+ python -m lidar_slam --no-model /working/6376223f-eee8-41d6-be3d-0c5e2e05034e Lidar SLAM 0.0.12 ===================================================== The recording path: /working/6376223f-eee8-41d6-be3d-0c5e2e05034e 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 0.026547615 Adjusted end_distance from 9.223372036854776e+18 to 81.826547615 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026547615 meters 0.24931161852300704 Centerline is valid? [0, False] SLAMing on 0.056547614999999996 meters 0.24883665861665302 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:0.00 [[ 9.99815827e-01 1.58614066e-02 -1.08040682e-02 4.56876619e-02] [-1.62928471e-02 9.99022586e-01 -4.10903469e-02 6.11172358e-03] [ 1.01417575e-02 4.12588082e-02 9.99097020e-01 6.87275856e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.086547615 meters 0.2447740989457255 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 9.99812160e-01 1.50342819e-02 -1.22316953e-02 5.03424044e-02] [-1.55393385e-02 9.98984066e-01 -4.23008904e-02 5.88833499e-03] [ 1.15833052e-02 4.24830171e-02 9.99030040e-01 -9.92961188e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11654761499999998 meters 0.25004492001243567 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.00 [[ 0.99989746 0.00778223 -0.01202095 0.08554747] [-0.0079851 0.99982494 -0.01692132 0.00690958] [ 0.01188716 0.01701558 0.99978456 -0.00210702] [ 0. 0. 0. 1. ]] SLAMing on 0.146547615 meters 0.2532381724393183 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.00 [[ 0.99992766 0.00126601 -0.0119612 0.10737827] [-0.00119614 0.99998219 0.00584724 0.0072036 ] [ 0.01196839 -0.00583251 0.99991137 -0.00117751] [ 0. 0. 0. 1. ]] SLAMing on 0.17654761499999996 meters 0.251788198242554 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:0.00 [[ 9.99776738e-01 -1.62447841e-02 -1.35122508e-02 1.49993952e-01] [ 1.66254242e-02 9.99454050e-01 2.85516503e-02 2.96212479e-04] [ 1.30410583e-02 -2.87699227e-02 9.99500987e-01 7.63189713e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20654761499999996 meters 0.2507167435759563 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.00, Z:-0.00 [[ 0.99954401 -0.02584939 -0.01560718 0.15717456] [ 0.02616557 0.99944933 0.0204059 -0.00372946] [ 0.0150711 -0.02080497 0.99966995 -0.00119855] [ 0. 0. 0. 1. ]] SLAMing on 0.23654761499999996 meters 0.24779921906679495 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:0.00 [[ 9.98987379e-01 -4.35537815e-02 -1.12820412e-02 1.79918797e-01] [ 4.35400797e-02 9.99050618e-01 -1.45737865e-03 -1.43942483e-02] [ 1.13348046e-02 9.64681901e-04 9.99935294e-01 1.00476181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26654761499999996 meters 0.2469235917607934 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.00 [[ 0.99881893 -0.04835623 -0.00473418 0.19372393] [ 0.04829101 0.99874821 -0.01303812 -0.01944908] [ 0.00535873 0.0127941 0.99990379 0.00397898] [ 0. 0. 0. 1. ]] SLAMing on 0.296547615 meters 0.24196061423449194 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:0.01 [[ 9.98563798e-01 -5.35633135e-02 1.14572426e-03 2.10415617e-01] [ 5.35753935e-02 9.98278014e-01 -2.38889987e-02 -2.66228952e-02] [ 1.35822587e-04 2.39160719e-02 9.99713961e-01 8.18981735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32654761499999996 meters 0.24709173140502322 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.01 [[ 0.99914502 -0.04106709 -0.00476693 0.22747294] [ 0.04104787 0.99914893 -0.0040611 -0.03337135] [ 0.00492965 0.00386196 0.99998039 0.01136553] [ 0. 0. 0. 1. ]] SLAMing on 0.356547615 meters 0.25647547661963466 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.01 [[ 0.99952854 -0.02982625 -0.00728587 0.23454678] [ 0.02988051 0.99952567 0.00745639 -0.03096183] [ 0.00706002 -0.00767058 0.99994566 0.00842404] [ 0. 0. 0. 1. ]] SLAMing on 0.38654761499999996 meters 0.2511491684197086 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:0.01 [[ 0.99973399 -0.0229454 -0.00233439 0.25386134] [ 0.02296221 0.99970859 0.00744781 -0.02801375] [ 0.00216282 -0.00749943 0.99996954 0.00698082] [ 0. 0. 0. 1. ]] SLAMing on 0.416547615 meters 0.2452055335891996 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.03, Z:0.01 [[ 0.99987089 -0.01555318 0.00403823 0.2576057 ] [ 0.01554398 0.99987654 0.00229918 -0.02877277] [-0.00407349 -0.00223611 0.9999892 0.01183478] [ 0. 0. 0. 1. ]] SLAMing on 0.44654761499999995 meters 0.24706134897975968 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.03, Z:0.02 [[ 0.9998935 -0.01130291 0.00923263 0.26137497] [ 0.01137855 0.99990179 -0.00818133 -0.02963271] [-0.00913925 0.00828551 0.99992391 0.01520838] [ 0. 0. 0. 1. ]] SLAMing on 0.476547615 meters 0.2460128556627126 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.03, Z:0.01 [[ 9.99964592e-01 -4.16941658e-03 7.30964031e-03 2.67722052e-01] [ 4.17588005e-03 9.99990903e-01 -8.69200303e-04 -2.81318013e-02] [-7.30594976e-03 8.99693707e-04 9.99972906e-01 1.18975861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5065476149999999 meters 0.24931676090507612 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.00 [[ 0.99999101 0.00384948 0.00177903 0.31181829] [-0.00388295 0.99980793 0.01920996 -0.00949417] [-0.00170474 -0.0192167 0.99981389 0.00190285] [ 0. 0. 0. 1. ]] SLAMing on 0.5365476149999999 meters 0.25156291153402044 Centerline is valid? [False, False] Translation: X:0.32, Y:0.00, Z:-0.00 [[ 9.99974965e-01 7.05581849e-03 5.32897709e-04 3.16384500e-01] [-7.06504524e-03 9.99776069e-01 1.99473330e-02 7.99022047e-04] [-3.92033616e-04 -1.99505985e-02 9.99800890e-01 -3.00847389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.566547615 meters 0.2555403540917439 Centerline is valid? [False, False] Translation: X:0.32, Y:0.01, Z:-0.00 [[ 0.9999667 0.0066973 0.00466248 0.32471132] [-0.00670889 0.99997443 0.00247491 0.00689887] [-0.00464578 -0.00250611 0.99998607 -0.00381259] [ 0. 0. 0. 1. ]] SLAMing on 0.596547615 meters 0.24436503220705053 Centerline is valid? [False, False] Translation: X:0.33, Y:0.00, Z:-0.00 [[ 0.99999715 -0.00138099 0.00194608 0.32975754] [ 0.00139225 0.99998223 -0.00579709 0.00195653] [-0.00193804 0.00579979 0.9999813 -0.00199529] [ 0. 0. 0. 1. ]] SLAMing on 0.6265476149999999 meters 0.2553935696880601 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.00 [[ 9.99959121e-01 -8.99592585e-03 9.10588632e-04 3.30119550e-01] [ 9.00527243e-03 9.99900681e-01 -1.08412558e-02 -9.25350359e-03] [-8.12971059e-04 1.08490128e-02 9.99940817e-01 3.64942172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6565476149999999 meters 0.2474869512409225 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.00 [[ 9.99998845e-01 -1.51808559e-03 -7.18550380e-05 3.34184867e-01] [ 1.51798219e-03 9.99997843e-01 -1.41784553e-03 -9.37084994e-03] [ 7.40072938e-05 1.41773482e-03 9.99998992e-01 3.39768983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6865476149999999 meters 0.25422644454082666 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.01, Z:0.01 [[ 9.99892051e-01 -1.46672169e-02 8.71775209e-04 3.76194111e-01] [ 1.46126072e-02 9.98864448e-01 4.53463003e-02 -9.66108076e-03] [-1.53588929e-03 -4.53286663e-02 9.98970947e-01 1.00474551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.716547615 meters 0.25458850995394866 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.00, Z:0.01 [[ 0.99986656 -0.01408585 -0.00827339 0.40652908] [ 0.0145154 0.9984146 0.05438379 -0.00419869] [ 0.00749423 -0.05449663 0.99848583 0.01248764] [ 0. 0. 0. 1. ]] SLAMing on 0.7465476149999999 meters 0.2519075295202991 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:0.01 [[ 0.99990166 -0.00906048 -0.01070432 0.42133029] [ 0.00952275 0.99898817 0.04395396 -0.0010959 ] [ 0.01029524 -0.04405158 0.99897621 0.01065043] [ 0. 0. 0. 1. ]] SLAMing on 0.7765476149999999 meters 0.2514086377559342 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.01 [[ 0.99987043 -0.00142558 -0.01603398 0.44533139] [ 0.00183521 0.99967155 0.02556232 0.00572926] [ 0.01599227 -0.02558843 0.99954464 0.00966201] [ 0. 0. 0. 1. ]] SLAMing on 0.8065476149999999 meters 0.24461872392295997 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.00 [[ 0.99964025 0.01362743 -0.02310095 0.48298179] [-0.01366195 0.99990578 -0.00133684 0.02132068] [ 0.02308056 0.00165196 0.99973224 0.00465653] [ 0. 0. 0. 1. ]] SLAMing on 0.8365476149999999 meters 0.25316573405127385 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:-0.00 [[ 0.99963963 0.02027824 -0.01758968 0.49297857] [-0.02046648 0.99973446 -0.01058881 0.02883946] [ 0.01737029 0.01094499 0.99978922 -0.00206082] [ 0. 0. 0. 1. ]] SLAMing on 0.8665476149999999 meters 0.24447681238286773 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.00 [[ 0.99968424 0.0218226 -0.01245785 0.51227723] [-0.02204293 0.99959799 -0.01783178 0.03292013] [ 0.0120637 0.01810075 0.99976339 -0.00310444] [ 0. 0. 0. 1. ]] SLAMing on 0.8965476149999999 meters 0.24901683076893924 Centerline is valid? [False, False] Translation: X:0.54, Y:0.03, Z:0.01 [[ 0.99987479 0.01170726 -0.0106462 0.54429628] [-0.01178953 0.99990087 -0.00769799 0.02716292] [ 0.01055502 0.00782254 0.9999137 0.0078069 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9265476149999999 meters 0.23878337509882067 Centerline is valid? [False, False] Translation: X:0.55, Y:0.02, Z:0.01 [[ 0.99998875 0.00330403 -0.00340476 0.54576864] [-0.00328608 0.99998074 0.0052643 0.02399319] [ 0.00342209 -0.00525305 0.99998035 0.00519614] [ 0. 0. 0. 1. ]] SLAMing on 0.9565476149999999 meters 0.2456228814268386 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:0.00 [[ 0.99997242 -0.00107304 -0.00734858 0.56084637] [ 0.00110683 0.99998883 0.00459467 0.02980022] [ 0.00734357 -0.00460268 0.99996244 0.00412268] [ 0. 0. 0. 1. ]] SLAMing on 0.9865476149999999 meters 0.24089183304656814 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.01 [[ 9.99960748e-01 -7.95680493e-04 -8.82431889e-03 5.64159359e-01] [ 8.74354192e-04 9.99959876e-01 8.91528356e-03 2.03696861e-02] [ 8.81687111e-03 -8.92264920e-03 9.99921321e-01 9.30885696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.016547615 meters 0.23577379091785186 Centerline is valid? [False, False] Translation: X:0.58, Y:0.01, Z:0.01 [[ 0.99996492 -0.00786667 -0.00287708 0.58011064] [ 0.0078548 0.9999607 -0.00411203 0.00948901] [ 0.00290932 0.00408929 0.99998741 0.01344829] [ 0. 0. 0. 1. ]] SLAMing on 1.0465476149999997 meters 0.24481238528717086 Centerline is valid? [False, False] Translation: X:0.59, Y:0.00, Z:0.01 [[ 0.99993415 -0.01035716 -0.00494263 0.58674567] [ 0.01032648 0.99992751 -0.00619213 0.00181982] [ 0.0050064 0.00614068 0.99996861 0.01183348] [ 0. 0. 0. 1. ]] SLAMing on 1.0765476149999997 meters 0.240173373448405 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.00, Z:0.01 [[ 0.99992391 -0.01065159 -0.00622211 0.59141892] [ 0.01061514 0.99992647 -0.00586244 -0.00230116] [ 0.0062841 0.00579594 0.99996346 0.01015599] [ 0. 0. 0. 1. ]] SLAMing on 1.1065476149999998 meters 0.23290285305248173 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.00, Z:0.00 [[ 0.99993605 -0.00797641 -0.00801723 0.59911224] [ 0.00794858 0.99996229 -0.00349759 -0.00203741] [ 0.00804483 0.00343364 0.99996174 0.00396937] [ 0. 0. 0. 1. ]] SLAMing on 1.1365476149999998 meters 0.23188313897549764 Centerline is valid? [False, False] Translation: X:0.60, Y:0.00, Z:0.00 [[ 9.99948908e-01 -4.51103708e-03 -9.04611736e-03 6.03272953e-01] [ 4.50793998e-03 9.99989773e-01 -3.62728969e-04 1.00075642e-04] [ 9.04766113e-03 3.21931082e-04 9.99959017e-01 7.59842420e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1665476149999998 meters 0.2319602492783064 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:-0.00 [[ 9.99936374e-01 -5.09538513e-03 -1.00640514e-02 6.07084178e-01] [ 5.08921208e-03 9.99986846e-01 -6.38890879e-04 -6.94219556e-04] [ 1.00671744e-02 5.87632137e-04 9.99949152e-01 -8.87168491e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1965476149999998 meters 0.22927336158938996 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:-0.00 [[ 9.99923228e-01 -5.30187640e-03 -1.11994456e-02 6.10460148e-01] [ 5.30236047e-03 9.99985942e-01 1.35307652e-05 -3.73433759e-03] [ 1.11992164e-02 -7.29132240e-05 9.99937284e-01 -1.99546720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2265476149999996 meters 0.22761891794696415 Centerline is valid? [False, False] Translation: X:0.61, Y:0.00, Z:-0.00 [[ 9.99928285e-01 -1.86917936e-03 -1.18292664e-02 6.13001995e-01] [ 1.90811019e-03 9.99992798e-01 3.28063017e-03 7.28240285e-04] [ 1.18230491e-02 -3.30296645e-03 9.99924650e-01 -3.20665509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2565476149999997 meters 0.2346055698617726 Centerline is valid? [False, False] Translation: X:0.65, Y:0.01, Z:0.00 [[ 0.99991904 0.00484498 -0.01176575 0.64529421] [-0.0045307 0.99963607 0.02659311 0.01194486] [ 0.01189031 -0.02653765 0.9995771 0.00258119] [ 0. 0. 0. 1. ]] SLAMing on 1.2865476149999997 meters 0.2346055698617726 Centerline is valid? [False, False] Translation: X:0.64, Y:0.01, Z:0.00 [[ 9.99933349e-01 1.02993732e-03 -1.14994678e-02 6.43108963e-01] [-7.72666132e-04 9.99749808e-01 2.23545131e-02 1.42712350e-02] [ 1.15196145e-02 -2.23441379e-02 9.99683969e-01 4.18681106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3165476149999997 meters 0.2295927216733492 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.00 [[ 9.99969364e-01 6.58560852e-03 -4.23099264e-03 6.51196444e-01] [-6.53298047e-03 9.99902587e-01 1.23343798e-02 2.51072197e-02] [ 4.31180988e-03 -1.23063609e-02 9.99914977e-01 -2.62395224e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3465476149999998 meters 0.22522650215028442 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.00 [[ 0.99998289 -0.00233593 -0.00536359 0.65415236] [ 0.00234672 0.99999523 0.00200582 0.02912071] [ 0.00535888 -0.00201837 0.9999836 -0.00135061] [ 0. 0. 0. 1. ]] SLAMing on 1.3765476149999998 meters 0.23386447183860654 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:-0.01 [[ 9.99998679e-01 4.58776405e-04 -1.55912971e-03 6.69405379e-01] [-4.76780626e-04 9.99932987e-01 -1.15669241e-02 2.76667525e-02] [ 1.55371860e-03 1.15676522e-02 9.99931885e-01 -1.04264490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4065476149999998 meters 0.2232581603299509 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:-0.01 [[ 0.99998588 0.00474237 -0.00239755 0.6711602 ] [-0.00475823 0.99996655 -0.00665331 0.02567887] [ 0.00236591 0.00666462 0.99997499 -0.00965591] [ 0. 0. 0. 1. ]] SLAMing on 1.4365476149999996 meters 0.22671351752885094 Centerline is valid? [False, False] Translation: X:0.71, Y:0.03, Z:-0.00 [[ 9.99996110e-01 6.12556365e-04 -2.72098977e-03 7.09460095e-01] [-5.88626827e-04 9.99961224e-01 8.78653632e-03 2.53036176e-02] [ 2.72626652e-03 -8.78490049e-03 9.99957696e-01 -3.73814514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4665476149999996 meters 0.21874886831569165 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.00 [[ 9.99993593e-01 2.80237845e-04 -3.56880197e-03 7.12068199e-01] [-2.47804389e-04 9.99958698e-01 9.08525301e-03 2.37447804e-02] [ 3.57120060e-03 -9.08431043e-03 9.99952360e-01 -4.25826102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4965476149999997 meters 0.21572953220307114 Centerline is valid? [False, False] Translation: X:0.72, Y:0.02, Z:-0.01 [[ 0.99995325 0.00847754 -0.00465168 0.71947987] [-0.00838849 0.99978731 0.01884086 0.0213561 ] [ 0.00481041 -0.01880095 0.99981167 -0.00970528] [ 0. 0. 0. 1. ]] SLAMing on 1.5265476149999997 meters 0.2130397832741267 Centerline is valid? [False, False] Translation: X:0.72, Y:0.03, Z:-0.01 [[ 0.99995957 0.00727434 -0.00528565 0.72350761] [-0.00718286 0.99982755 0.01712553 0.02670079] [ 0.00540931 -0.01708687 0.99983938 -0.01342917] [ 0. 0. 0. 1. ]] SLAMing on 1.5565476149999997 meters 0.21541692801048126 Centerline is valid? [False, False] Translation: X:0.73, Y:0.03, Z:-0.02 [[ 0.9999775 0.00230081 -0.00630066 0.72719067] [-0.00223196 0.99993796 0.0109126 0.02993143] [ 0.00632538 -0.01089829 0.99992061 -0.01668965] [ 0. 0. 0. 1. ]] SLAMing on 1.5865476149999997 meters 0.20550885935301924 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:-0.02 [[ 0.99995491 -0.00446891 -0.00837836 0.73703055] [ 0.0044819 0.99998878 0.00153253 0.02768895] [ 0.00837141 -0.00157001 0.99996373 -0.02441782] [ 0. 0. 0. 1. ]] SLAMing on 1.6165476149999998 meters 0.20691443124701758 Centerline is valid? [False, False] Translation: X:0.75, Y:0.03, Z:-0.03 [[ 0.99997595 0.00206155 -0.00662157 0.74737094] [-0.00211138 0.99996944 -0.00752723 0.02911408] [ 0.00660585 0.00754103 0.99994975 -0.02634498] [ 0. 0. 0. 1. ]] SLAMing on 1.6465476149999996 meters 0.20925060352935815 Centerline is valid? [False, False] Translation: X:0.75, Y:0.03, Z:-0.03 [[ 0.9999562 0.00625386 -0.0069634 0.74750659] [-0.00627542 0.99997557 -0.00307899 0.0283548 ] [ 0.00694397 0.00312255 0.99997102 -0.02530586] [ 0. 0. 0. 1. ]] SLAMing on 1.6765476149999996 meters 0.2078172661588606 Centerline is valid? [False, False] Translation: X:0.75, Y:0.03, Z:-0.03 [[ 9.99995328e-01 -2.36533941e-04 3.04764111e-03 7.45833229e-01] [ 2.09536498e-04 9.99960765e-01 8.85574769e-03 2.99245341e-02] [-3.04961622e-03 -8.85506772e-03 9.99956143e-01 -3.06592059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7065476149999996 meters 0.20331417795992146 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:-0.03 [[ 0.9999832 -0.00482131 0.00321734 0.78976659] [ 0.00472847 0.99958929 0.02826473 0.03935555] [-0.0033523 -0.02824905 0.99959529 -0.02649479] [ 0. 0. 0. 1. ]] SLAMing on 1.7365476149999997 meters 0.2023721981974741 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:-0.03 [[ 0.99998283 -0.00517234 0.00275606 0.79093667] [ 0.00509312 0.99959457 0.02801342 0.04121209] [-0.00289984 -0.02799891 0.99960375 -0.02634006] [ 0. 0. 0. 1. ]] SLAMing on 1.7665476149999997 meters 0.20113360851991033 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.02 [[ 0.9998977 -0.00979069 0.01042767 0.80220732] [ 0.00961402 0.99981163 0.01686071 0.03972331] [-0.01059078 -0.01675874 0.99980347 -0.02026609] [ 0. 0. 0. 1. ]] SLAMing on 1.7965476149999997 meters 0.20242552449421644 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.02 [[ 0.9998604 -0.00784416 0.01475318 0.81048202] [ 0.0077868 0.99996192 0.00394115 0.03840959] [-0.01478353 -0.00382572 0.9998834 -0.02096952] [ 0. 0. 0. 1. ]] SLAMing on 1.8265476149999997 meters 0.20116201131957312 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.02 [[ 0.99982708 -0.00394009 0.01817386 0.82696765] [ 0.00433803 0.99975055 -0.02190928 0.03497454] [-0.018083 0.02198433 0.99959477 -0.01958359] [ 0. 0. 0. 1. ]] SLAMing on 1.8565476149999995 meters 0.20453094241104736 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.02 [[ 9.99843113e-01 5.69291392e-04 1.77038418e-02 8.27035171e-01] [-2.73483320e-04 9.99860397e-01 -1.67066283e-02 3.10131404e-02] [-1.77108812e-02 1.66991655e-02 9.99703687e-01 -1.78770944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8865476149999996 meters 0.20913161020910256 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.02 [[ 9.99868001e-01 6.03294221e-04 1.62362950e-02 8.21231173e-01] [-5.92401224e-04 9.99999596e-01 -6.75705262e-04 3.02583339e-02] [-1.62366961e-02 6.65997668e-04 9.99867954e-01 -1.91632743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9165476149999996 meters 0.2043696475880866 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.02 [[ 0.99985352 -0.00355282 0.01674243 0.86654618] [ 0.00323707 0.9998171 0.01884926 0.03117365] [-0.01680633 -0.0187923 0.99968215 -0.01742764] [ 0. 0. 0. 1. ]] SLAMing on 1.9465476149999996 meters 0.2043329353147001 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.02 [[ 0.99985942 -0.00438118 0.01618463 0.87043673] [ 0.00408835 0.99982815 0.01808165 0.03256994] [-0.01626106 -0.01801294 0.99970551 -0.02107306] [ 0. 0. 0. 1. ]] SLAMing on 1.9765476149999996 meters 0.20416614653868456 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.02 [[ 0.99987333 -0.00531116 0.01500414 0.87550235] [ 0.00505134 0.99983755 0.01730172 0.03167982] [-0.0150936 -0.01722374 0.99973773 -0.02481622] [ 0. 0. 0. 1. ]] SLAMing on 2.0065476149999997 meters 0.205087697148399 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.02 [[ 0.99991017 0.00140797 0.01332925 0.88721948] [-0.0015358 0.99995288 0.00958492 0.03312783] [-0.01331513 -0.00960453 0.99986522 -0.02344125] [ 0. 0. 0. 1. ]] SLAMing on 2.036547615 meters 0.20705988550307017 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.03 [[ 0.99991293 0.00559415 0.01195122 0.89843259] [-0.00553292 0.99997143 -0.0051501 0.04332571] [-0.01197969 0.00508353 0.99991532 -0.02562642] [ 0. 0. 0. 1. ]] SLAMing on 2.0665476149999997 meters 0.21026853895757902 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.03 [[ 0.99992137 0.00511042 0.01145157 0.90017885] [-0.00503189 0.9999637 -0.00687555 0.0482928 ] [-0.0114863 0.00681738 0.99991079 -0.02689016] [ 0. 0. 0. 1. ]] SLAMing on 2.096547615 meters 0.21106402435404925 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.03 [[ 0.99991204 0.0081491 0.01046434 0.90443713] [-0.00809942 0.99995577 -0.00478151 0.05251444] [-0.01050285 0.00469633 0.99993382 -0.03053078] [ 0. 0. 0. 1. ]] SLAMing on 2.126547615 meters 0.21032205911009622 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.03 [[ 0.99992198 0.00718519 0.01021764 0.90724961] [-0.00711875 0.99995338 -0.00652434 0.05740057] [-0.01026404 0.0064511 0.99992651 -0.03424641] [ 0. 0. 0. 1. ]] SLAMing on 2.156547615 meters 0.2108415842129378 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.04 [[ 0.99989377 0.01086364 0.00971781 0.90973925] [-0.01083651 0.99993725 -0.00284099 0.05881237] [-0.00974806 0.00273538 0.99994875 -0.03603756] [ 0. 0. 0. 1. ]] SLAMing on 2.186547615 meters 0.21519188404684356 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.03 [[ 0.99983752 0.01510484 0.00983767 0.90850281] [-0.01513428 0.99988119 0.00292498 0.05619962] [-0.00979232 -0.00307339 0.99994733 -0.03249216] [ 0. 0. 0. 1. ]] SLAMing on 2.2165476149999996 meters 0.21822347817701757 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.02 [[ 0.99989344 0.00481292 0.01378227 0.91825415] [-0.00488685 0.99997383 0.00533553 0.05405913] [-0.01375622 -0.00540231 0.99989078 -0.02117529] [ 0. 0. 0. 1. ]] SLAMing on 2.246547615 meters 0.22210143032841206 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.02 [[ 0.99990506 0.00101619 0.01374165 0.91707828] [-0.00103897 0.9999981 0.00165069 0.05343828] [-0.01373994 -0.00166481 0.99990422 -0.01869948] [ 0. 0. 0. 1. ]] SLAMing on 2.2765476149999997 meters 0.2285740404524596 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.02 [[ 0.99990213 -0.00302761 0.01365892 0.91683837] [ 0.00305852 0.99999281 -0.00224319 0.05282249] [-0.01365203 0.00228475 0.9999042 -0.01777174] [ 0. 0. 0. 1. ]] SLAMing on 2.306547615 meters 0.23006795399532087 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.02 [[ 9.99916116e-01 6.10303020e-04 1.29378443e-02 9.20182231e-01] [-6.30314715e-04 9.99998611e-01 1.54273527e-03 5.30690849e-02] [-1.29368848e-02 -1.55076077e-03 9.99915112e-01 -1.99162503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3365476149999997 meters 0.23084706630797375 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.03 [[ 0.99991985 0.00350561 0.0121659 0.92615514] [-0.00354441 0.9999887 0.00316908 0.0596314 ] [-0.01215466 -0.00321194 0.99992097 -0.02743149] [ 0. 0. 0. 1. ]] SLAMing on 2.366547615 meters 0.2341964410547869 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.03 [[ 9.99939436e-01 -1.09818202e-04 1.10051440e-02 9.32292602e-01] [ 1.21187592e-04 9.99999460e-01 -1.03243626e-03 6.04753950e-02] [-1.10050246e-02 1.03370742e-03 9.99938909e-01 -3.24893918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.396547615 meters 0.23864126365910304 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:-0.03 [[ 0.99991223 0.00298932 0.01290749 0.9421561 ] [-0.00281026 0.99989988 -0.01386804 0.06025413] [-0.01294766 0.01383055 0.99982052 -0.03485063] [ 0. 0. 0. 1. ]] SLAMing on 2.4265476149999996 meters 0.24679349868542574 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:-0.03 [[ 0.99989362 0.00734738 0.0126002 0.94156975] [-0.00722724 0.99992825 -0.00955334 0.06111889] [-0.01266949 0.00946126 0.99987498 -0.03231627] [ 0. 0. 0. 1. ]] SLAMing on 2.456547615 meters 0.24827551277052512 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:-0.03 [[ 0.99986389 0.01128889 0.01203157 0.94269206] [-0.01122448 0.99992238 -0.0054072 0.06236401] [-0.01209168 0.00527142 0.999913 -0.03131718] [ 0. 0. 0. 1. ]] SLAMing on 2.4865476149999997 meters 0.2552667883119607 Centerline is valid? [False, False] Translation: X:0.97, Y:0.06, Z:-0.03 [[ 0.99994825 0.00130432 0.01008976 0.96756208] [-0.00126549 0.99999177 -0.00385426 0.06481028] [-0.0100947 0.00384129 0.99994167 -0.03112662] [ 0. 0. 0. 1. ]] SLAMing on 2.516547615 meters 0.25816283772514687 Centerline is valid? [False, False] Translation: X:0.97, Y:0.06, Z:-0.03 [[ 9.99954102e-01 1.01746734e-03 9.52673907e-03 9.69951063e-01] [-9.81572163e-04 9.99992405e-01 -3.77175293e-03 6.36962963e-02] [-9.53050435e-03 3.76222863e-03 9.99947506e-01 -3.22382053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5465476149999997 meters 0.26496267503461557 Centerline is valid? [False, False] Translation: X:0.97, Y:0.06, Z:-0.03 [[ 9.99961460e-01 6.69319178e-04 8.75390088e-03 9.72606678e-01] [-6.38197440e-04 9.99993468e-01 -3.55749538e-03 6.21462285e-02] [-8.75622480e-03 3.55177155e-03 9.99955356e-01 -3.30922031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.576547615 meters 0.2718537023485168 Centerline is valid? [False, False] Translation: X:0.97, Y:0.06, Z:-0.03 [[ 0.99995654 -0.00335712 0.00869752 0.97193903] [ 0.00342161 0.99996668 -0.00741105 0.06137222] [-0.00867235 0.00744049 0.99993471 -0.03154395] [ 0. 0. 0. 1. ]] SLAMing on 2.6065476149999998 meters 0.2874434823660037 Centerline is valid? [False, False] Translation: X:0.98, Y:0.06, Z:-0.03 [[ 0.99985289 -0.00434513 0.01659294 0.98379592] [ 0.00456444 0.99990242 -0.0132026 0.05776091] [-0.01653395 0.01327639 0.99977516 -0.02632913] [ 0. 0. 0. 1. ]] SLAMing on 2.6365476149999996 meters 0.3049639436125871 Centerline is valid? [False, False] Translation: X:0.98, Y:0.06, Z:-0.03 [[ 0.99985859 -0.00415775 0.01629473 0.98428181] [ 0.00436069 0.99991313 -0.01243832 0.05540781] [-0.0162416 0.01250761 0.99978986 -0.02560599] [ 0. 0. 0. 1. ]] SLAMing on 2.666547615 meters 0.3191981488483343 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:-0.03 [[ 0.99988572 0.00265267 0.01488309 0.99092201] [-0.00258426 0.99998602 -0.00461383 0.0568584 ] [-0.01489512 0.00457485 0.9998786 -0.0292113 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6965476149999996 meters 0.3251402148185647 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:-0.03 [[ 0.99988113 0.00574073 0.0143101 0.99400423] [-0.00571628 0.99998213 -0.00174846 0.06148247] [-0.01431988 0.00166645 0.99989608 -0.0310492 ] [ 0. 0. 0. 1. ]] SLAMing on 2.726547615 meters 0.33407094621236416 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:-0.03 [[ 0.99990049 0.00165834 0.01400907 0.99452896] [-0.00154465 0.99996582 -0.00812279 0.06967254] [-0.01402207 0.00810035 0.99986887 -0.03172923] [ 0. 0. 0. 1. ]] SLAMing on 2.7565476149999997 meters 0.3400001294047986 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:-0.03 [[ 0.99987955 -0.0062588 0.01420248 0.99280496] [ 0.00649549 0.99983976 -0.01668148 0.06995505] [-0.0140958 0.01677172 0.99975998 -0.02990221] [ 0. 0. 0. 1. ]] SLAMing on 2.786547615 meters 0.34318878555851945 Centerline is valid? [False, False] Translation: X:1.00, Y:0.07, Z:-0.03 [[ 0.99983384 -0.00599987 0.01721334 0.99902795] [ 0.00656779 0.99942951 -0.0331289 0.07006775] [-0.01700475 0.03323645 0.99930285 -0.03125747] [ 0. 0. 0. 1. ]] SLAMing on 2.8165476149999997 meters 0.35228657459068624 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:-0.03 [[ 0.99998723 -0.00121624 0.00490544 1.03406645] [ 0.00136235 0.99955218 -0.02989284 0.06944984] [-0.00486688 0.02989914 0.99954107 -0.03346298] [ 0. 0. 0. 1. ]] SLAMing on 2.8465476149999995 meters 0.35785405960282135 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:-0.04 [[ 0.99998126 0.0020385 -0.00577237 1.04743357] [-0.00197311 0.99993407 0.01131185 0.07863277] [ 0.00579505 -0.01130025 0.99991936 -0.0366957 ] [ 0. 0. 0. 1. ]] SLAMing on 2.876547615 meters 0.3624621151600789 Centerline is valid? [False, False] Translation: X:1.05, Y:0.09, Z:-0.04 [[ 0.99994532 0.00843022 -0.00618705 1.05214117] [-0.00832087 0.99981239 0.01749119 0.08831455] [ 0.00633335 -0.01743876 0.99982787 -0.03993048] [ 0. 0. 0. 1. ]] SLAMing on 2.9065476149999996 meters 0.35912800520837673 Centerline is valid? [False, False] Translation: X:1.03, Y:0.10, Z:-0.04 [[ 0.99993073 0.01141852 0.00285374 1.02969038] [-0.01142312 0.99993347 0.00160128 0.10078461] [-0.00283526 -0.00163377 0.99999465 -0.04248225] [ 0. 0. 0. 1. ]] SLAMing on 2.936547615 meters 0.35614224895508917 Centerline is valid? [False, False] Translation: X:1.03, Y:0.10, Z:-0.04 [[ 0.99997952 0.00583513 0.00262862 1.02557026] [-0.00582398 0.99997409 -0.00423189 0.09805963] [-0.00265324 0.0042165 0.99998759 -0.03664584] [ 0. 0. 0. 1. ]] SLAMing on 2.9665476149999996 meters 0.3518352814171139 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:-0.02 [[ 0.99998778 -0.0030977 -0.00385329 1.02875826] [ 0.0030348 0.9998638 -0.01622238 0.085993 ] [ 0.00390302 0.01621048 0.99986098 -0.01705968] [ 0. 0. 0. 1. ]] SLAMing on 2.996547615 meters 0.34580326328219896 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:-0.01 [[ 0.99996583 -0.00805289 -0.00187077 1.01689704] [ 0.00801075 0.99973603 -0.02153388 0.07655649] [ 0.00204368 0.02151816 0.99976637 -0.00988125] [ 0. 0. 0. 1. ]] SLAMing on 3.0265476149999997 meters 0.3394388650653849 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:-0.01 [[ 0.99998965 -0.00388185 -0.00237315 1.01894611] [ 0.0038438 0.99986728 -0.01583203 0.07189595] [ 0.0024343 0.01582274 0.99987185 -0.01035328] [ 0. 0. 0. 1. ]] SLAMing on 3.0565476149999995 meters 0.3368165749004201 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:-0.01 [[ 9.99997210e-01 2.49719787e-04 -2.34879861e-03 1.02081691e+00] [-2.76028712e-04 9.99937157e-01 -1.12073669e-02 6.91384358e-02] [ 2.34585231e-03 1.12079840e-02 9.99934437e-01 -1.32832162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0865476149999997 meters 0.33507212083978205 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:-0.02 [[ 9.99955155e-01 -8.28565741e-03 -4.58649548e-03 1.03360676e+00] [ 8.29016828e-03 9.99965170e-01 9.65373957e-04 6.52149115e-02] [ 4.57833698e-03 -1.00335348e-03 9.99989016e-01 -2.40623384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1165476149999995 meters 0.33042623077569183 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:-0.03 [[ 0.99994158 -0.00474198 -0.0097139 1.01721784] [ 0.00465672 0.9999506 -0.00878173 0.06397239] [ 0.00975506 0.00873598 0.99991426 -0.0264705 ] [ 0. 