552113e-02 1.14022320e+02] [-2.60302459e-01 9.65309961e-01 -2.04770244e-02 -2.76532975e+01] [-8.60997257e-02 -2.08330122e-03 9.96284346e-01 -1.28069165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11964924600001 meters 0.06329297527282289 Centerline is valid? [True, True] Translation: X:114.05, Y:-27.66, Z:-12.81 [[ 9.61796684e-01 2.60914307e-01 8.28906684e-02 1.14052250e+02] [-2.60130625e-01 9.65359832e-01 -2.03089097e-02 -2.76623475e+01] [-8.53182069e-02 -2.02935939e-03 9.96351688e-01 -1.28130502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14964924600001 meters 0.06309666752814358 Centerline is valid? [True, True] Translation: X:114.08, Y:-27.67, Z:-12.82 [[ 9.62043780e-01 2.59937693e-01 8.30912864e-02 1.14082560e+02] [-2.59144688e-01 9.65623470e-01 -2.03800269e-02 -2.76713021e+01] [-8.55324334e-02 -1.92618737e-03 9.96333525e-01 -1.28167236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17964924600001 meters 0.06177828362930055 Centerline is valid? [True, True] Translation: X:114.11, Y:-27.69, Z:-12.82 [[ 9.62791756e-01 2.57348691e-01 8.24844581e-02 1.14111570e+02] [-2.56556124e-01 9.66317173e-01 -2.02503493e-02 -2.76887277e+01] [-8.49175493e-02 -1.66502344e-03 9.96386590e-01 -1.28168898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20964924600001 meters 0.061635054024708334 Centerline is valid? [True, True] Translation: X:114.14, Y:-27.70, Z:-12.82 [[ 9.63014835e-01 2.56390090e-01 8.28646385e-02 1.14140806e+02] [-2.55584775e-01 9.66572122e-01 -2.03655434e-02 -2.76971739e+01] [-8.53161729e-02 -1.56661961e-03 9.96352697e-01 -1.28206534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23964924600001 meters 0.0612315101263973 Centerline is valid? [True, True] Translation: X:114.17, Y:-27.71, Z:-12.82 [[ 9.62891067e-01 2.56798145e-01 8.30391831e-02 1.14172273e+02] [-2.55989343e-01 9.66463755e-01 -2.04270831e-02 -2.77082514e+01] [-8.54999978e-02 -1.58809005e-03 9.96336905e-01 -1.28222143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26964924600001 meters 0.061072501517324004 Centerline is valid? [True, True] Translation: X:114.20, Y:-27.72, Z:-12.83 [[ 9.63448664e-01 2.54425042e-01 8.38723477e-02 1.14202948e+02] [-2.53588687e-01 9.67091532e-01 -2.06578434e-02 -2.77184625e+01] [-8.63681099e-02 -1.36630690e-03 9.96262356e-01 -1.28250726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29964924600002 meters 0.06034937736639959 Centerline is valid? [True, True] Translation: X:114.23, Y:-27.73, Z:-12.82 [[ 9.64412994e-01 2.49675233e-01 8.70049127e-02 1.14232049e+02] [-2.48753660e-01 9.68329164e-01 -2.14533544e-02 -2.77291777e+01] [-8.96057657e-02 -9.52896757e-04 9.95976857e-01 -1.28238509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32964924600002 meters 0.06002025527586586 Centerline is valid? [True, True] Translation: X:114.26, Y:-27.74, Z:-12.83 [[ 9.65139320e-01 2.46617890e-01 8.76681742e-02 1.14261341e+02] [-2.45667846e-01 9.69112577e-01 -2.16361445e-02 -2.77393762e+01] [-9.02961906e-02 -6.55357760e-04 9.95914740e-01 -1.28262860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35964924600002 meters 0.060119548932618755 Centerline is valid? [True, True] Translation: X:114.29, Y:-27.75, Z:-12.83 [[ 9.66212460e-01 2.43510269e-01 8.44762164e-02 1.14291461e+02] [-2.42614872e-01 9.69898261e-01 -2.08659269e-02 -2.77488919e+01] [-8.70144028e-02 -3.34267877e-04 9.96206998e-01 -1.28333242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38964924600002 meters 0.06038963427054745 Centerline is valid? [True, True] Translation: X:114.32, Y:-27.76, Z:-12.84 [[ 9.66450141e-01 2.43269923e-01 8.24249323e-02 1.14321078e+02] [-2.42414937e-01 9.69958589e-01 -2.03797686e-02 -2.77560295e+01] [-8.49065557e-02 -2.85004479e-04 9.96388878e-01 -1.28407152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41964924600002 meters 0.06056394765538627 Centerline is valid? [True, True] Translation: X:114.35, Y:-27.76, Z:-12.85 [[ 9.66697356e-01 2.42554996e-01 8.16290160e-02 1.14350206e+02] [-2.41712345e-01 9.70137636e-01 -2.02017026e-02 -2.77639533e+01] [-8.40914045e-02 -2.01808428e-04 9.96458025e-01 -1.28482816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44964924600002 meters 0.06064895999146287 Centerline is valid? [True, True] Translation: X:114.38, Y:-27.78, Z:-12.85 [[ 9.67072552e-01 2.41236234e-01 8.10910497e-02 1.14380004e+02] [-2.40398553e-01 9.70466421e-01 -2.00863444e-02 -2.77758517e+01] [-8.35416949e-02 -6.92186249e-05 9.96504280e-01 -1.28516738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47964924600001 meters 0.060522604958133726 Centerline is valid? [True, True] Translation: X:114.41, Y:-27.79, Z:-12.85 [[ 9.67500398e-01 2.39282236e-01 8.17740225e-02 1.14408493e+02] [-2.38421336e-01 9.70950048e-01 -2.02797942e-02 -2.77901102e+01] [-8.42510856e-02 1.24037276e-04 9.96444549e-01 -1.28524027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50964924600001 meters 0.06049220955333033 Centerline is valid? [True, True] Translation: X:114.44, Y:-27.80, Z:-12.86 [[ 9.67613723e-01 2.38938935e-01 8.14362793e-02 1.14439468e+02] [-2.38083231e-01 9.71034582e-01 -2.02043568e-02 -2.78001784e+01] [-8.39050509e-02 1.61400422e-04 9.96473741e-01 -1.28559243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53964924600001 meters 0.06090849295009406 Centerline is valid? [True, True] Translation: X:114.47, Y:-27.81, Z:-12.86 [[ 9.68533820e-01 2.35339068e-01 8.09800127e-02 1.14468383e+02] [-2.34478250e-01 9.71913205e-01 -2.01164735e-02 -2.78131680e+01] [-8.34397358e-02 4.95433244e-04 9.96512702e-01 -1.28601884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56964924600001 meters 0.060793032309497 Centerline is valid? [True, True] Translation: X:114.50, Y:-27.82, Z:-12.86 [[ 9.69009953e-01 2.33171168e-01 8.15531568e-02 1.14500414e+02] [-2.32289825e-01 9.72435460e-01 -2.02660479e-02 -2.78222949e+01] [-8.40306397e-02 6.94033598e-04 9.96462930e-01 -1.28592502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59964924600001 meters 0.060751921618120444 Centerline is valid? [True, True] Translation: X:114.53, Y:-27.83, Z:-12.87 [[ 9.68356495e-01 2.35261312e-01 8.32935441e-02 1.14530060e+02] [-2.34347273e-01 9.71932000e-01 -2.07254244e-02 -2.78296995e+01] [-8.58315514e-02 5.49984380e-04 9.96309511e-01 -1.28651128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62964924600001 meters 0.060821672171209235 Centerline is valid? [True, True] Translation: X:114.56, Y:-27.84, Z:-12.87 [[ 9.68422947e-01 2.34869632e-01 8.36256639e-02 1.14561279e+02] [-2.33945119e-01 9.72026691e-01 -2.08277034e-02 -2.78392925e+01] [-8.61781724e-02 6.06210066e-04 9.96279557e-01 -1.28670374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65964924600001 meters 0.06076049127180709 Centerline is valid? [True, True] Translation: X:114.59, Y:-27.85, Z:-12.87 [[ 9.68468664e-01 2.34300022e-01 8.46873464e-02 1.14591565e+02] [-2.33347479e-01 9.72164093e-01 -2.11170460e-02 -2.78493492e+01] [-8.72777217e-02 6.89618535e-04 9.96183780e-01 -1.28687245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68964924600002 meters 0.06089721527394702 Centerline is valid? [True, True] Translation: X:114.62, Y:-27.86, Z:-12.87 [[ 9.68414270e-01 2.34305302e-01 8.52925951e-02 1.14621202e+02] [-2.33337208e-01 9.72162802e-01 -2.12892678e-02 -2.78574394e+01] [-8.79064766e-02 7.14894712e-04 9.96128476e-01 -1.28729204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71964924600002 meters 0.0609288242778895 Centerline is valid? [True, True] Translation: X:114.65, Y:-27.87, Z:-12.88 [[ 9.68370805e-01 2.34377061e-01 8.55884190e-02 1.14653068e+02] [-2.33400868e-01 9.72145494e-01 -2.13816070e-02 -2.78656554e+01] [-8.82157541e-02 7.28912704e-04 9.96101124e-01 -1.28771007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74964924600002 meters 0.060801428437411646 Centerline is valid? [True, True] Translation: X:114.68, Y:-27.87, Z:-12.88 [[ 9.68442859e-01 2.34227311e-01 8.51821353e-02 1.14684471e+02] [-2.33257773e-01 9.72181561e-01 -2.13031560e-02 -2.78733212e+01] [-8.78022822e-02 7.61494122e-04 9.96137631e-01 -1.28792865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77964924600002 meters 0.06078160507230941 Centerline is valid? [True, True] Translation: X:114.72, Y:-27.88, Z:-12.88 [[ 9.68436412e-01 2.34237655e-01 8.52269722e-02 1.14715704e+02] [-2.33264964e-01 9.72179050e-01 -2.13389770e-02 -2.78822979e+01] [-8.78542688e-02 7.84975660e-04 9.96133029e-01 -1.28825278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80964924600002 meters 0.060821938627784 Centerline is valid? [True, True] Translation: X:114.75, Y:-27.89, Z:-12.89 [[ 9.68313238e-01 2.34878045e-01 8.48632787e-02 1.14746379e+02] [-2.33913945e-01 9.72024560e-01 -2.12725518e-02 -2.78896623e+01] [-8.74856465e-02 7.47789138e-04 9.96165500e-01 -1.28865873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83964924600001 meters 0.06109047400832465 Centerline is valid? [True, True] Translation: X:114.78, Y:-27.90, Z:-12.89 [[ 9.68471635e-01 2.34431015e-01 8.42899216e-02 1.14775167e+02] [-2.33476223e-01 9.72132424e-01 -2.11518998e-02 -2.78990666e+01] [-8.68996272e-02 8.05322486e-04 9.96216747e-01 -1.28924998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86964924600001 meters 0.06085472070706165 Centerline is valid? [True, True] Translation: X:114.81, Y:-27.91, Z:-12.89 [[ 9.68352193e-01 2.34918357e-01 8.43053769e-02 1.14807032e+02] [-2.33963454e-01 9.72014793e-01 -2.11741541e-02 -2.79066998e+01] [-8.69202710e-02 7.79661362e-04 9.96214966e-01 -1.28938737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89964924600001 meters 0.06102113486356028 Centerline is valid? [True, True] Translation: X:114.84, Y:-27.91, Z:-12.90 [[ 9.68320555e-01 2.35220834e-01 8.38239942e-02 1.14838683e+02] [-2.34275932e-01 9.71941647e-01 -2.10765859e-02 -2.79139884e+01] [-8.64296831e-02 7.70946931e-04 9.96257655e-01 -1.28975672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92964924600001 meters 0.060906262498172443 Centerline is valid? [True, True] Translation: X:114.87, Y:-27.92, Z:-12.90 [[ 9.68084071e-01 2.36395975e-01 8.32476743e-02 1.14870062e+02] [-2.35466353e-01 9.71656562e-01 -2.09552461e-02 -2.79213289e+01] [-8.58418848e-02 6.84413673e-04 9.96308538e-01 -1.29009916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95964924600001 meters 0.06081720058434347 Centerline is valid? [True, True] Translation: X:114.90, Y:-27.93, Z:-12.91 [[ 9.67471865e-01 2.39035462e-01 8.28265532e-02 1.14900711e+02] [-2.38122795e-01 9.71010724e-01 -2.08736495e-02 -2.79259231e+01] [-8.54150138e-02 4.71778285e-04 9.96345348e-01 -1.29052360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98964924600001 meters 0.06066974253488865 Centerline is valid? [True, True] Translation: X:114.93, Y:-27.93, Z:-12.91 [[ 9.66999519e-01 2.40779957e-01 8.32883150e-02 1.14932130e+02] [-2.39861898e-01 9.70579671e-01 -2.10088516e-02 -2.79306274e+01] [-8.58964558e-02 3.37856049e-04 9.96304012e-01 -1.29072696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01964924600001 meters 0.06072904954497978 Centerline is valid? [True, True] Translation: X:114.96, Y:-27.93, Z:-12.91 [[ 9.65987400e-01 2.45238779e-01 8.20139250e-02 1.14963203e+02] [-2.44362888e-01 9.69462707e-01 -2.07084319e-02 -2.79300614e+01] [-8.45879523e-02 -3.70752373e-05 9.96416016e-01 -1.29145865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04964924600002 meters 0.06074104587365764 Centerline is valid? [True, True] Translation: X:114.99, Y:-27.93, Z:-12.92 [[ 9.65168327e-01 2.48583737e-01 8.15857019e-02 1.14994845e+02] [-2.47727660e-01 9.68610359e-01 -2.06150325e-02 -2.79340234e+01] [-8.41493178e-02 -3.14058562e-04 9.96453107e-01 -1.29167826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07964924600002 meters 0.06117682334268628 Centerline is valid? [True, True] Translation: X:115.03, Y:-27.93, Z:-12.92 [[ 9.64009318e-01 2.53203768e-01 8.10795147e-02 1.15026487e+02] [-2.52372901e-01 9.67412720e-01 -2.05072515e-02 -2.79348164e+01] [-8.36298672e-02 -6.93090753e-04 9.96496646e-01 -1.29224738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10964924600002 meters 0.061304028667494716 Centerline is valid? [True, True] Translation: X:115.06, Y:-27.94, Z:-12.92 [[ 9.63034246e-01 2.56965026e-01 8.08332624e-02 1.15058641e+02] [-2.56150944e-01 9.66420186e-01 -2.04625809e-02 -2.79389850e+01] [-8.33770642e-02 -9.99350263e-04 9.96517570e-01 -1.29218532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13964924600002 meters 0.06136971751517389 Centerline is valid? [True, True] Translation: X:115.09, Y:-27.95, Z:-12.93 [[ 9.62611091e-01 2.58368201e-01 8.13987739e-02 1.15090303e+02] [-2.57545980e-01 9.66045880e-01 -2.06258587e-02 -2.79452052e+01] [-8.39640162e-02 -1.10924662e-03 9.96468170e-01 -1.29258773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16964924600002 meters 0.06165531498742651 Centerline is valid? [True, True] Translation: X:115.12, Y:-27.95, Z:-12.93 [[ 9.62391009e-01 2.59230772e-01 8.12585563e-02 1.15120616e+02] [-2.58412339e-01 9.65814716e-01 -2.06154629e-02 -2.79504479e+01] [-8.38248719e-02 -1.15807746e-03 9.96479829e-01 -1.29305160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19964924600002 meters 0.06186357135559413 Centerline is valid? [True, True] Translation: X:115.15, Y:-27.96, Z:-12.93 [[ 9.61848429e-01 2.60755340e-01 8.27904097e-02 1.15150370e+02] [-2.59909613e-01 9.65404047e-01 -2.10242721e-02 -2.79569481e+01] [-8.54083877e-02 -1.29586026e-03 9.96345185e-01 -1.29339144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22964924600001 meters 0.06138415440667627 Centerline is valid? [True, True] Translation: X:115.18, Y:-27.97, Z:-12.93 [[ 9.61973518e-01 2.60220125e-01 8.30207083e-02 1.15181110e+02] [-2.59366083e-01 9.65548530e-01 -2.11014343e-02 -2.79683766e+01] [-8.56515407e-02 -1.23373500e-03 9.96324391e-01 -1.29341406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25964924600001 meters 0.061097428067775926 Centerline is valid? [True, True] Translation: X:115.21, Y:-27.98, Z:-12.93 [[ 9.61903244e-01 2.59698749e-01 8.54324877e-02 1.15210924e+02] [-2.58790157e-01 9.65688936e-01 -2.17378327e-02 -2.79798722e+01] [-8.81464961e-02 -1.19939510e-03 9.96106800e-01 -1.29342149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28964924600001 meters 0.06104626279276414 Centerline is valid? [True, True] Translation: X:115.24, Y:-27.99, Z:-12.94 [[ 9.62097155e-01 2.58765980e-01 8.60768987e-02 1.15240661e+02] [-2.57837838e-01 9.65939417e-01 -2.19246932e-02 -2.79902147e+01] [-8.88184340e-02 -1.10019650e-03 9.96047225e-01 -1.29368836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31964924600001 meters 0.06100842670334733 Centerline is valid? [True, True] Translation: X:115.27, Y:-28.00, Z:-12.94 [[ 9.62191493e-01 2.58300400e-01 8.64200968e-02 1.15271477e+02] [-2.57360774e-01 9.66064090e-01 -2.20364732e-02 -2.80008732e+01] [-8.91793820e-02 -1.03783594e-03 9.96015040e-01 -1.29396465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34964924600001 meters 0.06069345260952927 Centerline is valid? [True, True] Translation: X:115.30, Y:-28.01, Z:-12.95 [[ 9.63066336e-01 2.54991657e-01 8.65013743e-02 1.15299851e+02] [-2.54036419e-01 9.66942980e-01 -2.20628809e-02 -2.80129839e+01] [-8.92677472e-02 -7.26481458e-04 9.96007400e-01 -1.29452868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37964924600001 meters 0.06062042871397325 Centerline is valid? [True, True] Translation: X:115.33, Y:-28.03, Z:-12.95 [[ 9.63897448e-01 2.52318615e-01 8.50707137e-02 1.15329938e+02] [-2.51382727e-01 9.67644104e-01 -2.17166509e-02 -2.80252259e+01] [-8.77976898e-02 -4.52683637e-04 9.96138224e-01 -1.29506429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40964924600001 meters 0.06059776719131928 Centerline is valid? [True, True] Translation: X:115.36, Y:-28.04, Z:-12.96 [[ 9.64537665e-01 2.50256740e-01 8.38967096e-02 1.15359337e+02] [-2.49336603e-01 9.68179481e-01 -2.14417834e-02 -2.80358136e+01] [-8.65930236e-02 -2.37112973e-04 9.96243741e-01 -1.29551277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43964924600002 meters 0.06075071241252588 Centerline is valid? [True, True] Translation: X:115.39, Y:-28.04, Z:-12.96 [[ 9.64535712e-01 2.51156071e-01 8.11879839e-02 1.15390071e+02] [-2.50296184e-01 9.67946560e-01 -2.07671964e-02 -2.80443285e+01] [-8.38014372e-02 -2.90340022e-04 9.96482431e-01 -1.29602900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46964924600002 meters 0.060817596268811426 Centerline is valid? [True, True] Translation: X:115.42, Y:-28.05, Z:-12.97 [[ 9.64756065e-01 2.50340075e-01 8.10899618e-02 1.15420147e+02] [-2.49477588e-01 9.68157945e-01 -2.07635690e-02 -2.80530617e+01] [-8.37058443e-02 -1.98348968e-04 9.96490488e-01 -1.29653852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49964924600002 meters 0.060817596268811426 Centerline is valid? [True, True] Translation: X:115.45, Y:-28.06, Z:-12.97 [[ 9.64690845e-01 2.50592232e-01 8.10870341e-02 1.15451262e+02] [-2.49729674e-01 9.68092707e-01 -2.07749962e-02 -2.80612245e+01] [-8.37058190e-02 -2.08389917e-04 9.96490488e-01 -1.29688030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52964924600002 meters 0.06097241786049245 Centerline is valid? [True, True] Translation: X:115.48, Y:-28.07, Z:-12.97 [[ 9.64890148e-01 2.49739270e-01 8.13467841e-02 1.15482682e+02] [-2.48866222e-01 9.68313113e-01 -2.08643145e-02 -2.80715036e+01] [-8.39797964e-02 -1.12695318e-04 9.96467451e-01 -1.29713030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55964924600002 meters 0.06075632489643622 Centerline is valid? [True, True] Translation: X:115.51, Y:-28.09, Z:-12.97 [[ 9.65682717e-01 2.46194781e-01 8.27346296e-02 1.15511356e+02] [-2.45276531e-01 9.69220346e-01 -2.12448490e-02 -2.80852290e+01] [-8.54184573e-02 2.22920562e-04 9.96345140e-01 -1.29698609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58964924600001 meters 0.060823051601913716 Centerline is valid? [True, True] Translation: X:115.54, Y:-28.09, Z:-12.98 [[ 9.65810176e-01 2.45786051e-01 8.24616317e-02 1.15543221e+02] [-2.44870882e-01 9.69324064e-01 -2.11922148e-02 -2.80924195e+01] [-8.51407947e-02 2.75204268e-04 9.96368892e-01 -1.29760565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61964924600001 meters 0.06111224779986438 Centerline is valid? [True, True] Translation: X:115.57, Y:-28.10, Z:-12.98 [[ 9.65945247e-01 2.45329645e-01 8.22383471e-02 1.15573017e+02] [-2.44415833e-01 9.69439659e-01 -2.11577114e-02 -2.81006268e+01] [-8.49157290e-02 3.36836629e-04 9.96388080e-01 -1.29829301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64964924600001 meters 0.061065565038942275 Centerline is valid? [True, True] Translation: X:115.60, Y:-28.11, Z:-12.99 [[ 9.65884727e-01 2.45577217e-01 8.22102437e-02 1.15604936e+02] [-2.44663166e-01 9.69376974e-01 -2.11711310e-02 -2.81089134e+01] [-8.48918647e-02 3.35053581e-04 9.96390114e-01 -1.29872927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67964924600001 meters 0.061057183594775806 Centerline is valid? [True, True] Translation: X:115.64, Y:-28.12, Z:-12.99 [[ 9.65552860e-01 2.46858552e-01 8.22710747e-02 1.15636975e+02] [-2.45945876e-01 9.69051493e-01 -2.12092022e-02 -2.81153339e+01] [-8.49605807e-02 2.44374225e-04 9.96384283e-01 -1.29905723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70964924600001 meters 0.06092516837424196 Centerline is valid? [True, True] Translation: X:115.67, Y:-28.12, Z:-12.99 [[ 9.64858002e-01 2.49535265e-01 8.23479642e-02 1.15668634e+02] [-2.48628680e-01 9.68365711e-01 -2.12515568e-02 -2.81212768e+01] [-8.50459578e-02 3.06689822e-05 9.96377029e-01 -1.29934143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73964924600001 meters 0.060894857951527055 Centerline is valid? [True, True] Translation: X:115.70, Y:-28.13, Z:-13.00 [[ 9.64308187e-01 2.52058959e-01 8.10925494e-02 1.15698305e+02] [-2.51187017e-01 9.67711864e-01 -2.09482663e-02 -2.81290025e+01] [-8.37544204e-02 -1.68810890e-04 9.96486412e-01 -1.29964393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76964924600001 meters 0.06104762886784321 Centerline is valid? [True, True] Translation: X:115.73, Y:-28.14, Z:-13.00 [[ 9.64249130e-01 2.52451786e-01 8.05711509e-02 1.15728551e+02] [-2.51590811e-01 9.67609457e-01 -2.08327105e-02 -2.81372892e+01] [-8.32206625e-02 -1.83038208e-04 9.96531127e-01 -1.30003116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79964924600002 meters 0.061008623672480056 Centerline is valid? [True, True] Translation: X:115.76, Y:-28.15, Z:-13.00 [[ 9.64604587e-01 2.51319172e-01 7.98540192e-02 1.15758774e+02] [-2.50468987e-01 9.67904266e-01 -2.06547485e-02 -2.81475284e+01] [-8.24819801e-02 -7.72901635e-05 9.96592553e-01 -1.30043945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82964924600002 meters 0.06090434434369802 Centerline is valid? [True, True] Translation: X:115.79, Y:-28.16, Z:-13.01 [[ 9.64996520e-01 2.49967635e-01 7.93592930e-02 1.15789414e+02] [-2.49121863e-01 9.68254191e-01 -2.05455346e-02 -2.81579091e+01] [-8.19756867e-02 5.62344801e-05 9.96634328e-01 -1.30072775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85964924600002 meters 0.061213771091771216 Centerline is valid? [True, True] Translation: X:115.82, Y:-28.17, Z:-13.01 [[ 9.65947993e-01 2.46652434e-01 7.81476227e-02 1.15817771e+02] [-2.45819891e-01 9.69103943e-01 -2.02516270e-02 -2.81702729e+01] [-8.07282824e-02 3.51778395e-04 9.96736084e-01 -1.30129485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88964924600002 meters 0.0617074691483915 Centerline is valid? [True, True] Translation: X:115.85, Y:-28.18, Z:-13.02 [[ 9.66168563e-01 2.46071210e-01 7.72480869e-02 1.15846535e+02] [-2.45254478e-01 9.69251664e-01 -2.00362663e-02 -2.81803414e+01] [-7.98031851e-02 4.12971386e-04 9.96810554e-01 -1.30223737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91964924600002 meters 0.06123546149919693 Centerline is valid? [True, True] Translation: X:115.88, Y:-28.19, Z:-13.02 [[ 9.66114276e-01 2.46153439e-01 7.76639520e-02 1.15877874e+02] [-2.45326749e-01 9.69230779e-01 -2.01614147e-02 -2.81887900e+01] [-8.02370943e-02 4.25185745e-04 9.96775716e-01 -1.30179827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94964924600002 meters 0.06126854242596179 Centerline is valid? [True, True] Translation: X:115.91, Y:-28.20, Z:-13.02 [[ 9.65992091e-01 2.46384417e-01 7.84474299e-02 1.15908117e+02] [-2.45540021e-01 9.69172087e-01 -2.03853945e-02 -2.81981536e+01] [-8.10517029e-02 4.30146336e-04 9.96709806e-01 -1.30204436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97964924600001 meters 0.06126678237330406 Centerline is valid? [True, True] Translation: X:115.94, Y:-28.21, Z:-13.02 [[ 9.66276389e-01 2.44775940e-01 7.99667423e-02 1.15938507e+02] [-2.43891205e-01 9.69579488e-01 -2.08013748e-02 -2.82089388e+01] [-8.26257891e-02 5.96692183e-04 9.96580465e-01 -1.30221291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00964924600001 meters 0.06162203199419958 Centerline is valid? [True, True] Translation: X:115.97, Y:-28.22, Z:-13.03 [[ 9.66774845e-01 2.42891008e-01 7.96891300e-02 1.15967905e+02] [-2.42004307e-01 9.70053275e-01 -2.07499027e-02 -2.82189764e+01] [-8.23426664e-02 7.75371256e-04 9.96603775e-01 -1.30269862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03964924600001 meters 0.06171230246949378 Centerline is valid? [True, True] Translation: X:116.00, Y:-28.23, Z:-13.03 [[ 9.67098566e-01 2.41575052e-01 7.97612533e-02 1.15998311e+02] [-2.40680738e-01 9.70381715e-01 -2.07872468e-02 -2.82288300e+01] [-8.24205420e-02 9.06319270e-04 9.96597227e-01 -1.30307719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06964924600001 meters 0.06176218945524989 Centerline is valid? [True, True] Translation: X:116.03, Y:-28.24, Z:-13.03 [[ 9.67409786e-01 2.40381648e-01 7.95925218e-02 1.16028677e+02] [-2.39485459e-01 9.70677914e-01 -2.07630046e-02 -2.82384599e+01] [-8.22497483e-02 1.02508227e-03 9.96611222e-01 -1.30331690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09964924600001 meters 0.06174932214822672 Centerline is valid? [True, True] Translation: X:116.06, Y:-28.25, Z:-13.04 [[ 9.67469719e-01 2.40209019e-01 7.93849534e-02 1.16059593e+02] [-2.39315288e-01 9.70720614e-01 -2.07287614e-02 -2.82478775e+01] [-8.20398462e-02 1.05641592e-03 9.96628490e-01 -1.30368119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12964924600001 meters 0.061914299062806794 Centerline is valid? [True, True] Translation: X:116.09, Y:-28.26, Z:-13.04 [[ 9.67435598e-01 2.40446227e-01 7.90820818e-02 1.16089449e+02] [-2.39558153e-01 9.70661886e-01 -2.06735060e-02 -2.82589952e+01] [-8.17328292e-02 1.05552818e-03 9.96653716e-01 -1.30414635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15964924600001 meters 0.0621010017482634 Centerline is valid? [True, True] Translation: X:116.12, Y:-28.27, Z:-13.04 [[ 9.67328576e-01 2.40752143e-01 7.94596242e-02 1.16118971e+02] [-2.39854677e-01 9.70586054e-01 -2.07953370e-02 -2.82672393e+01] [-8.21289251e-02 1.05716128e-03 9.96621153e-01 -1.30437332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18964924600002 meters 0.06198954677386745 Centerline is valid? [True, True] Translation: X:116.15, Y:-28.27, Z:-13.05 [[ 9.67264412e-01 2.41356969e-01 7.83987927e-02 1.16150495e+02] [-2.40483921e-01 9.70435879e-01 -2.05350585e-02 -2.82741306e+01] [-8.10372807e-02 1.00918215e-03 9.96710560e-01 -1.30469137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21964924600002 meters 0.062009386995376836 Centerline is valid? [True, True] Translation: X:116.18, Y:-28.28, Z:-13.05 [[ 9.67023856e-01 2.42133788e-01 7.89689202e-02 1.16181732e+02] [-2.41248898e-01 9.70242385e-01 -2.07046581e-02 -2.82806432e+01] [-8.16322908e-02 9.70733363e-04 9.96662042e-01 -1.30510222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24964924600002 meters 0.06195863665415894 Centerline is valid? [True, True] Translation: X:116.21, Y:-28.29, Z:-13.06 [[ 9.66834760e-01 2.42811453e-01 7.92031951e-02 1.16211556e+02] [-2.41921884e-01 9.70073050e-01 -2.07865327e-02 -2.82862489e+01] [-8.18800932e-02 9.36156190e-04 9.96641748e-01 -1.30558260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27964924600002 meters 0.061829319764992625 Centerline is valid? [True, True] Translation: X:116.24, Y:-28.29, Z:-13.06 [[ 9.66515859e-01 2.43947624e-01 7.96030855e-02 1.16242885e+02] [-2.43051375e-01 9.69788025e-01 -2.09096872e-02 -2.82936068e+01] [-8.22989876e-02 8.61904880e-04 9.96607312e-01 -1.30595596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30964924600002 meters 0.06167852140320163 Centerline is valid? [True, True] Translation: X:116.27, Y:-28.30, Z:-13.06 [[ 9.66045139e-01 2.45558979e-01 8.03590475e-02 1.16273761e+02] [-2.44649473e-01 9.69381361e-01 -2.11284577e-02 -2.83005470e+01] [-8.30868453e-02 7.51245203e-04 9.96542027e-01 -1.30606907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33964924600001 meters 0.06165838595992667 Centerline is valid? [True, True] Translation: X:116.30, Y:-28.31, Z:-13.06 [[ 9.65753189e-01 2.46524326e-01 8.09106621e-02 1.16304960e+02] [-2.45603960e-01 9.69136356e-01 -2.12936129e-02 -2.83075717e+01] [-8.36628578e-02 6.92395551e-04 9.96493877e-01 -1.30635520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36964924600001 meters 0.06195353485255634 Centerline is valid? [True, True] Translation: X:116.34, Y:-28.31, Z:-13.07 [[ 9.65470897e-01 2.47669694e-01 8.07816143e-02 1.16336039e+02] [-2.46754636e-01 9.68844337e-01 -2.12791069e-02 -2.83129066e+01] [-8.35349995e-02 6.11120567e-04 9.96504656e-01 -1.30682027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39964924600001 meters 0.06189433632712345 Centerline is valid? [True, True] Translation: X:116.37, Y:-28.32, Z:-13.07 [[ 9.66269911e-01 2.44238340e-01 8.16706270e-02 1.16366505e+02] [-2.43288903e-01 9.69714778e-01 -2.15350577e-02 -2.83243595e+01] [-8.44569007e-02 9.39121077e-04 9.96426691e-01 -1.30680307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42964924600001 meters 0.0622409218254476 Centerline is valid? [True, True] Translation: X:116.40, Y:-28.33, Z:-13.07 [[ 9.66532496e-01 2.43454420e-01 8.09004292e-02 1.16396039e+02] [-2.42518368e-01 9.69911805e-01 -2.13525720e-02 -2.83312788e+01] [-8.36646593e-02 1.01811464e-03 9.96493446e-01 -1.30725611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45964924600001 meters 0.06237219348132749 Centerline is valid? [True, True] Translation: X:116.43, Y:-28.34, Z:-13.08 [[ 9.66699511e-01 2.42928945e-01 8.04834346e-02 1.16426465e+02] [-2.41999193e-01 9.70043489e-01 -2.12607725e-02 -2.83392142e+01] [-8.32372887e-02 1.07585212e-03 9.96529175e-01 -1.30771966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48964924600001 meters 0.06234246747931304 Centerline is valid? [True, True] Translation: X:116.46, Y:-28.35, Z:-13.08 [[ 9.66528974e-01 2.44182927e-01 7.87174682e-02 1.16457160e+02] [-2.43296173e-01 9.69728708e-01 -2.08136045e-02 -2.83450277e+01] [-8.14169156e-02 9.65293072e-04 9.96679665e-01 -1.30824978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51964924600001 meters 0.062350983398526245 Centerline is valid? [True, True] Translation: X:116.49, Y:-28.35, Z:-13.09 [[ 9.66510271e-01 2.44351454e-01 7.84236060e-02 1.16487611e+02] [-2.43470476e-01 9.69686257e-01 -2.07530788e-02 -2.83540656e+01] [-8.11173380e-02 9.64231143e-04 9.96704092e-01 -1.30864285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54964924600002 meters 0.062245602069542535 Centerline is valid? [True, True] Translation: X:116.52, Y:-28.36, Z:-13.09 [[ 9.66334166e-01 2.44888386e-01 7.89174131e-02 1.16518511e+02] [-2.43996317e-01 9.69550816e-01 -2.09048623e-02 -2.83626260e+01] [-8.16338002e-02 9.45524560e-04 9.96661943e-01 -1.30879963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57964924600002 meters 0.06275496015434266 Centerline is valid? [True, True] Translation: X:116.55, Y:-28.37, Z:-13.09 [[ 9.66490632e-01 2.44328398e-01 7.87368594e-02 1.16547965e+02] [-2.43436883e-01 9.69692020e-01 -2.08775232e-02 -2.83727591e+01] [-8.14514760e-02 1.01047497e-03 9.96676796e-01 -1.30937315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60964924600002 meters 0.06265227028329584 Centerline is valid? [True, True] Translation: X:116.58, Y:-28.38, Z:-13.10 [[ 9.66350120e-01 2.44373032e-01 8.03073289e-02 1.16577863e+02] [-2.43444045e-01 9.69680734e-01 -2.13136114e-02 -2.83816693e+01] [-8.30809415e-02 1.04606988e-03 9.96542253e-01 -1.30965228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63964924600002 meters 