0. 0. 1. ]] SLAMing on 3.146547615 meters 0.4150243826946424 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:-0.02 [[ 0.99991683 -0.00862433 -0.00958921 1.01588678] [ 0.00850147 0.99988219 -0.0127804 0.06375357] [ 0.0096983 0.01269782 0.99987235 -0.02484166] [ 0. 0. 0. 1. ]] SLAMing on 3.1765476149999996 meters 0.4150243826946424 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:-0.02 [[ 0.99994185 -0.00425226 -0.00991026 1.01651539] [ 0.00417266 0.99995898 -0.00803903 0.06188005] [ 0.00994404 0.00799721 0.99991858 -0.0244939 ] [ 0. 0. 0. 1. ]] SLAMing on 3.206547615 meters 0.39991518326288844 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.02 [[ 0.99992587 -0.00784052 -0.0093158 1.00872302] [ 0.00771414 0.99987876 -0.01352598 0.06049213] [ 0.00942072 0.01345311 0.99986512 -0.01854314] [ 0. 0. 0. 1. ]] SLAMing on 3.2365476149999997 meters 0.3931303262200401 Centerline is valid? [False, False] Translation: X:0.98, Y:0.06, Z:-0.02 [[ 0.99997264 -0.00727019 -0.00136324 0.97593978] [ 0.0072509 0.99988045 -0.01365666 0.0625653 ] [ 0.00146236 0.0136464 0.99990581 -0.01956351] [ 0. 0. 0. 1. ]] SLAMing on 3.2665476149999995 meters 0.3831169453395676 Centerline is valid? [False, False] Translation: X:0.95, Y:0.07, Z:-0.03 [[ 0.99997345 -0.00498971 0.0053113 0.95131159] [ 0.00504797 0.9999266 -0.01101394 0.0727492 ] [-0.00525595 0.01104045 0.99992524 -0.02547366] [ 0. 0. 0. 1. ]] SLAMing on 3.2965476149999997 meters 0.38155258519460905 Centerline is valid? [False, False] Translation: X:0.95, Y:0.08, Z:-0.03 [[ 0.99997677 -0.00649266 -0.00207352 0.94512725] [ 0.00648903 0.9999774 -0.00175557 0.07567805] [ 0.00208487 0.00174207 0.99999631 -0.02573096] [ 0. 0. 0. 1. ]] SLAMing on 3.3265476149999995 meters 0.370884161704745 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:-0.04 [[ 9.99994936e-01 -3.18144593e-03 7.73746148e-05 9.11750930e-01] [ 3.18197190e-03 9.99961562e-01 -8.17006177e-03 8.03393214e-02] [-5.13790310e-05 8.17026660e-03 9.99966621e-01 -3.63211041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3565476149999998 meters 0.36308985243252695 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:-0.04 [[ 9.99972275e-01 -7.44372871e-03 2.01344831e-04 9.11657962e-01] [ 7.44566132e-03 9.99894463e-01 -1.24749685e-02 8.00325044e-02] [-1.08463301e-04 1.24761217e-02 9.99922164e-01 -3.66366247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3865476149999996 meters 0.3518483025601158 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:-0.03 [[ 9.99936452e-01 -1.12703215e-02 2.69629453e-04 9.10749575e-01] [ 1.12731697e-02 9.99812524e-01 -1.57426746e-02 7.78532981e-02] [-9.21538993e-05 1.57447138e-02 9.99876040e-01 -3.49171405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.416547615 meters 0.34111651902153406 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.01 [[ 0.99995661 -0.00649415 -0.00667839 0.91443026] [ 0.00638919 0.99985759 -0.01561957 0.06752934] [ 0.00677887 0.01557622 0.9998557 -0.01426051] [ 0. 0. 0. 1. ]] SLAMing on 3.4465476149999996 meters 0.3204886105184839 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:-0.01 [[ 0.99999777 -0.00173212 0.00120718 0.87830661] [ 0.00174217 0.99996342 -0.0083741 0.06512925] [-0.00119263 0.00837619 0.99996421 -0.00939211] [ 0. 0. 0. 1. ]] SLAMing on 3.4765476149999994 meters 0.3182247784974477 Centerline is valid? [False, False] Translation: X:0.87, Y:0.06, Z:-0.01 [[ 0.99998495 -0.00213068 -0.0050552 0.87024789] [ 0.00213744 0.99999683 0.00133052 0.06483236] [ 0.00505235 -0.00134131 0.99998634 -0.01048979] [ 0. 0. 0. 1. ]] SLAMing on 3.5065476149999997 meters 0.3153747879053801 Centerline is valid? [False, False] Translation: X:0.86, Y:0.07, Z:-0.01 [[ 0.99992676 -0.002671 -0.01180398 0.86324589] [ 0.00279217 0.99994346 0.01026069 0.06535982] [ 0.01177591 -0.01029289 0.99987768 -0.01301736] [ 0. 0. 0. 1. ]] SLAMing on 3.5365476149999995 meters 0.301260553974202 Centerline is valid? [False, False] Translation: X:0.86, Y:0.07, Z:-0.01 [[ 0.99990832 -0.0070589 -0.01155532 0.86319753] [ 0.00712795 0.99995692 0.00594533 0.06511015] [ 0.01151285 -0.00602715 0.99991556 -0.01377112] [ 0. 0. 0. 1. ]] SLAMing on 3.5665476149999997 meters 0.29549210579763424 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.01 [[ 0.9998758 -0.01099594 -0.01129047 0.86194021] [ 0.01102124 0.99993689 0.00218072 0.06489015] [ 0.01126578 -0.00230488 0.99993388 -0.01242407] [ 0. 0. 0. 1. ]] SLAMing on 3.5965476149999995 meters 0.28223277806426533 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.01 [[ 0.99989153 -0.00972932 -0.0110571 0.8596349 ] [ 0.00977854 0.99994248 0.00440577 0.06060258] [ 0.0110136 -0.00451342 0.99992916 -0.00904111] [ 0. 0. 0. 1. ]] SLAMing on 3.626547615 meters 0.2811044478437739 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.01 [[ 0.9998933 -0.00956258 -0.01104328 0.85936131] [ 0.00961528 0.99994259 0.00472819 0.06004547] [ 0.01099743 -0.00483387 0.99992784 -0.00857202] [ 0. 0. 0. 1. ]] SLAMing on 3.6565476149999996 meters 0.2678909946438731 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.01 [[ 9.99848508e-01 -1.39775246e-02 -1.03725792e-02 8.58512588e-01] [ 1.39692842e-02 9.99902049e-01 -8.66469515e-04 6.41536720e-02] [ 1.03836743e-02 7.21440744e-04 9.99945828e-01 -9.66503160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6865476149999994 meters 0.26277465109532083 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.01 [[ 9.99844617e-01 -1.41775540e-02 -1.04756045e-02 8.59374407e-01] [ 1.41674118e-02 9.99899095e-01 -1.04175158e-03 6.34943126e-02] [ 1.04893169e-02 8.93177510e-04 9.99944587e-01 -1.08199473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7165476149999996 meters 0.2656877784573269 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.01 [[ 0.99988271 -0.01040717 -0.01123619 0.86171772] [ 0.01044569 0.99993975 0.00337452 0.06126015] [ 0.01120039 -0.0034915 0.99993118 -0.01236669] [ 0. 0. 0. 1. ]] SLAMing on 3.7465476149999994 meters 0.26148428423889036 Centerline is valid? [False, False] Translation: X:0.87, Y:0.07, Z:-0.02 [[ 0.99986041 -0.01204445 -0.01157981 0.86513343] [ 0.01200237 0.99992113 -0.00369701 0.06855103] [ 0.01162342 0.00355751 0.99992612 -0.02436382] [ 0. 0. 0. 1. ]] SLAMing on 3.7765476149999997 meters 0.24716178214932913 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.02 [[ 0.99991362 -0.00844423 -0.01007226 0.8577002 ] [ 0.00845687 0.9999635 0.00121314 0.0630058 ] [ 0.01006165 -0.00129821 0.99994854 -0.01630452] [ 0. 0. 0. 1. ]] SLAMing on 3.8065476149999995 meters 0.23864946542269946 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.01 [[ 0.99991251 -0.00944 -0.00926634 0.85194931] [ 0.00947918 0.99994628 0.00419267 0.0534045 ] [ 0.00922626 -0.00428014 0.99994828 -0.00566493] [ 0. 0. 0. 1. ]] SLAMing on 3.8365476149999997 meters 0.23288188711453967 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:0.01 [[ 0.99988434 -0.01325936 -0.00745014 0.84326954] [ 0.01328794 0.99990449 0.00379932 0.04061815] [ 0.00739905 -0.00389788 0.99996503 0.00504278] [ 0. 0. 0. 1. ]] SLAMing on 3.8665476149999995 meters 0.23548643294185373 Centerline is valid? [False, False] Translation: X:0.86, Y:0.04, Z:-0.00 [[ 9.99952833e-01 -7.55845592e-03 -6.09923074e-03 8.64558125e-01] [ 7.56987485e-03 9.99969634e-01 1.85128265e-03 4.24017200e-02] [ 6.08505269e-03 -1.89736574e-03 9.99979686e-01 -5.47960189e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8965476149999994 meters 0.23306827445436756 Centerline is valid? [False, False] Translation: X:0.87, Y:0.05, Z:-0.01 [[ 0.99993883 -0.009221 -0.00610794 0.86786406] [ 0.0092049 0.9999541 -0.0026586 0.04898459] [ 0.00613217 0.00260221 0.99997781 -0.00835262] [ 0. 0. 0. 1. ]] SLAMing on 3.9265476149999996 meters 0.23148663700045868 Centerline is valid? [False, False] Translation: X:0.88, Y:0.06, Z:-0.02 [[ 0.99994084 -0.00709512 -0.00824489 0.88140098] [ 0.00706938 0.99997006 -0.00314753 0.06006193] [ 0.00826698 0.00308906 0.99996106 -0.0237175 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9565476149999994 meters 0.22015436745066963 Centerline is valid? [False, False] Translation: X:0.88, Y:0.06, Z:-0.02 [[ 9.99961202e-01 -3.11129686e-03 -8.24106532e-03 8.81232056e-01] [ 3.10857119e-03 9.99995109e-01 -3.43529963e-04 6.46208404e-02] [ 8.24209384e-03 3.17898696e-04 9.99965983e-01 -2.38717243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9865476149999997 meters 0.19930661552957385 Centerline is valid? [False, False] Translation: X:0.87, Y:0.06, Z:-0.02 [[ 0.99997873 -0.00309824 -0.0057398 0.87171541] [ 0.00308577 0.99999286 -0.00218008 0.06287604] [ 0.00574651 0.00216232 0.99998115 -0.01872415] [ 0. 0. 0. 1. ]] SLAMing on 4.0165476149999995 meters 0.18170721472531623 Centerline is valid? [False, False] Translation: X:0.86, Y:0.05, Z:-0.00 [[ 0.99999166 -0.00152595 0.00378781 0.85947828] [ 0.00157577 0.99991184 -0.01318462 0.05307759] [-0.00376736 0.01319048 0.9999059 -0.00399335] [ 0. 0. 0. 1. ]] SLAMing on 4.046547615 meters 0.16998866145258243 Centerline is valid? [False, False] Translation: X:0.86, Y:0.05, Z:0.00 [[ 9.99989771e-01 5.67862391e-04 4.48732286e-03 8.55286636e-01] [-5.19325592e-04 9.99941433e-01 -1.08101991e-02 4.98151401e-02] [-4.49319876e-03 1.08077581e-02 9.99931499e-01 1.29550679e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.076547615 meters 0.1602146911139953 Centerline is valid? [False, False] Translation: X:0.86, Y:0.05, Z:-0.00 [[ 0.99999024 0.00251199 0.00363439 0.8601235 ] [-0.0024798 0.9999579 -0.00883478 0.05394475] [-0.00365643 0.00882568 0.99995437 -0.00384288] [ 0. 0. 0. 1. ]] SLAMing on 4.106547614999999 meters 0.15247809938358822 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.01 [[ 0.99999174 -0.00331084 -0.00235972 0.86221962] [ 0.00331625 0.99999187 0.00229297 0.05593718] [ 0.00235211 -0.00230077 0.99999459 -0.00522088] [ 0. 0. 0. 1. ]] SLAMing on 4.136547615 meters 0.12321144510718261 Centerline is valid? [False, False] Translation: X:0.87, Y:0.06, Z:-0.01 [[ 0.99997236 -0.00570347 -0.00476978 0.87442552] [ 0.00571871 0.99997857 0.0031865 0.05713271] [ 0.0047515 -0.00321369 0.99998355 -0.01185934] [ 0. 0. 0. 1. ]] SLAMing on 4.166547615 meters 0.11217049515990993 Centerline is valid? [False, False] Translation: X:0.87, Y:0.05, Z:-0.00 [[ 0.99994255 -0.00913114 -0.00561456 0.87448449] [ 0.0091606 0.99994429 0.0052449 0.04660523] [ 0.00556635 -0.00529603 0.99997048 -0.00408742] [ 0. 0. 0. 1. ]] SLAMing on 4.196547614999999 meters 0.11058077690222301 Centerline is valid? [False, False] Translation: X:0.88, Y:0.04, Z:-0.00 [[ 0.99998274 -0.00537225 0.00237911 0.87545268] [ 0.00538309 0.99997505 -0.00457422 0.04380952] [-0.00235448 0.00458694 0.99998671 -0.00402727] [ 0. 0. 0. 1. ]] SLAMing on 4.226547614999999 meters 0.09603302326490588 Centerline is valid? [False, True] Translation: X:0.87, Y:0.03, Z:0.01 [[ 9.99977472e-01 -5.24889371e-03 4.18392744e-03 8.66686545e-01] [ 5.25069048e-03 9.99986127e-01 -4.18578754e-04 3.22510266e-02] [-4.18167233e-03 4.40537832e-04 9.99991160e-01 8.42024530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.256547615 meters 0.09247919732084019 Centerline is valid? [True, True] Translation: X:0.90, Y:0.04, Z:0.00 [[ 9.99990277e-01 4.34776634e-03 7.36887915e-04 8.96325527e-01] [-4.34775326e-03 9.99990548e-01 -1.93602193e-05 4.08021532e-02] [-7.36965124e-04 1.61562243e-05 9.99999728e-01 2.28935533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.286547615 meters 0.08414092582218137 Centerline is valid? [True, True] Translation: X:0.93, Y:0.06, Z:0.00 [[ 9.99887070e-01 1.12498493e-02 9.96431439e-03 9.27294034e-01] [-1.12479884e-02 9.99936710e-01 -2.42779176e-04 5.79568601e-02] [-9.96641497e-03 1.30673266e-04 9.99950326e-01 3.36998382e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.316547614999999 meters 0.0805711240927109 Centerline is valid? [True, True] Translation: X:0.96, Y:0.07, Z:-0.00 [[ 9.99725809e-01 1.85455654e-02 1.42957811e-02 9.57766612e-01] [-1.85424828e-02 9.99828013e-01 -3.48159995e-04 7.29446965e-02] [-1.42997792e-02 8.29852577e-05 9.99897749e-01 -4.27027615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3465476149999995 meters 0.07674129715123797 Centerline is valid? [True, True] Translation: X:0.99, Y:0.09, Z:-0.00 [[ 9.99334902e-01 2.83048721e-02 2.29910267e-02 9.89230612e-01] [-2.82994839e-02 9.99599333e-01 -5.59753399e-04 9.22074696e-02] [-2.29976587e-02 -9.12530822e-05 9.99735515e-01 -1.72357381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.376547615 meters 0.07527215855222522 Centerline is valid? [True, True] Translation: X:1.02, Y:0.09, Z:0.01 [[ 9.99142985e-01 3.19093489e-02 2.63645302e-02 1.02203288e+00] [-3.19036512e-02 9.99490746e-01 -6.36824983e-04 9.42811963e-02] [-2.63714246e-02 -2.04845559e-04 9.99652193e-01 6.27545407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.406547614999999 meters 0.07484758314080053 Centerline is valid? [True, True] Translation: X:1.05, Y:0.10, Z:0.00 [[ 9.99000064e-01 3.59350535e-02 2.65997081e-02 1.05305833e+00] [-3.59305153e-02 9.99354080e-01 -6.48701379e-04 9.73830322e-02] [-2.66058379e-02 -3.07688500e-04 9.99645955e-01 1.82248549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.436547614999999 meters 0.07339714441294656 Centerline is valid? [True, True] Translation: X:1.08, Y:0.10, Z:0.01 [[ 9.98747120e-01 4.48093017e-02 2.22781848e-02 1.08424416e+00] [-4.48081374e-02 9.98995459e-01 -5.51695976e-04 9.70657778e-02] [-2.22805265e-02 -4.47239197e-04 9.99751658e-01 1.05577512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.466547615 meters 0.07413365350526736 Centerline is valid? [True, True] Translation: X:1.12, Y:0.10, Z:0.01 [[ 9.98631958e-01 4.74878062e-02 2.18888125e-02 1.11511963e+00] [-4.74874613e-02 9.98871690e-01 -5.35831886e-04 1.01127918e-01] [-2.18895606e-02 -5.04345289e-04 9.99760268e-01 8.91233562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.496547615 meters 0.07471727751894047 Centerline is valid? [True, True] Translation: X:1.15, Y:0.11, Z:0.00 [[ 9.98419742e-01 5.17318547e-02 2.19507185e-02 1.14554927e+00] [-5.17323050e-02 9.98660838e-01 -5.47715266e-04 1.07770687e-01] [-2.19496572e-02 -5.88711530e-04 9.99758904e-01 2.96063036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.526547614999999 meters 0.07356451181719915 Centerline is valid? [True, True] Translation: X:1.18, Y:0.10, Z:0.00 [[ 9.98418586e-01 5.17436472e-02 2.19755007e-02 1.17798595e+00] [-5.17442398e-02 9.98660222e-01 -5.42033171e-04 1.03887272e-01] [-2.19741052e-02 -5.95929586e-04 9.99758363e-01 2.08816902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5565476149999995 meters 0.07307321038469813 Centerline is valid? [True, True] Translation: X:1.21, Y:0.10, Z:-0.00 [[ 9.98537037e-01 4.97340681e-02 2.12204829e-02 1.20966542e+00] [-4.97340342e-02 9.98762357e-01 -5.29673265e-04 1.01371613e-01] [-2.12205624e-02 -5.26481852e-04 9.99774680e-01 -3.90932710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.586547615 meters 0.07164581888894397 Centerline is valid? [True, True] Translation: X:1.24, Y:0.10, Z:-0.00 [[ 9.98348508e-01 5.15138763e-02 2.54278929e-02 1.24167177e+00] [-5.15141962e-02 9.98672055e-01 -6.42908536e-04 9.66212088e-02] [-2.54272448e-02 -6.68050687e-04 9.99676452e-01 -1.86601954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.616547614999999 meters 0.07159862823314825 Centerline is valid? [True, True] Translation: X:1.27, Y:0.09, Z:0.00 [[ 9.98214441e-01 5.27517541e-02 2.80211124e-02 1.27331500e+00] [-5.27524091e-02 9.98607365e-01 -7.16375641e-04 9.27317073e-02] [-2.80198793e-02 -7.63084677e-04 9.99607075e-01 6.58115677e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.646547614999999 meters 0.0710023045571957 Centerline is valid? [True, True] Translation: X:1.30, Y:0.09, Z:0.00 [[ 9.98001565e-01 5.71548398e-02 2.69480923e-02 1.30420764e+00] [-5.71567434e-02 9.98364972e-01 -7.00257906e-04 8.62947032e-02] [-2.69440546e-02 -8.41406714e-04 9.99636589e-01 2.55479103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.676547615 meters 0.07045252198844583 Centerline is valid? [True, True] Translation: X:1.34, Y:0.08, Z:0.00 [[ 9.98248401e-01 5.40339828e-02 2.40927092e-02 1.33603588e+00] [-5.40347422e-02 9.98538864e-01 -6.19968792e-04 7.91218242e-02] [-2.40910059e-02 -6.82960479e-04 9.99709536e-01 3.41615206e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.706547615 meters 0.07010695319738548 Centerline is valid? [True, True] Translation: X:1.37, Y:0.07, Z:-0.01 [[ 9.98538736e-01 4.89869501e-02 2.28182473e-02 1.36633356e+00] [-4.89860594e-02 9.98799283e-01 -5.98333303e-04 7.41307382e-02] [-2.28201596e-02 -5.20317038e-04 9.99739451e-01 -5.79145060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.736547614999999 meters 0.0688062382023585 Centerline is valid? [True, True] Translation: X:1.40, Y:0.07, Z:-0.01 [[ 9.98735511e-01 4.53740869e-02 2.16465069e-02 1.39821972e+00] [-4.53725688e-02 9.98969977e-01 -5.61515175e-04 6.54844868e-02] [-2.16496887e-02 -4.21352477e-04 9.99765529e-01 -5.54641046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7665476149999995 meters 0.06913268979934983 Centerline is valid? [True, True] Translation: X:1.43, Y:0.06, Z:-0.01 [[ 9.98968200e-01 4.09615155e-02 1.96134958e-02 1.42829965e+00] [-4.09593312e-02 9.99160683e-01 -5.13241367e-04 5.93859000e-02] [-1.96180570e-02 -2.90643865e-04 9.99807505e-01 -1.46938103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.796547615 meters 0.06907499349907757 Centerline is valid? [True, True] Translation: X:1.46, Y:0.06, Z:-0.02 [[ 9.98987132e-01 4.05631319e-02 1.94767275e-02 1.46134647e+00] [-4.05608406e-02 9.99176939e-01 -5.12825103e-04 5.78753046e-02] [-1.94814987e-02 -2.77686761e-04 9.99810179e-01 -1.68610143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.826547614999999 meters 0.0687075369157809 Centerline is valid? [True, True] Translation: X:1.49, Y:0.06, Z:-0.02 [[ 9.98858632e-01 4.20477599e-02 2.26587522e-02 1.49344980e+00] [-4.20448226e-02 9.99115542e-01 -6.06229418e-04 5.69608333e-02] [-2.26642020e-02 -3.47145729e-04 9.99743074e-01 -1.59337682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.856547614999999 meters 0.06854143596623392 Centerline is valid? [True, True] Translation: X:1.53, Y:0.06, Z:-0.01 [[ 9.98676085e-01 4.47027832e-02 2.54507246e-02 1.52558215e+00] [-4.46997436e-02 9.99000230e-01 -6.88614887e-04 5.58972852e-02] [-2.54560627e-02 -4.49937644e-04 9.99675841e-01 -1.25156562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.886547615 meters 0.06804652997430154 Centerline is valid? [True, True] Translation: X:1.56, Y:0.05, Z:-0.01 [[ 9.98389994e-01 4.87987968e-02 2.89153458e-02 1.55798064e+00] [-4.87963327e-02 9.98808436e-01 -7.91258647e-04 5.34623037e-02] [-2.89195038e-02 -6.20978120e-04 9.99581551e-01 -6.10515477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.916547615 meters 0.06796198693710198 Centerline is valid? [True, True] Translation: X:1.59, Y:0.05, Z:-0.01 [[ 9.98302642e-01 5.07362293e-02 2.85949415e-02 1.58968424e+00] [-5.07344059e-02 9.98711869e-01 -7.89752754e-04 5.18668506e-02] [-2.85981765e-02 -6.62335110e-04 9.99590769e-01 -6.19123950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.946547614999999 meters 0.06872863028044753 Centerline is valid? [True, True] Translation: X:1.62, Y:0.06, Z:-0.01 [[ 9.98224717e-01 5.27357831e-02 2.76830593e-02 1.62043804e+00] [-5.27346325e-02 9.98608263e-01 -7.72137958e-04 5.64497981e-02] [-2.76852511e-02 -6.89088764e-04 9.99616452e-01 -1.19214139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.976547614999999 meters 0.0693126991161016 Centerline is valid? [True, True] Translation: X:1.65, Y:0.06, Z:-0.02 [[ 9.98129156e-01 5.43321710e-02 2.80392989e-02 1.65136740e+00] [-5.43313448e-02 9.98522648e-01 -7.91882972e-04 6.08518897e-02] [-2.80408997e-02 -7.33011334e-04 9.99606508e-01 -1.79175426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.006547615 meters 0.07042005968144802 Centerline is valid? [True, True] Translation: X:1.68, Y:0.07, Z:-0.02 [[ 9.97961583e-01 5.74782881e-02 2.77294904e-02 1.68282153e+00] [-5.74786525e-02 9.98346427e-01 -7.84596195e-04 7.00993327e-02] [-2.77287350e-02 -8.10856885e-04 9.99615156e-01 -2.38452537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.036547614999999 meters 0.07090276692603309 Centerline is valid? [True, True] Translation: X:1.71, Y:0.07, Z:-0.03 [[ 9.97938625e-01 5.87048119e-02 2.59276951e-02 1.71365319e+00] [-5.87054012e-02 9.98275077e-01 -7.39104489e-04 7.26077033e-02] [-2.59263608e-02 -7.84514822e-04 9.99663548e-01 -2.69239669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.066547614999999 meters 0.0719396951494426 Centerline is valid? [True, True] Translation: X:1.74, Y:0.07, Z:-0.03 [[ 9.97827630e-01 6.24494843e-02 2.09781611e-02 1.74449656e+00] [-6.24504943e-02 9.98047878e-01 -6.07611228e-04 7.35988393e-02] [-2.09751542e-02 -7.03805257e-04 9.99779750e-01 -3.01348603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0965476149999995 meters 0.0719396951494426 Centerline is valid? [True, True] Translation: X:1.78, Y:0.07, Z:-0.03 [[ 9.97809325e-01 6.27411897e-02 2.09784076e-02 1.77681091e+00] [-6.27424417e-02 9.98029572e-01 -5.99153227e-04 7.24871310e-02] [-2.09746628e-02 -7.18395842e-04 9.99779749e-01 -3.18222655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.126547615 meters 0.0725147215612977 Centerline is valid? [True, True] Translation: X:1.81, Y:0.07, Z:-0.03 [[ 9.97624359e-01 6.74303713e-02 1.40990448e-02 1.80749314e+00] [-6.74312653e-02 9.97723837e-01 -4.12504136e-04 6.69976528e-02] [-1.40947684e-02 -5.39192258e-04 9.99900518e-01 -3.18527101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.156547614999999 meters 0.071003309476655 Centerline is valid? [True, True] Translation: X:1.84, Y:0.06, Z:-0.03 [[ 9.97735504e-01 6.38507333e-02 2.11411280e-02 1.83830989e+00] [-6.38519253e-02 9.97959192e-01 -6.19328310e-04 6.45895837e-02] [-2.11375276e-02 -7.31975881e-04 9.99776310e-01 -2.90471426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.186547614999999 meters 0.07079536693031832 Centerline is valid? [True, True] Translation: X:1.87, Y:0.07, Z:-0.03 [[ 9.97606296e-01 6.35538423e-02 2.72504681e-02 1.86862713e+00] [-6.35557083e-02 9.97977973e-01 -7.98517828e-04 6.69063483e-02] [-2.72461157e-02 -9.35316387e-04 9.99628318e-01 -2.86570738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.216547615 meters 0.06911616984431936 Centerline is valid? [True, True] Translation: X:1.90, Y:0.06, Z:-0.03 [[ 9.97817965e-01 5.73966729e-02 3.26332671e-02 1.89862128e+00] [-5.73960565e-02 9.98351029e-01 -9.56419669e-04 5.86881240e-02] [-3.26343511e-02 -9.18688114e-04 9.99466935e-01 -2.61222622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.246547614999999 meters 0.06851567016770571 Centerline is valid? [True, True] Translation: X:1.93, Y:0.05, Z:-0.03 [[ 9.98056160e-01 5.39275574e-02 3.12365220e-02 1.93025628e+00] [-5.39254750e-02 9.98544549e-01 -9.09702602e-04 5.22592312e-02] [-3.12401168e-02 -7.76510001e-04 9.99511607e-01 -2.96009873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.276547614999999 meters 0.06937565122588916 Centerline is valid? [True, True] Translation: X:1.96, Y:0.05, Z:-0.03 [[ 9.97969364e-01 5.60143880e-02 3.03238707e-02 1.96090228e+00] [-5.60131502e-02 9.98429634e-01 -8.90948720e-04 5.48209428e-02] [-3.03261570e-02 -8.09395994e-04 9.99539729e-01 -3.49830028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3065476149999995 meters 0.06980838049631875 Centerline is valid? [True, True] Translation: X:1.99, Y:0.06, Z:-0.04 [[ 9.97906429e-01 5.74569455e-02 2.96893536e-02 1.99250595e+00] [-5.74562069e-02 9.98347641e-01 -8.78690602e-04 5.63303778e-02] [-2.96907830e-02 -8.28986641e-04 9.99558788e-01 -3.77461118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.336547615 meters 0.0718610156366255 Centerline is valid? [True, True] Translation: X:2.02, Y:0.06, Z:-0.04 [[ 9.97544408e-01 6.59343800e-02 2.36180279e-02 2.02313028e+00] [-6.59360609e-02 9.97823599e-01 -7.08419988e-04 6.46422188e-02] [-2.36133348e-02 -8.50599327e-04 9.99720804e-01 -4.14929437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.366547614999999 meters 0.07434670106894456 Centerline is valid? [True, True] Translation: X:2.05, Y:0.07, Z:-0.04 [[ 9.96933481e-01 7.63628188e-02 1.70983902e-02 2.05399538e+00] [-7.63652177e-02 9.97079781e-01 -5.13521028e-04 7.34071373e-02] [-1.70876731e-02 -7.93775982e-04 9.99853680e-01 -4.28791606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.396547614999999 meters 0.07579569561279083 Centerline is valid? [True, True] Translation: X:2.09, Y:0.07, Z:-0.04 [[ 9.96869311e-01 7.71400809e-02 1.73489271e-02 2.08521847e+00] [-7.71427945e-02 9.97019922e-01 -5.13748809e-04 7.42192308e-02] [-1.73368566e-02 -8.26204300e-04 9.99849364e-01 -4.27331849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.426547615 meters 0.07167070632549338 Centerline is valid? [True, True] Translation: X:2.12, Y:0.06, Z:-0.03 [[ 9.97274442e-01 6.89245210e-02 2.63267673e-02 2.11641868e+00] [-6.89274253e-02 9.97621357e-01 -7.98221252e-04 5.77503579e-02] [-2.63191624e-02 -1.01859064e-03 9.99653072e-01 -3.17601644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.456547614999999 meters 0.0695215346776846 Centerline is valid? [True, True] Translation: X:2.15, Y:0.05, Z:-0.03 [[ 9.97745283e-01 5.96753140e-02 3.07116711e-02 2.14564639e+00] [-5.96748332e-02 9.98217433e-01 -9.33045181e-04 5.02506806e-02] [-3.07126052e-02 -9.01772422e-04 9.99527850e-01 -3.30797702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.486547614999999 meters 0.06793118955526554 Centerline is valid? [True, True] Translation: X:2.18, Y:0.04, Z:-0.04 [[ 9.98160402e-01 5.13543439e-02 3.22264521e-02 2.17631211e+00] [-5.13495206e-02 9.98680264e-01 -9.77819492e-04 4.45456945e-02] [-3.22341370e-02 -6.78792171e-04 9.99480115e-01 -4.09814215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5165476149999995 meters 0.06814231975532273 Centerline is valid? [True, True] Translation: X:2.21, Y:0.04, Z:-0.06 [[ 9.98738098e-01 3.78891595e-02 3.29639687e-02 2.20677627e+00] [-3.78767607e-02 9.99281917e-01 -1.00072898e-03 4.28165496e-02] [-3.29782146e-02 -2.49102195e-04 9.99456040e-01 -5.56130704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.546547615 meters 0.06823564147440006 Centerline is valid? [True, True] Translation: X:2.24, Y:0.04, Z:-0.06 [[ 9.98778111e-01 3.60325250e-02 3.38222106e-02 2.23875022e+00] [-3.60185299e-02 9.99350598e-01 -1.02317785e-03 3.94556785e-02] [-3.38371140e-02 -1.96298661e-04 9.99427342e-01 -5.52428455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.576547614999999 meters 0.06788919838448358 Centerline is valid? [True, True] Translation: X:2.27, Y:0.04, Z:-0.05 [[ 9.98492642e-01 4.50220828e-02 3.13919684e-02 2.26931338e+00] [-4.50140873e-02 9.98985889e-01 -9.61726302e-04 4.05685477e-02] [-3.14034324e-02 -4.52804172e-04 9.99506688e-01 -4.74722108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.606547614999999 meters 0.06925102793423812 Centerline is valid? [True, True] Translation: X:2.30, Y:0.04, Z:-0.05 [[ 9.98241958e-01 5.26600457e-02 2.72013231e-02 2.29957139e+00] [-5.26568711e-02 9.98612317e-01 -8.33494537e-04 4.45212200e-02] [-2.72074681e-02 -6.00307344e-04 9.99629628e-01 -4.63079710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.636547615 meters 0.07316657226180334 Centerline is valid? [True, True] Translation: X:2.33, Y:0.07, Z:-0.05 [[ 9.96973960e-01 7.52586612e-02 1.94693876e-02 2.33096655e+00] [-7.52613480e-02 9.97163665e-01 -5.95718139e-04 6.98846888e-02] [-1.94589988e-02 -8.71376881e-04 9.99810276e-01 -5.07411560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.666547614999999 meters 0.07483456136981319 Centerline is valid? [True, True] Translation: X:2.36, Y:0.08, Z:-0.06 [[ 9.96572616e-01 7.90968130e-02 2.42222114e-02 2.36205036e+00] [-7.91022396e-02 9.96866237e-01 -7.35546170e-04 8.11672200e-02] [-2.42044841e-02 -1.18300600e-03 9.99706329e-01 -5.66224523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.696547614999999 meters 0.07225946384624399 Centerline is valid? [True, True] Translation: X:2.39, Y:0.08, Z:-0.06 [[ 9.96985196e-01 7.11472660e-02 3.09610239e-02 2.39261572e+00] [-7.11518153e-02 9.97465039e-01 -9.56167098e-04 7.89112907e-02] [-3.09505676e-02 -1.24964861e-03 9.99520135e-01 -6.17783817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.726547614999999 meters 0.07077163193568946 Centerline is valid? [True, True] Translation: X:2.42, Y:0.07, Z:-0.06 [[ 9.97382626e-01 6.50366647e-02 3.15931893e-02 2.42365274e+00] [-6.50383230e-02 9.97882289e-01 -9.76235931e-04 7.03172445e-02] [-3.15897752e-02 -1.08108729e-03 9.99500334e-01 -6.24127811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.756547615 meters 0.06986409444393137 Centerline is valid? [True, True] Translation: X:2.45, Y:0.06, Z:-0.06 [[ 9.97711373e-01 5.98513514e-02 3.14615862e-02 2.45424131e+00] [-5.98504137e-02 9.98206884e-01 -9.72377253e-04 6.15216556e-02] [-3.14633700e-02 -9.12837102e-04 9.99504489e-01 -6.19952683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.786547614999999 meters 0.06765223623428028 Centerline is valid? [True, True] Translation: X:2.48, Y:0.05, Z:-0.05 [[ 9.98075287e-01 4.97547529e-02 3.70160368e-02 2.48373438e+00] [-4.97464237e-02 9.98761222e-01 -1.14657751e-03 4.58066801e-02] [-3.70272298e-02 -6.97044773e-04 9.99314014e-01 -5.16111184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.816547614999999 meters 0.06676879246749992 Centerline is valid? [True, True] Translation: X:2.52, Y:0.04, Z:-0.05 [[ 9.98091583e-01 4.62774686e-02 4.08850448e-02 2.51543249e+00] [-4.62644431e-02 9.98928426e-01 -1.26519666e-03 4.05637985e-02] [-4.08997835e-02 -6.28741688e-04 9.99163056e-01 -4.73935329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8465476149999995 meters 0.06678571859501621 Centerline is valid? [True, True] Translation: X:2.55, Y:0.05, Z:-0.05 [[ 9.98169077e-01 4.65431320e-02 3.86294133e-02 2.54725267e+00] [-4.65317332e-02 9.98916098e-01 -1.19459771e-03 4.59706571e-02] [-3.86431431e-02 -6.05083059e-04 9.99252892e-01 -5.32539114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.876547614999999 meters 0.06753604245635766 Centerline is valid? [True, True] Translation: X:2.58, Y:0.05, Z:-0.06 [[ 9.98197721e-01 4.82567354e-02 3.56734715e-02 2.57821632e+00] [-4.82477504e-02 9.98834779e-01 -1.11318310e-03 5.18933337e-02] [-3.56856226e-02 -6.09987916e-04 9.99362879e-01 -6.03364191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.906547614999999 meters 0.06827173708692143 Centerline is valid? [True, True] Translation: X:2.61, Y:0.05, Z:-0.07 [[ 9.98426691e-01 4.84384135e-02 2.82464697e-02 2.60858368e+00] [-4.84327165e-02 9.98826054e-01 -8.86217982e-04 5.13399234e-02] [-2.82562369e-02 -4.83229574e-04 9.99600596e-01 -6.72767293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.936547614999999 meters 0.06793326038122094 Centerline is valid? [True, True] Translation: X:2.64, Y:0.04, Z:-0.07 [[ 9.98652429e-01 4.59478504e-02 2.41272017e-02 2.64024809e+00] [-4.59431207e-02 9.98943775e-01 -7.50609562e-04 4.19842466e-02] [-2.41362068e-02 -3.58880876e-04 9.99708615e-01 -6.71311062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.966547615 meters 0.06776210974459902 Centerline is valid? [True, True] Translation: X:2.67, Y:0.03, Z:-0.07 [[ 9.99057185e-01 3.95810101e-02 1.78349198e-02 2.66950113e+00] [-3.95772350e-02 9.99216355e-01 -5.64712574e-04 2.98915599e-02] [-1.78432954e-02 -1.41676657e-04 9.99840786e-01 -7.12936529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.996547614999999 meters 0.06790080562303943 Centerline is valid? [True, True] Translation: X:2.70, Y:0.03, Z:-0.08 [[ 9.99042904e-01 3.96125941e-02 1.85504090e-02 2.70102698e+00] [-3.96086742e-02 9.99215101e-01 -5.78816516e-04 3.34416664e-02] [-1.85587773e-02 -1.56494574e-04 9.99827759e-01 -7.67382484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.026547614999999 meters 0.06849566442267974 Centerline is valid? [True, True] Translation: X:2.73, Y:0.05, Z:-0.08 [[ 9.98704634e-01 4.43776294e-02 2.48933834e-02 2.73130112e+00] [-4.43716183e-02 9.99014779e-01 -7.94063107e-04 4.90658768e-02] [-2.49040965e-02 -3.11525200e-04 9.99689796e-01 -8.41010914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0565476149999995 meters 0.06800341440899904 Centerline is valid? [True, True] Translation: X:2.76, Y:0.05, Z:-0.08 [[ 9.98580309e-01 4.46810910e-02 2.89994076e-02 2.76337213e+00] [-4.46730765e-02 9.99001232e-01 -9.24516742e-04 4.68507210e-02] [-2.90117523e-02 -3.72288539e-04 9.99579001e-01 -7.85367324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.086547614999999 meters 0.06752648354976858 Centerline is valid? [True, True] Translation: X:2.80, Y:0.04, Z:-0.08 [[ 9.98577576e-01 4.35943507e-02 3.06978234e-02 2.79593742e+00] [-4.35847942e-02 9.99049250e-01 -9.80696078e-04 4.11725801e-02] [-3.07113903e-02 -3.58657202e-04 9.99528230e-01 -7.55990002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.116547614999999 meters 0.06670992409750957 Centerline is valid? [True, True] Translation: X:2.83, Y:0.03, Z:-0.07 [[ 9.98514172e-01 4.25999109e-02 3.39808029e-02 2.82875787e+00] [-4.25875074e-02 9.99092147e-01 -1.08904795e-03 3.17344676e-02] [-3.39963467e-02 -3.59727879e-04 9.99421892e-01 -6.66123654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.146547614999999 meters 0.06631079917485033 Centerline is valid? [True, True] Translation: X:2.86, Y:0.03, Z:-0.06 [[ 9.98360313e-01 4.29311420e-02 3.78629301e-02 2.86089726e+00] [-4.29159201e-02 9.99077949e-01 -1.21506188e-03 3.05760324e-02] [-3.78801825e-02 -4.11852922e-04 9.99282203e-01 -6.48776463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.176547615 meters 0.06648682505086163 Centerline is valid? [True, True] Translation: X:2.89, Y:0.04, Z:-0.07 [[ 9.98239650e-01 4.38767185e-02 3.99053105e-02 2.89240056e+00] [-4.38600982e-02 9.99036847e-01 -1.29229315e-03 3.73941703e-02] [-3.99235771e-02 -4.60232570e-04 9.99202630e-01 -6.91323487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.206547614999999 meters 0.06663528349134289 Centerline is valid? [True, True] Translation: X:2.93, Y:0.04, Z:-0.07 [[ 9.98288061e-01 4.35827917e-02 3.90062438e-02 2.92507099e+00] [-4.35665570e-02 9.99049724e-01 -1.26652280e-03 3.66926507e-02] [-3.90243757e-02 -4.35013153e-04 9.99238164e-01 -7.31567709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.236547614999999 meters 0.06660157952825466 Centerline is valid? [True, True] Translation: X:2.96, Y:0.02, Z:-0.08 [[ 9.98698073e-01 3.76929374e-02 3.43715330e-02 2.95615064e+00] [-3.76765481e-02 9.99289354e-01 -1.12462307e-03 2.19637901e-02] [-3.43894974e-02 -1.71841823e-04 9.99408492e-01 -7.72994307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2665476149999995 meters 0.0664605503732897 Centerline is valid? [True, True] Translation: X:2.99, Y:0.01, Z:-0.08 [[ 9.99034432e-01 3.15726882e-02 3.05511026e-02 2.98767962e+00] [-3.15567012e-02 9.99501458e-01 -1.00542519e-03 1.08059598e-02] [-3.05676156e-02 4.03623633e-05 9.99532700e-01 -7.93675073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.296547614999999 meters 0.06670347199520145 Centerline is valid? [True, True] Translation: X:3.02, Y:0.01, Z:-0.08 [[ 9.99106960e-01 3.07339636e-02 2.89949287e-02 3.01919135e+00] [-3.07190169e-02 9.99527598e-01 -9.60900720e-04 1.25891279e-02] [-2.90107637e-02 6.93468934e-05 9.99579097e-01 -8.42530816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.326547614999999 meters 0.06734812011308788 Centerline is valid? [True, True] Translation: X:3.05, Y:0.02, Z:-0.09 [[ 9.99252464e-01 2.63286830e-02 2.83074845e-02 3.05120343e+00] [-2.63124687e-02 9.99653320e-01 -9.45195601e-04 1.74875158e-02] [-2.83225566e-02 1.99649231e-04 9.99598816e-01 -9.22796903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.356547614999999 meters 0.06734598586928403 Centerline is valid? [True, True] Translation: X:3.08, Y:0.01, Z:-0.09 [[ 9.99279135e-01 2.28366863e-02 3.03264956e-02 3.08348612e+00] [-2.28162023e-02 9.99739155e-01 -1.02137203e-03 1.42638951e-02] [-3.03419098e-02 3.28700304e-04 9.99539524e-01 -9.28591392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.386547615 meters 0.06746692084835292 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.00, Z:-0.08 [[ 9.99290060e-01 1.37657706e-02 3.50696462e-02 3.11539770e+00] [-1.37323981e-02 9.99904995e-01 -1.19230863e-03 -2.88130642e-04] [-3.50827275e-02 7.09871820e-04 9.99384160e-01 -8.45313802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.416547614999999 meters 0.06744253271630928 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.00, Z:-0.08 [[ 9.99243918e-01 9.11988885e-03 3.77944333e-02 3.14786769e+00] [-9.07739814e-03 9.99957960e-01 -1.29570835e-03 -4.64888475e-03] [-3.78046611e-02 9.51653569e-04 9.99284695e-01 -8.12458997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.446547614999999 meters 0.06779045436989325 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.01, Z:-0.08 [[ 9.99201058e-01 5.00199250e-03 3.96513107e-02 3.17991253e+00] [-4.95145025e-03 9.99986799e-01 -1.37277016e-03 -6.09586145e-03] [-3.96576539e-02 1.17534191e-03 9.99212635e-01 -8.08288244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.476547614999999 meters 0.06842763355895279 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.00, Z:-0.08 [[ 9.99290376e-01 1.63677593e-03 3.76306323e-02 3.21138050e+00] [-1.58875354e-03 9.99997885e-01 -1.30601948e-03 -3.44534207e-03] [-3.76326904e-02 1.24530690e-03 9.99290863e-01 -8.32270766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.506547614999999 meters 0.0682473234359516 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.00, Z:-0.09 [[ 9.99286939e-01 5.08165747e-03 3.74137688e-02 3.24232120e+00] [-5.03654627e-03 9.99986472e-01 -1.29989078e-03 -4.08884615e-04] [-3.74198683e-02 1.11052770e-03 9.99299014e-01 -8.50507655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.536547614999999 meters 0.0676180845596821 Centerline is valid? [True, True] Translation: X:3.27, Y:0.01, Z:-0.09 [[ 9.99287212e-01 9.70328216e-03 3.64817059e-02 3.27428853e+00] [-9.66343073e-03 9.99952503e-01 -1.26854107e-03 5.21271876e-03] [-3.64922822e-02 9.15098430e-04 9.99333516e-01 -8.86846939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.566547614999999 meters 0.06768668226120417 Centerline is valid? [True, True] Translation: X:3.30, Y:0.01, Z:-0.10 [[ 9.99235200e-01 1.52520655e-02 3.60054073e-02 3.30447125e+00] [-1.52168079e-02 9.99883432e-01 -1.25307634e-03 1.31702159e-02] [-3.60203223e-02 7.04230621e-04 9.99350809e-01 -9.71378299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5965476149999995 meters 0.06782972112182785 Centerline is valid? [True, True] Translation: X:3.34, Y:0.04, Z:-0.11 [[ 9.99005677e-01 3.08306801e-02 3.22044403e-02 3.33618001e+00] [-3.08104215e-02 9.99524613e-01 -1.12523514e-03 4.35118771e-02] [-3.22238225e-02 1.31883915e-04 9.99480669e-01 -1.11622294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.626547614999999 meters 0.06818657539627782 Centerline is valid? [True, True] Translation: X:3.37, Y:0.06, Z:-0.12 [[ 9.98769491e-01 3.87262850e-02 3.09802891e-02 3.36840340e+00] [-3.87114437e-02 9.99249849e-01 -1.07892788e-03 5.53461195e-02] [-3.09988321e-02 -1.21691464e-04 9.99519413e-01 -1.15348390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.656547614999999 meters 0.06844544348504246 Centerline is valid? [True, True] Translation: X:3.40, Y:0.06, Z:-0.11 [[ 9.98304531e-01 4.87848619e-02 3.17505892e-02 3.40119887e+00] [-4.87740912e-02 9.98809214e-01 -1.11409944e-03 6.43265971e-02] [-3.17671322e-02 -4.36395611e-04 9.99495202e-01 -1.08252683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.686547614999999 meters 0.06740768826400809 Centerline is valid? [True, True] Translation: X:3.43, Y:0.07, Z:-0.10 [[ 9.98360285e-01 4.63804417e-02 3.35499086e-02 3.43231522e+00] [-4.63667311e-02 9.98923780e-01 -1.18698491e-03 6.54419016e-02] [-3.35688544e-02 -3.70561004e-04 9.99436338e-01 -1.02171199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.716547614999999 meters 0.06716556191428548 Centerline is valid? [True, True] Translation: X:3.46, Y:0.07, Z:-0.10 [[ 9.98558427e-01 4.22592776e-02 3.30941191e-02 3.46437374e+00] [-4.22434328e-02 9.99106653e-01 -1.17814235e-03 6.72986486e-02] [-3.31143420e-02 -2.21565223e-04 9.99451545e-01 -1.04811257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.746547614999999 meters 0.0673936749100745 Centerline is valid? [True, True] Translation: X:3.50, Y:0.06, Z:-0.11 [[ 9.99094753e-01 2.78543185e-02 3.21529291e-02 3.49504384e+00] [-2.78316332e-02 9.99611960e-01 -1.15296662e-03 6.08716473e-02] [-3.21725676e-02 2.57054366e-04 9.99482296e-01 -1.10223933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.776547614999999 meters 0.06819052056687078 Centerline is valid? [True, True] Translation: X:3.53, Y:0.05, Z:-0.11 [[ 9.99331725e-01 1.91082007e-02 3.11605497e-02 3.52545509e+00] [-1.90822812e-02 9.99817279e-01 -1.12899693e-03 5.01522343e-02] [-3.11764291e-02 5.33628073e-04 9.99513755e-01 -1.11541598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8065476149999995 meters 0.07000665058604176 Centerline is valid? [True, True] Translation: X:3.56, Y:0.04, Z:-0.11 [[ 9.99641034e-01 6.08814156e-03 2.60909366e-02 3.55568109e+00] [-6.06554464e-03 9.99981158e-01 -9.45137791e-04 3.75925546e-02] [-2.60961992e-02 7.86542778e-04 9.99659127e-01 -1.13956551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.836547614999999 meters 0.0705935519056321 Centerline is valid? [True, True] Translation: X:3.59, Y:0.04, Z:-0.12 [[ 9.99637941e-01 2.81245722e-03 2.67595973e-02 3.58651813e+00] [-2.78761946e-03 9.99995649e-01 -9.65440438e-04 3.88156724e-02] [-2.67621961e-02 8.90495318e-04 9.99641432e-01 -1.17573734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.866547614999999 meters 0.06960875965043485 Centerline is valid? [True, True] Translation: X:3.62, Y:0.05, Z:-0.11 [[ 9.99354904e-01 3.36100208e-03 3.57558249e-02 3.61793197e+00] [-3.31642440e-03 9.99993648e-01 -1.30596166e-03 5.12408460e-02] [-3.57599871e-02 1.18653770e-03 9.99359703e-01 -1.13601462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.896547614999999 meters 0.06852858229693776 Centerline is valid? [True, True] Translation: X:3.65, Y:0.06, Z:-0.11 [[ 9.99114517e-01 5.02315442e-03 4.17725961e-02 3.64970028e+00] [-4.96371868e-03 9.99986516e-01 -1.52643825e-03 5.56876277e-02] [-4.17797004e-02 1.31773920e-03 9.99125978e-01 -1.08224753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.926547614999999 meters 0.06763046024693949 Centerline is valid? [True, True] Translation: X:3.68, Y:0.06, Z:-0.10 [[ 9.98959754e-01 6.77265451e-03 4.50948044e-02 3.68204684e+00] [-6.70514754e-03 9.99976162e-01 -1.64809524e-03 5.90317062e-02] [-4.51048914e-02 1.34401350e-03 9.98981352e-01 -1.00809673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.956547614999999 meters 0.06795505275557207 Centerline is valid? [True, True] Translation: X:3.71, Y:0.06, Z:-0.10 [[ 9.99065541e-01 5.40029842e-03 4.28821938e-02 3.71350844e+00] [-5.33753604e-03 9.99984510e-01 -1.57796113e-03 6.10546447e-02] [-4.28900510e-02 1.34760133e-03 9.99078890e-01 -1.04474279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.986547614999999 meters 0.06795505275557207 Centerline is valid? [True, True] Translation: X:3.75, Y:0.06, Z:-0.11 [[ 9.99063900e-01 5.69844808e-03 4.28818282e-02 3.74581068e+00] [-5.63553685e-03 9.99982860e-01 -1.58782816e-03 5.97031625e-02] [-4.28901414e-02 1.34467967e-03 9.99078890e-01 -1.06168009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0165476149999995 meters 0.06911302644465654 Centerline is valid? [True, True] Translation: X:3.78, Y:0.08, Z:-0.12 [[ 9.99368351e-01 3.94979211e-03 3.53171060e-02 3.77607502e+00] [-3.90559909e-03 9.99991502e-01 -1.32022197e-03 7.76766220e-02] [-3.53220204e-02 1.18145360e-03 9.99375284e-01 -1.23121489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.046547614999999 meters 0.06919777526873165 Centerline is valid? [True, True] Translation: X:3.81, Y:0.10, Z:-0.13 [[ 9.99492376e-01 7.94080636e-03 3.08534409e-02 3.80878607e+00] [-7.90912485e-03 9.99968063e-01 -1.14874595e-03 1.00608047e-01] [-3.08615775e-02 9.04139099e-04 9.99523259e-01 -1.32499951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.076547614999999 meters 0.06838487443992682 Centerline is valid? [True, True] Translation: X:3.84, Y:0.11, Z:-0.13 [[ 9.99480888e-01 1.12187043e-02 3.02009261e-02 3.84182026e+00] [-1.11895100e-02 9.99936751e-01 -1.13550737e-03 1.07342421e-01] [-3.02117549e-02 7.96984353e-04 9.99543203e-01 -1.29860099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.106547614999999 meters 0.06668551443370843 Centerline is valid? [True, True] Translation: X:3.87, Y:0.12, Z:-0.12 [[ 9.99366477e-01 1.88542353e-02 3.01854788e-02 3.87429238e+00] [-1.88284398e-02 9.99822081e-01 -1.13860404e-03 1.17462387e-01] [-3.02015758e-02 5.69537242e-04 9.99543666e-01 -1.20812427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.136547614999999 meters 0.06544115307768687 Centerline is valid? [True, True] Translation: X:3.91, Y:0.14, Z:-0.12 [[ 9.99207283e-01 2.29163739e-02 3.25522039e-02 3.90654158e+00] [-2.28884493e-02 9.99737268e-01 -1.23026443e-03 1.40050209e-01] [-3.25718446e-02 4.84219709e-04 9.99469279e-01 -1.21496831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.166547614999999 meters 0.06530778432176644 Centerline is valid? [True, True] Translation: X:3.94, Y:0.15, Z:-0.13 [[ 9.99216628e-01 2.37775491e-02 3.16347818e-02 3.93918904e+00] [-2.37517303e-02 9.99717178e-01 -1.19173854e-03 1.53672107e-01] [-3.16541714e-02 4.39424157e-04 9.99498785e-01 -1.28113143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.196547614999999 meters 0.06565880205815769 Centerline is valid? [True, True] Translation: X:3.97, Y:0.17, Z:-0.13 [[ 9.99209391e-01 2.46392806e-02 3.12009419e-02 3.97266320e+00] [-2.46143332e-02 9.99696321e-01 -1.18346580e-03 1.65124343e-01] [-3.12206266e-02 4.14539759e-04 9.99512431e-01 -1.33302255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.226547614999999 meters 0.06582724867144994 Centerline is valid? [True, True] Translation: X:4.00, Y:0.17, Z:-0.13 [[ 9.99133104e-01 2.35933969e-02 3.42985754e-02 4.00359675e+00] [-2.35621775e-02 9.99721510e-01 -1.31419125e-03 1.66406351e-01] [-3.43200298e-02 5.04902864e-04 9.99410767e-01 -1.33723212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.256547614999999 meters 0.06575724230391403 Centerline is valid? [True, True] Translation: X:4.04, Y:0.16, Z:-0.13 [[ 9.99116268e-01 2.13517484e-02 3.62047891e-02 4.03624589e+00] [-2.13151648e-02 9.99771831e-01 -1.39618724e-03 1.60510406e-01] [-3.62263393e-02 6.23242335e-04 9.99343416e-01 -1.31861897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.286547614999999 meters 0.06613381047262328 Centerline is valid? [True, True] Translation: X:4.07, Y:0.16, Z:-0.14 [[ 9.99410646e-01 1.41767925e-02 3.12630496e-02 4.06688476e+00] [-1.41456046e-02 9.99899203e-01 -1.21855174e-03 1.60028266e-01] [-3.12771736e-02 7.75598843e-04 9.99510449e-01 -1.35391489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.316547614999999 meters 0.06717966137704501 Centerline is valid? [True, True] Translation: X:4.10, Y:0.16, Z:-0.14 [[ 9.99508200e-01 1.09077960e-02 2.94002973e-02 4.09670623e+00] [-1.08788456e-02 9.99940169e-01 -1.14447724e-03 1.63445906e-01] [-2.94110219e-02 8.24073090e-04 9.99567063e-01 -1.42164957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.346547614999999 meters 0.06775527357981137 Centerline is valid? [True, True] Translation: X:4.13, Y:0.18, Z:-0.15 [[ 9.99623709e-01 1.20279759e-02 2.46529489e-02 4.12780607e+00] [-1.20078871e-02 9.99927439e-01 -9.62741842e-04 1.78278331e-01] [-2.46627399e-02 6.66349744e-04 9.99695606e-01 -1.48926347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.376547614999999 meters 0.06671385225487378 Centerline is valid? [True, True] Translation: X:4.16, Y:0.19, Z:-0.15 [[ 9.99508415e-01 2.14902037e-02 2.28276098e-02 4.15994662e+00] [-2.14754430e-02 9.99768979e-01 -8.91594176e-04 1.90793581e-01] [-2.28414967e-02 4.00922847e-04 9.99739019e-01 -1.47636284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.406547614999999 meters 0.06577047420371562 Centerline is valid? [True, True] Translation: X:4.19, Y:0.20, Z:-0.14 [[ 9.99319057e-01 2.78246274e-02 2.42324866e-02 4.19233798e+00] [-2.78098193e-02 9.99612783e-01 -9.47933522e-04 1.97342539e-01] [-2.42494793e-02 2.73386959e-04 9.99705901e-01 -1.44853520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.436547614999999 meters 0.06533121323761215 Centerline is valid? [True, True] Translation: X:4.23, Y:0.20, Z:-0.14 [[ 9.99094643e-01 3.55381241e-02 2.33866592e-02 4.22522838e+00] [-3.55265585e-02 9.99368318e-01 -9.09966121e-04 2.04792221e-01] [-2.34042248e-02 7.82947590e-05 9.99726081e-01 -1.42057961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.466547614999999 meters 0.06618402300491513 Centerline is valid? [True, True] Translation: X:4.26, Y:0.23, Z:-0.15 [[ 9.98322600e-01 5.30824749e-02 2.31135666e-02 4.25670299e+00] [-5.30756425e-02 9.98590081e-01 -9.09400085e-04 2.30279275e-01] [-2.31292515e-02 -3.18892739e-04 9.99732432e-01 -1.47612130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.496547614999999 meters 0.0679471990369705 Centerline is valid? [True, True] Translation: X:4.29, Y:0.25, Z:-0.15 [[ 9.97645878e-01 6.57319123e-02 1.95452551e-02 4.28821925e+00] [-6.57293438e-02 9.97837188e-01 -7.74488711e-04 2.48190536e-01] [-1.95538910e-02 -5.12031321e-04 9.99808673e-01 -1.51054601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.526547614999999 meters 0.06843158215380997 Centerline is valid? [True, True] Translation: X:4.32, Y:0.25, Z:-0.15 [[ 9.97523321e-01 6.80024023e-02 1.79693329e-02 4.31974355e+00] [-6.80007410e-02 9.97685022e-01 -7.04156898e-04 2.49133011e-01] [-1.79756186e-02 -5.19515021e-04 9.99838291e-01 -1.54301375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.556547614999999 meters 0.06792676735565951 Centerline is valid? [True, True] Translation: X:4.35, Y:0.25, Z:-0.16 [[ 9.97593895e-01 6.51880831e-02 2.35994620e-02 4.34923019e+00] [-6.51840260e-02 9.97872815e-01 -9.41953664e-04 2.46721793e-01] [-2.36106658e-02 -5.98620722e-04 9.99721050e-01 -1.56603727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.586547614999999 meters 0.06610067935238503 Centerline is valid? [True, True] Translation: X:4.38, Y:0.24, Z:-0.15 [[ 9.97755029e-01 5.97170165e-02 3.03113775e-02 4.37961355e+00] [-5.97078068e-02 9.98215164e-01 -1.20967733e-03 2.44431929e-01] [-3.03295150e-02 -6.02864235e-04 9.99539773e-01 -1.54611578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.616547614999999 meters 0.0661788694226843 Centerline is valid? [True, True] Translation: X:4.41, Y:0.25, Z:-0.16 [[ 9.97803633e-01 5.79758931e-02 3.20422574e-02 4.41085619e+00] [-5.79648493e-02 9.98317811e-01 -1.27423979e-03 2.45520476e-01] [-3.20622315e-02 -5.85883528e-04 9.99485703e-01 -1.57044114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.646547614999999 meters 0.06583527902300357 Centerline is valid? [True, True] Translation: X:4.44, Y:0.24, Z:-0.15 [[ 9.97814697e-01 5.85501173e-02 3.06221153e-02 4.44315221e+00] [-5.85401027e-02 9.98284307e-01 -1.22422927e-03 2.38658893e-01] [-3.06412560e-02 -5.71067819e-04 9.99530283e-01 -1.52418406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.676547614999999 meters 0.06589206824933808 Centerline is valid? [True, True] Translation: X:4.48, Y:0.24, Z:-0.15 [[ 9.97741295e-01 6.00094424e-02 3.01856614e-02 4.47556225e+00] [-6.00001380e-02 9.98197630e-01 -1.21474196e-03 2.36626914e-01] [-3.02041516e-02 -5.99145632e-04 9.99543571e-01 -1.52880017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.706547614999999 meters 0.06634919834739988 Centerline is valid? [True, True] Translation: X:4.51, Y:0.24, Z:-0.16 [[ 9.97659594e-01 6.22903393e-02 2.82001556e-02 4.50797709e+00] [-6.22828100e-02 9.98057883e-01 -1.14613745e-03 2.41934093e-01] [-2.82167809e-02 -6.12929908e-04 9.99601639e-01 -1.56189399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.736547614999999 meters 0.06768216829459006 Centerline is valid? [True, True] Translation: X:4.54, Y:0.25, Z:-0.16 [[ 9.97588344e-01 6.46601986e-02 2.52300362e-02 4.53754202e+00] [-6.46548383e-02 9.97907157e-01 -1.02900556e-03 2.47870545e-01] [-2.52437694e-02 -6.04719962e-04 9.99681142e-01 -1.64081748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.766547614999999 meters 0.0681071977242896 Centerline is valid? [True, True] Translation: X:4.57, Y:0.25, Z:-0.16 [[ 9.97290139e-01 6.99771194e-02 2.27063980e-02 4.56871238e+00] [-6.99741670e-02 9.97548374e-01 -9.25507354e-04 2.47761807e-01] [-2.27154948e-02 -6.65861931e-04 9.99741748e-01 -1.63709820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.796547614999999 meters 0.07000645461017108 Centerline is valid? [True, True] Translation: X:4.60, Y:0.25, Z:-0.16 [[ 9.96702976e-01 7.69671697e-02 2.56755108e-02 4.59887138e+00] [-7.69656810e-02 9.97033192e-01 -1.04767468e-03 2.50871459e-01] [-2.56799730e-02 -9.31912695e-04 9.99669781e-01 -1.63760107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.826547614999999 meters 0.07089192681744112 Centerline is valid? [True, True] Translation: X:4.63, Y:0.25, Z:-0.17 [[ 9.96388723e-01 8.05760307e-02 2.67771363e-02 4.63032181e+00] [-8.05758757e-02 9.96747886e-01 -1.08653668e-03 2.52002483e-01] [-2.67776028e-02 -1.07497832e-03 9.99640838e-01 -1.65560193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.856547614999999 meters 0.07402006539215217 Centerline is valid? [True, True] Translation: X:4.66, Y:0.26, Z:-0.17 [[ 9.95698654e-01 8.90162737e-02 2.56961792e-02 4.66011605e+00] [-8.90186190e-02 9.96029404e-01 -1.05489961e-03 2.56915861e-01] [-2.56880533e-02 -1.23707626e-03 9.99669242e-01 -1.70205307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.886547614999999 meters 0.07356206352418881 Centerline is valid? [True, True] Translation: X:4.69, Y:0.25, Z:-0.17 [[ 9.95539295e-01 9.07352005e-02 2.58579696e-02 4.69168682e+00] [-9.07382543e-02 9.95874214e-01 -1.05764939e-03 2.52553983e-01] [-2.58472512e-02 -1.29337550e-03 9.99665067e-01 -1.71422039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.916547614999999 meters 0.07306380588216832 Centerline is valid? [True, True] Translation: X:4.72, Y:0.25, Z:-0.17 [[ 9.95468746e-01 9.12464493e-02 2.67593187e-02 4.72390634e+00] [-9.12498925e-02 9.95827424e-01 -1.09496127e-03 2.48284527e-01] [-2.67475747e-02 -1.35178523e-03 9.99641306e-01 -1.73396264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.946547614999999 meters 0.07424961694397766 Centerline is valid? [True, True] Translation: X:4.76, Y:0.25, Z:-0.18 [[ 9.95555388e-01 9.00632115e-02 2.75333853e-02 4.75527189e+00] [-9.00661896e-02 9.95935136e-01 -1.13449259e-03 2.45394289e-01] [-2.75236418e-02 -1.35037689e-03 9.99620241e-01 -1.79367632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9765476149999985 meters 0.0747082176135651 Centerline is valid? [True, True] Translation: X:4.79, Y:0.23, Z:-0.18 [[ 9.95644662e-01 9.00482365e-02 2.41458596e-02 4.78625177e+00] [-9.00503894e-02 9.95936708e-01 -1.00036465e-03 2.34745621e-01] [-2.41378290e-02 -1.17833634e-03 9.99707946e-01 -1.83726229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.006547614999999 meters 0.07464520826091146 Centerline is valid? [True, True] Translation: X:4.82, Y:0.23, Z:-0.18 [[ 9.95521722e-01 9.18807320e-02 2.22358230e-02 4.81698158e+00] [-9.18827704e-02 9.95769395e-01 -9.32148540e-04 2.27722872e-01] [-2.22273986e-02 -1.11511490e-03 9.99752319e-01 -1.84411172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.036547614999998 meters 0.07711866865462375 Centerline is valid? [True, True] Translation: X:4.85, Y:0.23, Z:-0.19 [[ 9.95022652e-01 9.79449951e-02 1.83494026e-02 4.84826450e+00] [-9.79474160e-02 9.95191294e-01 -7.68904156e-04 2.26404645e-01] [-1.83364761e-02 -1.03219952e-03 9.99831340e-01 -1.86234456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.066547615 meters 0.07852780895463042 Centerline is valid? [True, True] Translation: X:4.88, Y:0.23, Z:-0.19 [[ 9.94772357e-01 1.00614521e-01 1.74549945e-02 4.87900132e+00] [-1.00617103e-01 9.94924953e-01 -7.32444630e-04 2.28323455e-01] [-1.74401041e-02 -1.02765530e-03 9.99847382e-01 -1.88697019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.096547614999999 meters 0.07767867290842896 Centerline is valid? [True, True] Translation: X:4.91, Y:0.23, Z:-0.19 [[ 9.94473502e-01 1.02743166e-01 2.15938921e-02 4.91122777e+00] [-1.02747770e-01 9.94707036e-01 -8.99138199e-04 2.27383349e-01] [-2.15719767e-02 -1.32455514e-03 9.99766420e-01 -1.87892616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.126547615 meters 0.07838427284104876 Centerline is valid? [True, True] Translation: X:4.94, Y:0.22, Z:-0.18 [[ 9.94708169e-01 9.76988109e-02 3.17899345e-02 4.94091033e+00] [-9.77055720e-02 9.95214456e-01 -1.34439719e-03 2.19781717e-01] [-3.17691484e-02 -1.76877087e-03 9.99493668e-01 -1.83697011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.156547615 meters 0.0752411651501344 Centerline is valid? [True, True] Translation: X:4.97, Y:0.20, Z:-0.18 [[ 9.95094661e-01 9.24254042e-02 3.52726507e-02 4.97106108e+00] [-9.24304425e-02 9.95718027e-01 -1.49127464e-03 2.03749005e-01] [-3.52594458e-02 -1.77630728e-03 9.99376614e-01 -1.81383113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.186547614999999 meters 0.06952119644909101 Centerline is valid? [True, True] Translation: X:5.00, Y:0.18, Z:-0.18 [[ 9.96005284e-01 8.09712289e-02 3.76448425e-02 5.00096169e+00] [-8.09688007e-02 9.96715366e-01 -1.59157730e-03 1.75976855e-01] [-3.76500650e-02 -1.46283835e-03 9.99289914e-01 -1.78942255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.216547615 meters 0.06885745639277861 Centerline is valid? [True, True] Translation: X:5.03, Y:0.17, Z:-0.18 [[ 9.96477207e-01 7.52046226e-02 3.71138825e-02 5.02998281e+00] [-7.51982252e-02 9.97167369e-01 -1.57025360e-03 1.70626568e-01] [-3.71268429e-02 -1.22617617e-03 9.99309809e-01 -1.84111386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.246547614999999 meters 0.06789462651108347 Centerline is valid? [True, True] Translation: X:5.06, Y:0.16, Z:-0.20 [[ 9.97301615e-01 6.67244269e-02 3.06159907e-02 5.06111916e+00] [-6.67161382e-02 9.97771158e-01 -1.29332037e-03 1.62782083e-01] [-3.06340486e-02 -7.52750178e-04 9.99530384e-01 -1.95668851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.276547614999998 meters 0.0679406652406404 Centerline is valid? [True, True] Translation: X:5.09, Y:0.16, Z:-0.20 [[ 9.97540432e-01 6.43064859e-02 2.78884094e-02 5.09266110e+00] [-6.42987751e-02 9.97930002e-01 -1.17410072e-03 1.58870381e-01] [-2.79061828e-02 -6.21977623e-04 9.99610353e-01 -2.00601847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.306547615 meters 0.06780959512373684 Centerline is valid? [True, True] Translation: X:5.12, Y:0.15, Z:-0.20 [[ 9.97764252e-01 6.30126176e-02 2.22689810e-02 5.12391684e+00] [-6.30072845e-02 9.98012623e-01 -9.41744765e-04 1.48818856e-01] [-2.22840659e-02 -4.63468761e-04 9.99751572e-01 -2.00612559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.336547614999999 meters 0.0680959267193668 Centerline is valid? [True, True] Translation: X:5.16, Y:0.14, Z:-0.20 [[ 9.97869164e-01 6.24998492e-02 1.87323172e-02 5.15526388e+00] [-6.24958645e-02 9.98044903e-01 -7.98613514e-04 1.40205582e-01] [-1.87456070e-02 -3.73780560e-04 9.99824216e-01 -2.01524504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.366547614999998 meters 0.06798945076137344 Centerline is valid? [True, True] Translation: X:5.19, Y:0.13, Z:-0.20 [[ 9.97936632e-01 6.21068276e-02 1.62856201e-02 5.18628028e+00] [-6.21038101e-02 9.98069456e-01 -6.91437016e-04 1.32140834e-01] [-1.62971229e-02 -3.21388729e-04 9.99867141e-01 -2.02954239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.396547615 meters 0.06736768850567201 Centerline is valid? [True, True] Translation: X:5.22, Y:0.14, Z:-0.20 [[ 9.97800526e-01 6.31609522e-02 2.01197371e-02 5.21818255e+00] [-6.31562890e-02 9.98003272e-01 -8.67732786e-04 1.36330261e-01] [-2.01343702e-02 -4.04863697e-04 9.99797201e-01 -2.03167415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.426547614999999 meters 0.06779375803921077 Centerline is valid? [True, True] Translation: X:5.25, Y:0.15, Z:-0.21 [[ 9.97407295e-01 6.71376581e-02 2.59079828e-02 5.24960815e+00] [-6.71313311e-02 9.97743525e-01 -1.11488402e-03 1.53200904e-01] [-2.59243728e-02 -6.27243922e-04 9.99663710e-01 -2.07297161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.456547614999998 meters 0.06875252164743077 Centerline is valid? [True, True] Translation: X:5.28, Y:0.16, Z:-0.21 [[ 9.97322193e-01 6.90741734e-02 2.40250132e-02 5.28130112e+00] [-6.90691782e-02 9.97611332e-01 -1.03865958e-03 1.58481277e-01] [-2.40393700e-02 -6.23509667e-04 9.99710818e-01 -2.12926607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.486547615 meters 0.07000258029376169 Centerline is valid? [True, True] Translation: X:5.31, Y:0.15, Z:-0.22 [[ 9.97332826e-01 7.09025997e-02 1.73221155e-02 5.31124186e+00] [-7.09001299e-02 9.97483132e-01 -7.57432369e-04 1.54390649e-01] [-1.73322219e-02 -4.72728073e-04 9.99849674e-01 -2.18168070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.516547614999999 meters 0.06915320500404153 Centerline is valid? [True, True] Translation: X:5.34, Y:0.13, Z:-0.21 [[ 9.97542708e-01 6.72848074e-02 1.95269152e-02 5.34034655e+00] [-6.72810086e-02 9.97733702e-01 -8.52177465e-04 1.34388622e-01] [-1.95400000e-02 -4.63707136e-04 9.99808968e-01 -2.11171106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.546547615 meters 0.06762825397013461 Centerline is valid? [True, True] Translation: X:5.37, Y:0.13, Z:-0.20 [[ 9.97636469e-01 6.55184001e-02 2.07078280e-02 5.37265318e+00] [-6.55138385e-02 9.97851256e-01 -8.99330677e-04 1.25171964e-01] [-2.07222549e-02 -4.59444219e-04 9.99785165e-01 -2.04822327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.576547614999999 