0.06256993077626155 Centerline is valid? [True, True] Translation: X:116.61, Y:-28.39, Z:-13.10 [[ 9.66280552e-01 2.44531083e-01 8.06625348e-02 1.16609783e+02] [-2.43592960e-01 9.69640882e-01 -2.14250037e-02 -2.83901035e+01] [-8.34527707e-02 1.05373888e-03 9.96511176e-01 -1.31008163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66964924600002 meters 0.06220327452650671 Centerline is valid? [True, True] Translation: X:116.64, Y:-28.39, Z:-13.10 [[ 9.65886949e-01 2.46281997e-01 8.00473661e-02 1.16642927e+02] [-2.45362373e-01 9.69197781e-01 -2.12830349e-02 -2.83944445e+01] [-8.28233579e-02 9.16393993e-04 9.96563822e-01 -1.31037378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69964924600002 meters 0.06214100596290723 Centerline is valid? [True, True] Translation: X:116.67, Y:-28.40, Z:-13.11 [[ 9.65564409e-01 2.47528676e-01 8.00932326e-02 1.16674451e+02] [-2.46610297e-01 9.68880209e-01 -2.13190287e-02 -2.84012507e+01] [-8.28778190e-02 8.33079416e-04 9.96559368e-01 -1.31068316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72964924600001 meters 0.061913988077681704 Centerline is valid? [True, True] Translation: X:116.71, Y:-28.41, Z:-13.11 [[ 9.64511008e-01 2.51353074e-01 8.08711798e-02 1.16705576e+02] [-2.50428383e-01 9.67895320e-01 -2.15470101e-02 -2.84056599e+01] [-8.36907438e-02 5.29889668e-04 9.96491635e-01 -1.31094046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75964924600001 meters 0.06182586078116902 Centerline is valid? [True, True] Translation: X:116.74, Y:-28.41, Z:-13.11 [[ 9.64169591e-01 2.52609846e-01 8.10263277e-02 1.16736589e+02] [-2.51684470e-01 9.67568123e-01 -2.16068263e-02 -2.84135118e+01] [-8.38565888e-02 4.39576565e-04 9.96477736e-01 -1.31123202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78964924600001 meters 0.061565600599938534 Centerline is valid? [True, True] Translation: X:116.77, Y:-28.42, Z:-13.12 [[ 9.63742144e-01 2.53892891e-01 8.20943328e-02 1.16766766e+02] [-2.52945776e-01 9.67232276e-01 -2.19125275e-02 -2.84199815e+01] [-8.49677233e-02 3.52611565e-04 9.96383642e-01 -1.31153252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81964924600001 meters 0.061533412515092055 Centerline is valid? [True, True] Translation: X:116.80, Y:-28.43, Z:-13.12 [[ 9.63692424e-01 2.53718064e-01 8.32109156e-02 1.16796894e+02] [-2.52742512e-01 9.67278135e-01 -2.22313541e-02 -2.84268477e+01] [-8.61285953e-02 3.93251666e-04 9.96283951e-01 -1.31198032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84964924600001 meters 0.06144781242591857 Centerline is valid? [True, True] Translation: X:116.83, Y:-28.43, Z:-13.13 [[ 9.63731038e-01 2.54092149e-01 8.16067728e-02 1.16828484e+02] [-2.53154502e-01 9.67179947e-01 -2.18116722e-02 -2.84311427e+01] [-8.44706088e-02 3.61463555e-04 9.96425906e-01 -1.31273257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87964924600001 meters 0.061638281477037066 Centerline is valid? [True, True] Translation: X:116.86, Y:-28.43, Z:-13.13 [[ 9.63172906e-01 2.56657481e-01 8.01554116e-02 1.16859531e+02] [-2.55760183e-01 9.66502413e-01 -2.14432921e-02 -2.84349809e+01] [-8.29739801e-02 1.53035290e-04 9.96551702e-01 -1.31336041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90964924600001 meters 0.06160950201065964 Centerline is valid? [True, True] Translation: X:116.89, Y:-28.44, Z:-13.13 [[ 9.62715424e-01 2.58556370e-01 7.95463161e-02 1.16891003e+02] [-2.57677737e-01 9.65996172e-01 -2.12974204e-02 -2.84417745e+01] [-8.23480205e-02 6.04032897e-06 9.96603634e-01 -1.31345388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93964924600002 meters 0.061685697674348214 Centerline is valid? [True, True] Translation: X:116.92, Y:-28.45, Z:-13.14 [[ 9.62167637e-01 2.60951290e-01 7.83445141e-02 1.16920600e+02] [-2.60105330e-01 9.65351953e-01 -2.09958159e-02 -2.84482659e+01] [-8.11089149e-02 -1.76331116e-04 9.96705229e-01 -1.31393491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96964924600002 meters 0.06141819635437478 Centerline is valid? [True, True] Translation: X:116.95, Y:-28.46, Z:-13.14 [[ 9.61541648e-01 2.62901280e-01 7.95020489e-02 1.16951600e+02] [-2.62035190e-01 9.64822683e-01 -2.13248549e-02 -2.84560385e+01] [-8.23117118e-02 -3.27598329e-04 9.96606580e-01 -1.31383766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99964924600002 meters 0.0613240834359362 Centerline is valid? [True, True] Translation: X:116.98, Y:-28.46, Z:-13.14 [[ 9.61307831e-01 2.63128892e-01 8.15502282e-02 1.16983100e+02] [-2.62216237e-01 9.64760631e-01 -2.18990624e-02 -2.84640378e+01] [-8.44387257e-02 -3.32053828e-04 9.96428618e-01 -1.31414580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02964924600002 meters 0.06116339288062709 Centerline is valid? [True, True] Translation: X:117.01, Y:-28.47, Z:-13.15 [[ 9.61385745e-01 2.62285965e-01 8.33277943e-02 1.17012904e+02] [-2.61329266e-01 9.64990159e-01 -2.23832224e-02 -2.84706834e+01] [-8.62813066e-02 -2.57080345e-04 9.96270781e-01 -1.31484941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05964924600002 meters 0.06106868748213447 Centerline is valid? [True, True] Translation: X:117.04, Y:-28.48, Z:-13.15 [[ 9.61164271e-01 2.62871262e-01 8.40353738e-02 1.17044097e+02] [-2.61899491e-01 9.64830871e-01 -2.25842425e-02 -2.84787510e+01] [-8.70166712e-02 -3.01654636e-04 9.96206810e-01 -1.31513490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08964924600001 meters 0.060925270236909065 Centerline is valid? [True, True] Translation: X:117.08, Y:-28.49, Z:-13.15 [[ 9.61644005e-01 2.60467678e-01 8.60081170e-02 1.17075214e+02] [-2.59438275e-01 9.65482565e-01 -2.31343282e-02 -2.84899697e+01] [-8.90650822e-02 -6.68094978e-05 9.96025806e-01 -1.31479995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11964924600001 meters 0.06088036660824185 Centerline is valid? [True, True] Translation: X:117.10, Y:-28.50, Z:-13.15 [[ 9.62806955e-01 2.55515614e-01 8.78324480e-02 1.17104251e+02] [-2.54419253e-01 9.66804837e-01 -2.36484936e-02 -2.85039566e+01] [-9.09593949e-02 4.22668249e-04 9.95854512e-01 -1.31481031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14964924600001 meters 0.0612384195339087 Centerline is valid? [True, True] Translation: X:117.13, Y:-28.51, Z:-13.15 [[ 9.63802134e-01 2.52453492e-01 8.57477736e-02 1.17133550e+02] [-2.51394599e-01 9.67608765e-01 -2.31091850e-02 -2.85140063e+01] [-8.88042918e-02 7.16154729e-04 9.96048837e-01 -1.31530226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17964924600001 meters 0.06148067490956104 Centerline is valid? [True, True] Translation: X:117.16, Y:-28.52, Z:-13.16 [[ 9.63918944e-01 2.52585144e-01 8.40298469e-02 1.17164396e+02] [-2.51567228e-01 9.67574413e-01 -2.26646261e-02 -2.85200793e+01] [-8.70298776e-02 7.07706729e-04 9.96205450e-01 -1.31603494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20964924600001 meters 0.061497627312686376 Centerline is valid? [True, True] Translation: X:117.20, Y:-28.52, Z:-13.17 [[ 9.63280478e-01 2.55464690e-01 8.26348171e-02 1.17195131e+02] [-2.54489220e-01 9.66818277e-01 -2.23081937e-02 -2.85231309e+01] [-8.55918073e-02 4.59377281e-04 9.96330182e-01 -1.31703550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23964924600001 meters 0.06141479206022618 Centerline is valid? [True, True] Translation: X:117.23, Y:-28.53, Z:-13.17 [[ 9.62859251e-01 2.57121424e-01 8.24053193e-02 1.17226968e+02] [-2.56155789e-01 9.66379048e-01 -2.22653774e-02 -2.85300232e+01] [-8.53596795e-02 3.29824979e-04 9.96350147e-01 -1.31740479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26964924600001 meters 0.06129715104460457 Centerline is valid? [True, True] Translation: X:117.26, Y:-28.54, Z:-13.18 [[ 9.62472447e-01 2.58182125e-01 8.35989161e-02 1.17255778e+02] [-2.57190044e-01 9.66096227e-01 -2.26132894e-02 -2.85397183e+01] [-8.66029446e-02 2.63859098e-04 9.96242872e-01 -1.31785406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29964924600002 meters 0.06114801327088913 Centerline is valid? [True, True] Translation: X:117.28, Y:-28.56, Z:-13.18 [[ 9.62906907e-01 2.56695158e-01 8.31738194e-02 1.17284582e+02] [-2.55705964e-01 9.66492330e-01 -2.25174542e-02 -2.85559873e+01] [-8.61669800e-02 4.14170516e-04 9.96280623e-01 -1.31755075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32964924600002 meters 0.061058809165559065 Centerline is valid? [True, True] Translation: X:117.31, Y:-28.57, Z:-13.18 [[ 9.62862102e-01 2.56770115e-01 8.34606557e-02 1.17313415e+02] [-2.55772550e-01 9.66472412e-01 -2.26158957e-02 -2.85674860e+01] [-8.64695074e-02 4.29044115e-04 9.96254405e-01 -1.31792433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35964924600002 meters 0.06095434866987851 Centerline is valid? [True, True] Translation: X:117.34, Y:-28.58, Z:-13.18 [[ 9.63185297e-01 2.55194897e-01 8.45555895e-02 1.17342264e+02] [-2.54163949e-01 9.66889455e-01 -2.29230955e-02 -2.85788662e+01] [-8.76057649e-02 5.88205996e-04 9.96155050e-01 -1.31817701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38964924600002 meters 0.06086186260127411 Centerline is valid? [True, True] Translation: X:117.37, Y:-28.59, Z:-13.18 [[ 9.63703617e-01 2.53121265e-01 8.48820562e-02 1.17373225e+02] [-2.52072725e-01 9.67434230e-01 -2.30293562e-02 -2.85888167e+01] [-8.79470264e-02 7.97022625e-04 9.96124834e-01 -1.31827959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41964924600002 meters 0.06086186260127411 Centerline is valid? [True, True] Translation: X:117.40, Y:-28.60, Z:-13.19 [[ 9.63635695e-01 2.53381485e-01 8.48767896e-02 1.17404215e+02] [-2.52332245e-01 9.67366111e-01 -2.30487486e-02 -2.85974082e+01] [-8.79470561e-02 7.93446016e-04 9.96124834e-01 -1.31862179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44964924600002 meters 0.06103146614802654 Centerline is valid? [True, True] Translation: X:117.44, Y:-28.61, Z:-13.19 [[ 9.63707108e-01 2.52899063e-01 8.55024788e-02 1.17435129e+02] [-2.51830147e-01 9.67492279e-01 -2.32436376e-02 -2.86076780e+01] [-8.86012822e-02 8.67957051e-04 9.96066795e-01 -1.31899745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47964924600001 meters 0.061203364202452044 Centerline is valid? [True, True] Translation: X:117.46, Y:-28.62, Z:-13.20 [[ 9.63982234e-01 2.52480931e-01 8.36159778e-02 1.17464985e+02] [-2.51455064e-01 9.67601443e-01 -2.27552015e-02 -2.86156757e+01] [-8.66521952e-02 9.09948996e-04 9.96238209e-01 -1.31964695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50964924600001 meters 0.06123320256162776 Centerline is valid? [True, True] Translation: X:117.49, Y:-28.62, Z:-13.20 [[ 9.63572211e-01 2.54575664e-01 8.19745379e-02 1.17494842e+02] [-2.53595737e-01 9.67052587e-01 -2.23270446e-02 -2.86210123e+01] [-8.49576111e-02 7.25326398e-04 9.96384302e-01 -1.32017118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53964924600001 meters 0.06116154968189364 Centerline is valid? [True, True] Translation: X:117.53, Y:-28.63, Z:-13.21 [[ 9.63064320e-01 2.56654454e-01 8.14592338e-02 1.17526244e+02] [-2.55692738e-01 9.66503069e-01 -2.22045355e-02 -2.86270826e+01] [-8.44294924e-02 5.55861343e-04 9.96429301e-01 -1.32070153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56964924600001 meters 0.061054337552935115 Centerline is valid? [True, True] Translation: X:117.56, Y:-28.63, Z:-13.21 [[ 9.62411315e-01 2.58985134e-01 8.17995191e-02 1.17557370e+02] [-2.58021878e-01 9.65881235e-01 -2.23192787e-02 -2.86325502e+01] [-8.47889819e-02 3.74260832e-04 9.96398860e-01 -1.32089445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59964924600001 meters 0.06092775037784586 Centerline is valid? [True, True] Translation: X:117.59, Y:-28.64, Z:-13.21 [[ 9.62011250e-01 2.60313631e-01 8.22871077e-02 1.17588335e+02] [-2.59341968e-01 9.65524073e-01 -2.24723704e-02 -2.86385486e+01] [-8.53000477e-02 2.78172670e-04 9.96355270e-01 -1.32121111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62964924600001 meters 0.06090365989121537 Centerline is valid? [True, True] Translation: X:117.62, Y:-28.64, Z:-13.22 [[ 9.61532780e-01 2.61773708e-01 8.32420501e-02 1.17618314e+02] [-2.60782983e-01 9.65129264e-01 -2.27538764e-02 -2.86440314e+01] [-8.62957052e-02 1.70487894e-04 9.96269553e-01 -1.32165873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65964924600001 meters 0.06064725845125648 Centerline is valid? [True, True] Translation: X:117.65, Y:-28.65, Z:-13.22 [[ 9.60442575e-01 2.65304503e-01 8.46379414e-02 1.17651174e+02] [-2.64292219e-01 9.64164666e-01 -2.31542489e-02 -2.86462010e+01] [-8.77478391e-02 -1.30822889e-04 9.96142710e-01 -1.32186130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68964924600002 meters 0.06070655404194201 Centerline is valid? [True, True] Translation: X:117.68, Y:-28.65, Z:-13.22 [[ 9.60016774e-01 2.66749834e-01 8.49253811e-02 1.17681785e+02] [-2.65734439e-01 9.63765774e-01 -2.32538442e-02 -2.86521976e+01] [-8.80511347e-02 -2.43518023e-04 9.96115926e-01 -1.32228839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71964924600002 meters 0.060946927438545656 Centerline is valid? [True, True] Translation: X:117.71, Y:-28.65, Z:-13.23 [[ 9.58731431e-01 2.71174077e-01 8.54322182e-02 1.17712576e+02] [-2.70161901e-01 9.62530115e-01 -2.34163405e-02 -2.86548357e+01] [-8.85809873e-02 -6.30548851e-04 9.96068778e-01 -1.32263830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74964924600002 meters 0.06149322051075764 Centerline is valid? [True, True] Translation: X:117.74, Y:-28.66, Z:-13.23 [[ 9.57665618e-01 2.75298231e-01 8.41869808e-02 1.17744504e+02] [-2.74329712e-01 9.61358374e-01 -2.30929707e-02 -2.86589847e+01] [-8.72913130e-02 -9.79646082e-04 9.96182346e-01 -1.32320785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77964924600002 meters 0.06186082852834385 Centerline is valid? [True, True] Translation: X:117.78, Y:-28.67, Z:-13.24 [[ 9.57143008e-01 2.77267460e-01 8.36661071e-02 1.17775253e+02] [-2.76316725e-01 9.60792106e-01 -2.29694569e-02 -2.86653752e+01] [-8.67544182e-02 -1.13328969e-03 9.96229083e-01 -1.32368160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80964924600002 meters 0.06226882781925362 Centerline is valid? [True, True] Translation: X:117.81, Y:-28.67, Z:-13.24 [[ 9.56179881e-01 2.80774846e-01 8.29790384e-02 1.17805970e+02] [-2.79851193e-01 9.59772612e-01 -2.28000591e-02 -2.86719232e+01] [-8.60426915e-02 -1.42082514e-03 9.96290438e-01 -1.32392983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83964924600001 meters 0.06269809590571492 Centerline is valid? [True, True] Translation: X:117.84, Y:-28.68, Z:-13.24 [[ 9.55977887e-01 2.81577476e-01 8.25857462e-02 1.17836088e+02] [-2.80663959e-01 9.59537373e-01 -2.27106133e-02 -2.86784569e+01] [-8.56389072e-02 -1.46799841e-03 9.96325159e-01 -1.32447792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86964924600001 meters 0.06232355715913042 Centerline is valid? [True, True] Translation: X:117.87, Y:-28.69, Z:-13.25 [[ 9.56553913e-01 2.79863895e-01 8.17362382e-02 1.17865892e+02] [-2.78961320e-01 9.60038829e-01 -2.24950889e-02 -2.86901850e+01] [-8.47655256e-02 -1.28348353e-03 9.96400100e-01 -1.32487318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89964924600001 meters 0.06192796956444177 Centerline is valid? [True, True] Translation: X:117.90, Y:-28.70, Z:-13.25 [[ 9.57072270e-01 2.78463280e-01 8.04417278e-02 1.17896492e+02] [-2.77582729e-01 9.60446218e-01 -2.21560599e-02 -2.87030947e+01] [-8.34296024e-02 -1.12428378e-03 9.96513039e-01 -1.32531940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92964924600001 meters 0.06196256591046242 Centerline is valid? [True, True] Translation: X:117.93, Y:-28.71, Z:-13.26 [[ 9.57110055e-01 2.78600525e-01 7.95115744e-02 1.17926945e+02] [-2.77738885e-01 9.60406442e-01 -2.19220879e-02 -2.87123432e+01] [-8.24709335e-02 -1.10160527e-03 9.96592862e-01 -1.32575351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95964924600001 meters 0.0620954596329955 Centerline is valid? [True, True] Translation: X:117.96, Y:-28.72, Z:-13.26 [[ 9.56916490e-01 2.79343358e-01 7.92345909e-02 1.17957824e+02] [-2.78488642e-01 9.60190597e-01 -2.18653544e-02 -2.87204240e+01] [-8.21882507e-02 -1.14261539e-03 9.96616168e-01 -1.32620440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98964924600001 meters 0.062146395729416735 Centerline is valid? [True, True] Translation: X:117.99, Y:-28.73, Z:-13.27 [[ 9.56783019e-01 2.79897701e-01 7.88893672e-02 1.17988526e+02] [-2.79050692e-01 9.60029123e-01 -2.17897684e-02 -2.87284329e+01] [-8.18349961e-02 -1.16605217e-03 9.96645210e-01 -1.32658875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01964924600001 meters 0.06193055455623275 Centerline is valid? [True, True] Translation: X:118.02, Y:-28.74, Z:-13.27 [[ 9.57886082e-01 2.76213281e-01 7.84887049e-02 1.18018158e+02] [-2.75360928e-01 9.61096008e-01 -2.16984324e-02 -2.87407308e+01] [-8.14285762e-02 -8.28096208e-04 9.96678836e-01 -1.32711612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04964924600002 meters 0.060990967639521665 Centerline is valid? [True, True] Translation: X:118.05, Y:-28.76, Z:-13.27 [[ 9.58926641e-01 2.71724162e-01 8.13982617e-02 1.18047216e+02] [-2.70789080e-01 9.62375076e-01 -2.25274868e-02 -2.87575295e+01] [-8.44569208e-02 -4.39553088e-04 9.96427035e-01 -1.32675984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07964924600002 meters 0.060699400468064296 Centerline is valid? [True, True] Translation: X:118.08, Y:-28.77, Z:-13.27 [[ 9.59166042e-01 2.70511972e-01 8.26061548e-02 1.18077150e+02] [-2.69544317e-01 9.62716552e-01 -2.28626729e-02 -2.87686697e+01] [-8.57109393e-02 -3.36920053e-04 9.96319989e-01 -1.32690213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10964924600002 meters 0.060829285869908205 Centerline is valid? [True, True] Translation: X:118.11, Y:-28.78, Z:-13.27 [[ 9.59103388e-01 2.70369376e-01 8.37919584e-02 1.18107455e+02] [-2.69371084e-01 9.62756619e-01 -2.32144818e-02 -2.87765776e+01] [-8.69477475e-02 -3.06042480e-04 9.96212826e-01 -1.32726382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13964924600002 meters 0.06112694562659387 Centerline is valid? [True, True] Translation: X:118.14, Y:-28.78, Z:-13.28 [[ 9.58622834e-01 2.72306891e-01 8.30133691e-02 1.18138671e+02] [-2.71333492e-01 9.62210340e-01 -2.30086484e-02 -2.87832181e+01] [-8.61417356e-02 -4.67691586e-04 9.96282782e-01 -1.32761029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16964924600002 meters 0.06140874204215871 Centerline is valid? [True, True] Translation: X:118.17, Y:-28.79, Z:-13.28 [[ 9.57746456e-01 2.75473405e-01 8.26808928e-02 1.18168868e+02] [-2.74517765e-01 9.61308416e-01 -2.29374228e-02 -2.87880360e+01] [-8.58004880e-02 -7.29138519e-04 9.96312072e-01 -1.32815522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19964924600002 meters 0.06143518137930377 Centerline is valid? [True, True] Translation: X:118.20, Y:-28.80, Z:-13.29 [[ 9.57319766e-01 2.76842972e-01 8.30471817e-02 1.18200553e+02] [-2.75882380e-01 9.60914807e-01 -2.30574344e-02 -2.87961683e+01] [-8.61845553e-02 -8.37916487e-04 9.96278837e-01 -1.32857916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22964924600001 meters 0.061215187015418566 Centerline is valid? [True, True] Translation: X:118.23, Y:-28.81, Z:-13.29 [[ 9.57407700e-01 2.76562024e-01 8.29695279e-02 1.18231334e+02] [-2.75600151e-01 9.60995746e-01 -2.30593337e-02 -2.88095130e+01] [-8.61106993e-02 -7.89230785e-04 9.96285263e-01 -1.32868783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25964924600001 meters 0.06102529488108657 Centerline is valid? [True, True] Translation: X:118.26, Y:-28.82, Z:-13.29 [[ 9.57677206e-01 2.75479711e-01 8.34583590e-02 1.18260887e+02] [-2.74500057e-01 9.61306652e-01 -2.32215300e-02 -2.88197763e+01] [-8.66261360e-02 -6.70594409e-04 9.96240665e-01 -1.32904890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28964924600001 meters 0.0609537928104796 Centerline is valid? [True, True] Translation: X:118.29, Y:-28.83, Z:-13.29 [[ 9.57668663e-01 2.75438916e-01 8.36907085e-02 1.18292115e+02] [-2.74452857e-01 9.61318349e-01 -2.32950965e-02 -2.88307410e+01] [-8.68697898e-02 -6.60170089e-04 9.96219456e-01 -1.32920787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31964924600001 meters 0.061089645526157546 Centerline is valid? [True, True] Translation: X:118.32, Y:-28.84, Z:-13.30 [[ 9.57748061e-01 2.75240135e-01 8.34357260e-02 