meters 0.06673782974135435 Centerline is valid? [True, True] Translation: X:5.40, Y:0.13, Z:-0.21 [[ 9.97618332e-01 6.45335731e-02 2.43532541e-02 5.40438175e+00] [-6.45266095e-02 9.97915410e-01 -1.07248674e-03 1.31586375e-01] [-2.43716989e-02 -5.01500487e-04 9.99702840e-01 -2.07392168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.606547614999998 meters 0.06716163915137784 Centerline is valid? [True, True] Translation: X:5.44, Y:0.14, Z:-0.21 [[ 9.97401373e-01 6.72924600e-02 2.57337484e-02 5.43624179e+00] [-6.72857282e-02 9.97733109e-01 -1.12838556e-03 1.38649333e-01] [-2.57513446e-02 -6.06060695e-04 9.99668195e-01 -2.11577555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.636547615 meters 0.06945392396451815 Centerline is valid? [True, True] Translation: X:5.47, Y:0.15, Z:-0.22 [[ 9.96708503e-01 7.57335112e-02 2.89239536e-02 5.46641354e+00] [-7.57281050e-02 9.97127678e-01 -1.28384560e-03 1.51658482e-01] [-2.89381048e-02 -9.10736369e-04 9.99580790e-01 -2.16717529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.666547614999999 meters 0.07048209784061601 Centerline is valid? [True, True] Translation: X:5.50, Y:0.15, Z:-0.22 [[ 9.96386503e-01 7.99590823e-02 2.86440568e-02 5.49801297e+00] [-7.99555488e-02 9.96797620e-01 -1.27053428e-03 1.52451118e-01] [-2.86539184e-02 -1.02430807e-03 9.99588867e-01 -2.18833026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.696547614999998 meters 0.07277714629291948 Centerline is valid? [True, True] Translation: X:5.53, Y:0.16, Z:-0.22 [[ 9.96176122e-01 8.40579209e-02 2.38201391e-02 5.52752663e+00] [-8.40566295e-02 9.96460418e-01 -1.05724753e-03 1.55453296e-01] [-2.38246958e-02 -9.49035864e-04 9.99715701e-01 -2.24809523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.726547615 meters 0.07324258641856571 Centerline is valid? [True, True] Translation: X:5.56, Y:0.16, Z:-0.22 [[ 9.95990378e-01 8.67203026e-02 2.19717247e-02 5.55902682e+00] [-8.67198387e-02 9.96232261e-01 -9.75718714e-04 1.60228565e-01] [-2.19735556e-02 -9.33577969e-04 9.99758116e-01 -2.23789634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.756547614999999 meters 0.07345155508926847 Centerline is valid? [True, True] Translation: X:5.59, Y:0.16, Z:-0.22 [[ 9.95882007e-01 8.78652131e-02 2.23323097e-02 5.59098263e+00] [-8.78651490e-02 9.96131891e-01 -9.86007490e-04 1.64101012e-01] [-2.23325617e-02 -9.80284605e-04 9.99750117e-01 -2.24189094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.786547614999998 meters 0.07356911078648998 Centerline is valid? [True, True] Translation: X:5.62, Y:0.16, Z:-0.22 [[ 9.95863728e-01 8.81202659e-02 2.21416662e-02 5.62381498e+00] [-8.81201656e-02 9.96109367e-01 -9.82115509e-04 1.64405268e-01] [-2.21420654e-02 -9.73074082e-04 9.99754361e-01 -2.22495704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.816547615 meters 0.07256114426432086 Centerline is valid? [True, True] Translation: X:5.66, Y:0.16, Z:-0.22 [[ 9.95959304e-01 8.75941117e-02 1.98074662e-02 5.65578816e+00] [-8.75938254e-02 9.96155882e-01 -8.83713044e-04 1.56828939e-01] [-1.98087320e-02 -8.54869504e-04 9.99803422e-01 -2.22526271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.846547614999999 meters 0.07318191686107123 Centerline is valid? [True, True] Translation: X:5.69, Y:0.16, Z:-0.23 [[ 9.96075042e-01 8.66974600e-02 1.78342593e-02 5.68643520e+00] [-8.66970108e-02 9.96234404e-01 -7.99793175e-04 1.55023968e-01] [-1.78364428e-02 -7.49522954e-04 9.99840637e-01 -2.27564537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.876547614999998 meters 0.07280184194302342 Centerline is valid? [True, True] Translation: X:5.72, Y:0.16, Z:-0.24 [[ 9.96290406e-01 8.41119173e-02 1.81827650e-02 5.71753407e+00] [-8.41108056e-02 9.96456064e-01 -8.27237579e-04 1.57168086e-01] [-1.81879070e-02 -7.05198151e-04 9.99834338e-01 -2.35373496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.906547615 meters 0.07280184194302342 Centerline is valid? [True, True] Translation: X:5.75, Y:0.16, Z:-0.24 [[ 9.96265448e-01 8.44069326e-02 1.81831359e-02 5.74990317e+00] [-8.44060175e-02 9.96431108e-01 -8.19138149e-04 1.55518511e-01] [-1.81873832e-02 -7.18687049e-04 9.99834338e-01 -2.37065260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.936547614999999 meters 0.07286784544262231 Centerline is valid? [True, True] Translation: X:5.78, Y:0.15, Z:-0.24 [[ 9.96533056e-01 8.07439774e-02 2.00568690e-02 5.77973098e+00] [-8.07417809e-02 9.96734627e-01 -9.20613621e-04 1.53402898e-01] [-2.00657099e-02 -7.02005417e-04 9.99798417e-01 -2.43339579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.966547615 meters 0.07246009355814528 Centerline is valid? [True, True] Translation: X:5.81, Y:0.14, Z:-0.24 [[ 9.96777989e-01 7.75333438e-02 2.05479998e-02 5.80939529e+00] [-7.75303687e-02 9.96989545e-01 -9.42580803e-04 1.43952460e-01] [-2.05592224e-02 -6.53550202e-04 9.99788423e-01 -2.44585033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.996547614999999 meters 0.0705366421500582 Centerline is valid? [True, True] Translation: X:5.84, Y:0.12, Z:-0.24 [[ 9.97105946e-01 7.28225053e-02 2.18315023e-02 5.83924084e+00] [-7.28179966e-02 9.97344742e-01 -1.00246895e-03 1.22125235e-01] [-2.18465363e-02 -5.90158510e-04 9.99761162e-01 -2.37976091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.026547614999998 meters 0.06995181947081987 Centerline is valid? [True, True] Translation: X:5.87, Y:0.12, Z:-0.23 [[ 9.97094331e-01 7.17360468e-02 2.56287940e-02 5.87057867e+00] [-7.17295001e-02 9.97423429e-01 -1.17585684e-03 1.15674185e-01] [-2.56471109e-02 -6.65900391e-04 9.99670837e-01 -2.34740237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.056547615 meters 0.06931012712831161 Centerline is valid? [True, True] Translation: X:5.90, Y:0.11, Z:-0.23 [[ 9.96685788e-01 7.41332717e-02 3.34917633e-02 5.90268454e+00] [-7.41233963e-02 9.97247891e-01 -1.53808506e-03 1.12227334e-01] [-3.35136136e-02 -9.49535722e-04 9.99437810e-01 -2.28368157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.086547614999999 meters 0.07049512643019268 Centerline is valid? [True, True] Translation: X:5.93, Y:0.11, Z:-0.23 [[ 9.96379205e-01 7.77115355e-02 3.44876388e-02 5.93390883e+00] [-7.77032468e-02 9.96975276e-01 -1.58260400e-03 1.13985881e-01] [-3.45063098e-02 -1.10292780e-03 9.99403871e-01 -2.29963821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.116547614999998 meters 0.07389799136200671 Centerline is valid? [True, True] Translation: X:5.96, Y:0.12, Z:-0.23 [[ 9.95423186e-01 8.92635082e-02 3.41278086e-02 5.96482529e+00] [-8.92617607e-02 9.96006952e-01 -1.57784869e-03 1.19671777e-01] [-3.41323789e-02 -1.47568112e-03 9.99416231e-01 -2.34201403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.146547615 meters 0.08142014686708317 Centerline is valid? [True, True] Translation: X:5.99, Y:0.13, Z:-0.24 [[ 9.94087157e-01 1.03803216e-01 3.18687316e-02 5.99453488e+00] [-1.03809101e-01 9.94596148e-01 -1.47431526e-03 1.29748180e-01] [-3.18495563e-02 -1.84266651e-03 9.99490976e-01 -2.39333006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.176547614999999 meters 0.08230606250538099 Centerline is valid? [True, True] Translation: X:6.02, Y:0.13, Z:-0.24 [[ 9.93351906e-01 1.11246514e-01 2.96007304e-02 6.02496738e+00] [-1.11254821e-01 9.93790966e-01 -1.37130812e-03 1.27516690e-01] [-2.95694917e-02 -1.93103242e-03 9.99560862e-01 -2.42143480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.206547614999998 meters 0.08948406437010527 Centerline is valid? [True, True] Translation: X:6.05, Y:0.14, Z:-0.25 [[ 9.91915778e-01 1.24238782e-01 2.58421061e-02 6.05488448e+00] [-1.24249515e-01 9.92250285e-01 -1.19621692e-03 1.42390483e-01] [-2.57904536e-02 -2.02432270e-03 9.99665321e-01 -2.51711521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.236547615 meters 0.0919524276864794 Centerline is valid? [True, True] Translation: X:6.09, Y:0.15, Z:-0.25 [[ 9.91393820e-01 1.28107586e-01 2.69581232e-02 6.08556573e+00] [-1.28120617e-01 9.91757805e-01 -1.25048334e-03 1.46730644e-01] [-2.68961255e-02 -2.21416992e-03 9.99635782e-01 -2.54746417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.266547614999999 meters 0.0929057646860765 Centerline is valid? [True, True] Translation: X:6.12, Y:0.14, Z:-0.25 [[ 9.91081282e-01 1.29775522e-01 3.02688920e-02 6.11768416e+00] [-1.29792860e-01 9.91540143e-01 -1.39961401e-03 1.35926226e-01] [-3.01944572e-02 -2.54155483e-03 9.99540812e-01 -2.50423457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.296547614999998 meters 0.09276682580695828 Centerline is valid? [True, True] Translation: X:6.15, Y:0.12, Z:-0.25 [[ 9.91338425e-01 1.27760935e-01 3.04182680e-02 6.14724481e+00] [-1.27777097e-01 9.91801894e-01 -1.41991286e-03 1.24249395e-01] [-3.03503052e-02 -2.47914381e-03 9.99536249e-01 -2.49397635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.326547614999999 meters 0.08595177179008298 Centerline is valid? [True, True] Translation: X:6.18, Y:0.10, Z:-0.25 [[ 9.92023249e-01 1.22204184e-01 3.09194118e-02 6.17652647e+00] [-1.22218195e-01 9.92502206e-01 -1.44349173e-03 9.79903915e-02] [-3.08639851e-02 -2.34693733e-03 9.99520838e-01 -2.48532345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.356547614999998 meters 0.08708982530070354 Centerline is valid? [True, True] Translation: X:6.21, Y:0.10, Z:-0.25 [[ 9.92295492e-01 1.19981628e-01 3.08879440e-02 6.20660385e+00] [-1.19994548e-01 9.92773504e-01 -1.44173623e-03 9.70353253e-02] [-3.08377142e-02 -2.27575652e-03 9.99521814e-01 -2.54244624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.386547615 meters 0.08708506998053436 Centerline is valid? [True, True] Translation: X:6.24, Y:0.09, Z:-0.26 [[ 9.92429453e-01 1.19587270e-01 2.79761586e-02 6.23822368e+00] [-1.19597861e-01 9.92821565e-01 -1.30041653e-03 8.73819352e-02] [-2.79308468e-02 -2.05531706e-03 9.99607745e-01 -2.63503281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.416547614999999 meters 0.08813253056665808 Centerline is valid? [True, True] Translation: X:6.27, Y:0.07, Z:-0.27 [[ 9.92439799e-01 1.20233139e-01 2.46421739e-02 6.26819147e+00] [-1.20241419e-01 9.92744014e-01 -1.15082878e-03 6.95603986e-02] [-2.46017384e-02 -1.82088168e-03 9.99695673e-01 -2.65659982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.446547614999998 meters 0.08837531574681579 Centerline is valid? [True, True] Translation: X:6.30, Y:0.06, Z:-0.26 [[ 9.92410723e-01 1.20259380e-01 2.56639328e-02 6.30042676e+00] [-1.20268099e-01 9.92740712e-01 -1.20914930e-03 5.89012283e-02] [-2.56230424e-02 -1.88657968e-03 9.99669896e-01 -2.64680585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.476547615 meters 0.08829722353603303 Centerline is valid? [True, True] Translation: X:6.33, Y:0.04, Z:-0.26 [[ 9.92202512e-01 1.21680894e-01 2.69802674e-02 6.33224936e+00] [-1.21691092e-01 9.92567210e-01 -1.26974237e-03 4.17407617e-02] [-2.69342322e-02 -2.02341663e-03 9.99635160e-01 -2.61332338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.506547614999999 meters 0.08915766236123435 Centerline is valid? [True, True] Translation: X:6.36, Y:0.04, Z:-0.26 [[ 9.92106518e-01 1.22197347e-01 2.81507642e-02 6.36357098e+00] [-1.22208387e-01 9.92503566e-01 -1.33444516e-03 3.62098970e-02] [-2.81027996e-02 -2.11634774e-03 9.99602798e-01 -2.63532638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.536547614999998 meters 0.09138792044417499 Centerline is valid? [True, True] Translation: X:6.39, Y:0.03, Z:-0.27 [[ 9.91534085e-01 1.26040766e-01 3.12071197e-02 6.39412649e+00] [-1.26055910e-01 9.92022020e-01 -1.48953134e-03 3.20528130e-02] [-3.11458916e-02 -2.45692079e-03 9.99511829e-01 -2.66897093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.566547615 meters 0.09607479223625398 Centerline is valid? [True, True] Translation: X:6.42, Y:0.04, Z:-0.27 [[ 9.91244605e-01 1.28438899e-01 3.06199685e-02 6.42421612e+00] [-1.28454587e-01 9.91714314e-01 -1.46240899e-03 3.55841760e-02] [-3.05540913e-02 -2.48367038e-03 9.99530029e-01 -2.72047050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.596547614999999 meters 0.09370075376964791 Centerline is valid? [True, True] Translation: X:6.46, Y:0.03, Z:-0.27 [[ 9.91074974e-01 1.29641606e-01 3.10394748e-02 6.45606843e+00] [-1.29658477e-01 9.91557612e-01 -1.47712189e-03 2.63495286e-02] [-3.09689240e-02 -2.56059250e-03 9.99517068e-01 -2.72173054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.626547614999998 meters 0.09283096179607633 Centerline is valid? [True, True] Translation: X:6.49, Y:0.01, Z:-0.27 [[ 9.91364050e-01 1.26100474e-01 3.59998620e-02 6.48536976e+00] [-1.26120306e-01 9.92013448e-01 -1.72859540e-03 1.49641381e-02] [-3.59303239e-02 -2.82664626e-03 9.99350300e-01 -2.66684885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.656547615 meters 0.0865567691406416 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.02, Z:-0.26 [[ 9.92435903e-01 1.17318786e-01 3.61563511e-02 6.51480849e+00] [-1.17333011e-01 9.93091110e-01 -1.73554848e-03 -1.61270667e-02] [-3.61101633e-02 -2.51991291e-03 9.99344638e-01 -2.59730609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.686547614999999 meters 0.08532509492902535 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.03, Z:-0.26 [[ 9.92980318e-01 1.13345985e-01 3.38049610e-02 6.54414479e+00] [-1.13356104e-01 9.93553098e-01 -1.62323941e-03 -2.98393571e-02] [-3.37710114e-02 -2.22015390e-03 9.99427131e-01 -2.59647935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.716547614999998 meters 0.08378404018860584 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.04, Z:-0.27 [[ 9.93555030e-01 1.09001878e-01 3.10965204e-02 6.57444008e+00] [-1.09008330e-01 9.94039715e-01 -1.49281510e-03 -4.03058341e-02] [-3.10738960e-02 -1.90658580e-03 9.99515271e-01 -2.67751995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.746547614999999 meters 0.08290156210224278 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.04, Z:-0.27 [[ 9.93624923e-01 1.08314251e-01 3.12655579e-02 6.60612823e+00] [-1.08320569e-01 9.94114890e-01 -1.49663820e-03 -4.26745003e-02] [-3.12436639e-02 -1.89960598e-03 9.99509992e-01 -2.74410047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.776547614999998 meters 0.08262200658545482 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.05, Z:-0.28 [[ 9.93422027e-01 1.09624281e-01 3.30937113e-02 6.63802322e+00] [-1.09631788e-01 9.93970992e-01 -1.59313638e-03 -5.12520751e-02] [-3.30688355e-02 -2.04546596e-03 9.99450983e-01 -2.77686802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.806547615 meters 0.08468920230050203 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.06, Z:-0.28 [[ 9.93160213e-01 1.11511480e-01 3.46118596e-02 6.66909666e+00] [-1.11520494e-01 9.93760721e-01 -1.67604868e-03 -5.54595042e-02] [-3.45828052e-02 -2.19534680e-03 9.99399425e-01 -2.77579554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.836547614999999 meters 0.09047997954119816 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.06, Z:-0.28 [[ 9.92238769e-01 1.19078073e-01 3.58139300e-02 6.69896143e+00] [-1.19092204e-01 9.92881664e-01 -1.74607067e-03 -5.60494202e-02] [-3.57669132e-02 -2.53264084e-03 9.99356950e-01 -2.78705401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.866547614999998 meters 0.08966304983777272 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.06, Z:-0.28 [[ 9.91847035e-01 1.21932028e-01 3.70410581e-02 6.73010282e+00] [-1.21949034e-01 9.92534716e-01 -1.80834877e-03 -5.93515967e-02] [-3.69850318e-02 -2.72351589e-03 9.99312108e-01 -2.80223460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.896547615 meters 0.08809236466433147 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.06, Z:-0.28 [[ 9.92422492e-01 1.15452105e-01 4.20524496e-02 6.76020187e+00] [-1.15468161e-01 9.93309056e-01 -2.05509736e-03 -5.73527204e-02] [-4.20083443e-02 -2.81619416e-03 9.99113291e-01 -2.82325038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.926547614999999 meters 0.08611103589674265 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.06, Z:-0.28 [[ 9.92321346e-01 1.16063433e-01 4.27507371e-02 6.79198515e+00] [-1.16080691e-01 9.93237594e-01 -2.08693505e-03 -6.24822327e-02] [-4.27038561e-02 -2.89162490e-03 9.99083590e-01 -2.82217253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.956547614999998 meters 0.08711100917938368 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.07, Z:-0.28 [[ 9.92422455e-01 1.17536943e-01 3.58153227e-02 6.82281051e+00] [-1.17549614e-01 9.93065453e-01 -1.75906016e-03 -6.88608489e-02] [-3.57737142e-02 -2.46434654e-03 9.99356877e-01 -2.83783042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.986547615 meters 0.08718392620586397 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.07, Z:-0.29 [[ 9.92656848e-01 1.16903958e-01 3.10780780e-02 6.85384416e+00] [-1.16913309e-01 9.93140957e-01 -1.52236487e-03 -7.35991081e-02] [-3.10428826e-02 -2.12225503e-03 9.99515801e-01 -2.87636283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.016547614999999 meters 0.08446237335386819 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.08, Z:-0.30 [[ 9.93616337e-01 1.10604494e-01 2.22085868e-02 6.88328884e+00] [-1.10607509e-01 9.93863561e-01 -1.09636546e-03 -8.27586408e-02] [-2.21935681e-02 -1.36706983e-03 9.99752758e-01 -2.99797065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.046547614999998 meters 0.08342372982316429 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.08, Z:-0.31 [[ 9.94012131e-01 1.07522055e-01 1.94651159e-02 6.91441609e+00] [-1.07523827e-01 9.94202046e-01 -9.58576029e-04 -8.09889570e-02] [-1.94553261e-02 -1.14012755e-03 9.99810077e-01 -3.14853740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.076547614999999 meters 0.08592039645649824 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.07, Z:-0.32 [[ 9.93851876e-01 1.08871849e-01 2.01337633e-02 6.94555163e+00] [-1.08874086e-01 9.94055057e-01 -9.88264166e-04 -7.33567008e-02] [-2.01216634e-02 -1.20985689e-03 9.99796807e-01 -3.21600711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.106547614999998 meters 0.08455645127838125 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.08, Z:-0.31 [[ 9.93361416e-01 1.11972919e-01 2.63659197e-02 6.97822304e+00] [-1.11977626e-01 9.93709875e-01 -1.30254746e-03 -8.23113995e-02] [-2.63459248e-02 -1.65849269e-03 9.99651510e-01 -3.09989718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.136547614999998 meters 0.08884646125863654 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.08, Z:-0.31 [[ 9.93206728e-01 1.13069555e-01 2.74894705e-02 7.00905367e+00] [-1.13074793e-01 9.93585536e-01 -1.36885720e-03 -8.26563966e-02] [-2.74679164e-02 -1.74880801e-03 9.99621156e-01 -3.06029863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166547614999999 meters 0.08461047352440122 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.10, Z:-0.30 [[ 9.92993137e-01 1.14284430e-01 3.00615763e-02 7.04134694e+00] [-1.14291102e-01 9.93446168e-01 -1.50189775e-03 -9.99583986e-02] [-3.00362013e-02 -1.94439652e-03 9.99546920e-01 -2.95767066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.196547614999998 meters 0.08218822907414348 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.11, Z:-0.29 [[ 9.92844563e-01 1.12490977e-01 4.00681124e-02 7.07180996e+00] [-1.12500616e-01 9.93649599e-01 -2.02129505e-03 -1.08716030e-01] [-4.00410413e-02 -2.50085553e-03 9.99194906e-01 -2.90898283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.226547615 meters 0.07875139786798613 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.11, Z:-0.30 [[ 9.93747807e-01 1.01944450e-01 4.55260949e-02 7.10176076e+00] [-1.01945801e-01 9.94787300e-01 -2.29819971e-03 -1.08737085e-01] [-4.55230697e-02 -2.35736327e-03 9.98960506e-01 -3.00446822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.256547614999999 meters 0.07891246957962599 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.11, Z:-0.31 [[ 9.93785120e-01 1.01477629e-01 4.57539680e-02 7.13390245e+00] [-1.01478505e-01 9.94835051e-01 -2.30961837e-03 -1.06003292e-01] [-4.57520257e-02 -2.34777990e-03 9.98950069e-01 -3.07212466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.286547614999998 meters 0.07918730112084575 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.11, Z:-0.31 [[ 9.93982811e-01 1.01438438e-01 4.13329854e-02 7.16553872e+00] [-1.01438734e-01 9.94839581e-01 -2.09553953e-03 -1.07161694e-01] [-4.13322581e-02 -2.10983543e-03 9.99143229e-01 -3.11925353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.316547615 meters 0.07939467275980225 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.11, Z:-0.31 [[ 9.93943832e-01 1.03142888e-01 3.79104661e-02 7.19619234e+00] [-1.03143929e-01 9.94664562e-01 -1.93361041e-03 -1.12447030e-01] [-3.79076353e-02 -1.98833428e-03 9.99279269e-01 -3.11633603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.346547614999999 meters 0.07971087060535914 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.13, Z:-0.30 [[ 9.93843607e-01 1.04907418e-01 3.56274837e-02 7.22737081e+00] [-1.04909454e-01 9.94480117e-01 -1.81745484e-03 -1.25203416e-01] [-3.56214887e-02 -1.93139400e-03 9.99363487e-01 -3.00251050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.376547614999998 meters 0.07965347796432869 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.13, Z:-0.30 [[ 9.93860316e-01 1.03907168e-01 3.80128053e-02 7.25784955e+00] [-1.03908694e-01 9.94584947e-01 -1.94085392e-03 -1.27879958e-01] [-3.80086326e-02 -2.02092327e-03 9.99275367e-01 -2.98094999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.406547615 meters 0.07856348232853183 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.12, Z:-0.31 [[ 9.93773522e-01 1.04680162e-01 3.81608471e-02 7.28953300e+00] [-1.04682367e-01 9.94503804e-01 -1.94582347e-03 -1.23837538e-01] [-3.81547967e-02 -2.06105996e-03 9.99269715e-01 -3.09776307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.436547614999999 meters 0.07977990096578824 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.12, Z:-0.32 [[ 9.93856640e-01 1.04485055e-01 3.64945616e-02 7.32154291e+00] [-1.04486632e-01 9.94524534e-01 -1.86926719e-03 -1.17750393e-01] [-3.64900474e-02 -1.95541022e-03 9.99332103e-01 -3.21187253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.466547614999998 meters 0.0787551027790523 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.12, Z:-0.34 [[ 9.94689856e-01 9.81385354e-02 3.09986877e-02 7.35102588e+00] [-9.81362245e-02 9.95171705e-01 -1.59963269e-03 -1.20268627e-01] [-3.10060025e-02 -1.45095577e-03 9.99518145e-01 -3.37645565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.496547614999999 meters 0.07726469586413301 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.13, Z:-0.34 [[ 9.95169435e-01 9.31945070e-02 3.08638935e-02 7.38112432e+00] [-9.31898541e-02 9.95647084e-01 -1.59230580e-03 -1.27712475e-01] [-3.08779398e-02 -1.29158767e-03 9.99522328e-01 -3.40579939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.526547614999998 meters 0.0744251408827657 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.15, Z:-0.33 [[ 9.95556574e-01 8.68857457e-02 3.63039318e-02 7.41080102e+00] [-8.68750805e-02 9.96217450e-01 -1.87413807e-03 -1.45439191e-01] [-3.63294462e-02 -1.28809652e-03 9.99339038e-01 -3.28381430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.556547614999998 meters 0.07281252578022773 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.16, Z:-0.32 [[ 9.95618561e-01 8.45528227e-02 3.99312005e-02 7.44263558e+00] [-8.45380891e-02 9.96418118e-01 -2.06038987e-03 -1.58292827e-01] [-3.99623834e-02 -1.32434498e-03 9.99200307e-01 -3.16427025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.586547614999999 meters 0.07229225404443024 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.17, Z:-0.30 [[ 9.95307838e-01 8.82058661e-02 3.97747759e-02 7.47350740e+00] [-8.81940595e-02 9.96101192e-01 -2.05481255e-03 -1.69179113e-01] [-3.98009482e-02 -1.46272791e-03 9.99206558e-01 -3.03365117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.616547614999998 meters 0.07348373632528997 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.16, Z:-0.31 [[ 9.95057467e-01 9.20129213e-02 3.73397803e-02 7.50459390e+00] [-9.20051660e-02 9.95756660e-01 -1.92962519e-03 -1.64275451e-01] [-3.73588854e-02 -1.51536474e-03 9.99300764e-01 -3.10651625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.646547615 meters 0.07705755727562964 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.14, Z:-0.34 [[ 9.94555372e-01 9.90697565e-02 3.23233062e-02 7.53579139e+00] [-9.90676509e-02 9.95079298e-01 -1.67060348e-03 -1.41668484e-01] [-3.23297592e-02 -1.54068635e-03 9.99476069e-01 -3.38808383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.676547614999999 meters 0.08165031555603738 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.12, Z:-0.35 [[ 9.94023006e-01 1.03978507e-01 3.32676012e-02 7.56603761e+00] [-1.03978964e-01 9.94578008e-01 -1.72101669e-03 -1.21723884e-01] [-3.32661732e-02 -1.74840053e-03 9.99444998e-01 -3.52185343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.706547614999998 meters 0.08111144059750533 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.12, Z:-0.35 [[ 9.93814680e-01 1.05395896e-01 3.49869549e-02 7.59831806e+00] [-1.05397430e-01 9.94428540e-01 -1.80565307e-03 -1.23384592e-01] [-3.49823349e-02 -1.89305060e-03 9.99386138e-01 -3.50013801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.736547615 meters 0.0838732099569827 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.13, Z:-0.34 [[ 9.93646505e-01 1.07216478e-01 3.42235417e-02 7.62933297e+00] [-1.07218605e-01 9.94233880e-01 -1.77838184e-03 -1.27882025e-01] [-3.42168765e-02 -1.90231750e-03 9.99412621e-01 -3.38976875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.766547614999999 meters 0.08008462335845346 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.14, Z:-0.33 [[ 9.93808083e-01 1.05471712e-01 3.49458596e-02 7.66097800e+00] [-1.05472821e-01 9.94420526e-01 -1.81689937e-03 -1.44048219e-01] [-3.49425116e-02 -1.88018911e-03 9.99387555e-01 -3.29783644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.796547614999998 meters 0.08008462335845346 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.15, Z:-0.33 [[ 9.93778408e-01 1.05750908e-01 3.49459673e-02 7.69329231e+00] [-1.05752261e-01 9.94390852e-01 -1.81484446e-03 -1.45918314e-01] [-3.49418717e-02 -1.89206183e-03 9.99387555e-01 -3.31474022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.826547614999999 meters 0.0780072523598841 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.16, Z:-0.32 [[ 9.93964131e-01 1.01001762e-01 4.28246396e-02 7.72370667e+00] [-1.00998649e-01 9.94884037e-01 -2.24185433e-03 -1.58091375e-01] [-4.28319816e-02 -2.09690795e-03 9.99080089e-01 -3.21551134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.856547614999998 meters 0.07546467789122034 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.17, Z:-0.32 [[ 9.94111829e-01 9.80648440e-02 4.60972682e-02 7.75477135e+00] [-9.80580657e-02 9.95177768e-01 -2.41379763e-03 -1.65314337e-01] [-4.61116852e-02 -2.12062418e-03 9.98934040e-01 -3.24322308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.886547614999998 meters 0.07623691545858693 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.16, Z:-0.34 [[ 9.94386492e-01 9.53809515e-02 4.58037052e-02 7.78441452e+00] [-9.53713277e-02 9.95438872e-01 -2.40039133e-03 -1.57481282e-01] [-4.58237402e-02 -1.98144347e-03 9.98947576e-01 -3.42055821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.916547614999999 meters 0.07867108546711062 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.15, Z:-0.35 [[ 9.94151553e-01 9.82489193e-02 4.48312369e-02 7.81416776e+00] [-9.82425643e-02 9.95159723e-01 -2.35035915e-03 -1.49132590e-01] [-4.48451615e-02 -2.06772247e-03 9.98991810e-01 -3.51279319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.946547614999998 meters 0.08032089411733624 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.14, Z:-0.36 [[ 9.93868214e-01 1.02135157e-01 4.23601484e-02 7.84579189e+00] [-1.02133012e-01 9.94768273e-01 -2.22047133e-03 -1.42269779e-01] [-4.23653199e-02 -2.11951369e-03 9.99099939e-01 -3.57159055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.976547614999998 meters 0.08157050022949994 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.14, Z:-0.36 [[ 9.93589982e-01 1.05413167e-01 4.08290544e-02 7.87721009e+00] [-1.05413874e-01 9.94426130e-01 -2.14156854e-03 -1.42071743e-01] [-4.08272281e-02 -2.17610775e-03 9.99163851e-01 -3.55992409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.006547614999999 meters 0.08464110503675178 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.15, Z:-0.35 [[ 9.92947031e-01 1.13182810e-01 3.52965401e-02 7.90851538e+00] [-1.13188179e-01 9.93571842e-01 -1.85248401e-03 -1.47246146e-01] [-3.52793177e-02 -2.15573260e-03 9.99375166e-01 -3.45797090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.036547614999998 meters 0.08624787607255555 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.15, Z:-0.35 [[ 9.92840222e-01 1.14954437e-01 3.24618245e-02 7.93831664e+00] [-1.14959876e-01 9.93368673e-01 -1.70501597e-03 -1.48116352e-01] [-3.24425587e-02 -2.03899889e-03 9.99471522e-01 -3.45344098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.066547615 meters 0.08591240046423342 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.15, Z:-0.36 [[ 9.92996732e-01 1.14958709e-01 2.72394225e-02 7.96939740e+00] [-1.14962687e-01 9.93368788e-01 -1.42516293e-03 -1.49309717e-01] [-2.72226270e-02 -1.71633508e-03 9.99627922e-01 -3.56122468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.096547614999999 meters 0.0821811101169904 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.16, Z:-0.37 [[ 9.94013264e-01 1.04645151e-01 3.14169270e-02 7.99839715e+00] [-1.04644901e-01 9.94508270e-01 -1.65671830e-03 -1.57223839e-01] [-3.14177613e-02 -1.64082126e-03 9.99504993e-01 -3.66846455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.126547614999998 meters 0.07850499873765865 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.17, Z:-0.37 [[ 9.94621283e-01 9.70872796e-02 3.60910540e-02 8.02853360e+00] [-9.70819509e-02 9.95274570e-01 -1.90423503e-03 -1.67078145e-01] [-3.61053852e-02 -1.60979725e-03 9.99346691e-01 -3.67377248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.156547615 meters 0.07678247615652274 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.17, Z:-0.37 [[ 9.95050253e-01 9.15988192e-02 3.85311700e-02 8.05809640e+00] [-9.15886005e-02 9.95794854e-01 -2.03400871e-03 -1.72760545e-01] [-3.85554536e-02 -1.50507506e-03 9.99255329e-01 -3.69590820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.186547614999999 meters 0.07460212680520328 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.18, Z:-0.37 [[ 9.95698698e-01 8.54904871e-02 3.57138475e-02 8.08821288e+00] [-8.54777934e-02 9.96338293e-01 -1.88493784e-03 -1.81483189e-01] [-3.57442181e-02 -1.17591072e-03 9.99360279e-01 -3.74179832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.216547614999998 meters 0.07444034225701758 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.19, Z:-0.37 [[ 9.95534187e-01 8.80531449e-02 3.40342041e-02 8.11963436e+00] [-8.80432248e-02 9.96115041e-01 -1.79295816e-03 -1.86092761e-01] [-3.40598583e-02 -1.21152994e-03 9.99419060e-01 -3.72286699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.246547614999999 meters 0.07713299193744859 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.18, Z:-0.36 [[ 9.94470976e-01 9.87484098e-02 3.57243664e-02 8.15080272e+00] [-9.87439129e-02 9.95111074e-01 -1.89452866e-03 -1.83197174e-01] [-3.57367943e-02 -1.64350996e-03 9.99359885e-01 -3.58907009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.276547614999998 meters 0.08007184331269245 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.18, Z:-0.35 [[ 9.93241616e-01 1.08921545e-01 4.00897574e-02 8.18255263e+00] [-1.08924128e-01 9.94047792e-01 -2.12634587e-03 -1.77436315e-01] [-4.00827397e-02 -2.25476666e-03 9.99193820e-01 -3.47455281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.306547614999998 meters 0.08196737852639147 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.18, Z:-0.35 [[ 9.92927068e-01 1.12471868e-01 3.80252157e-02 8.21311860e+00] [-1.12476730e-01 9.93652309e-01 -2.01818641e-03 -1.75635749e-01] [-3.80108326e-02 -2.27304001e-03 9.99274742e-01 -3.52539510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.336547614999999 meters 0.0808281011793987 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.18, Z:-0.38 [[ 9.93892907e-01 1.05461279e-01 3.24777990e-02 8.24185860e+00] [-1.05461063e-01 9.94421938e-01 -1.72447838e-03 -1.76619862e-01] [-3.24785015e-02 -1.71119637e-03 9.99470969e-01 -3.75916074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.366547614999998 meters 0.07790362974736552 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.18, Z:-0.38 [[ 9.94618367e-01 9.77092964e-02 3.44557180e-02 8.27256647e+00] [-9.77044210e-02 9.95213796e-01 -1.82924860e-03 -1.79072269e-01] [-3.44695406e-02 -1.54707173e-03 9.99404551e-01 -3.84807774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.396547614999998 meters 0.07580477314983732 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.18, Z:-0.39 [[ 9.95249741e-01 8.90680761e-02 3.93043339e-02 8.30330480e+00] [-8.90549676e-02 9.96024525e-01 -2.08767652e-03 -1.80819304e-01] [-3.93340259e-02 -1.42248667e-03 9.99225105e-01 -3.87834175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.426547614999999 meters 0.07519016517767292 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.19, Z:-0.38 [[ 9.95375122e-01 8.69131758e-02 4.09202474e-02 8.33384921e+00] [-8.68971133e-02 9.96214918e-01 -2.17441405e-03 -1.86900644e-01] [-4.09543461e-02 -1.39149372e-03 9.99160050e-01 -3.84525101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.456547614999998 meters 0.07376119267456298 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.21, Z:-0.37 [[ 9.95183624e-01 8.98246300e-02 3.92567206e-02 8.36535981e+00] [-8.98121874e-02 9.95956539e-01 -2.08396287e-03 -2.05033771e-01] [-3.92851788e-02 -1.45180622e-03 9.99226985e-01 -3.66365236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.486547615 meters 0.07461279284409082 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.21, Z:-0.36 [[ 9.94961306e-01 9.27896414e-02 3.79747443e-02 8.39612687e+00] [-9.27797424e-02 9.95684595e-01 -2.02668480e-03 -2.06917276e-01] [-3.79989232e-02 -1.50681404e-03 9.99276644e-01 -3.62595028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.516547614999999 meters 0.07677727343068079 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.20, Z:-0.37 [[ 9.94499910e-01 9.93047518e-02 3.32940780e-02 8.42704972e+00] [-9.93007098e-02 9.95055880e-01 -1.77900292e-03 -1.96216363e-01] [-3.33061315e-02 -1.53690734e-03 9.99444015e-01 -3.71939291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.546547614999998 meters 0.07875384108584398 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.19, Z:-0.38 [[ 9.94023664e-01 1.04490325e-01 3.16026432e-02 8.45783634e+00] [-1.04489292e-01 9.94524578e-01 -1.68871733e-03 -1.85434664e-01] [-3.16060600e-02 -1.62351281e-03 9.99499085e-01 -3.83278900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.576547614999999 meters 0.08335608636501002 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.17, Z:-0.39 [[ 9.92859972e-01 1.13915943e-01 3.53869099e-02 8.48946789e+00] [-1.13920580e-01 9.93488059e-01 -1.89181047e-03 -1.66360922e-01] [-3.53719797e-02 -2.15299440e-03 9.99371897e-01 -3.94031268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.606547614999998 meters 0.08275184905617902 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.17, Z:-0.39 [[ 9.92868765e-01 1.12664366e-01 3.89660858e-02 8.52097436e+00] [-1.12669031e-01 9.93630389e-01 -2.08324887e-03 -1.71500663e-01] [-3.89525949e-02 -2.32187839e-03 9.99238362e-01 -3.91038022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.636547614999998 meters 0.07677765521198081 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.20, Z:-0.38 [[ 9.94091264e-01 9.99110444e-02 4.24304397e-02 8.55062256e+00] [-9.99048703e-02 9.94994401e-01 -2.27127060e-03 -1.99661209e-01] [-4.24449750e-02 -1.98115731e-03 9.99096842e-01 -3.79241329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.666547614999999 meters 0.07462083807673853 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.21, Z:-0.38 [[ 9.94683997e-01 9.35083558e-02 4.31269578e-02 8.58009575e+00] [-9.34959129e-02 9.95616984e-01 -2.30989669e-03 -2.10970309e-01] [-4.31539263e-02 -1.73457702e-03 9.99066930e-01 -3.78053115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.696547614999998 meters 0.07346903159335723 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.21, Z:-0.38 [[ 9.95098485e-01 8.89553179e-02 4.31967305e-02 8.61022842e+00] [-8.89385518e-02 9.96034428e-01 -2.31362587e-03 -2.10639095e-01] [-4.32312401e-02 -1.53956905e-03 9.99063907e-01 -3.84370296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.726547614999998 meters 0.07494817592803084 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.20, Z:-0.39 [[ 9.94912913e-01 9.21985538e-02 4.05921495e-02 8.64042422e+00] [-9.21864399e-02 9.95739390e-01 -2.17412398e-03 -2.01600458e-01] [-4.06196533e-02 -1.57898174e-03 9.99173434e-01 -3.92167051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.756547614999999 meters 0.08022682061536338 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.18, Z:-0.40 [[ 9.94066234e-01 1.04002894e-01 3.18703852e-02 8.67158694e+00] [-1.04001473e-01 9.94575679e-01 -1.70678032e-03 -1.83255708e-01] [-3.18750201e-02 -1.61791433e-03 9.99490553e-01 -4.04445219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.786547614999998 meters 0.08412159509270939 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.18, Z:-0.41 [[ 9.93584937e-01 1.09769983e-01 2.71941997e-02 8.70140977e+00] [-1.09771083e-01 9.93955827e-01 -1.45691721e-03 -1.78949283e-01] [-2.71897590e-02 -1.53756576e-03 9.99629108e-01 -4.07809959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.816547614999998 meters 0.0869415777405577 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.18, Z:-0.40 [[ 9.92719247e-01 1.17632395e-01 2.59059063e-02 8.73232203e+00] [-1.17636073e-01 9.93055804e-01 -1.38728493e-03 -1.81348633e-01] [-2.58892002e-02 -1.67028464e-03 9.99663423e-01 -4.01822980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.846547614999999 meters 0.0878994081065701 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.18, Z:-0.40 [[ 9.92476654e-01 1.19048341e-01 2.85934405e-02 8.76314649e+00] [-1.19053533e-01 9.92886663e-01 -1.52683830e-03 -1.80488854e-01] [-2.85718132e-02 -1.88879875e-03 9.99589958e-01 -3.99887510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.876547614999998 meters 0.08470858735011944 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.18, Z:-0.40 [[ 9.92376313e-01 1.17738069e-01 3.64280311e-02 8.79423785e+00] [-1.17745108e-01 9.93041917e-01 -1.95950789e-03 -1.78130891e-01] [-3.64052705e-02 -2.34465326e-03 9.99334358e-01 -4.02836987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.906547615 meters 0.08427892358222006 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.18, Z:-0.41 [[ 9.92902724e-01 1.12146767e-01 3.95889271e-02 8.82399071e+00] [-1.12150595e-01 9.93688936e-01 -2.13115527e-03 -1.75884050e-01] [-3.95780810e-02 -2.32389185e-03 9.99213778e-01 -4.10773089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.936547614999999 meters 0.08143299379810533 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.19, Z:-0.41 [[ 9.93407385e-01 1.06935633e-01 4.13102736e-02 8.85499488e+00] [-1.06935343e-01 9.94263491e-01 -2.22308943e-03 -1.85790793e-01] [-4.13110243e-02 -2.20909484e-03 9.99143893e-01 -4.10810411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.966547614999998 meters 0.07647056208626593 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.21, Z:-0.40 [[ 9.94153568e-01 9.85685443e-02 4.40786365e-02 8.88506887e+00] [-9.85599379e-02 9.95128285e-01 -2.37376935e-03 -2.07407788e-01] [-4.40978769e-02 -1.98449641e-03 9.99025244e-01 -4.00777434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.996547614999999 meters 0.07617527420173903 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.21, Z:-0.40 [[ 9.94408974e-01 9.56597731e-02 4.47213570e-02 8.91596923e+00] [-9.56479328e-02 9.95412310e-01 -2.40943231e-03 -2.14404368e-01] [-4.47466750e-02 -1.88154423e-03 9.98996594e-01 -3.97003710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.026547614999998 meters 0.07636044008419739 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.22, Z:-0.40 [[ 9.94521501e-01 9.69323752e-02 3.91292678e-02 8.94731626e+00] [-9.69242810e-02 9.95289525e-01 -2.10830353e-03 -2.18888274e-01] [-3.91493133e-02 -1.69582296e-03 9.99231933e-01 -4.01238485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.056547614999998 meters 0.07787180437721788 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.21, Z:-0.41 [[ 9.94223708e-01 1.01065455e-01 3.61246650e-02 8.97849343e+00] [-1.01061091e-01 9.94878308e-01 -1.95145590e-03 -2.12743698e-01] [-3.61368704e-02 -1.71061434e-03 9.99345386e-01 -4.09991698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.086547614999999 meters 0.08247199397982731 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.20, Z:-0.42 [[ 9.93169247e-01 1.12293679e-01 3.17013607e-02 9.00966953e+00] [-1.12295985e-01 9.93673325e-01 -1.71329701e-03 -1.97789381e-01] [-3.16931889e-02 -1.85834164e-03 9.99495917e-01 -4.22234068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.116547614999998 meters 0.08413203155542252 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.20, Z:-0.42 [[ 9.92817742e-01 1.15741119e-01 3.02807581e-02 9.04097588e+00] [-1.15744799e-01 9.93277636e-01 -1.63717258e-03 -1.97145011e-01] [-3.02666880e-02 -1.87942627e-03 9.99540092e-01 -4.24950284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.146547614999998 meters 0.08300187652509722 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.21, Z:-0.42 [[ 9.92999822e-01 1.14033471e-01 3.07850619e-02 9.07168872e+00] [-1.14036427e-01 9.93475173e-01 -1.66544317e-03 -2.09950174e-01] [-3.07741110e-02 -1.85683368e-03 9.99524640e-01 -4.22434952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.176547614999999 meters 0.08066411986923236 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.22, Z:-0.42 [[ 9.93631664e-01 1.08508285e-01 3.03655617e-02 9.10254416e+00] [-1.08508555e-01 9.94094156e-01 -1.64383306e-03 -2.20354956e-01] [-3.03645970e-02 -1.66155865e-03 9.99537508e-01 -4.23891140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.206547614999998 meters 0.07964318757762288 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.22, Z:-0.44 [[ 9.94224099e-01 1.02710493e-01 3.11287050e-02 9.13241397e+00] [-1.02707883e-01 9.94710131e-01 -1.68704546e-03 -2.16151770e-01] [-3.11373155e-02 -1.51986214e-03 9.99513961e-01 -4.35441583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.236547614999997 meters 0.07925691219901784 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.22, Z:-0.44 [[ 9.94459481e-01 1.00242205e-01 3.16518668e-02 9.16347127e+00] [-1.00238282e-01 9.94961983e-01 -1.71466971e-03 -2.15897815e-01] [-3.16642864e-02 -1.46755920e-03 9.99497483e-01 -4.38507452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.266547614999999 meters 0.07805293341810046 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.23, Z:-0.43 [[ 9.94577292e-01 9.89943283e-02 3.18768409e-02 9.19555481e+00] [-9.89898103e-02 9.95086954e-01 -1.72373150e-03 -2.27233245e-01] [-3.18908682e-02 -1.44109823e-03 9.99490318e-01 -4.30552075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.296547614999998 meters 0.07787211554544142 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.24, Z:-0.42 [[ 9.94473588e-01 9.97856908e-02 3.26358376e-02 9.22605396e+00] [-9.97810280e-02 9.95007836e-01 -1.77557327e-03 -2.43022072e-01] [-3.26500909e-02 -1.49067670e-03 9.99465732e-01 -4.18365818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.326547614999999 meters 0.07763202089892716 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.25, Z:-0.42 [[ 9.94325412e-01 1.00742948e-01 3.41735885e-02 9.25834168e+00] [-1.00738343e-01 9.94911214e-01 -1.86091246e-03 -2.47936667e-01] [-3.41871602e-02 -1.59223814e-03 9.99414180e-01 -4.17611218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.356547614999998 meters 0.07749892183940596 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.25, Z:-0.42 [[ 9.94205543e-01 1.01018769e-01 3.67497843e-02 9.29027966e+00] [-1.01013195e-01 9.94883049e-01 -2.01315691e-03 -2.47296751e-01] [-3.67651041e-02 -1.71072137e-03 9.99322471e-01 -4.21232077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.386547614999998 meters 0.07920944259502005 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.24, Z:-0.43 [[ 9.93952569e-01 1.02817873e-01 3.85587175e-02 9.32114385e+00] [-1.02812689e-01 9.94698470e-01 -2.12257573e-03 -2.36427732e-01] [-3.85725360e-02 -1.85458585e-03 9.99254082e-01 -4.34768731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.416547614999999 meters 0.07801263102548556 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.25, Z:-0.45 [[ 9.94752631e-01 9.73250271e-02 3.15442998e-02 9.35198263e+00] [-9.73185411e-02 9.95251756e-01 -1.74450923e-03 -2.48291388e-01] [-3.15643042e-02 -1.33449010e-03 9.99500832e-01 -4.45065079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.446547614999998 meters 0.0769869234857421 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.26, Z:-0.44 [[ 9.95035824e-01 9.52462666e-02 2.88419448e-02 9.38332391e+00] [-9.52400308e-02 9.95453062e-01 -1.59299958e-03 -2.61043573e-01] [-2.88625296e-02 -1.16181607e-03 9.99582715e-01 -4.44769995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.476547614999998 meters 0.07569727197512116 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.27, Z:-0.44 [[ 9.95343911e-01 9.24533475e-02 2.72557598e-02 9.41447617e+00] [-9.24465719e-02 9.95716500e-01 -1.51128061e-03 -2.73188982e-01] [-2.72787327e-02 -1.01545760e-03 9.99627350e-01 -4.43459778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.506547614999999 meters 0.07484451225634084 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.28, Z:-0.45 [[ 9.95437564e-01 9.13762304e-02 2.74670668e-02 9.44639785e+00] [-9.13687572e-02 9.95815952e-01 -1.52964158e-03 -2.80260552e-01] [-2.74919161e-02 -9.86969070e-04 9.99621539e-01 -4.46089907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.536547614999998 meters 0.07547799369590592 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.28, Z:-0.45 [[ 9.95283385e-01 9.19722965e-02 3.08558074e-02 9.47785139e+00] [-9.19627959e-02 9.95760941e-01 -1.72990878e-03 -2.75007812e-01] [-3.08841115e-02 -1.11583686e-03 9.99522349e-01 -4.50780029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.566547614999998 meters 0.07637847611906444 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.27, Z:-0.45 [[ 9.95417190e-01 9.00709960e-02 3.21221633e-02 9.50821693e+00] [-9.00594759e-02 9.95934747e-01 -1.80822678e-03 -2.72263916e-01] [-3.21544473e-02 -1.09296517e-03 9.99482314e-01 -4.54170888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.596547614999999 meters 0.07635214611192792 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.28, Z:-0.45 [[ 9.95318118e-01 9.26753403e-02 2.74431373e-02 9.53938448e+00] [-9.26679209e-02 9.95695872e-01 -1.54476486e-03 -2.78156189e-01] [-2.74681802e-02 -1.00556602e-03 9.99622173e-01 -4.53712436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.626547614999998 meters 0.07571865061779787 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.29, Z:-0.45 [[ 9.95473677e-01 9.18073714e-02 2.45675787e-02 9.57110616e+00] [-9.18012884e-02 9.95776393e-01 -1.37771714e-03 -2.88514023e-01] [-2.45902995e-02 -8.83854227e-04 9.99697222e-01 -4.54984973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.656547614999997 meters 0.0748937022539717 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.30, Z:-0.45 [[ 9.95710803e-01 8.95085400e-02 2.34140408e-02 9.60241450e+00] [-8.95022577e-02 9.95985747e-01 -1.31823548e-03 -3.01231777e-01] [-2.34380443e-02 -7.83028200e-04 9.99724985e-01 -4.54521048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.686547614999999 meters 0.07434791152593 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.31, Z:-0.46 [[ 9.95875116e-01 8.69774522e-02 2.58394392e-02 9.63286592e+00] [-8.69686079e-02 9.96209971e-01 -1.46801617e-03 -3.06391377e-01] [-2.58691913e-02 -7.85259278e-04 9.99665028e-01 -4.55949505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.716547614999998 meters 0.07434791152593 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.31, Z:-0.46 [[ 9.95851245e-01 8.72502493e-02 2.58397455e-02 9.66513479e+00] [-8.72416358e-02 9.96186106e-01 -1.46264757e-03 -3.08424114e-01] [-2.58688119e-02 -7.97722265e-04 9.99665028e-01 -4.57637593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.746547614999999 meters 0.07180548566295247 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.32, Z:-0.45 [[ 9.96238970e-01 7.96761100e-02 3.40533622e-02 9.69581955e+00] [-7.96561008e-02 9.96820505e-01 -1.94601447e-03 -3.17602630e-01] [-3.41001405e-02 -7.73862599e-04 9.99418121e-01 -4.54495554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.776547614999998 meters 0.07112539787239369 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.32, Z:-0.45 [[ 9.96373311e-01 7.67588420e-02 3.67192780e-02 9.72723949e+00] [-7.67335770e-02 9.97049423e-01 -2.09892296e-03 -3.22913808e-01] [-3.67720458e-02 -7.26290722e-04 9.99323416e-01 -4.54281508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806547614999998 meters 0.07104300530832584 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.33, Z:-0.46 [[ 9.96655710e-01 7.39081437e-02 3.48565965e-02 9.75788963e+00] [-7.38836777e-02 9.97264878e-01 -1.99120614e-03 -3.29553517e-01] [-3.49084258e-02 -5.90786568e-04 9.99390341e-01 -4.59108611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.836547614999999 meters 0.07068275604170106 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.34, Z:-0.46 [[ 9.96848950e-01 7.31654320e-02 3.06429569e-02 9.78966639e+00] [-7.31460184e-02 9.97319697e-01 -1.75553928e-03 -3.42160398e-01] [-3.06892693e-02 -4.91402804e-04 9.99528853e-01 -4.59129955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.866547614999998 meters 0.0707433708668761 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.35, Z:-0.46 [[ 9.96916557e-01 7.29541962e-02 2.88974682e-02 9.82003129e+00] [-7.29366513e-02 9.97335190e-01 -1.66215039e-03 -3.47081322e-01] [-2.89417227e-02 -4.50659310e-04 9.99580999e-01 -4.62497146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.896547614999998 meters 0.07083752313983657 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.35, Z:-0.46 [[ 9.96861348e-01 7.39203522e-02 2.83413874e-02 9.85149257e+00] [-7.39036917e-02 9.97264041e-01 -1.63631380e-03 -3.48602988e-01] [-2.83848034e-02 -4.63355171e-04 9.99596963e-01 -4.64573128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.926547614999999 meters 0.0716497968205627 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.34, Z:-0.47 [[ 9.96805067e-01 7.50273066e-02 2.73963961e-02 9.88349790e+00] [-7.50120162e-02 9.97181367e-01 -1.58686618e-03 -3.37751845e-01] [-2.74382341e-02 -4.73262666e-04 9.99623389e-01 -4.74012187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.956547614999998 meters 0.07299018312043197 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.33, Z:-0.48 [[ 9.96515126e-01 7.96108862e-02 2.48939756e-02 9.91446630e+00] [-7.95994255e-02 9.96825873e-01 -1.45254351e-03 -3.26710972e-01] [-2.49305972e-02 -5.34064577e-04 9.99689042e-01 -4.80705936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.986547614999997 meters 0.07709326112265999 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.31, Z:-0.49 [[ 9.95939210e-01 8.84643282e-02 1.67078519e-02 9.94481260e+00] [-8.84603965e-02 9.96079217e-01 -9.75664400e-04 -3.10016513e-01] [-1.67286555e-02 -5.06280770e-04 9.99859938e-01 -4.93917596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.016547614999999 meters 0.07754233111730058 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.32, Z:-0.49 [[ 9.95360921e-01 9.55310244e-02 1.14218955e-02 9.97574981e+00] [-9.55296592e-02 9.95426361e-01 -6.66297791e-04 -3.15306572e-01] [-1.14333080e-02 -4.27922999e-04 9.99934546e-01 -4.85366748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.046547614999998 meters 0.07735419918822069 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.32, Z:-0.48 [[ 9.95367143e-01 9.50057086e-02 1.47704375e-02 1.00064624e+01] [-9.50033750e-02 9.95476578e-01 -8.61161024e-04 -3.18756510e-01] [-1.47854398e-02 -5.46070028e-04 9.99890540e-01 -4.81587438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.076547614999997 meters 0.07536869234816343 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.32, Z:-0.47 [[ 9.95221252e-01 9.43423218e-02 2.51830576e-02 1.00375994e+01] [-9.43352538e-02 9.95539399e-01 -1.47118787e-03 -3.18538492e-01] [-2.52095213e-02 -9.11492705e-04 9.99681774e-01 -4.74751286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.106547614999998 meters 0.07473133105668478 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.32, Z:-0.48 [[ 9.95273538e-01 9.26146653e-02 2.92080251e-02 1.00685458e+01] [-9.26044220e-02 9.95701517e-01 -1.70610470e-03 -3.18313456e-01] [-2.92404852e-02 -1.00675143e-03 9.99571899e-01 -4.77007377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.136547614999998 meters 0.07416134922713463 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.32, Z:-0.48 [[ 9.95535155e-01 8.95961097e-02 2.97033980e-02 1.00992762e+01] [-8.95841511e-02 9.95977744e-01 -1.73580767e-03 -3.21981171e-01] [-2.97394450e-02 -9.32896140e-04 9.99557250e-01 -4.81452363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.166547614999999 meters 0.07356546356943985 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.33, Z:-0.49 [[ 9.95954745e-01 8.56886899e-02 2.70480115e-02 1.01306003e+01] [-8.56774544e-02 9.96321680e-01 -1.57616727e-03 -3.31690176e-01] [-2.70835799e-02 -7.47613496e-04 9.99632893e-01 -4.87088743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.196547614999998 meters 0.07376265914850218 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.33, Z:-0.49 [[ 9.95855436e-01 8.65020151e-02 2.80954143e-02 1.01621737e+01] [-8.64900061e-02 9.96251361e-01 -1.64466647e-03 -3.31224332e-01] [-2.81323617e-02 -7.92122513e-04 9.99603893e-01 -4.88648549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.226547614999998 meters 0.074308845768714 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.33, Z:-0.49 [[ 9.95600897e-01 8.91441717e-02 2.88473553e-02 1.01947723e+01] [-8.91324044e-02 9.96018342e-01 -1.69610871e-03 -3.29069355e-01] [-2.88836932e-02 -8.82586786e-04 9.99582389e-01 -4.89598249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.256547614999999 meters 0.07704496224929923 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.32, Z:-0.49 [[ 9.95066295e-01 9.55513501e-02 2.67021950e-02 1.02250382e+01] [-9.55432834e-02 9.95424021e-01 -1.58069855e-03 -3.21663754e-01] [-2.67310442e-02 -9.78315530e-04 9.99642183e-01 -4.93412731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.286547614999998 meters 0.07652541950364357 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.33, Z:-0.49 [[ 9.94986737e-01 9.73414570e-02 2.29354406e-02 1.02555595e+01] [-9.73359500e-02 9.95250655e-01 -1.35901624e-03 -3.26554319e-01] [-2.29588009e-02 -8.80239766e-04 9.99736024e-01 -4.93032970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.316547614999998 meters 0.07755191870023369 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.33, Z:-0.50 [[ 9.95136448e-01 9.69409375e-02 1.74901031e-02 1.02850953e+01] [-9.69377105e-02 9.95289913e-01 -1.03420486e-03 -3.33872489e-01] [-1.75079800e-02 -6.66275600e-04 9.99846502e-01 -4.96732109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.346547614999999 meters 0.07595824088194507 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.35, Z:-0.49 [[ 9.95287420e-01 9.54984011e-02 1.68227996e-02 1.03165104e+01] [-9.54952884e-02 9.95429390e-01 -9.90075663e-04 -3.45756297e-01] [-1.68404598e-02 -6.21088248e-04 9.99857996e-01 -4.94921686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.376547614999998 meters 0.07351681315427262 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.36, Z:-0.50 [[ 9.96061125e-01 8.59611603e-02 2.17466071e-02 1.03455800e+01] [-8.59533323e-02 9.96298321e-01 -1.29615143e-03 -3.58364326e-01] [-2.17775268e-02 -5.78147295e-04 9.99762674e-01 -4.98330873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.406547614999997 meters 0.07276033854092841 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.36, Z:-0.50 [[ 9.96460035e-01 8.07604181e-02 2.33485278e-02 1.03753085e+01] [-8.07499432e-02 9.96733418e-01 -1.39265218e-03 -3.61762580e-01] [-2.33847291e-02 -4.97670056e-04 9.99726416e-01 -5.03607360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.436547614999999 meters 0.0720193933070769 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.37, Z:-0.51 [[ 9.97003656e-01 7.31126490e-02 2.52636197e-02 1.04058212e+01] [-7.30979416e-02 9.97323629e-01 -1.50641356e-03 -3.71369264e-01] [-2.53061428e-02 -3.44818772e-04 9.99679689e-01 -5.07545661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.466547614999998 meters 0.07162219850485443 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.38, Z:-0.51 [[ 9.97135771e-01 7.10597681e-02 2.58991090e-02 1.04362993e+01] [-7.10437474e-02 9.97472013e-01 -1.53936079e-03 -3.83631604e-01] [-2.59430230e-02 -3.05018046e-04 9.99663377e-01 -5.05870058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.496547614999997 meters 0.07118400591312538 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.39, Z:-0.50 [[ 9.97071567e-01 7.25701938e-02 2.41217368e-02 1.04680984e+01] [-7.25566404e-02 9.97363257e-01 -1.43778168e-03 -3.90735296e-01] [-2.41624740e-02 -3.16620943e-04 9.99707995e-01 -5.01347837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.526547614999998 meters 0.07159369493728905 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.39, Z:-0.50 [[ 9.96695488e-01 7.72960998e-02 2.49683059e-02 1.04997232e+01] [-7.72828831e-02 9.97008084e-01 -1.49531441e-03 -3.89498407e-01] [-2.50091848e-02 -4.39249541e-04 9.99687125e-01 -5.00723662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.556547614999998 meters 0.07213918721552917 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.39, Z:-0.50 [[ 9.96568987e-01 7.90707141e-02 2.44555821e-02 1.05303421e+01] [-7.90583080e-02 9.96868902e-01 -1.47524576e-03 -3.88005064e-01] [-2.44956580e-02 -4.63232773e-04 9.99699829e-01 -5.03833092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.586547614999999 meters 0.07252496406783383 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.38, Z:-0.51 [[ 9.96543285e-01 7.94570608e-02 2.42498633e-02 1.05627171e+01] [-7.94451194e-02 9.96838177e-01 -1.45697116e-03 -3.83978523e-01] [-2.42889561e-02 -4.74598456e-04 9.99704867e-01 -5.11007601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.616547614999998 meters 0.07295407781045637 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.38, Z:-0.52 [[ 9.96517581e-01 8.00670418e-02 2.32804357e-02 1.05942282e+01] [-8.00560314e-02 9.96789373e-01 -1.40605639e-03 -3.83215953e-01] [-2.33182697e-02 -4.62579381e-04 9.99727985e-01 -5.15325289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.646547614999998 meters 0.07288960072699138 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.39, Z:-0.52 [[ 9.96562138e-01 7.96816764e-02 2.26877842e-02 1.06273616e+01] [-7.96710461e-02 9.96820264e-01 -1.37350170e-03 -3.85855827e-01] [-2.27250860e-02 -4.38779712e-04 9.99741656e-01 -5.17126775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.676547614999999 meters 0.07289468696166519 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.39, Z:-0.52 [[ 9.96538406e-01 7.99149772e-02 2.29085468e-02 1.06598136e+01] [-7.99040533e-02 9.96801586e-01 -1.39328116e-03 -3.85596990e-01] [-2.29466198e-02 -4.42027554e-04 9.99736594e-01 -5.19920443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.706547614999998 meters 0.07441349038235909 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.38, Z:-0.53 [[ 9.96218492e-01 8.36673538e-02 2.34198671e-02 1.06920368e+01] [-8.36567936e-02 9.96493598e-01 -1.43201735e-03 -3.76459032e-01] [-2.34575607e-02 -5.32628825e-04 9.99724692e-01 -5.27852048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.736547614999997 meters 0.07559289784255754 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.38, Z:-0.53 [[ 9.95804079e-01 8.91633753e-02 2.05943842e-02 1.07235555e+01] [-8.91561684e-02 9.96016850e-01 -1.26967179e-03 -3.75037475e-01] [-2.06255619e-02 -5.71772044e-04 9.99787107e-01 -5.25351347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.766547614999999 meters 0.07540620688511714 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.38, Z:-0.52 [[ 9.95512230e-01 9.22569492e-02 2.10726235e-02 1.07556903e+01] [-9.22502387e-02 9.95735017e-01 -1.29238808e-03 -3.79155418e-01] [-2.11019809e-02 -6.57366405e-04 9.99777112e-01 -5.20786257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.796547614999998 meters 0.07544929169940003 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.38, Z:-0.52 [[ 9.95286057e-01 9.45203141e-02 2.17157578e-02 1.07876006e+01] [-9.45136030e-02 9.95522672e-01 -1.33747709e-03 -3.81135317e-01] [-2.17449479e-02 -7.21262207e-04 9.99763290e-01 -5.18677377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.826547614999997 meters 0.07567507301818717 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.38, Z:-0.52 [[ 9.95191588e-01 9.53955421e-02 2.22124808e-02 1.08207772e+01] [-9.53886340e-02 9.95439161e-01 -1.37275841e-03 -3.79487302e-01] [-2.22421283e-02 -7.52660586e-04 9.99752330e-01 -5.20396980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.856547614999998 meters 0.07519650334770431 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.38, Z:-0.52 [[ 9.95303214e-01 9.28146883e-02 2.75126495e-02 1.08506395e+01] [-9.28026076e-02 9.95683044e-01 -1.71839962e-03 -3.77442878e-01] [-2.75533713e-02 -8.42916955e-04 9.99619978e-01 -5.23240000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.886547614999998 meters 0.0746137322955544 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.38, Z:-0.53 [[ 9.95517700e-01 9.00001983e-02 2.90598174e-02 1.08823406e+01] [-8.99855576e-02 9.95941419e-01 -1.81384126e-03 -3.81241252e-01] [-2.91051218e-02 -8.09252791e-04 9.99576029e-01 -5.26075853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.916547614999997 meters 0.07432235115693679 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.39, Z:-0.53 [[ 9.95753531e-01 8.71471739e-02 2.96694360e-02 1.09129504e+01] [-8.71305883e-02 9.96195174e-01 -1.85386114e-03 -3.88173003e-01] [-2.97181077e-02 -7.39126639e-04 9.99558046e-01 -5.29023294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.946547614999998 meters 0.07398377705366803 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.39, Z:-0.53 [[ 9.95628797e-01 8.75632147e-02 3.24958847e-02 1.09448204e+01] [-8.75436301e-02 9.96158623e-01 -2.02770931e-03 -3.91581967e-01] [-3.25486085e-02 -8.25961929e-04 9.99469812e-01 -5.27283380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.976547614999998 meters 0.07479894541978221 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.39, Z:-0.52 [[ 9.95000744e-01 9.33752214e-02 3.54201633e-02 1.09770920e+01] [-9.33552751e-02 9.95630385e-01 -2.22018789e-03 -3.86698897e-01] [-3.54727014e-02 -1.09757049e-03 9.99370043e-01 -5.23458823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.006547614999999 meters 0.07721138168796633 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.38, Z:-0.53 [[ 9.94524337e-01 9.91823863e-02 3.29271431e-02 1.10077754e+01] [-9.91679790e-02 9.95068545e-01 -2.07440543e-03 -3.79337383e-01] [-3.29705088e-02 -1.20227155e-03 9.99455602e-01 -5.27761699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.036547614999998 meters 0.07978430228806575 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.38, Z:-0.54 [[ 9.94204040e-01 1.05640333e-01 1.99611276e-02 1.10380674e+01] [-1.05636322e-01 9.94404035e-01 -1.25822360e-03 -3.79997852e-01] [-1.99823450e-02 -8.57689109e-04 9.99799965e-01 -5.36066295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.066547614999998 meters 0.08064557787113803 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.38, Z:-0.54 [[ 9.94111040e-01 1.07402327e-01 1.44215060e-02 1.10684465e+01] [-1.07400429e-01 9.94215431e-01 -9.08248861e-04 -3.82563714e-01] [-1.44356318e-02 -6.45975705e-04 9.99895592e-01 -5.40573429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.096547614999999 meters 0.08131300179566776 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.38, Z:-0.55 [[ 9.94233405e-01 1.06861857e-01 8.97108258e-03 1.10988229e+01] [-1.06861100e-01 9.94273798e-01 -5.65106062e-04 -3.78257974e-01] [-8.98010064e-03 -3.96812429e-04 9.99959599e-01 -5.51012422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.126547614999998 meters 0.080488399130373 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.37, Z:-0.56 [[ 9.94385059e-01 1.05239932e-01 1.10864913e-02 1.11308143e+01] [-1.05238699e-01 9.94446746e-01 -6.96241791e-04 -3.72973898e-01] [-1.10981976e-02 -4.74395476e-04 9.99938301e-01 -5.57845313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.156547614999997 meters 0.07984126764099239 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.38, Z:-0.56 [[ 9.94638979e-01 1.02583796e-01 1.30332929e-02 1.11611227e+01] [-1.02581800e-01 9.94724231e-01 -8.23343663e-04 -3.75202502e-01] [-1.30489939e-02 -5.18048940e-04 9.99914724e-01 -5.60377992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.186547614999999 meters 0.0789837374533045 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.38, Z:-0.56 [[ 9.95161560e-01 9.64684552e-02 1.86361826e-02 1.11902276e+01] [-9.64632940e-02 9.95335846e-01 -1.17777961e-03 -3.84287714e-01] [-1.86628791e-02 -6.25626569e-04 9.99825638e-01 -5.57099923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.216547614999998 meters 0.07652609377337014 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.40, Z:-0.55 [[ 9.95245695e-01 9.48631296e-02 2.20679112e-02 1.12211268e+01] [-9.48555330e-02 9.95490074e-01 -1.39310677e-03 -3.98253209e-01] [-2.21005410e-02 -7.06779966e-04 9.99755503e-01 -5.45829147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.246547614999997 meters 0.0762173153040974 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.41, Z:-0.53 [[ 9.95114019e-01 9.48558219e-02 2.73945719e-02 1.12516405e+01] [-9.48440989e-02 9.95490635e-01 -1.72990305e-03 -4.11445720e-01] [-2.74351311e-02 -8.76762710e-04 9.99623201e-01 -5.32812450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.276547614999998 meters 0.07533407774268758 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.41, Z:-0.53 [[ 9.94566453e-01 9.84384134e-02 3.38740282e-02 1.12835396e+01] [-9.84226383e-02 9.95142411e-01 -2.13690942e-03 -4.13414421e-01] [-3.39198361e-02 -1.20867280e-03 9.99423826e-01 -5.31944345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.306547614999998 meters 0.07633071843370036 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.41, Z:-0.54 [[ 9.94389682e-01 9.96926522e-02 3.53629104e-02 1.13164052e+01] [-9.96759458e-02 9.95017432e-01 -2.23948567e-03 -4.08068663e-01] [-3.54099726e-02 -1.29791010e-03 9.99372027e-01 -5.41708990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.336547614999997 meters 0.07579594175293777 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.41, Z:-0.55 [[ 9.94969728e-01 9.42461735e-02 3.39543623e-02 1.13473820e+01] [-9.42271509e-02 9.95548373e-01 -2.16355101e-03 -4.12270716e-01] [-3.40071165e-02 -1.04675506e-03 9.99421043e-01 -5.49342932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.366547614999998 meters 0.07663315193427335 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.41, Z:-0.56 [[ 9.95222071e-01 9.32099814e-02 2.90676453e-02 1.13779414e+01] [-9.31957008e-02 9.95646094e-01 -1.84863403e-03 -4.08699058e-01] [-2.91133987e-02 -8.69178194e-04 9.99575737e-01 -5.60941923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.396547614999998 meters 0.07743808806265448 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.41, Z:-0.56 [[ 9.95082094e-01 9.57424946e-02 2.53968834e-02 1.14088950e+01] [-9.57321691e-02 9.95405802e-01 -1.62490121e-03 -4.08373253e-01] [-2.54357772e-02 -8.14388641e-04 9.99676127e-01 -5.64019585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.426547614999999 meters 0.07908579798537502 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.41, Z:-0.56 [[ 9.94686247e-01 1.01093750e-01 1.94762198e-02 1.14391692e+01] [-1.01088713e-01 9.94876636e-01 -1.24550131e-03 -4.10416919e-01] [-1.95023484e-02 -7.29942969e-04 9.99809545e-01 -5.63519359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.456547614999998 meters 0.07921319432439843 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.41, Z:-0.56 [[ 9.94499146e-01 1.02837970e-01 1.98947371e-02 1.14707026e+01] [-1.02833163e-01 9.94697811e-01 -1.26718493e-03 -4.13159592e-01] [-1.99195662e-02 -7.85624412e-04 9.99801277e-01 -5.61974751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.486547614999997 meters 0.07811615591822517 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.42, Z:-0.56 [[ 9.94583427e-01 1.01099182e-01 2.41404508e-02 1.15001892e+01] [-1.01091253e-01 9.94875947e-01 -1.55172564e-03 -4.18878885e-01] [-2.41736320e-02 -8.97067813e-04 9.99707373e-01 -5.59591576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.516547614999999 meters 0.07532422654254037 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.44, Z:-0.56 [[ 9.95162458e-01 9.43716145e-02 2.73071600e-02 1.15306401e+01] [-9.43589612e-02 9.95536694e-01 -1.75446192e-03 -4.36448657e-01] [-2.73508512e-02 -8.30700610e-04 9.99625550e-01 -5.59036754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.546547614999998 meters 0.07398037958401647 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.44, Z:-0.56 [[ 9.95365189e-01 9.09264213e-02 3.13133716e-02 1.15611224e+01] [-9.09080293e-02 9.95857257e-01 -2.01347556e-03 -4.43705040e-01] [-3.13667265e-02 -8.42493424e-04 9.99507588e-01 -5.59441745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.576547614999997 meters 0.07197384902045252 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.45, Z:-0.55 [[ 9.95647109e-01 8.36954575e-02 4.10110234e-02 1.15911321e+01] [-8.36577312e-02 9.96491056e-01 -2.63823081e-03 -4.52105037e-01] [-4.10879259e-02 -8.04142289e-04 9.99155211e-01 -5.54643996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.606547614999998 meters 0.07197384902045252 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.45, Z:-0.56 [[ 9.95625176e-01 8.39558709e-02 4.10112143e-02 1.16233685e+01] [-8.39184873e-02 9.96469138e-01 -2.63526775e-03 -4.54381198e-01] [-4.10876556e-02 -8.17860157e-04 9.99155211e-01 -5.56330065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.636547614999998 meters 0.07188778305163318 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.46, Z:-0.56 [[ 9.95523284e-01 8.44322764e-02 4.24803672e-02 1.16552541e+01] [-8.43920891e-02 9.96428853e-01 -2.74165865e-03 -4.55255788e-01] [-4.25601480e-02 -8.55621904e-04 9.99093540e-01 -5.56982856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.666547614999997 meters 0.07278481615596033 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.45, Z:-0.56 [[ 9.95557542e-01 8.58655476e-02 3.86301423e-02 1.16864330e+01] [-8.58330820e-02 9.96306392e-01 -2.50119952e-03 -4.52548821e-01] [-3.87022246e-02 -8.25656127e-04 9.99250447e-01 -5.64264263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.696547614999998 meters 0.075928173584133 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.44, Z:-0.58 [[ 9.95488849e-01 9.15054035e-02 2.50741331e-02 1.17174274e+01] [-9.14933530e-02 9.95804353e-01 -1.62982438e-03 -4.40196310e-01] [-2.51180686e-02 -6.71644511e-04 9.99684266e-01 -5.84600458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.726547614999998 meters 0.07835544985814662 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.43, Z:-0.59 [[ 9.94920601e-01 9.86615785e-02 1.99722611e-02 1.17493024e+01] [-9.86553652e-02 9.95120813e-01 -1.29854928e-03 -4.30880494e-01] [-2.00029297e-02 -6.78417287e-04 9.99799691e-01 -5.88234402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.756547614999997 meters 0.07793701735904637 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.44, Z:-0.58 [[ 9.94767548e-01 1.00239817e-01 1.97358753e-02 1.17807686e+01] [-1.00234174e-01 9.94963054e-01 -1.27739955e-03 -4.38383840e-01] [-1.97645130e-02 -7.07493550e-04 9.99804413e-01 -5.81237882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.786547614999998 meters 0.07557626277840292 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.46, Z:-0.57 [[ 9.95069429e-01 9.66986445e-02 2.20500041e-02 1.18101766e+01] [-9.66904468e-02 9.95313460e-01 -1.44012485e-03 -4.60917864e-01] [-2.20859240e-02 -6.99000531e-04 9.99755832e-01 -5.66071408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.816547614999998 meters 0.07304385990419782 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.47, Z:-0.56 [[ 9.95482376e-01 9.13935604e-02 2.57304705e-02 1.18403739e+01] [-9.13806447e-02 9.95814619e-01 -1.67980961e-03 -4.72394400e-01] [-2.57763025e-02 -6.79046126e-04 9.99667505e-01 -5.64159230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.846547614999999 meters 0.07160667356926234 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.47, Z:-0.58 [[ 9.96332641e-01 7.86792894e-02 3.36279425e-02 1.18695157e+01] [-7.86499264e-02 9.96899875e-01 -2.19713003e-03 -4.74716199e-01] [-3.36965603e-02 -4.55762830e-04 9.99432006e-01 -5.80332219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.876547614999998 meters 0.0723953655326443 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.47, Z:-0.59 [[ 9.96631818e-01 7.37057117e-02 3.59511916e-02 1.18999280e+01] [-7.36689283e-02 9.97279987e-01 -2.34855456e-03 -4.74040590e-01] [-3.60265057e-02 -3.07841549e-04 9.99350787e-01 -5.87605596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.906547614999997 meters 0.07224324986745835 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.48, Z:-0.58 [[ 9.96701396e-01 7.11934446e-02 3.89592267e-02 1.19312621e+01] [-7.11483707e-02 9.97462499e-01 -2.54396356e-03 -4.81996971e-01] [-3.90414812e-02 -2.36313467e-04 9.99237563e-01 -5.83849597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.936547614999999 meters 0.07145310268617115 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.49, Z:-0.58 [[ 9.96637133e-01 7.25088364e-02 3.81692791e-02 1.19634908e+01] [-7.24662145e-02 9.97367732e-01 -2.50079476e-03 -4.92789409e-01] [-3.82501370e-02 -2.73598242e-04 9.99268158e-01 -5.77595323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.966547614999998 meters 0.0708310161316811 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.50, Z:-0.57 [[ 9.96286353e-01 7.86211316e-02 3.51029948e-02 1.19943768e+01] [-7.85885985e-02 9.96904462e-01 -2.30774518e-03 -5.02570120e-01] [-3.51757697e-02 -4.59520131e-04 9.99381035e-01 -5.66618572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.996547614999997 meters 0.073799237874553 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.48, Z:-0.57 [[ 9.95132634e-01 9.25912588e-02 3.37327701e-02 1.20256881e+01] [-9.25688546e-02 9.95703791e-01 -2.22867359e-03 -4.79408575e-01] [-3.37942028e-02 -9.04778068e-04 9.99428403e-01 -5.73746937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.026547614999998 meters 0.074270005180717 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.47, Z:-0.58 [[ 9.95156801e-01 9.23537206e-02 3.36709398e-02 1.20576881e+01] [-9.23313985e-02 9.95725857e-01 -2.22056352e-03 -4.74723438e-01] [-3.37321026e-02 -8.99076069e-04 9.99430506e-01 -5.81944524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.056547614999998 meters 0.07443648878901406 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.47, Z:-0.59 [[ 9.95361533e-01 9.14377846e-02 2.99090167e-02 1.20897682e+01] [-9.14195962e-02 9.95810497e-01 -1.97787453e-03 -4.70697617e-01] [-2.99645652e-02 -7.65570000e-04 9.99550668e-01 -5.92635552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.086547614999997 meters 0.0743625057693411 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.48, Z:-0.60 [[ 9.95549198e-01 8.95190166e-02 2.94642044e-02 1.21208790e+01] [-8.95003171e-02 9.95984874e-01 -1.95551042e-03 -4.75756674e-01] [-2.95209573e-02 -6.90248809e-04 9.99563923e-01 -5.95669819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.116547614999998 meters 0.07185411886156867 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.49, Z:-0.59 [[ 9.95864834e-01 8.28818329e-02 3.71999182e-02 1.21508784e+01] [-8.28468135e-02 9.96559197e-01 -2.48453824e-03 -4.92215346e-01] [-3.72778437e-02 -6.07630424e-04 9.99304755e-01 -5.86053602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.146547614999998 meters 0.07100882658811003 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.50, Z:-0.58 [[ 9.95887359e-01 8.01209853e-02 4.22965147e-02 1.21826034e+01] [-8.00732036e-02 9.96784981e-01 -2.82537617e-03 -4.98359872e-01] [-4.23869026e-02 -5.73061018e-04 9.99101107e-01 -5.81751820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.176547614999997 meters 0.07141404190943104 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.49, Z:-0.58 [[ 9.95510280e-01 8.20517933e-02 4.71888306e-02 1.22152376e+01] [-8.19943952e-02 9.96627800e-01 -3.15402782e-03 -4.94984983e-01] [-4.72884941e-02 -7.29352514e-04 9.98881007e-01 -5.80639012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.206547614999998 meters 0.07391857397421527 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.48, Z:-0.59 [[ 9.94891309e-01 9.27801831e-02 3.97884496e-02 1.22459534e+01] [-9.27475138e-02 9.95686080e-01 -2.67015697e-03 -4.82127444e-01] [-3.98645431e-02 -1.03376381e-03 9.99204558e-01 -5.91475304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.236547614999997 meters 0.07465025337958325 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.48, Z:-0.60 [[ 9.95043716e-01 9.41472456e-02 3.20046918e-02 1.22770762e+01] [-9.41268327e-02 9.95557898e-01 -2.14720548e-03 -4.84817661e-01] [-3.20646772e-02 -8.75936955e-04 9.99485412e-01 -5.95061899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.266547614999999 meters 0.07759699349233787 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.48, Z:-0.60 [[ 9.94629366e-01 1.00765044e-01 2.36396026e-02 1.23068674e+01] [-1.00755750e-01 9.94909926e-01 -1.58696305e-03 -4.82348234e-01] [-2.36791857e-02 -8.03385831e-04 9.99719286e-01 -5.99855104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.296547614999998 meters 0.07599004621703348 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.49, Z:-0.60 [[ 9.94738649e-01 9.98148151e-02 2.30656159e-02 1.23384042e+01] [-9.98058611e-02 9.95005735e-01 -1.54194786e-03 -4.88783180e-01] [-2.31043294e-02 -7.68248528e-04 9.99732764e-01 -5.98167195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.326547614999997 meters 0.07554791064036284 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.48, Z:-0.61 [[ 9.94957801e-01 9.61099334e-02 2.86680153e-02 1.23682810e+01] [-9.60941080e-02 9.95370377e-01 -1.93240893e-03 -4.78602868e-01] [-2.87210169e-02 -8.32162018e-04 9.99587120e-01 -6.08278808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.356547614999998 meters 0.07491426131804985 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.48, Z:-0.62 [[ 9.95441298e-01 9.01438456e-02 3.11562139e-02 1.23993200e+01] [-9.01222459e-02 9.95928497e-01 -2.09971863e-03 -4.77553135e-01] [-3.12186380e-02 -7.17721331e-04 9.99512322e-01 -6.16386804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.386547614999998 meters 0.07491426131804985 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.48, Z:-0.62 [[ 9.95417282e-01 9.04085494e-02 3.11565296e-02 1.24315626e+01] [-9.03872254e-02 9.95904494e-01 -2.09504800e-03 -4.79923855e-01] [-3.12183380e-02 -7.30705275e-04 9.99512322e-01 -6.18074137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.416547614999997 meters 0.07433583422246774 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.49, Z:-0.62 [[ 9.95657977e-01 8.84133879e-02 2.91250127e-02 1.24640585e+01] [-8.83936987e-02 9.96083677e-01 -1.96536613e-03 -4.89683867e-01] [-2.91847144e-02 -6.17635127e-04 9.99573845e-01 -6.16923203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.446547614999998 meters 0.07352342561504398 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.50, Z:-0.60 [[ 9.95043416e-01 9.41647370e-02 3.19625085e-02 1.24959991e+01] [-9.41436440e-02 9.95556265e-01 -2.16756222e-03 -4.98645628e-01] [-3.20245835e-02 -8.52248502e-04 9.99486718e-01 -5.99423650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.476547614999998 meters 0.0749659716245241 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.50, Z:-0.59 [[ 9.94351916e-01 1.00118208e-01 3.52223261e-02 1.25278899e+01] [-1.00096002e-01 9.94974895e-01 -2.39769874e-03 -4.96499182e-01] [-3.52853835e-02 -1.14145768e-03 9.99376625e-01 -5.93651388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.506547614999997 meters 0.07836141988148901 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.48, Z:-0.60 [[ 9.92807801e-01 1.13363178e-01 3.84897464e-02 1.25596908e+01] [-1.13346104e-01 9.93552077e-01 -2.63250702e-03 -4.79692621e-01] [-3.85399969e-02 -1.74908928e-03 9.99255528e-01 -5.97047098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.536547614999998 meters 0.07889955857637633 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.47, Z:-0.61 [[ 9.93053579e-01 1.11217392e-01 3.84093746e-02 1.25905734e+01] [-1.11198777e-01 9.93794712e-01 -2.62726833e-03 -4.74633918e-01] [-3.84632313e-02 -1.66205728e-03 9.99258634e-01 -6.06838875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.566547614999998 meters 0.07945223562414049 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.47, Z:-0.62 [[ 9.93270162e-01 1.10017357e-01 3.62017419e-02 1.26221063e+01] [-1.10000099e-01 9.93928497e-01 -2.47418890e-03 -4.68490741e-01] [-3.62541466e-02 -1.52465719e-03 9.99341439e-01 -6.20436550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.596547614999999 meters 0.07892421214702064 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.48, Z:-0.62 [[ 9.93397633e-01 1.09723526e-01 3.34946236e-02 1.26534117e+01] [-1.09708350e-01 9.93961169e-01 -2.29616296e-03 -4.76070874e-01] [-3.35442983e-02 -1.39363703e-03 9.99436260e-01 -6.21607521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.626547614999998 meters 0.07790009449766548 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.49, Z:-0.62 [[ 9.93932440e-01 1.05591167e-01 3.08027778e-02 1.26827556e+01] [-1.05575999e-01 9.94408971e-01 -2.12297587e-03 -4.94072113e-01] [-3.08547261e-02 -1.14193945e-03 9.99523227e-01 -6.17519135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.656547614999997 meters 0.07493823525845851 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.51, Z:-0.61 [[ 9.94244950e-01 1.02057980e-01 3.25752777e-02 1.27133836e+01] [-1.02039113e-01 9.94777853e-01 -2.24544456e-03 -5.10569810e-01] [-3.26343304e-02 -1.09143052e-03 9.99466762e-01 -6.10120001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.686547614999999 meters 0.0746373715566509 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.51, Z:-0.61 [[ 9.94135917e-01 1.02222940e-01 3.52739281e-02 1.27453778e+01] [-1.02201000e-01 9.94760803e-01 -2.42924920e-03 -5.11575045e-01] [-3.53374461e-02 -1.19002684e-03 9.99374729e-01 -6.12631589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.716547614999998 meters 0.07417368603950159 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.51, Z:-0.62 [[ 9.94465699e-01 9.85130412e-02 3.65123713e-02 1.27765366e+01] [-9.84865666e-02 9.95135171e-01 -2.52735605e-03 -5.12686212e-01] [-3.65837223e-02 -1.08260918e-03 9.99330005e-01 -6.19052181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.746547614999997 meters 0.0745405523293727 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.52, Z:-0.62 [[ 9.94539540e-01 9.84205557e-02 3.47058859e-02 1.28079359e+01] [-9.83966659e-02 9.95144380e-01 -2.39982653e-03 -5.15227074e-01] [-3.47735595e-02 -1.02822108e-03 9.99394688e-01 -6.22784729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.776547614999998 meters 0.07584370610677192 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.51, Z:-0.63 [[ 9.94307045e-01 1.02025083e-01 3.07308214e-02 1.28378047e+01] [-1.02007768e-01 9.94781312e-01 -2.13479604e-03 -5.13738664e-01] [-3.07882496e-02 -1.01213975e-03 9.99525417e-01 -6.26321559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.806547614999998 meters 0.07617797714025036 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.51, Z:-0.63 [[ 9.94049332e-01 1.04198565e-01 3.17582312e-02 1.28700273e+01] [-1.04181219e-01 9.94555887e-01 -2.20493924e-03 -5.14819701e-01] [-3.18150873e-02 -1.11679287e-03 9.99493148e-01 -6.25959359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.836547614999997 meters 0.07861014255314969 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.51, Z:-0.62 [[ 9.93037516e-01 1.13495965e-01 3.15461202e-02 1.29019316e+01] [-1.13483149e-01 9.93537481e-01 -2.20220815e-03 -5.05682406e-01] [-3.15921945e-02 -1.39307774e-03 9.99499871e-01 -6.23518470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.866547614999998 meters 0.07951183351229582 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.50, Z:-0.63 [[ 9.92857770e-01 1.15406289e-01 3.02462673e-02 1.29343809e+01] [-1.15395394e-01 9.93317394e-01 -2.11135942e-03 -5.03746256e-01] [-3.02878075e-02 -1.39400033e-03 9.99540247e-01 -6.26431447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.896547614999998 meters 0.07938797933638209 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.51, Z:-0.63 [[ 9.92971023e-01 1.14652986e-01 2.93809653e-02 1.29665359e+01] [-1.14642434e-01 9.93404708e-01 -2.04899459e-03 -5.06549744e-01] [-2.94221126e-02 -1.33371313e-03 9.99566186e-01 -6.28833400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.926547614999997 meters 0.07807144547657971 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.51, Z:-0.63 [[ 9.93292756e-01 1.11499131e-01 3.06177178e-02 1.29972764e+01] [-1.11485793e-01 9.93763707e-01 -2.14775987e-03 -5.12212475e-01] [-3.06662501e-02 -1.28008622e-03 9.99528860e-01 -6.31908405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.956547614999998 meters 0.07639504090895696 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.52, Z:-0.64 [[ 9.94043809e-01 1.03582708e-01 3.38751807e-02 1.30265640e+01] [-1.03561724e-01 9.94620186e-01 -2.37819172e-03 -5.18805459e-01] [-3.39392780e-02 -1.14414536e-03 9.99423242e-01 -6.36644225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.986547614999997 meters 0.07528779177869362 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.53, Z:-0.64 [[ 9.94225880e-01 1.00873993e-01 3.65969515e-02 1.30574753e+01] [-1.00847694e-01 9.94898560e-01 -2.56859460e-03 -5.26006066e-01] [-3.66693588e-02 -1.13695496e-03 9.99326806e-01 -6.35953345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.016547614999997 meters 0.07494902945353384 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.53, Z:-0.63 [[ 9.94187595e-01 1.00139151e-01 3.95370288e-02 1.30896765e+01] [-1.00107919e-01 9.94972718e-01 -2.77388786e-03 -5.30446533e-01] [-3.96160397e-02 -1.20020478e-03 9.99214256e-01 -6.34035483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.046547614999994 meters 0.07581711925269534 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.53, Z:-0.63 [[ 9.93938056e-01 1.03159474e-01 3.80166334e-02 1.31212604e+01] [-1.03132400e-01 9.94664032e-01 -2.67782115e-03 -5.32200492e-01] [-3.80900205e-02 -1.25915829e-03 9.99273519e-01 -6.31207096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.076547614999996 meters 0.07622054474006834 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.53, Z:-0.63 [[ 9.93740674e-01 1.05791190e-01 3.58845033e-02 1.31528979e+01] [-1.05768601e-01 9.94387545e-01 -2.53259886e-03 -5.33751151e-01] [-3.59510298e-02 -1.27870723e-03 9.99352735e-01 -6.30832395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.106547614999997 meters 0.08022664376424228 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.52, Z:-0.64 [[ 9.92894115e-01 1.15455313e-01 2.88330911e-02 1.31831225e+01] [-1.15444780e-01 9.93311814e-01 -2.03529978e-03 -5.22192490e-01] [-2.88752362e-02 -1.30779268e-03 9.99582168e-01 -6.40585794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.136547614999994 meters 0.08138008493016663 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.52, Z:-0.65 [[ 9.92820543e-01 1.16757902e-01 2.59800244e-02 1.32144151e+01] [-1.16749760e-01 9.93159668e-01 -1.83522379e-03 -5.18751975e-01] [-2.60165893e-02 -1.21111372e-03 9.99660778e-01 -6.49277608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.166547614999995 meters 0.08025593043213955 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.52, Z:-0.66 [[ 9.93328540e-01 1.13005922e-01 2.29798475e-02 1.32450463e+01] [-1.12998548e-01 9.93593827e-01 -1.62331553e-03 -5.20614386e-01] [-2.30160789e-02 -9.84203762e-04 9.99734611e-01 -6.57451396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.196547614999997 meters 0.08100711277262584 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.52, Z:-0.66 [[ 9.93475596e-01 1.11885850e-01 2.20861295e-02 1.32757304e+01] [-1.11878858e-01 9.93720635e-01 -1.55586839e-03 -5.20517256e-01] [-2.21215223e-02 -9.25253665e-04 9.99754861e-01 -6.63539598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.226547614999998 meters 0.07992407967060446 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.53, Z:-0.66 [[ 9.93873024e-01 1.07866910e-01 2.41068904e-02 1.33046694e+01] [-1.07857076e-01 9.94164937e-01 -1.71158708e-03 -5.30320675e-01] [-2.41508488e-02 -8.98998493e-04 9.99707921e-01 -6.63811229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.256547614999995 meters 0.07879009409262874 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.54, Z:-0.66 [[ 9.93991632e-01 1.06608895e-01 2.48027954e-02 1.33363634e+01] [-1.06598261e-01 9.94300625e-01 -1.75431905e-03 -5.38047152e-01] [-2.48484610e-02 -9.00156396e-04 9.99690824e-01 -6.62054102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.286547614999996 meters 0.07922831448897183 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.53, Z:-0.66 [[ 9.93288448e-01 1.11856883e-01 2.94295279e-02 1.33689352e+01] [-1.11843811e-01 9.93723590e-01 -2.09511190e-03 -5.34853864e-01] [-2.94791688e-02 -1.21046010e-03 9.99564662e-01 -6.58629936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.316547614999998 meters 0.08097921418331305 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.53, Z:-0.66 [[ 9.92794922e-01 1.15660608e-01 3.13187778e-02 1.33994017e+01] [-1.15647568e-01 9.93287799e-01 -2.23358315e-03 -5.30299828e-01] [-3.13668974e-02 -1.40445047e-03 9.99506951e-01 -6.58392332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.346547614999995 meters 0.08038725362049579 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.54, Z:-0.65 [[ 9.92443682e-01 1.17496794e-01 3.53559359e-02 1.34326838e+01] [-1.17481508e-01 9.93071881e-01 -2.51673587e-03 -5.38052164e-01] [-3.54066941e-02 -1.65595006e-03 9.99371614e-01 -6.50397938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.376547614999996 meters 0.0804878334065452 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.54, Z:-0.65 [[ 9.92487583e-01 1.16715001e-01 3.66879532e-02 1.34639257e+01] [-1.16697579e-01 9.93164031e-01 -2.62326881e-03 -5.43219310e-01] [-3.67433303e-02 -1.67783361e-03 9.99323327e-01 -6.49981793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.406547614999997 meters 0.07917168848250082 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.55, Z:-0.65 [[ 9.92753616e-01 1.13914772e-01 3.82580978e-02 1.34950049e+01] [-1.13893269e-01 9.93489190e-01 -2.74816769e-03 -5.49356830e-01] [-3.83220635e-02 -1.62908643e-03 9.99264112e-01 -6.51842859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.436547614999995 meters 0.07851412652738798 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.55, Z:-0.66 [[ 9.93317484e-01 1.09156450e-01 3.74866011e-02 1.35242606e+01] [-1.09132313e-01 9.94023577e-01 -2.69563588e-03 -5.49004740e-01] [-3.75568114e-02 -1.41337724e-03 9.99293495e-01 -6.61339080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.466547614999996 meters 0.0779962648325073 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.55, Z:-0.67 [[ 9.93723151e-01 1.06547964e-01 3.40856348e-02 1.35554771e+01] [-1.06526648e-01 9.94306839e-01 -2.44599256e-03 -5.51569702e-01] [-3.41521953e-02 -1.20038899e-03 9.99415923e-01 -6.69218418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.496547614999997 meters 0.07809310191906967 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.55, Z:-0.68 [[ 9.93933046e-01 1.05715545e-01 3.03533160e-02 1.35874319e+01] [-1.05698072e-01 9.94395870e-01 -2.18411161e-03 -5.54393451e-01] [-3.04141066e-02 -1.03742628e-03 9.99536846e-01 -6.77285671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.526547614999995 