1.18322388e+02] [-2.74257146e-01 9.61375311e-01 -2.32492812e-02 -2.88398708e+01] [-8.66121823e-02 -6.15890070e-04 9.96241914e-01 -1.32982842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34964924600001 meters 0.061122631844355256 Centerline is valid? [True, True] Translation: X:118.35, Y:-28.85, Z:-13.30 [[ 9.57677730e-01 2.75332127e-01 8.39379859e-02 1.18352507e+02] [-2.74335516e-01 9.61348976e-01 -2.34130527e-02 -2.88499453e+01] [-8.71400624e-02 -6.05011455e-04 9.96195886e-01 -1.33006964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37964924600001 meters 0.061387225688509496 Centerline is valid? [True, True] Translation: X:118.38, Y:-28.86, Z:-13.31 [[ 9.58031870e-01 2.74464332e-01 8.27300808e-02 1.18381912e+02] [-2.73491013e-01 9.61597153e-01 -2.30993733e-02 -2.88590924e+01] [-8.58929642e-02 -4.95997784e-04 9.96304247e-01 -1.33070984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40964924600001 meters 0.061051486696362615 Centerline is valid? [True, True] Translation: X:118.41, Y:-28.87, Z:-13.31 [[ 9.58616820e-01 2.72360796e-01 8.29059032e-02 1.18411198e+02] [-2.71374640e-01 9.62195151e-01 -2.31580851e-02 -2.88727372e+01] [-8.60790125e-02 -2.98829772e-04 9.96288269e-01 -1.33082241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43964924600002 meters 0.06108603652210549 Centerline is valid? [True, True] Translation: X:118.44, Y:-28.88, Z:-13.31 [[ 9.58929954e-01 2.71318772e-01 8.27010716e-02 1.18441562e+02] [-2.70331856e-01 9.62489527e-01 -2.31213664e-02 -2.88839587e+01] [-8.58721760e-02 -1.84963337e-04 9.96306145e-01 -1.33133105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46964924600002 meters 0.06127301142756938 Centerline is valid? [True, True] Translation: X:118.47, Y:-28.90, Z:-13.32 [[ 9.60074913e-01 2.67857561e-01 8.06752091e-02 1.18469026e+02] [-2.66904249e-01 9.63458513e-01 -2.25790997e-02 -2.88994216e+01] [-8.37751995e-02 1.45071053e-04 9.96484669e-01 -1.33191353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49964924600002 meters 0.06143093317892979 Centerline is valid? [True, True] Translation: X:118.50, Y:-28.92, Z:-13.32 [[ 9.61678440e-01 2.62434728e-01 7.93888590e-02 1.18495567e+02] [-2.61491634e-01 9.64949544e-01 -2.22374389e-02 -2.89180107e+01] [-8.24421195e-02 6.25743111e-04 9.96595658e-01 -1.33222226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52964924600002 meters 0.06189903395943093 Centerline is valid? [True, True] Translation: X:118.52, Y:-28.93, Z:-13.33 [[ 9.62857841e-01 2.58055057e-01 7.94503976e-02 1.18524567e+02] [-2.57094081e-01 9.66129675e-01 -2.22729714e-02 -2.89332398e+01] [-8.25070397e-02 1.01947817e-03 9.96589960e-01 -1.33262039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55964924600002 meters 0.06262527177109081 Centerline is valid? [True, True] Translation: X:118.55, Y:-28.95, Z:-13.33 [[ 9.63848199e-01 2.54163030e-01 7.99862661e-02 1.18552491e+02] [-2.53173848e-01 9.67160401e-01 -2.24446154e-02 -2.89466018e+01] [-8.30641407e-02 1.38277138e-03 9.96543244e-01 -1.33293202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58964924600001 meters 0.06325538063277841 Centerline is valid? [True, True] Translation: X:118.58, Y:-28.96, Z:-13.33 [[ 9.64637398e-01 2.50449724e-01 8.21561055e-02 1.18582736e+02] [-2.49391451e-01 9.68128004e-01 -2.30667126e-02 -2.89591629e+01] [-8.53146782e-02 1.76198329e-03 9.96352498e-01 -1.33300201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61964924600001 meters 0.06341614166519294 Centerline is valid? [True, True] Translation: X:118.61, Y:-28.97, Z:-13.33 [[ 9.65108891e-01 2.48145534e-01 8.35979806e-02 1.18613262e+02] [-2.47039288e-01 9.68720657e-01 -2.34921018e-02 -2.89686219e+01] [-8.68125509e-02 2.02045074e-03 9.96222615e-01 -1.33303715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64964924600001 meters 0.06515191585889822 Centerline is valid? [True, True] Translation: X:118.64, Y:-28.98, Z:-13.33 [[ 9.66053496e-01 2.44127211e-01 8.45135947e-02 1.18641521e+02] [-2.42979120e-01 9.69740169e-01 -2.37729112e-02 -2.89820468e+01] [-8.77598421e-02 2.43086513e-03 9.96138696e-01 -1.33336365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67964924600001 meters 0.06538955672504433 Centerline is valid? [True, True] Translation: X:118.67, Y:-28.99, Z:-13.34 [[ 9.66525435e-01 2.42157134e-01 8.47850613e-02 1.18672319e+02] [-2.40993373e-01 9.70233491e-01 -2.38572381e-02 -2.89900044e+01] [-8.80385064e-02 2.62598953e-03 9.96113611e-01 -1.33355671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70964924600001 meters 0.06740070844382774 Centerline is valid? [True, True] Translation: X:118.70, Y:-29.00, Z:-13.34 [[ 9.67749806e-01 2.37044175e-01 8.52664814e-02 1.18700746e+02] [-2.35845274e-01 9.71493825e-01 -2.40157007e-02 -2.90024003e+01] [-8.85286422e-02 3.13149303e-03 9.96068709e-01 -1.33388423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73964924600001 meters 0.06824625717160672 Centerline is valid? [True, True] Translation: X:118.73, Y:-29.01, Z:-13.34 [[ 9.68214135e-01 2.35125747e-01 8.53069290e-02 1.18730509e+02] [-2.33917507e-01 9.71959300e-01 -2.40357852e-02 -2.90119080e+01] [-8.85662950e-02 3.31700276e-03 9.96064761e-01 -1.33429346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76964924600001 meters 0.0684549641784083 Centerline is valid? [True, True] Translation: X:118.76, Y:-29.02, Z:-13.34 [[ 9.69054463e-01 2.32025820e-01 8.42464609e-02 1.18761298e+02] [-2.30834200e-01 9.72703064e-01 -2.37554721e-02 -2.90191982e+01] [-8.74586735e-02 3.57338185e-03 9.96161740e-01 -1.33448581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79964924600002 meters 0.06888352045902155 Centerline is valid? [True, True] Translation: X:118.79, Y:-29.03, Z:-13.35 [[ 9.69075732e-01 2.31833730e-01 8.45301573e-02 1.18791582e+02] [-2.30631668e-01 9.72748687e-01 -2.38542513e-02 -2.90287728e+01] [-8.77568195e-02 3.62124485e-03 9.96135346e-01 -1.33481846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82964924600002 meters 0.06918652369208418 Centerline is valid? [True, True] Translation: X:118.82, Y:-29.04, Z:-13.35 [[ 9.69092676e-01 2.32351224e-01 8.28992973e-02 1.18821751e+02] [-2.31195189e-01 9.72625557e-01 -2.34160524e-02 -2.90363382e+01] [-8.60707236e-02 3.52640622e-03 9.96282789e-01 -1.33526687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85964924600002 meters 0.06903209994659533 Centerline is valid? [True, True] Translation: X:118.85, Y:-29.04, Z:-13.36 [[ 9.68781135e-01 2.33532921e-01 8.32195145e-02 1.18853018e+02] [-2.32371450e-01 9.72342797e-01 -2.35158334e-02 -2.90429450e+01] [-8.64096168e-02 3.44385646e-03 9.96253742e-01 -1.33560910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88964924600002 meters 0.06852208937301994 Centerline is valid? [True, True] Translation: X:118.88, Y:-29.05, Z:-13.36 [[ 9.68079151e-01 2.36429772e-01 8.32088950e-02 1.18883082e+02] [-2.35277437e-01 9.71643293e-01 -2.35337958e-02 -2.90475742e+01] [-8.64134547e-02 3.20540156e-03 9.96254205e-01 -1.33604871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91964924600002 meters 0.06832899256383256 Centerline is valid? [True, True] Translation: X:118.91, Y:-29.05, Z:-13.37 [[ 9.67843459e-01 2.38095195e-01 8.11770756e-02 1.18914596e+02] [-2.37003083e-01 9.71237199e-01 -2.29747975e-02 -2.90540965e+01] [-8.43123845e-02 2.99679026e-03 9.96434865e-01 -1.33658410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94964924600002 meters 0.06684710815449005 Centerline is valid? [True, True] Translation: X:118.95, Y:-29.06, Z:-13.37 [[ 9.67422496e-01 2.40671564e-01 7.85551600e-02 1.18946534e+02] [-2.39656008e-01 9.70602860e-01 -2.22505451e-02 -2.90572040e+01] [-8.16009364e-02 2.69946183e-03 9.96661427e-01 -1.33694512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97964924600001 meters 0.06798079575597392 Centerline is valid? [True, True] Translation: X:118.98, Y:-29.07, Z:-13.38 [[ 9.67245924e-01 2.41633131e-01 7.77737221e-02 1.18975966e+02] [-2.40639306e-01 9.70364167e-01 -2.20478570e-02 -2.90694459e+01] [-8.07963258e-02 2.61028528e-03 9.96727215e-01 -1.33764368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00964924600001 meters 0.0662603878992685 Centerline is valid? [True, True] Translation: X:119.01, Y:-29.07, Z:-13.38 [[ 9.67686011e-01 2.40214646e-01 7.66857718e-02 1.19008515e+02] [-2.39242090e-01 9.70716002e-01 -2.17638415e-02 -2.90734203e+01] [-7.96680993e-02 2.71410062e-03 9.96817750e-01 -1.33750112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03964924600001 meters 0.0664438963928512 Centerline is valid? [True, True] Translation: X:119.04, Y:-29.08, Z:-13.38 [[ 9.67766896e-01 2.40286685e-01 7.54290684e-02 1.19039010e+02] [-2.39345914e-01 9.70698309e-01 -2.14085400e-02 -2.90833929e+01] [-7.83630563e-02 2.66483692e-03 9.96921326e-01 -1.33788837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06964924600001 meters 0.06969636991612226 Centerline is valid? [True, True] Translation: X:119.07, Y:-29.10, Z:-13.39 [[ 9.67918542e-01 2.39677306e-01 7.54220509e-02 1.19065964e+02] [-2.38733294e-01 9.70848762e-01 -2.14265430e-02 -2.91000007e+01] [-7.83588608e-02 2.73339359e-03 9.96921470e-01 -1.33872090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09964924600001 meters 0.06707398791509571 Centerline is valid? [True, True] Translation: X:119.10, Y:-29.10, Z:-13.38 [[ 9.67767034e-01 2.39953072e-01 7.64819700e-02 1.19099827e+02] [-2.38981383e-01 9.70780534e-01 -2.17497917e-02 -2.91015255e+01] [-7.94661370e-02 2.77096440e-03 9.96833715e-01 -1.33849778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12964924600001 meters 0.06695426494669894 Centerline is valid? [True, True] Translation: X:119.13, Y:-29.11, Z:-13.39 [[ 9.67381811e-01 2.41164441e-01 7.75380154e-02 1.19129826e+02] [-2.40169082e-01 9.70480471e-01 -2.20560091e-02 -2.91083464e+01] [-8.05682548e-02 2.71434806e-03 9.96745398e-01 -1.33867388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15964924600001 meters 0.066417814394333 Centerline is valid? [True, True] Translation: X:119.16, Y:-29.12, Z:-13.39 [[ 9.67127611e-01 2.42267724e-01 7.72692304e-02 1.19160469e+02] [-2.41282088e-01 9.70205894e-01 -2.19881049e-02 -2.91159348e+01] [-8.02940709e-02 2.62162210e-03 9.96767771e-01 -1.33888459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18964924600002 meters 0.06602727284633311 Centerline is valid? [True, True] Translation: X:119.19, Y:-29.12, Z:-13.39 [[ 9.66494875e-01 2.44275618e-01 7.88484524e-02 1.19189949e+02] [-2.43254039e-01 9.69702551e-01 -2.24596286e-02 -2.91221024e+01] [-8.19458851e-02 2.52691141e-03 9.96633577e-01 -1.33910602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21964924600002 meters 0.06602969192832327 Centerline is valid? [True, True] Translation: X:119.22, Y:-29.13, Z:-13.39 [[ 9.66249207e-01 2.44933665e-01 7.98120960e-02 1.19220848e+02] [-2.43888132e-01 9.69536581e-01 -2.27463552e-02 -2.91304550e+01] [-8.29520948e-02 2.51342473e-03 9.96550366e-01 -1.33935583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24964924600002 meters 0.06515550893600484 Centerline is valid? [True, True] Translation: X:119.25, Y:-29.14, Z:-13.39 [[ 9.66052195e-01 2.45345803e-01 8.09233856e-02 1.19252934e+02] [-2.44270626e-01 9.69432320e-01 -2.30832699e-02 -2.91369425e+01] [-8.41131289e-02 2.53243745e-03 9.96452994e-01 -1.33933171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27964924600002 meters 0.06611300438221582 Centerline is valid? [True, True] Translation: X:119.28, Y:-29.15, Z:-13.40 [[ 9.66002096e-01 2.45302979e-01 8.16480155e-02 1.19282785e+02] [-2.44206487e-01 9.69443034e-01 -2.33108663e-02 -2.91485897e+01] [-8.48713248e-02 2.57937064e-03 9.96388581e-01 -1.33977465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30964924600002 meters 0.06611300438221582 Centerline is valid? [True, True] Translation: X:119.31, Y:-29.16, Z:-13.40 [[ 9.65938730e-01 2.45554335e-01 8.16421395e-02 1.19313674e+02] [-2.44457002e-01 9.69379399e-01 -2.33314256e-02 -2.91575998e+01] [-8.48713408e-02 2.57873490e-03 9.96388582e-01 -1.34011723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33964924600002 meters 0.06685877450036769 Centerline is valid? [True, True] Translation: X:119.34, Y:-29.17, Z:-13.40 [[ 9.66293801e-01 2.43476253e-01 8.36397354e-02 1.19342474e+02] [-2.42314483e-01 9.69902660e-01 -2.39274109e-02 -2.91692511e+01] [-8.69481582e-02 2.85378954e-03 9.96208750e-01 -1.34018531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36964924600001 meters 0.06731611452087159 Centerline is valid? [True, True] Translation: X:119.37, Y:-29.18, Z:-13.41 [[ 9.66522781e-01 2.42497822e-01 8.38362675e-02 1.19372322e+02] [-2.41325265e-01 9.70147413e-01 -2.40023666e-02 -2.91794568e+01] [-8.71540597e-02 2.96702465e-03 9.96190427e-01 -1.34050748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39964924600001 meters 0.06790051730246066 Centerline is valid? [True, True] Translation: X:119.40, Y:-29.19, Z:-13.41 [[ 9.66820516e-01 2.41600235e-01 8.29904572e-02 1.19402867e+02] [-2.40446252e-01 9.70371118e-01 -2.37800980e-02 -2.91886228e+01] [-8.62768200e-02 3.03634229e-03 9.96266576e-01 -1.34097609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42964924600001 meters 0.06700672708010492 Centerline is valid? [True, True] Translation: X:119.44, Y:-29.19, Z:-13.41 [[ 9.66780055e-01 2.41821723e-01 8.28165420e-02 1.19435406e+02] [-2.40671744e-01 9.70315970e-01 -2.37493241e-02 -2.91945279e+01] [-8.61013157e-02 3.02877119e-03 9.96281782e-01 -1.34120558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45964924600001 meters 0.06693530265479776 Centerline is valid? [True, True] Translation: X:119.47, Y:-29.20, Z:-13.42 [[ 9.66775811e-01 2.42231143e-01 8.16615228e-02 1.19465478e+02] [-2.41112501e-01 9.70214013e-01 -2.34420768e-02 -2.92031197e+01] [-8.49075548e-02 2.97361883e-03 9.96384396e-01 -1.34162254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48964924600001 meters 0.06697811836185395 Centerline is valid? [True, True] Translation: X:119.50, Y:-29.21, Z:-13.42 [[ 9.66628319e-01 2.42746439e-01 8.18771032e-02 1.19496412e+02] [-2.41622122e-01 9.70085274e-01 -2.35225853e-02 -2.92117158e+01] [-8.51377959e-02 2.95427770e-03 9.96364807e-01 -1.34189645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51964924600001 meters 0.06735431974463411 Centerline is valid? [True, True] Translation: X:119.53, Y:-29.22, Z:-13.42 [[ 9.66451178e-01 2.43370368e-01 8.21156763e-02 1.19526545e+02] [-2.42239942e-01 9.69929013e-01 -2.36118474e-02 -2.92188726e+01] [-8.53928009e-02 2.92800111e-03 9.96343062e-01 -1.34212663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54964924600002 meters 0.06653909733921419 Centerline is valid? [True, True] Translation: X:119.56, Y:-29.22, Z:-13.42 [[ 9.66668588e-01 2.42814054e-01 8.11983797e-02 1.19557794e+02] [-2.41705138e-01 9.70068325e-01 -2.33681770e-02 -2.92248850e+01] [-8.44420980e-02 2.96321708e-03 9.96423982e-01 -1.34225613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57964924600002 meters 0.06757792810762879 Centerline is valid? [True, True] Translation: X:119.59, Y:-29.24, Z:-13.42 [[ 9.67419739e-01 2.39148485e-01 8.31086725e-02 1.19587121e+02] [-2.37972323e-01 9.70977158e-01 -2.39276391e-02 -2.92364589e+01] [-8.64188813e-02 3.37050650e-03 9.96253189e-01 -1.34238522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60964924600002 meters 0.06750894756077704 Centerline is valid? [True, True] Translation: X:119.62, Y:-29.24, Z:-13.42 [[ 9.68064429e-01 2.36244957e-01 8.39022188e-02 1.19618324e+02] [-2.35033315e-01 9.71686538e-01 -2.41787705e-02 -2.92448093e+01] [-8.72387691e-02 3.68679107e-03 9.96180609e-01 -1.34242019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63964924600002 meters 0.0700001391390046 Centerline is valid? [True, True] Translation: X:119.65, Y:-29.26, Z:-13.43 [[ 9.69420847e-01 2.29536989e-01 8.68100948e-02 1.19646471e+02] [-2.28212307e-01 9.73289781e-01 -2.50228730e-02 -2.92575327e+01] [-9.02350531e-02 4.44656271e-03 9.95910570e-01 -1.34259626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66964924600002 meters 0.07290839825684042 Centerline is valid? [True, True] Translation: X:119.68, Y:-29.27, Z:-13.43 [[ 9.70712157e-01 2.23668775e-01 8.76937108e-02 1.19675787e+02] [-2.22292269e-01 9.74652121e-01 -2.52861611e-02 -2.92669087e+01] [-9.11265859e-02 5.05194995e-03 9.95826503e-01 -1.34289408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69964924600002 meters 0.073793188738264 Centerline is valid? [True, True] Translation: X:119.71, Y:-29.27, Z:-13.43 [[ 9.70914315e-01 2.22459590e-01 8.85275359e-02 1.19705653e+02] [-2.21049784e-01 9.74927855e-01 -2.55474391e-02 -2.92744093e+01] [-9.19912335e-02 5.23538164e-03 9.95746054e-01 -1.34318028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72964924600001 meters 0.07404065239180883 Centerline is valid? [True, True] Translation: X:119.74, Y:-29.28, Z:-13.43 [[ 9.70527614e-01 2.23656581e-01 8.97434310e-02 1.19738096e+02] [-2.22211805e-01 9.74654125e-01 -2.59084876e-02 -2.92758597e+01] [-9.32634090e-02 5.20285289e-03 9.95627876e-01 -1.34329320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75964924600001 meters 0.0736791782194931 Centerline is valid? [True, True] Translation: X:119.77, Y:-29.28, Z:-13.43 [[ 9.70006842e-01 2.25320720e-01 9.11992321e-02 1.19769602e+02] [-2.23833619e-01 9.74271044e-01 -2.63523143e-02 -2.92782614e+01] [-9.47904934e-02 5.14847094e-03 9.95483930e-01 -1.34348632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78964924600001 meters 0.07200788261341738 Centerline is valid? [True, True] Translation: X:119.80, Y:-29.28, Z:-13.44 [[ 9.69260314e-01 2.28091063e-01 9.22437590e-02 1.19802397e+02] [-2.26580438e-01 9.73627217e-01 -2.66710782e-02 -2.92775321e+01] [-9.58944690e-02 4.95058632e-03 9.95379195e-01 -1.34365344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81964924600001 meters 0.06911384712013484 Centerline is valid? [True, True] Translation: X:119.84, Y:-29.27, Z:-13.44 [[ 9.68437192e-01 2.30865019e-01 9.39720658e-02 1.19838451e+02] [-2.29308211e-01 9.72974032e-01 -2.71896509e-02 -2.92668422e+01] [-9.77095190e-02 4.78290280e-03 9.95203484e-01 -1.34381259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84964924600001 meters 0.07193142812761064 Centerline is valid? [True, True] Translation: X:119.87, Y:-29.27, Z:-13.44 [[ 9.68401275e-01 2.30609271e-01 9.49649128e-02 1.19869943e+02] [-2.29017659e-01 9.73034278e-01 -2.74810177e-02 -2.92685397e+01] [-9.87414928e-02 4.86401052e-03 9.95101231e-01 -1.34410979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87964924600001 meters 0.07009747803382482 Centerline is valid? [True, True] Translation: X:119.90, Y:-29.27, Z:-13.44 [[ 9.68344917e-01 2.31175190e-01 9.41602577e-02 1.19903290e+02] [-2.29611006e-01 9.72900364e-01 -2.72702668e-02 -2.92676501e+01] [-9.79127581e-02 4.78679266e-03 9.95183490e-01 -1.34440882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90964924600001 meters 0.06786559071275577 Centerline is valid? [True, True] Translation: X:119.94, Y:-29.26, Z:-13.45 [[ 9.67820589e-01 2.33837702e-01 9.29690063e-02 1.19938568e+02] [-2.32322804e-01 9.72265306e-01 -2.69497563e-02 -2.92586553e+01] [-9.66924084e-02 4.48370882e-03 9.95304212e-01 -1.34484056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93964924600002 meters 0.06913113898405356 Centerline is valid? [True, True] Translation: X:119.97, Y:-29.26, Z:-13.45 [[ 9.67351627e-01 2.35906170e-01 9.26234830e-02 1.19968695e+02] [-2.34411340e-01 9.71766468e-01 -2.68561932e-02 -2.92628158e+01] [-9.63439366e-02 4.26738743e-03 9.95338955e-01 -1.34533684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96964924600002 meters 0.07956973942901824 Centerline is valid? [True, True] Translation: X:119.99, Y:-29.28, Z:-13.46 [[ 9.66050432e-01 2.40998797e-01 9.30921191e-02 1.19994693e+02] [-2.39510693e-01 9.70517995e-01 -2.70083189e-02 -2.92789037e+01] [-9.68565491e-02 3.79484017e-03 9.95291117e-01 -1.34641729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99964924600002 meters 0.06543528785304527 Centerline is valid? [True, True] Translation: X:120.04, Y:-29.25, Z:-13.46 [[ 9.65559427e-01 2.44959593e-01 8.76914488e-02 1.20036004e+02] [-2.43654678e-01 9.69527971e-01 -2.54540912e-02 -2.92514024e+01] [-9.12545362e-02 3.21100603e-03 9.95822423e-01 -1.34638161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02964924600002 