meters 0.07809310191906967 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.56, Z:-0.68 [[ 9.93903339e-01 1.05994611e-01 3.03528291e-02 1.36196673e+01] [-1.05977062e-01 9.94366161e-01 -2.19085039e-03 -5.56914309e-01] [-3.04140445e-02 -1.03921014e-03 9.99536846e-01 -6.78980351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.556547614999996 meters 0.07841314573744931 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.56, Z:-0.68 [[ 9.93985168e-01 1.05752558e-01 2.84584428e-02 1.36502509e+01] [-1.05736792e-01 9.94392014e-01 -2.06252273e-03 -5.58095527e-01] [-2.85169653e-02 -9.58987445e-04 9.99592849e-01 -6.82134634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.586547614999997 meters 0.07811696460869147 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.57, Z:-0.68 [[ 9.94060138e-01 1.06264369e-01 2.35016175e-02 1.36815498e+01] [-1.06253554e-01 9.94337594e-01 -1.71199375e-03 -5.65249187e-01] [-2.35504657e-02 -7.95305638e-04 9.99722333e-01 -6.80064153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.616547614999995 meters 0.07981556999444943 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.57, Z:-0.68 [[ 9.93472943e-01 1.12175323e-01 2.06931764e-02 1.37118672e+01] [-1.12168213e-01 9.93688089e-01 -1.50760916e-03 -5.67974227e-01] [-2.07316795e-02 -8.23347712e-04 9.99784737e-01 -6.76262471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.646547614999996 meters 0.08086758432285354 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.57, Z:-0.67 [[ 9.92798823e-01 1.17571595e-01 2.29655614e-02 1.37427074e+01] [-1.17564228e-01 9.93063868e-01 -1.67534408e-03 -5.69769847e-01] [-2.30032421e-02 -1.03664887e-03 9.99734853e-01 -6.74326555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.676547614999997 meters 0.07748061018520036 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.58, Z:-0.68 [[ 9.93567210e-01 1.08906362e-01 3.10419786e-02 1.37727358e+01] [-1.08888655e-01 9.94051371e-01 -2.26537046e-03 -5.78472459e-01] [-3.11040346e-02 -1.12932148e-03 9.99515514e-01 -6.76047769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.706547614999995 meters 0.07573561961263203 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.58, Z:-0.68 [[ 9.94101549e-01 1.01982709e-01 3.69003832e-02 1.38026077e+01] [-1.01952879e-01 9.94785581e-01 -2.69411366e-03 -5.84044963e-01] [-3.69827222e-02 -1.08387774e-03 9.99315317e-01 -6.78621218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.736547614999996 meters 0.07518010986223317 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.59, Z:-0.68 [[ 9.94443946e-01 9.86503817e-02 3.67333609e-02 1.38334827e+01] [-9.86185669e-02 9.95121695e-01 -2.68143731e-03 -5.89459217e-01] [-3.68186892e-02 -9.56052314e-04 9.99321505e-01 -6.82879800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.766547614999997 meters 0.07529635939181875 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.59, Z:-0.69 [[ 9.94580091e-01 9.72163334e-02 3.68704166e-02 1.38638976e+01] [-9.71833563e-02 9.95262860e-01 -2.68981656e-03 -5.90850529e-01] [-3.69572504e-02 -9.07952835e-04 9.99316435e-01 -6.88378527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.796547614999994 meters 0.07612612877034282 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.59, Z:-0.69 [[ 9.94358414e-01 1.00073904e-01 3.51647369e-02 1.38962034e+01] [-1.00045328e-01 9.94979547e-01 -2.57568624e-03 -5.86506143e-01] [-3.52459529e-02 -9.56912359e-04 9.99378210e-01 -6.91868069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.826547614999996 meters 0.07695027770979107 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.59, Z:-0.69 [[ 9.94154757e-01 1.02873245e-01 3.27630124e-02 1.39274221e+01] [-1.02849867e-01 9.94693989e-01 -2.40253079e-03 -5.87421447e-01] [-3.28363276e-02 -9.81184056e-04 9.99460261e-01 -6.91765683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.856547614999997 meters 0.07969343724170552 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.59, Z:-0.69 [[ 9.93324531e-01 1.12505748e-01 2.54721908e-02 1.39581561e+01] [-1.12494759e-01 9.93650561e-01 -1.86854780e-03 -5.89728760e-01] [-2.55206790e-02 -1.00941360e-03 9.99673785e-01 -6.87186396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.886547614999994 meters 0.0821785415434712 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.58, Z:-0.69 [[ 9.92591448e-01 1.19269027e-01 2.31757636e-02 1.39886239e+01] [-1.19261744e-01 9.92861391e-01 -1.70113134e-03 -5.84428683e-01] [-2.32132132e-02 -1.07545356e-03 9.99729959e-01 -6.91144774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.916547614999995 meters 0.08086455943419125 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.59, Z:-0.70 [[ 9.93034175e-01 1.15489159e-01 2.33534193e-02 1.40193629e+01] [-1.15480722e-01 9.93308243e-01 -1.71408052e-03 -5.89518004e-01] [-2.33951016e-02 -9.94729193e-04 9.99725802e-01 -6.95463468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.946547614999997 meters 0.07804917831833473 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.60, Z:-0.71 [[ 9.93972691e-01 1.06399720e-01 2.64081189e-02 1.40491955e+01] [-1.06385698e-01 9.94323047e-01 -1.93937692e-03 -5.97193494e-01] [-2.64645504e-02 -8.81758454e-04 9.99649364e-01 -7.05994842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.976547614999994 meters 0.07652122723236382 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.60, Z:-0.71 [[ 9.94715128e-01 9.74451266e-02 3.23459523e-02 1.40785587e+01] [-9.74193371e-02 9.95240587e-01 -2.37608166e-03 -6.02943917e-01] [-3.24235421e-02 -7.87596852e-04 9.99473908e-01 -7.10117258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.006547614999995 meters 0.07479821830875491 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.62, Z:-0.70 [[ 9.94772865e-01 9.45282836e-02 3.86180103e-02 1.41088014e+01] [-9.44893588e-02 9.95521832e-01 -2.83598188e-03 -6.19498434e-01] [-3.87131528e-02 -8.27833211e-04 9.99250022e-01 -6.98850119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.036547614999996 meters 0.07395480488805588 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.63, Z:-0.69 [[ 9.94267993e-01 9.75040341e-02 4.38648039e-02 1.41417105e+01] [-9.74567306e-02 9.95234552e-01 -3.22070653e-03 -6.28211789e-01] [-4.39698003e-02 -1.07267495e-03 9.99032285e-01 -6.87263373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.066547614999998 meters 0.07460516593502171 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.63, Z:-0.69 [[ 9.93884182e-01 1.00765833e-01 4.51716762e-02 1.41726357e+01] [-1.00718382e-01 9.94909399e-01 -3.33102987e-03 -6.25661693e-01] [-4.52773792e-02 -1.23896022e-03 9.98973685e-01 -6.88164204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.096547614999995 meters 0.07578519172648965 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.62, Z:-0.69 [[ 9.93768615e-01 1.03508377e-01 4.13516114e-02 1.42046749e+01] [-1.03470771e-01 9.94627805e-01 -3.05442290e-03 -6.22346159e-01] [-4.14456209e-02 -1.24329348e-03 9.99139988e-01 -6.94521440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.126547614999996 meters 0.07739617959591255 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.62, Z:-0.71 [[ 9.93762627e-01 1.06286317e-01 3.37499619e-02 1.42351494e+01] [-1.06262787e-01 9.94334951e-01 -2.49522559e-03 -6.18410751e-01] [-3.38239750e-02 -1.10670307e-03 9.99427193e-01 -7.06852289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.156547614999997 meters 0.07887633747226928 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.61, Z:-0.71 [[ 9.93611877e-01 1.08440454e-01 3.12426947e-02 1.42657176e+01] [-1.08421330e-01 9.94102347e-01 -2.31058839e-03 -6.12508333e-01] [-3.13089974e-02 -1.09154644e-03 9.99509157e-01 -7.14548851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.186547614999995 meters 0.07959082041199364 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.61, Z:-0.72 [[ 9.93250864e-01 1.12652534e-01 2.76066666e-02 1.42965056e+01] [-1.12639176e-01 9.93633856e-01 -2.04345917e-03 -6.10766325e-01] [-2.76611194e-02 -1.07992458e-03 9.99616775e-01 -7.17608943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.216547614999996 meters 0.07969079027750871 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.62, Z:-0.72 [[ 9.93435329e-01 1.11837663e-01 2.40537890e-02 1.43265791e+01] [-1.11827287e-01 9.93726063e-01 -1.78028064e-03 -6.20739724e-01] [-2.41019795e-02 -9.21276287e-04 9.99709081e-01 -7.18702573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.246547614999997 meters 0.07904918843212443 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.63, Z:-0.72 [[ 9.93630754e-01 1.09935379e-01 2.47414263e-02 1.43570840e+01] [-1.09923789e-01 9.93938330e-01 -1.83211784e-03 -6.27349976e-01] [-2.47928665e-02 -8.99222697e-04 9.99692205e-01 -7.17996663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.276547614999995 meters 0.07681559848009467 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.64, Z:-0.72 [[ 9.94102534e-01 1.03913769e-01 3.10174369e-02 1.43863588e+01] [-1.03892554e-01 9.94585869e-01 -2.29919887e-03 -6.36784930e-01] [-3.10884229e-02 -9.36841310e-04 9.99516199e-01 -7.16767738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.306547614999996 meters 0.07569969301430825 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.64, Z:-0.72 [[ 9.94676624e-01 9.68339796e-02 3.52362621e-02 1.44159994e+01] [-9.68021675e-02 9.95300216e-01 -2.61173278e-03 -6.42425139e-01] [-3.53235638e-02 -8.13117002e-04 9.99375597e-01 -7.22796559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.336547614999997 meters 0.07552641055311896 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.65, Z:-0.73 [[ 9.94881058e-01 9.44780506e-02 3.58549557e-02 1.44475259e+01] [-9.44437199e-02 9.95526665e-01 -2.65376590e-03 -6.47899657e-01] [-3.59452871e-02 -7.46093967e-04 9.99353481e-01 -7.26039779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.366547614999995 meters 0.07613419792591483 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.65, Z:-0.73 [[ 9.94784936e-01 9.62967621e-02 3.36134545e-02 1.44780354e+01] [-9.62672493e-02 9.95352386e-01 -2.49906866e-03 -6.48918426e-01] [-3.36978843e-02 -7.49838940e-04 9.99431784e-01 -7.28037210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.396547614999996 meters 0.07721310677015429 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.65, Z:-0.72 [[ 9.94233664e-01 1.03195057e-01 2.91582242e-02 1.45086522e+01] [-1.03175778e-01 9.94660774e-01 -2.16897725e-03 -6.52058937e-01] [-2.92263696e-02 -8.51952267e-04 9.99572455e-01 -7.23146667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.426547614999997 meters 0.07932200407901337 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.65, Z:-0.72 [[ 9.93837464e-01 1.07586344e-01 2.66884424e-02 1.45384879e+01] [-1.07571793e-01 9.94195338e-01 -1.98451057e-03 -6.49225368e-01] [-2.67470313e-02 -8.98642648e-04 9.99641830e-01 -7.24924822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.456547614999995 meters 0.07982400533716037 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.65, Z:-0.73 [[ 9.93717893e-01 1.09136941e-01 2.47765630e-02 1.45707956e+01] [-1.09124851e-01 9.94026342e-01 -1.84358404e-03 -6.48299317e-01] [-2.48297594e-02 -8.71736293e-04 9.99691314e-01 -7.29842654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.486547614999996 meters 0.07828974386004683 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.65, Z:-0.74 [[ 9.94401369e-01 1.01935458e-01 2.78402467e-02 1.46009965e+01] [-1.01917272e-01 9.94790713e-01 -2.07512073e-03 -6.47603654e-01] [-2.79067472e-02 -7.73899109e-04 9.99610231e-01 -7.39774726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.516547614999997 meters 0.07823741649855832 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.65, Z:-0.74 [[ 9.94446991e-01 1.01251658e-01 2.86929360e-02 1.46331436e+01] [-1.01232191e-01 9.94860538e-01 -2.13401028e-03 -6.49000448e-01] [-2.87615418e-02 -7.82488667e-04 9.99585995e-01 -7.42168224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.546547614999994 meters 0.07797456459999264 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.66, Z:-0.74 [[ 9.94620152e-01 9.98718884e-02 2.75019878e-02 1.46645399e+01] [-9.98533061e-02 9.95000054e-01 -2.05162925e-03 -6.58494010e-01] [-2.75693794e-02 -7.05572607e-04 9.99619643e-01 -7.40639544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.576547614999996 meters 0.07663809424361923 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.67, Z:-0.73 [[ 9.94666782e-01 9.83686963e-02 3.10095556e-02 1.46960475e+01] [-9.83439363e-02 9.95149767e-01 -2.32633253e-03 -6.71435040e-01] [-3.10879904e-02 -7.35676068e-04 9.99516381e-01 -7.32870360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.606547614999997 meters 0.07698556814757346 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.67, Z:-0.73 [[ 9.94199721e-01 1.01375031e-01 3.59168303e-02 1.47281967e+01] [-1.01343799e-01 9.94847817e-01 -2.69376847e-03 -6.69970866e-01] [-3.60048610e-02 -9.61804161e-04 9.99351152e-01 -7.30588080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.636547614999994 meters 0.07820396166760789 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.66, Z:-0.74 [[ 9.93788805e-01 1.05608759e-01 3.50799187e-02 1.47601919e+01] [-1.05581195e-01 9.94407174e-01 -2.64250125e-03 -6.60097043e-01] [-3.51627941e-02 -1.07769157e-03 9.99381017e-01 -7.39759950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.666547614999995 meters 0.07983429515320628 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.65, Z:-0.74 [[ 9.93281044e-01 1.10172109e-01 3.54241866e-02 1.47916487e+01] [-1.10146859e-01 9.93911738e-01 -2.66950632e-03 -6.52115361e-01] [-3.55026200e-02 -1.25029288e-03 9.99368801e-01 -7.44668001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.696547614999997 meters 0.08135865735501187 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.66, Z:-0.74 [[ 9.92840540e-01 1.15997452e-01 2.85000429e-02 1.48220805e+01] [-1.15983475e-01 9.93248819e-01 -2.14863747e-03 -6.55515831e-01] [-2.85568704e-02 -1.17227963e-03 9.99591482e-01 -7.44456354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.726547614999994 meters 0.08193901654574635 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.66, Z:-0.74 [[ 9.92473123e-01 1.19541020e-01 2.65903115e-02 1.48533707e+01] [-1.19530075e-01 9.92828553e-01 -2.00640533e-03 -6.56476814e-01] [-2.66394682e-02 -1.18703855e-03 9.99644402e-01 -7.43049111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.756547614999995 meters 0.08224811460082845 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.65, Z:-0.75 [[ 9.92292010e-01 1.19855142e-01 3.14850979e-02 1.48845110e+01] [-1.19839945e-01 9.92790382e-01 -2.37612498e-03 -6.47689039e-01] [-3.15428931e-02 -1.41536256e-03 9.99501397e-01 -7.50116412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.786547614999996 meters 0.08207412832570725 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.65, Z:-0.76 [[ 9.92436616e-01 1.18737950e-01 3.11586607e-02 1.49160614e+01] [-1.18722621e-01 9.92924683e-01 -2.34812445e-03 -6.46674849e-01] [-3.12170148e-02 -1.36887319e-03 9.99511693e-01 -7.56993091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.816547614999994 meters 0.08307058120579595 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.65, Z:-0.76 [[ 9.92544476e-01 1.18247377e-01 2.95469288e-02 1.49473810e+01] [-1.18233188e-01 9.92983347e-01 -2.23298863e-03 -6.49658263e-01] [-2.96036533e-02 -1.27708706e-03 9.99560900e-01 -7.58546817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.846547614999995 meters 0.08191755648407312 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.66, Z:-0.76 [[ 9.92626268e-01 1.17358059e-01 3.03344358e-02 1.49791439e+01] [-1.17342419e-01 9.93088848e-01 -2.30143410e-03 -6.57107252e-01] [-3.03948817e-02 -1.27505213e-03 9.99537156e-01 -7.56788209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.876547614999996 meters 0.08088658757369237 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.66, Z:-0.75 [[ 9.92753250e-01 1.15184707e-01 3.42559077e-02 1.50102104e+01] [-1.15163000e-01 9.93343172e-01 -2.61268661e-03 -6.64074406e-01] [-3.43288136e-02 -1.35125997e-03 9.99409679e-01 -7.53519297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.906547614999997 meters 0.0817792149100407 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.66, Z:-0.76 [[ 9.92594378e-01 1.17238289e-01 3.18054245e-02 1.50411277e+01] [-1.17220617e-01 9.93102936e-01 -2.42612072e-03 -6.60071472e-01] [-3.18704947e-02 -1.32009770e-03 9.99491135e-01 -7.59790475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.936547614999995 meters 0.08291028906179028 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.66, Z:-0.76 [[ 9.92442117e-01 1.19199042e-01 2.91587375e-02 1.50722153e+01] [-1.19184973e-01 9.92869572e-01 -2.22625834e-03 -6.57839037e-01] [-2.92161911e-02 -1.26585079e-03 9.99572314e-01 -7.64339854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.966547614999996 meters 0.08448348276253968 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.66, Z:-0.77 [[ 9.92198477e-01 1.22186653e-01 2.47508447e-02 1.51015695e+01] [-1.22177423e-01 9.92506475e-01 -1.89048676e-03 -6.58489471e-01] [-2.47963658e-02 -1.14825633e-03 9.99691863e-01 -7.67637294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.996547614999997 meters 0.08555425786485514 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.65, Z:-0.78 [[ 9.92322549e-01 1.21872997e-01 2.10459490e-02 1.51331172e+01] [-1.21866328e-01 9.92545226e-01 -1.60392366e-03 -6.52583077e-01] [-2.10845312e-02 -9.73182920e-04 9.99777223e-01 -7.75147346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.026547614999995 meters 0.084841274165532 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.65, Z:-0.78 [[ 9.92417243e-01 1.21345538e-01 1.95774355e-02 1.51659265e+01] [-1.21339733e-01 9.92609920e-01 -1.48855180e-03 -6.53776981e-01] [-1.96133858e-02 -8.98256311e-04 9.99807236e-01 -7.78698901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.056547614999996 meters 0.08408820681217163 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.66, Z:-0.78 [[ 9.92485569e-01 1.20879267e-01 1.89893992e-02 1.51973547e+01] [-1.20873606e-01 9.92666847e-01 -1.44980534e-03 -6.60728787e-01] [-1.90253985e-02 -8.56406282e-04 9.99818634e-01 -7.77448285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.086547614999997 meters 0.08314406321662489 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.67, Z:-0.77 [[ 9.92904276e-01 1.16791786e-01 2.23780579e-02 1.52266781e+01] [-1.16782551e-01 9.93156012e-01 -1.72358756e-03 -6.73546786e-01] [-2.24262036e-02 -9.02009226e-04 9.99748094e-01 -7.70996826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.116547614999995 meters 0.08258838619823033 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.67, Z:-0.77 [[ 9.92690531e-01 1.17655383e-01 2.68834458e-02 1.52578114e+01] [-1.17642392e-01 9.93053867e-01 -2.06984206e-03 -6.74836891e-01] [-2.69402378e-02 -1.10792025e-03 9.99636432e-01 -7.70798815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.146547614999996 meters 0.08164490994473642 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.68, Z:-0.77 [[ 9.92773524e-01 1.16170284e-01 3.00864557e-02 1.52895451e+01] [-1.16153308e-01 9.93228594e-01 -2.31730475e-03 -6.78321939e-01] [-3.01519300e-02 -1.19408254e-03 9.99544614e-01 -7.73688929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.176547614999997 meters 0.08106574550852837 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.68, Z:-0.78 [[ 9.93011595e-01 1.13858669e-01 3.10511758e-02 1.53202948e+01] [-1.13839394e-01 9.93496282e-01 -2.39366607e-03 -6.80961908e-01] [-3.11217674e-02 -1.15790887e-03 9.99514930e-01 -7.76614596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.206547614999995 meters 0.08172911162405284 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.68, Z:-0.78 [[ 9.93134944e-01 1.13897326e-01 2.66530090e-02 1.53516580e+01] [-1.13883173e-01 9.93492027e-01 -2.05329788e-03 -6.80039779e-01] [-2.67134170e-02 -9.96127352e-04 9.99642637e-01 -7.82942898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.236547614999996 meters 0.08155226706556166 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.69, Z:-0.78 [[ 9.93149231e-01 1.14417735e-01 2.37315397e-02 1.53833998e+01] [-1.14406586e-01 9.93432322e-01 -1.83148882e-03 -6.87444998e-01] [-2.37852334e-02 -8.96102715e-04 9.99716690e-01 -7.81844069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.266547614999997 meters 0.08066698701791555 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.70, Z:-0.78 [[ 9.93360302e-01 1.12626169e-01 2.34660594e-02 1.54141156e+01] [-1.12614834e-01 9.93637071e-01 -1.80820064e-03 -7.01447770e-01] [-2.35203972e-02 -8.46431631e-04 9.99722999e-01 -7.76814427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.296547614999994 meters 0.07942524058593294 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.71, Z:-0.78 [[ 9.93679984e-01 1.09118055e-01 2.63313432e-02 1.54441814e+01] [-1.09102221e-01 9.94028439e-01 -2.04154458e-03 -7.11555699e-01] [-2.63968734e-02 -8.44166038e-04 9.99651185e-01 -7.79370547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.326547614999996 meters 0.07881268608592767 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.72, Z:-0.78 [[ 9.93702800e-01 1.08025017e-01 2.97546939e-02 1.54757388e+01] [-1.08004313e-01 9.94147749e-01 -2.30682288e-03 -7.16745904e-01] [-2.98297565e-02 -9.21338918e-04 9.99554569e-01 -7.80253642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.356547614999997 meters 0.07657561392580738 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.73, Z:-0.78 [[ 9.94500220e-01 9.89062518e-02 3.44509269e-02 1.55045989e+01] [-9.88729193e-02 9.95096475e-01 -2.67402177e-03 -7.29403349e-01] [-3.45464734e-02 -7.46948481e-04 9.99402813e-01 -7.81516702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.386547614999994 meters 0.07755940336661381 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.73, Z:-0.79 [[ 9.94789364e-01 9.72086917e-02 3.07341925e-02 1.55351649e+01] [-9.71814974e-02 9.95263828e-01 -2.38088773e-03 -7.28601992e-01] [-3.08200730e-02 -6.18313059e-04 9.99524757e-01 -7.92372505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.416547614999995 meters 0.07755940336661381 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.73, Z:-0.79 [[ 9.94763356e-01 9.74746255e-02 3.07337482e-02 1.55673739e+01] [-9.74473814e-02 9.95237817e-01 -2.38660516e-03 -7.31312550e-01] [-3.08200219e-02 -6.20815927e-04 9.99524757e-01 -7.94066031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.446547614999997 meters 0.07884080151004647 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.73, Z:-0.80 [[ 9.94500770e-01 1.01695730e-01 2.50239449e-02 1.55982787e+01] [-1.01678729e-01 9.94815368e-01 -1.95417960e-03 -7.31293762e-01] [-2.50929366e-02 -6.00969784e-04 9.99684942e-01 -7.97948772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.476547614999994 meters 0.07966198041068788 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.73, Z:-0.79 [[ 9.94033077e-01 1.06843327e-01 2.19714610e-02 1.56298147e+01] [-1.06831482e-01 9.94275662e-01 -1.71553127e-03 -7.33310297e-01] [-2.20289820e-02 -6.41948922e-04 9.99757126e-01 -7.94121021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.506547614999995 meters 0.08025693579584883 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.73, Z:-0.80 [[ 9.93952947e-01 1.08006251e-01 1.98037386e-02 1.56607080e+01] [-1.07996900e-01 9.94150031e-01 -1.54417272e-03 -7.34936367e-01] [-1.98546677e-02 -6.03907360e-04 9.99802694e-01 -7.98814031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.536547614999996 meters 0.07852034963737321 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.75, Z:-0.80 [[ 9.94418656e-01 1.02933091e-01 2.31584720e-02 1.56910468e+01] [-1.02918782e-01 9.94688112e-01 -1.81209414e-03 -7.45407680e-01] [-2.32219812e-02 -5.81461511e-04 9.99730164e-01 -7.98926330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.566547614999994 meters 0.07631232878036168 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.76, Z:-0.80 [[ 9.95033956e-01 9.49981786e-02 2.97114746e-02 1.57211095e+01] [-9.49710641e-02 9.95477317e-01 -2.32564431e-03 -7.60670336e-01] [-2.97980310e-02 -5.07635298e-04 9.99555811e-01 -7.95650568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.596547614999995 meters 0.07537236616953473 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.77, Z:-0.80 [[ 9.95529958e-01 8.88421457e-02 3.20495963e-02 1.57519851e+01] [-8.88074103e-02 9.96045657e-01 -2.50848641e-03 -7.71400447e-01] [-3.21457205e-02 -3.48968278e-04 9.99483132e-01 -7.97984297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.626547614999996 meters 0.07597758978442572 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.77, Z:-0.80 [[ 9.95476040e-01 8.89350022e-02 3.34368058e-02 1.57843083e+01] [-8.88972998e-02 9.96037363e-01 -2.61547828e-03 -7.68165949e-01] [-3.35369155e-02 -3.68795794e-04 9.99437411e-01 -8.03393892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.656547614999994 meters 0.07628156603302436 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.77, Z:-0.80 [[ 9.94888492e-01 9.46004925e-02 3.53218928e-02 1.58165537e+01] [-9.45616661e-02 9.95515147e-01 -2.77193221e-03 -7.67313312e-01] [-3.54257054e-02 -5.82333578e-04 9.99372143e-01 -7.99919430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.686547614999995 meters 0.07655641470892881 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.77, Z:-0.80 [[ 9.94535170e-01 1.00023714e-01 2.99174114e-02 1.58476297e+01] [-9.99980141e-02 9.94984843e-01 -2.35773146e-03 -7.71206967e-01] [-3.00031999e-02 -6.46834862e-04 9.99549593e-01 -7.95769072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.716547614999996 meters 0.07815823799902898 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.77, Z:-0.81 [[ 9.94465686e-01 1.02390672e-01 2.35403673e-02 1.58776657e+01] [-1.02375406e-01 9.94744104e-01 -1.85589718e-03 -7.68280956e-01] [-2.36066682e-02 -5.64328613e-04 9.99721165e-01 -8.05862484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.746547614999997 meters 0.07758389785587479 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.77, Z:-0.81 [[ 9.94778011e-01 9.89324797e-02 2.50813338e-02 1.59092068e+01] [-9.89140863e-02 9.95094015e-01 -1.97598834e-03 -7.67974781e-01] [-2.51537746e-02 -5.15227461e-04 9.99683461e-01 -8.11683491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.776547614999995 meters 0.07756209138979843 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.77, Z:-0.82 [[ 9.95137447e-01 9.49530414e-02 2.61797921e-02 1.59406233e+01] [-9.49315750e-02 9.95481659e-01 -2.06442003e-03 -7.66149464e-01] [-2.62575258e-02 -4.30907224e-04 9.99655119e-01 -8.18315871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.806547614999996 meters 0.07689357890252858 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.77, Z:-0.82 [[ 9.95201803e-01 9.37982939e-02 2.78433374e-02 1.59725759e+01] [-9.37736732e-02 9.95591129e-01 -2.19156931e-03 -7.73632308e-01] [-2.79261451e-02 -4.29918288e-04 9.99609897e-01 -8.16482253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.836547614999997 meters 0.07781208280541876 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.77, Z:-0.81 [[ 9.94215578e-01 1.02524091e-01 3.20030458e-02 1.60044434e+01] [-1.02495750e-01 9.94730227e-01 -2.52914758e-03 -7.66442976e-01] [-3.20936956e-02 -7.65658262e-04 9.99484571e-01 -8.10735099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.866547614999995 meters 0.07838554813409457 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.76, Z:-0.81 [[ 9.93659251e-01 1.06962560e-01 3.46454045e-02 1.60370206e+01] [-1.06931734e-01 9.94262571e-01 -2.74676776e-03 -7.63661100e-01] [-3.47404302e-02 -9.75341982e-04 9.99395893e-01 -8.08263524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.896547614999996 meters 0.0795158956454354 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.76, Z:-0.81 [[ 9.92964386e-01 1.12343133e-01 3.74265775e-02 1.60683708e+01] [-1.12310484e-01 9.93668694e-01 -2.98030572e-03 -7.57633228e-01] [-3.75244352e-02 -1.24405960e-03 9.99294936e-01 -8.05588213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.926547614999997 meters 0.07926216507271046 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.76, Z:-0.82 [[ 9.93459416e-01 1.10039843e-01 3.04897055e-02 1.60994710e+01] [-1.10017224e-01 9.93926726e-01 -2.42357381e-03 -7.61232784e-01] [-3.05712229e-02 -9.46670533e-04 9.99532143e-01 -8.18733059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.956547614999995 meters 0.07869321967156649 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.76, Z:-0.82 [[ 9.93586216e-01 1.08965262e-01 3.02159270e-02 1.61308510e+01] [-1.08942341e-01 9.94045152e-01 -2.40872908e-03 -7.63591660e-01] [-3.02984636e-02 -8.98513801e-04 9.99540492e-01 -8.22566661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.986547614999996 meters 0.07912004262432724 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.76, Z:-0.83 [[ 9.93572881e-01 1.08737264e-01 3.14505435e-02 1.61622215e+01] [-1.08712051e-01 9.94070099e-01 -2.51560169e-03 -7.58817156e-01] [-3.15375845e-02 -9.19619476e-04 9.99502144e-01 -8.26737957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.016547614999997 meters 0.079474213621472 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.76, Z:-0.82 [[ 9.92995330e-01 1.13422057e-01 3.31015205e-02 1.61941693e+01] [-1.13396466e-01 9.93546270e-01 -2.65549540e-03 -7.60196544e-01] [-3.31890840e-02 -1.11670090e-03 9.99448467e-01 -8.21733051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.046547614999994 meters 0.08066046729678922 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.76, Z:-0.83 [[ 9.92923708e-01 1.15912306e-01 2.58233946e-02 1.62238124e+01] [-1.15897337e-01 9.93259019e-01 -2.08066440e-03 -7.60466761e-01] [-2.58904942e-02 -9.26921665e-04 9.99664355e-01 -8.27518260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.076547614999996 meters 0.08184252916949367 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.75, Z:-0.83 [[ 9.92521953e-01 1.19893182e-01 2.29302733e-02 1.62552563e+01] [-1.19882451e-01 9.92786375e-01 -1.84706182e-03 -7.53330145e-01] [-2.29863130e-02 -9.15687955e-04 9.99735360e-01 -8.34736375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.106547614999997 meters 0.08311888904669523 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.75, Z:-0.84 [[ 9.92315590e-01 1.21903049e-01 2.11994291e-02 1.62851283e+01] [-1.21894373e-01 9.92541612e-01 -1.70579980e-03 -7.50120488e-01] [-2.12492577e-02 -8.91399379e-04 9.99773812e-01 -8.38475781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.136547614999994 meters 0.08203868532444165 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.76, Z:-0.83 [[ 9.92180564e-01 1.22457050e-01 2.41246555e-02 1.63174395e+01] [-1.22445947e-01 9.92473283e-01 -1.94249753e-03 -7.58378561e-01] [-2.41809486e-02 -1.02665800e-03 9.99707071e-01 -8.34008260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.166547614999995 meters 0.08159730670398702 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.77, Z:-0.83 [[ 9.92404584e-01 