meters 0.06496114077388308 Centerline is valid? [True, True] Translation: X:120.07, Y:-29.25, Z:-13.47 [[ 9.64983763e-01 2.47929897e-01 8.56568934e-02 1.20068221e+02] [-2.46694720e-01 9.68773688e-01 -2.48848828e-02 -2.92531594e+01] [-8.91518509e-02 2.88240453e-03 9.96013875e-01 -1.34684150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05964924600002 meters 0.06331343207129465 Centerline is valid? [True, True] Translation: X:120.10, Y:-29.25, Z:-13.47 [[ 9.63845081e-01 2.52269522e-01 8.58064611e-02 1.20102862e+02] [-2.51044936e-01 9.67653756e-01 -2.49529447e-02 -2.92452452e+01] [-8.93258118e-02 2.50949553e-03 9.95999298e-01 -1.34710714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08964924600002 meters 0.06264694537874348 Centerline is valid? [True, True] Translation: X:120.14, Y:-29.24, Z:-13.48 [[ 9.62882019e-01 2.56655577e-01 8.35830820e-02 1.20137452e+02] [-2.55509917e-01 9.66500754e-01 -2.43099894e-02 -2.92396322e+01] [-8.70224061e-02 2.05134536e-03 9.96204243e-01 -1.34783506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11964924600001 meters 0.06249486758920961 Centerline is valid? [True, True] Translation: X:120.17, Y:-29.24, Z:-13.48 [[ 9.62488607e-01 2.58745931e-01 8.16469484e-02 1.20170346e+02] [-2.57658340e-01 9.65943659e-01 -2.37703190e-02 -2.92420011e+01] [-8.50168254e-02 1.84164397e-03 9.96377814e-01 -1.34834990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14964924600001 meters 0.06229758629075269 Centerline is valid? [True, True] Translation: X:120.20, Y:-29.24, Z:-13.49 [[ 9.62058257e-01 2.61469598e-01 7.79587083e-02 1.20203434e+02] [-2.60486505e-01 9.65210490e-01 -2.27044060e-02 -2.92417369e+01] [-8.11830750e-02 1.53576980e-03 9.96698023e-01 -1.34894444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17964924600001 meters 0.06270821336558495 Centerline is valid? [True, True] Translation: X:120.23, Y:-29.25, Z:-13.50 [[ 9.61954282e-01 2.61946829e-01 7.76390288e-02 1.20233858e+02] [-2.60971544e-01 9.65081124e-01 -2.26335376e-02 -2.92492355e+01] [-8.08567446e-02 1.51085116e-03 9.96724588e-01 -1.34960979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20964924600001 meters 0.06206741348416378 Centerline is valid? [True, True] Translation: X:120.27, Y:-29.24, Z:-13.50 [[ 9.61943222e-01 2.62483084e-01 7.59464827e-02 1.20268399e+02] [-2.61550664e-01 9.64935512e-01 -2.21519259e-02 -2.92447914e+01] [-7.90979640e-02 1.44504201e-03 9.96865800e-01 -1.34986368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23964924600001 meters 0.0626038949390658 Centerline is valid? [True, True] Translation: X:120.30, Y:-29.24, Z:-13.51 [[ 9.61787105e-01 2.63440444e-01 7.45968942e-02 1.20299801e+02] [-2.62542208e-01 9.64674701e-01 -2.17786619e-02 -2.92448111e+01] [-7.76991169e-02 1.36160283e-03 9.96975924e-01 -1.35069118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26964924600001 meters 0.06245948660248094 Centerline is valid? [True, True] Translation: X:120.33, Y:-29.25, Z:-13.51 [[ 9.61596710e-01 2.64227233e-01 7.42680016e-02 1.20332491e+02] [-2.63337914e-01 9.64459567e-01 -2.16999347e-02 -2.92510432e+01] [-7.73621983e-02 1.30900517e-03 9.97002195e-01 -1.35094477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29964924600002 meters 0.06259769921464063 Centerline is valid? [True, True] Translation: X:120.36, Y:-29.26, Z:-13.51 [[ 9.61855263e-01 2.63410936e-01 7.38182289e-02 1.20363231e+02] [-2.62528224e-01 9.64682721e-01 -2.15912086e-02 -2.92585514e+01] [-7.68985304e-02 1.38824911e-03 9.97037958e-01 -1.35123993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32964924600002 meters 0.06252494067396476 Centerline is valid? [True, True] Translation: X:120.40, Y:-29.26, Z:-13.51 [[ 9.62847454e-01 2.59201904e-01 7.57572030e-02 1.20395803e+02] [-2.58257533e-01 9.65821501e-01 -2.21782750e-02 -2.92624467e+01] [-7.89165866e-02 1.78942724e-03 9.96879617e-01 -1.35099621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35964924600002 meters 0.06353749526915854 Centerline is valid? [True, True] Translation: X:120.43, Y:-29.27, Z:-13.51 [[ 9.63297062e-01 2.56907910e-01 7.78273527e-02 1.20426266e+02] [-2.55901763e-01 9.66433705e-01 -2.28074936e-02 -2.92700761e+01] [-8.10744023e-02 2.05423476e-03 9.96705935e-01 -1.35147467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38964924600002 meters 0.06418706611141545 Centerline is valid? [True, True] Translation: X:120.46, Y:-29.27, Z:-13.51 [[ 9.64664686e-01 2.51007076e-01 8.01092535e-02 1.20459495e+02] [-2.49919363e-01 9.67981651e-01 -2.34911704e-02 -2.92689896e+01] [-8.34407374e-02 2.64024894e-03 9.96509244e-01 -1.35132479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41964924600002 meters 0.06477470609441709 Centerline is valid? [True, True] Translation: X:120.49, Y:-29.28, Z:-13.51 [[ 9.65236315e-01 2.47817430e-01 8.30985995e-02 1.20491363e+02] [-2.46633421e-01 9.68801970e-01 -2.43864460e-02 -2.92757013e+01] [-8.65494732e-02 3.04379143e-03 9.96242904e-01 -1.35134246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44964924600002 meters 0.06433821318254977 Centerline is valid? [True, True] Translation: X:120.53, Y:-29.28, Z:-13.51 [[ 9.66073703e-01 2.42959249e-01 8.75922536e-02 1.20525135e+02] [-2.41621092e-01 9.70029462e-01 -2.57311140e-02 -2.92753872e+01] [-9.12186788e-02 3.69401660e-03 9.95824034e-01 -1.35079109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47964924600001 meters 0.06380195180705049 Centerline is valid? [True, True] Translation: X:120.56, Y:-29.28, Z:-13.51 [[ 9.66364006e-01 2.40457535e-01 9.12183200e-02 1.20558216e+02] [-2.38993876e-01 9.70650981e-01 -2.68067015e-02 -2.92776803e+01] [-9.49870252e-02 4.10441153e-03 9.95470049e-01 -1.35074132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50964924600001 meters 0.06467881058641624 Centerline is valid? [True, True] Translation: X:120.59, Y:-29.27, Z:-13.51 [[ 9.67002166e-01 2.36212284e-01 9.54492944e-02 1.20591685e+02] [-2.34585819e-01 9.71689812e-01 -2.80785217e-02 -2.92730503e+01] [-9.93795986e-02 4.76094042e-03 9.95038205e-01 -1.35083023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53964924600001 meters 0.06543852355886993 Centerline is valid? [True, True] Translation: X:120.62, Y:-29.27, Z:-13.51 [[ 9.67538707e-01 2.33715689e-01 9.61552229e-02 1.20624459e+02] [-2.32050466e-01 9.72291727e-01 -2.83086390e-02 -2.92724178e+01] [-1.00107101e-01 5.07683971e-03 9.94963715e-01 -1.35091498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56964924600001 meters 0.06664597833292825 Centerline is valid? [True, True] Translation: X:120.66, Y:-29.27, Z:-13.51 [[ 9.67746703e-01 2.32212683e-01 9.76912925e-02 1.20656732e+02] [-2.30483589e-01 9.72650376e-01 -2.87847514e-02 -2.92721626e+01] [-1.01703657e-01 5.34010853e-03 9.94800407e-01 -1.35099634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59964924600001 meters 0.06731715668148881 Centerline is valid? [True, True] Translation: X:120.69, Y:-29.26, Z:-13.51 [[ 9.67194352e-01 2.33592653e-01 9.98476757e-02 1.20693816e+02] [-2.31790671e-01 9.72319902e-01 -2.94464322e-02 -2.92624478e+01] [-1.03962353e-01 5.33666318e-03 9.94566915e-01 -1.35066848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62964924600001 meters 0.06525766896705774 Centerline is valid? [True, True] Translation: X:120.73, Y:-29.25, Z:-13.51 [[ 9.65453975e-01 2.39048222e-01 1.03704244e-01 1.20731149e+02] [-2.37131914e-01 9.70995010e-01 -3.06128437e-02 -2.92456901e+01] [-1.08014250e-01 4.96370566e-03 9.94136954e-01 -1.35060038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65964924600001 meters 0.06435803673811169 Centerline is valid? [True, True] Translation: X:120.77, Y:-29.24, Z:-13.51 [[ 9.64333616e-01 2.42548467e-01 1.05976025e-01 1.20765690e+02] [-2.40567514e-01 9.70128015e-01 -3.12874724e-02 -2.92409415e+01] [-1.10399039e-01 4.67717258e-03 9.93876339e-01 -1.35087775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68964924600002 meters 0.0633550044628041 Centerline is valid? [True, True] Translation: X:120.80, Y:-29.22, Z:-13.51 [[ 9.62222025e-01 2.49141713e-01 1.09805201e-01 1.20803316e+02] [-2.47055997e-01 9.68458470e-01 -3.24272447e-02 -2.92202386e+01] [-1.14420756e-01 4.07417570e-03 9.93424024e-01 -1.35119159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71964924600002 meters 0.06182739698322231 Centerline is valid? [True, True] Translation: X:120.84, Y:-29.21, Z:-13.52 [[ 9.61222699e-01 2.52157637e-01 1.11657729e-01 1.20839722e+02] [-2.50020606e-01 9.67678783e-01 -3.29767892e-02 -2.92115073e+01] [-1.16364165e-01 3.78130513e-03 9.93199417e-01 -1.35156496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74964924600002 meters 0.06289622993951 Centerline is valid? [True, True] Translation: X:120.88, Y:-29.20, Z:-13.51 [[ 9.59223439e-01 2.57981460e-01 1.15481429e-01 1.20875849e+02] [-2.55735458e-01 9.66144589e-01 -3.41175768e-02 -2.91985340e+01] [-1.20373460e-01 3.19368316e-03 9.92723542e-01 -1.35126425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77964924600002 meters 0.06201439811477008 Centerline is valid? [True, True] Translation: X:120.91, Y:-29.19, Z:-13.52 [[ 9.58295259e-01 2.60023337e-01 1.18566693e-01 1.20912588e+02] [-2.57669448e-01 9.65597588e-01 -3.50393214e-02 -2.91903078e+01] [-1.23598754e-01 3.02700118e-03 9.92327660e-01 -1.35173183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80964924600002 meters 0.06325641970367842 Centerline is valid? [True, True] Translation: X:120.95, Y:-29.17, Z:-13.52 [[ 9.56480856e-01 2.64187070e-01 1.23893360e-01 1.20950085e+02] [-2.61645132e-01 9.64467833e-01 -3.66554832e-02 -2.91743563e+01] [-1.29175065e-01 2.64417335e-03 9.91618279e-01 -1.35151958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83964924600002 meters 0.06344443582033327 Centerline is valid? [True, True] Translation: X:120.99, Y:-29.17, Z:-13.52 [[ 9.55528051e-01 2.65971786e-01 1.27377996e-01 1.20985503e+02] [-2.63295458e-01 9.63977561e-01 -3.77195274e-02 -2.91683723e+01] [-1.32821860e-01 2.50401878e-03 9.91136763e-01 -1.35197269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1757.24 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%| | 0/4028 [00:00