1.20375545e-01 2.53548837e-02 1.63479131e+01] [-1.20362437e-01 9.92727903e-01 -2.04806724e-03 -7.68140985e-01] [-2.54170377e-02 -1.01926427e-03 9.99676415e-01 -8.31677125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.196547614999997 meters 0.07994364413469478 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.78, Z:-0.84 [[ 9.93330451e-01 1.12975928e-01 2.30446245e-02 1.63763502e+01] [-1.12963071e-01 9.93597440e-01 -1.86312615e-03 -7.82616933e-01] [-2.31075683e-02 -7.52491613e-04 9.99732701e-01 -8.35656516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.226547614999994 meters 0.07831401520434343 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.79, Z:-0.84 [[ 9.93804683e-01 1.07689945e-01 2.74795974e-02 1.64068047e+01] [-1.07669655e-01 9.94184244e-01 -2.22127295e-03 -7.89717481e-01] [-2.75589916e-02 -7.51207315e-04 9.99619897e-01 -8.36230031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.256547614999995 meters 0.07773565257103028 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.79, Z:-0.84 [[ 9.94045926e-01 1.04596092e-01 3.05344699e-02 1.64372064e+01] [-1.04569569e-01 9.94514510e-01 -2.46858148e-03 -7.92517496e-01] [-3.06251774e-02 -7.39093005e-04 9.99530666e-01 -8.36442283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.286547614999996 meters 0.07753319158677822 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.79, Z:-0.84 [[ 9.93928988e-01 1.05448446e-01 3.13973376e-02 1.64705334e+01] [-1.05420954e-01 9.94424456e-01 -2.53435700e-03 -7.93920924e-01] [-3.14895244e-02 -7.90966374e-04 9.99503769e-01 -8.36608967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.316547614999994 meters 0.07983277509583557 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.78, Z:-0.85 [[ 9.93390406e-01 1.11217554e-01 2.83928985e-02 1.65009815e+01] [-1.11197084e-01 9.93795704e-01 -2.30376969e-03 -7.79015591e-01] [-2.84729602e-02 -8.68664825e-04 9.99594186e-01 -8.45302395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.346547614999995 meters 0.08250104697540057 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.77, Z:-0.85 [[ 9.92705471e-01 1.19310840e-01 1.73427728e-02 1.65324806e+01] [-1.19304421e-01 9.92856723e-01 -1.40798711e-03 -7.73065778e-01] [-1.73868767e-02 -6.71352946e-04 9.99848611e-01 -8.50509298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.376547614999996 meters 0.08489083662356925 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.78, Z:-0.85 [[ 9.91851856e-01 1.26777718e-01 1.25421408e-02 1.65621252e+01] [-1.26774944e-01 9.91930983e-01 -1.01926462e-03 -7.77609056e-01] [-1.25701581e-02 -5.79069688e-04 9.99920825e-01 -8.46465110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.406547614999994 meters 0.08313418927442569 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.79, Z:-0.84 [[ 9.91784678e-01 1.26415105e-01 1.95544011e-02 1.65933257e+01] [-1.26408313e-01 9.91977024e-01 -1.58796045e-03 -7.88048811e-01] [-1.95982588e-02 -8.96924003e-04 9.99807533e-01 -8.36279694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.436547614999995 meters 0.07917338769724136 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.80, Z:-0.84 [[ 9.92807993e-01 1.16063637e-01 2.93516764e-02 1.66231839e+01] [-1.16043754e-01 9.93241237e-01 -2.38568327e-03 -7.98190836e-01] [-2.94301864e-02 -1.03755330e-03 9.99566300e-01 -8.38667769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.466547614999996 meters 0.07936028404789519 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.79, Z:-0.85 [[ 9.93564770e-01 1.08934394e-01 3.10216999e-02 1.66526889e+01] [-1.08908699e-01 9.94048558e-01 -2.52182197e-03 -7.90074102e-01] [-3.11117892e-02 -8.72939504e-04 9.99515530e-01 -8.53233863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.496547614999994 meters 0.07934599156433231 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.79, Z:-0.85 [[ 9.93290709e-01 1.10397407e-01 3.44380548e-02 1.66855149e+01] [-1.10366762e-01 9.93886997e-01 -2.79538488e-03 -7.86535338e-01] [-3.45361381e-02 -1.02418676e-03 9.99402925e-01 -8.53962503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.526547614999995 meters 0.07931266267019965 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.80, Z:-0.84 [[ 9.92937847e-01 1.14376414e-01 3.15034575e-02 1.67166590e+01] [-1.14352429e-01 9.93436927e-01 -2.56792431e-03 -7.96151923e-01] [-3.15904080e-02 -1.05270765e-03 9.99500344e-01 -8.37188889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.556547614999996 meters 0.08070094810070472 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.80, Z:-0.83 [[ 9.92283629e-01 1.21052319e-01 2.68241491e-02 1.67477946e+01] [-1.21037344e-01 9.92645545e-01 -2.18722457e-03 -7.97590994e-01] [-2.68916407e-02 -1.07637663e-03 9.99637775e-01 -8.30904388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.586547614999997 meters 0.08264101457049579 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.78, Z:-0.84 [[ 9.91822835e-01 1.24810025e-01 2.66443513e-02 1.67788478e+01] [-1.24796542e-01 9.92179970e-01 -2.17483585e-03 -7.80710057e-01] [-2.67074330e-02 -1.16807104e-03 9.99642610e-01 -8.42123903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.616547614999995 meters 0.08290500790352881 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.78, Z:-0.85 [[ 9.91959035e-01 1.24318874e-01 2.37084341e-02 1.68110722e+01] [-1.24308221e-01 9.92241779e-01 -1.92830549e-03 -7.77199100e-01] [-2.37642236e-02 -1.03435322e-03 9.99717056e-01 -8.54299303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.646547614999996 meters 0.08240185832429699 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.79, Z:-0.87 [[ 9.92967145e-01 1.16967423e-01 1.82994648e-02 1.68404740e+01] [-1.16959671e-01 9.93135537e-01 -1.49698548e-03 -7.87332082e-01] [-1.83489473e-02 -6.53841979e-04 9.99831430e-01 -8.66972272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.676547614999997 meters 0.08052440231582234 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.80, Z:-0.87 [[ 9.93534782e-01 1.11945442e-01 1.88906149e-02 1.68704175e+01] [-1.11936240e-01 9.93714187e-01 -1.54714635e-03 -7.95133594e-01] [-1.89450680e-02 -5.77400687e-04 9.99820359e-01 -8.68366913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.706547614999995 meters 0.08077372896577217 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.79, Z:-0.86 [[ 9.92946015e-01 1.15880847e-01 2.50966130e-02 1.69026614e+01] [-1.15866021e-01 9.93262738e-01 -2.04904291e-03 -7.93900605e-01] [-2.51649754e-02 -8.73255693e-04 9.99682930e-01 -8.59697710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.736547614999996 meters 0.08202689851999288 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.79, Z:-0.85 [[ 9.91835743e-01 1.23866964e-01 3.03122598e-02 1.69346592e+01] [-1.23848604e-01 9.92298002e-01 -2.48973024e-03 -7.90018979e-01] [-3.03871902e-02 -1.28472761e-03 9.99537377e-01 -8.50050708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.766547614999997 meters 0.08689628143241264 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.77, Z:-0.86 [[ 9.90672988e-01 1.32984465e-01 2.97012213e-02 1.69655833e+01] [-1.32970892e-01 9.91116939e-01 -2.44048704e-03 -7.73285902e-01] [-2.97619304e-02 -1.53167328e-03 9.99555842e-01 -8.58593851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.796547614999994 meters 0.0849394833991752 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.77, Z:-0.87 [[ 9.90746960e-01 1.32529467e-01 2.92643313e-02 1.69971212e+01] [-1.32516264e-01 9.91177928e-01 -2.39871317e-03 -7.72445188e-01] [-2.93240595e-02 -1.50148207e-03 9.99568830e-01 -8.66831072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.826547614999996 meters 0.08458712560091426 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.77, Z:-0.87 [[ 9.91072919e-01 1.30097306e-01 2.91403501e-02 1.70285107e+01] [-1.30082820e-01 9.91500226e-01 -2.40040934e-03 -7.74326139e-01] [-2.92049505e-02 -1.41167822e-03 9.99572448e-01 -8.69941667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.856547614999997 meters 0.08386809359061845 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.79, Z:-0.87 [[ 9.91616624e-01 1.26640646e-01 2.56635590e-02 1.70589574e+01] [-1.26628345e-01 9.91947987e-01 -2.11044577e-03 -7.85145351e-01] [-2.57241839e-02 -1.15698092e-03 9.99668409e-01 -8.68171340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.886547614999994 meters 0.08291903612083903 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.80, Z:-0.86 [[ 9.91848671e-01 1.26000606e-01 1.89752969e-02 1.70886028e+01] [-1.25993624e-01 9.92029812e-01 -1.56778192e-03 -8.01085810e-01] [-1.90216017e-02 -8.35763997e-04 9.99818724e-01 -8.64294487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.916547614999995 meters 0.08466411703845018 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.79, Z:-0.88 [[ 9.91457027e-01 1.29113606e-01 1.85105439e-02 1.71192056e+01] [-1.29107472e-01 9.91629425e-01 -1.53105797e-03 -7.93566600e-01] [-1.85532804e-02 -8.71871333e-04 9.99827493e-01 -8.75541603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.946547614999997 meters 0.08599332170280462 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.79, Z:-0.89 [[ 9.91235890e-01 1.30582906e-01 1.99878940e-02 1.71521579e+01] [-1.30576212e-01 9.91436910e-01 -1.64525838e-03 -7.87870965e-01] [-2.00315785e-02 -9.79104328e-04 9.99798868e-01 -8.86409490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.976547614999994 meters 0.08553689674107105 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.79, Z:-0.89 [[ 9.91320700e-01 1.29759345e-01 2.11135606e-02 1.71835273e+01] [-1.29751524e-01 9.91545004e-01 -1.74572959e-03 -7.94353743e-01] [-2.11615702e-02 -1.00893879e-03 9.99775560e-01 -8.86600149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.006547614999995 meters 0.08515640262491918 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.81, Z:-0.88 [[ 9.91441249e-01 1.28697797e-01 2.19345852e-02 1.72143947e+01] [-1.28688964e-01 9.91683336e-01 -1.81963772e-03 -8.07080525e-01] [-2.19863460e-02 -1.01867515e-03 9.99757752e-01 -8.81885112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.036547614999996 meters 0.08460355122422253 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.81, Z:-0.88 [[ 9.91339040e-01 1.29251225e-01 2.32600331e-02 1.72463580e+01] [-1.29241293e-01 9.91611285e-01 -1.93611802e-03 -8.14948014e-01] [-2.33151569e-02 -1.08680737e-03 9.99727574e-01 -8.77775161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.066547614999994 meters 0.08276709787129055 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.83, Z:-0.87 [[ 9.90860105e-01 1.31523717e-01 2.99627192e-02 1.72776144e+01] [-1.31507957e-01 9.91311951e-01 -2.50460207e-03 -8.27232967e-01] [-3.00318162e-02 -1.45862570e-03 9.99547879e-01 -8.71172709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.096547614999995 meters 0.0820602941765128 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.83, Z:-0.88 [[ 9.91270698e-01 1.27858196e-01 3.21665119e-02 1.73082457e+01] [-1.27837667e-01 9.91791423e-01 -2.70245614e-03 -8.28793015e-01] [-3.22480018e-02 -1.43322625e-03 9.99478870e-01 -8.78683496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.126547614999996 meters 0.08312441668675191 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.83, Z:-0.89 [[ 9.91668454e-01 1.24834254e-01 3.17818671e-02 1.73389178e+01] [-1.24812627e-01 9.92176734e-01 -2.67125091e-03 -8.28338152e-01] [-3.18666927e-02 -1.31778307e-03 9.99491259e-01 -8.85768674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.156547614999994 meters 0.08209485420453684 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.84, Z:-0.89 [[ 9.91925940e-01 1.24309594e-01 2.51008823e-02 1.73689159e+01] [-1.24295909e-01 9.92242950e-01 -2.11074310e-03 -8.41227187e-01] [-2.51685591e-02 -1.02623616e-03 9.99682695e-01 -8.86940557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.186547614999995 meters 0.08239193026605238 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.85, Z:-0.89 [[ 9.92119943e-01 1.23926929e-01 1.84427407e-02 1.73989119e+01] [-1.23919473e-01 9.92291066e-01 -1.55094421e-03 -8.47982924e-01] [-1.84927706e-02 -7.46692027e-04 9.99828715e-01 -8.91290918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.216547614999996 meters 0.08361678846127982 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.85, Z:-0.90 [[ 9.92106562e-01 1.24767222e-01 1.25582682e-02 1.74297900e+01] [-1.24763833e-01 9.92185905e-01 -1.05602394e-03 -8.49045881e-01] [-1.25918939e-02 -5.19129395e-04 9.99920584e-01 -9.00520467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.246547614999994 meters 0.08415728582252995 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.85, Z:-0.91 [[ 9.92211076e-01 1.23659839e-01 1.50141454e-02 1.74603662e+01] [-1.23654871e-01 9.92324483e-01 -1.26232893e-03 -8.48751201e-01] [-1.50550035e-02 -6.04075466e-04 9.99886485e-01 -9.05377701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.276547614999995 meters 0.08197458567905853 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.86, Z:-0.90 [[ 9.92525093e-01 1.19884370e-01 2.28402804e-02 1.74911002e+01] [-1.19871828e-01 9.92787515e-01 -1.92238379e-03 -8.58159310e-01] [-2.29060090e-02 -8.29892028e-04 9.99737279e-01 -9.01146216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.306547614999996 meters 0.07971102633269946 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.87, Z:-0.89 [[ 9.93171665e-01 1.12070983e-01 3.24058320e-02 1.75203197e+01] [-1.12041522e-01 9.93699778e-01 -2.72932280e-03 -8.70607628e-01] [-3.25075459e-02 -9.20112679e-04 9.99471067e-01 -8.92934901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.336547614999994 meters 0.07971102633269946 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.87, Z:-0.89 [[ 9.93142443e-01 1.12329530e-01 3.24062507e-02 1.75525265e+01] [-1.12300368e-01 9.93670572e-01 -2.72435935e-03 -8.73528157e-01] [-3.25071637e-02 -9.33556998e-04 9.99471067e-01 -8.94622260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.366547614999995 meters 0.07871376767376283 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.88, Z:-0.89 [[ 9.92959030e-01 1.12349129e-01 3.75504682e-02 1.75843257e+01] [-1.12309420e-01 9.93668221e-01 -3.17188767e-03 -8.77674186e-01] [-3.76690658e-02 -1.06771681e-03 9.99289698e-01 -8.89662587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.396547614999996 meters 0.08020606874743302 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.87, Z:-0.89 [[ 9.92524432e-01 1.17258105e-01 3.38494959e-02 1.76155498e+01] [-1.17228627e-01 9.93100832e-01 -2.86107153e-03 -8.74573967e-01] [-3.39514464e-02 -1.12844653e-03 9.99422846e-01 -8.93681549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.426547614999997 meters 0.08194187768986275 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.87, Z:-0.90 [[ 9.92278584e-01 1.20990535e-01 2.72855649e-02 1.76454240e+01] [-1.20972751e-01 9.92653146e-01 -2.30761427e-03 -8.74764661e-01] [-2.73643013e-02 -1.01101364e-03 9.99625016e-01 -9.00886581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.456547614999995 meters 0.08301805633513382 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.87, Z:-0.91 [[ 9.92339390e-01 1.22002846e-01 1.94381197e-02 1.76763715e+01] [-1.21994031e-01 9.92529474e-01 -1.64306708e-03 -8.74900987e-01] [-1.94933656e-02 -7.40854388e-04 9.99809712e-01 -9.11189964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.486547614999996 meters 0.08458257178432278 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.87, Z:-0.92 [[ 9.92200711e-01 1.23483413e-01 1.70175027e-02 1.77064962e+01] [-1.23476860e-01 9.92346408e-01 -1.43927034e-03 -8.73916368e-01] [-1.70649837e-02 -6.73222745e-04 9.99854156e-01 -9.17634393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.516547614999997 meters 0.08346159789793771 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.88, Z:-0.92 [[ 9.92468379e-01 1.20975393e-01 1.92735689e-02 1.77369014e+01] [-1.20966509e-01 9.92655250e-01 -1.63040526e-03 -8.80452566e-01] [-1.93292483e-02 -7.13330675e-04 9.99812918e-01 -9.18594464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.546547614999994 meters 0.0809797526921389 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.89, Z:-0.92 [[ 9.93075538e-01 1.15342288e-01 2.22964461e-02 1.77677107e+01] [-1.15328976e-01 9.93325560e-01 -1.88631802e-03 -8.89170115e-01] [-2.23652020e-02 -6.98170009e-04 9.99749624e-01 -9.18380750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.576547614999996 meters 0.08043812420881293 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.89, Z:-0.92 [[ 9.93310907e-01 1.11851060e-01 2.86841769e-02 1.77981085e+01] [-1.11827504e-01 9.93724664e-01 -2.42913490e-03 -8.92078429e-01] [-2.87758754e-02 -7.94793720e-04 9.99585573e-01 -9.16138315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.606547614999997 meters 0.07922977873567749 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.90, Z:-0.91 [[ 9.93155991e-01 1.11975137e-01 3.32076098e-02 1.78292354e+01] [-1.11943654e-01 9.93710578e-01 -2.81161551e-03 -9.02415739e-01] [-3.33135841e-02 -9.25008387e-04 9.99444520e-01 -9.07003490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.636547614999994 meters 0.08007041469458409 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.91, Z:-0.91 [[ 9.92730344e-01 1.16035975e-01 3.19705730e-02 1.78602736e+01] [-1.16008863e-01 9.93244487e-01 -2.70793623e-03 -9.05397722e-01] [-3.20688134e-02 -1.02061936e-03 9.99485142e-01 -9.07380607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.666547614999995 meters 0.0801652109946106 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.91, Z:-0.91 [[ 9.92761806e-01 1.15240943e-01 3.38160077e-02 1.78924347e+01] [-1.15210233e-01 9.93337008e-01 -2.86179694e-03 -9.05836560e-01] [-3.39204881e-02 -1.05486745e-03 9.99423978e-01 -9.13782657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.696547614999997 meters 0.08046383554861355 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.91, Z:-0.92 [[ 9.93158206e-01 1.13096981e-01 2.90835251e-02 1.79235119e+01] [-1.13073182e-01 9.93583600e-01 -2.46692293e-03 -9.06544351e-01] [-2.91759151e-02 -8.38521993e-04 9.99573941e-01 -9.23928922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.726547614999994 meters 0.08092546116238149 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.91, Z:-0.93 [[ 9.93353024e-01 1.12353135e-01 2.50308316e-02 1.79553818e+01] [-1.12335068e-01 9.93668099e-01 -2.13122903e-03 -9.08523188e-01] [-2.51117891e-02 -6.94777371e-04 9.99684408e-01 -9.29913650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.756547614999995 meters 0.08282540517201853 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.91, Z:-0.94 [[ 9.93157708e-01 1.15477365e-01 1.73995688e-02 1.79852270e+01] [-1.15469077e-01 9.93309967e-01 -1.48361533e-03 -9.06049986e-01] [-1.74544891e-02 -5.35648140e-04 9.99847515e-01 -9.37327076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.786547614999996 meters 0.08326034055461878 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.91, Z:-0.94 [[ 9.92887736e-01 1.18151920e-01 1.46310573e-02 1.80156762e+01] [-1.18146353e-01 9.92995410e-01 -1.24730516e-03 -9.11811773e-01] [-1.46759443e-02 -4.90172063e-04 9.99892182e-01 -9.35894032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.816547614999994 meters 0.080567276391925 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.92, Z:-0.93 [[ 9.93030806e-01 1.15836783e-01 2.17177070e-02 1.80460414e+01] [-1.15823947e-01 9.93268032e-01 -1.85219674e-03 -9.22449328e-01] [-2.17860566e-02 -6.76142130e-04 9.99762427e-01 -9.30276174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.846547614999995 meters 0.07945769343773557 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.93, Z:-0.93 [[ 9.93667822e-01 1.08376731e-01 2.96436127e-02 1.80758606e+01] [-1.08349466e-01 9.94109650e-01 -2.52926122e-03 -9.27282076e-01] [-2.97431145e-02 -6.98624121e-04 9.99557332e-01 -9.32038474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.876547614999996 meters 0.07880327849970042 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.93, Z:-0.93 [[ 9.93837367e-01 1.05353182e-01 3.44672946e-02 1.81065844e+01] [-1.05314488e-01 9.94434617e-01 -2.94125749e-03 -9.26998854e-01] [-3.45853418e-02 -7.06773892e-04 9.99401498e-01 -9.32800901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.906547614999994 meters 0.08032083983259582 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.93, Z:-0.94 [[ 9.93423895e-01 1.10942771e-01 2.82960341e-02 1.81374073e+01] [-1.10918969e-01 9.93826521e-01 -2.41426283e-03 -9.25142982e-01] [-2.83891941e-02 -7.40180540e-04 9.99596672e-01 -9.38094672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.936547614999995 meters 0.08078129399821812 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.93, Z:-0.93 [[ 9.92994029e-01 1.16112892e-01 2.19238331e-02 1.81684132e+01] [-1.16099853e-01 9.93235785e-01 -1.87095968e-03 -9.34618302e-01] [-2.19927781e-02 -6.87502007e-04 9.99757893e-01 -9.34976216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.966547614999996 meters 0.08105824582700413 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.94, Z:-0.93 [[ 9.92746149e-01 1.18807028e-01 1.84384012e-02 1.81986343e+01] [-1.18798260e-01 9.92917165e-01 -1.57404546e-03 -9.42395472e-01] [-1.84948127e-02 -6.27822411e-04 9.99828759e-01 -9.32710145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.996547614999994 meters 0.07944760337466981 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.95, Z:-0.94 [[ 9.93508249e-01 1.11986156e-01 2.00114796e-02 1.82283134e+01] [-1.11974437e-01 9.93709618e-01 -1.70871658e-03 -9.50366823e-01] [-2.00769524e-02 -5.43150138e-04 9.99798290e-01 -9.38698117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.026547614999995 meters 0.07843254658892419 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.96, Z:-0.95 [[ 9.94549903e-01 1.01845610e-01 2.23150502e-02 1.82569839e+01] [-1.01828460e-01 9.94800146e-01 -1.90645474e-03 -9.57810894e-01] [-2.23931793e-02 -3.76242816e-04 9.99749171e-01 -9.48077970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.056547614999996 meters 0.07795409121671423 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.96, Z:-0.95 [[ 9.94972036e-01 9.67614890e-02 2.58430151e-02 1.82868584e+01] [-9.67367697e-02 9.95307552e-01 -2.20794483e-03 -9.64161457e-01] [-2.59353921e-02 -3.03126440e-04 9.99663575e-01 -9.49226306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.086547614999994 meters 0.07688368750700164 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.97, Z:-0.94 [[ 9.94842655e-01 9.72954429e-02 2.86651003e-02 1.83175977e+01] [-9.72653981e-02 9.95255480e-01 -2.44393667e-03 -9.72643001e-01] [-2.87668821e-02 -3.56789951e-04 9.99586084e-01 -9.42877679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.116547614999995 meters 0.07656577185505696 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.98, Z:-0.94 [[ 9.94361165e-01 1.01900044e-01 2.93641560e-02 1.83495344e+01] [-1.01870333e-01 9.94794519e-01 -2.50993014e-03 -9.76289544e-01] [-2.94670635e-02 -4.95559288e-04 9.99565629e-01 -9.38036047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.146547614999996 meters 0.07695079270376386 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.98, Z:-0.94 [[ 9.94044479e-01 1.05083797e-01 2.88611958e-02 1.83816070e+01] [-1.05056247e-01 9.94463205e-01 -2.47348300e-03 -9.76989620e-01] [-2.89613203e-02 -5.73296798e-04 9.99580369e-01 -9.39959470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.176547614999993 meters 0.07706796540918619 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.98, Z:-0.94 [[ 9.94119343e-01 1.05014283e-01 2.64335353e-02 1.84120609e+01] [-1.04990996e-01 9.94470579e-01 -2.27117206e-03 -9.81898036e-01] [-2.65258787e-02 -5.17467120e-04 9.99647993e-01 -9.41635091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.206547614999995 meters 0.07718124659983744 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.99, Z:-0.95 [[ 9.94462076e-01 1.02768214e-01 2.19971396e-02 1.84437348e+01] [-1.02751374e-01 9.94705260e-01 -1.89746317e-03 -9.85859512e-01] [-2.20756694e-02 -3.73281145e-04 9.99756233e-01 -9.48988334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.236547614999996 meters 0.07823229058640048 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.98, Z:-0.96 [[ 9.94583654e-01 1.02236114e-01 1.87385202e-02 1.84753107e+01] [-1.02223885e-01 9.94760111e-01 -1.61183246e-03 -9.79844984e-01] [-1.88051199e-02 -3.12422105e-04 9.99823119e-01 -9.59447875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.266547614999997 meters 0.07957992248705668 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.97, Z:-0.97 [[ 9.94381993e-01 1.04219947e-01 1.85109517e-02 1.85070487e+01] [-1.04208281e-01 9.94554215e-01 -1.59636903e-03 -9.73609978e-01] [-1.85765185e-02 -3.41593823e-04 9.99827383e-01 -9.67222077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.296547614999994 meters 0.0785502939375427 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.98, Z:-0.96 [[ 9.94115566e-01 1.06329501e-01 2.06948958e-02 1.85393725e+01] [-1.06315260e-01 9.94330861e-01 -1.79028143e-03 -9.80424047e-01] [-2.07679333e-02 -4.20436588e-04 9.99784235e-01 -9.58766053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326547614999996 meters 0.0775381558804579 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.99, Z:-0.95 [[ 9.93610372e-01 1.09530902e-01 2.72288481e-02 1.85711075e+01] [-1.09507036e-01 9.93983194e-01 -2.37060615e-03 -9.86058585e-01] [-2.73246721e-02 -6.26291604e-04 9.99626415e-01 -9.49052221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.356547614999997 meters 0.07698965607656326 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.99, Z:-0.95 [[ 9.93597517e-01 1.08363948e-01 3.19566785e-02 1.86021490e+01] [-1.08330393e-01 9.94111046e-01 -2.78464528e-03 -9.88262241e-01] [-3.20702422e-02 -6.95062909e-04 9.99485376e-01 -9.48110347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.386547614999994 meters 0.07664707094766125 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.99, Z:-0.95 [[ 9.93545038e-01 1.06544784e-01 3.89418413e-02 1.86331563e+01] [-1.06493488e-01 9.94307603e-01 -3.39511119e-03 -9.87454371e-01] [-3.90819003e-02 -7.73856628e-04 9.99235711e-01 -9.47787104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.416547614999995 meters 0.07582421269029323 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.00, Z:-0.95 [[ 9.94056658e-01 1.02139569e-01 3.76678837e-02 1.86642410e+01] [-1.02088480e-01 9.94769907e-01 -3.28227185e-03 -1.00003900e+00] [-3.78061271e-02 -5.82692831e-04 9.99284923e-01 -9.48454414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.446547614999997 meters 0.07664910205373447 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.00, Z:-0.96 [[ 9.94370193e-01 1.02409270e-01 2.72077417e-02 1.86935482e+01] [-1.02382468e-01 9.94742261e-01 -2.37998490e-03 -1.00155250e+00] [-2.73084230e-02 -4.19009693e-04 9.99626968e-01 -9.59197012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.476547614999994 meters 0.07705066166039447 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.00, Z:-0.96 [[ 9.94203786e-01 1.03453536e-01 2.92608735e-02 1.87259625e+01] [-1.03423147e-01 9.94634168e-01 -2.55417749e-03 -9.97945647e-01] [-2.93681033e-02 -4.86878688e-04 9.99568546e-01 -9.64083387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.506547614999995 meters 0.07633605498216911 Centerline is valid? [True, True] Translation: X:18.76, Y:-1.01, Z:-0.96 [[ 9.94524127e-01 9.98702766e-02 3.07845544e-02 1.87559507e+01] [-9.98345860e-02 9.95000390e-01 -2.69809527e-03 -1.00836815e+00] [-3.09001032e-02 -3.90042401e-04 9.99522402e-01 -9.60630542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.536547614999996 meters 0.07470810650387533 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.03, Z:-0.96 [[ 9.95289346e-01 9.20198351e-02 3.05199528e-02 1.87864012e+01] [-9.19810581e-02 9.95757164e-01 -2.67506296e-03 -1.03088524e+00] [-3.06366205e-02 -1.44795885e-04 9.99530578e-01 -9.55047630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.566547614999994 meters 0.07404022952715666 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.04, Z:-0.96 [[ 9.95967415e-01 8.28148870e-02 3.45051161e-02 1.88170994e+01] [-8.27594580e-02 9.96564934e-01 -3.03401416e-03 -1.04377057e+00] [-3.46378503e-02 1.66154535e-04 9.99399916e-01 -9.56008305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.596547614999995 meters 0.07508552855789297 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.04, Z:-0.97 [[ 9.95901030e-01 8.20707876e-02 3.80200440e-02 1.88498353e+01] [-8.20025548e-02 9.96626478e-01 -3.35326211e-03 -1.03599876e+00] [-3.81669874e-02 2.21776444e-04 9.99271350e-01 -9.65821799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.626547614999996 meters 0.07592429559416149 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.03, Z:-0.97 [[ 9.95748260e-01 8.49884152e-02 3.55298882e-02 1.88819251e+01] [-8.49304168e-02 9.96381933e-01 -3.14120875e-03 -1.03003113e+00] [-3.56683051e-02 1.10284931e-04 9.99363677e-01 -9.73368210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.656547614999994 meters 0.07543741981258952 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.03, Z:-0.97 [[ 9.95221264e-01 9.19759719e-02 3.27880529e-02 1.89142857e+01] [-9.19301484e-02 9.95761219e-01 -2.90555188e-03 -1.03136888e+00] [-3.29163125e-02 -1.22543560e-04 9.99458104e-01 -9.68986974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.686547614999995 meters 0.07538235185050549 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.02, Z:-0.96 [[ 9.94276211e-01 1.02142419e-01 3.13327746e-02 1.89469055e+01] [-1.02105272e-01 9.94769694e-01 -2.78749351e-03 -1.02415137e+00] [-3.14536160e-02 -4.27702995e-04 9.99505121e-01 -9.62407223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.716547614999996 meters 0.07659139852219728 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.01, Z:-0.97 [[ 9.93669968e-01 1.08155155e-01 3.03719685e-02 1.89787140e+01] [-1.08123037e-01 9.94133846e-01 -2.70268686e-03 -1.01046771e+00] [-3.04861114e-02 -5.98330712e-04 9.99535011e-01 -9.68185633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.746547614999994 meters 0.07622169357012996 Centerline is valid? [True, True] Translation: X:19.01, Y:-1.02, Z:-0.98 [[ 9.94304412e-01 1.02725436e-01 2.83940435e-02 1.90096261e+01] [-1.02695244e-01 9.94709666e-01 -2.52342873e-03 -1.01778880e+00] [-2.85030498e-02 -4.06876900e-04 9.99593623e-01 -9.75698795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.776547614999995 meters 0.07561904306329884 Centerline is valid? [True, True] Translation: X:19.04, Y:-1.03, Z:-0.98 [[ 9.95598117e-01 8.86491208e-02 3.04257074e-02 1.90401128e+01] [-8.86075193e-02 9.96062916e-01 -2.71554737e-03 -1.03212275e+00] [-3.05466498e-02 7.64738866e-06 9.99533342e-01 -9.80624299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.806547614999996 meters 0.07562641425821354 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.04, Z:-0.98 [[ 9.95950102e-01 8.16061756e-02 3.77336177e-02 1.90712007e+01] [-8.15369628e-02 9.96664614e-01 -3.37208640e-03 -1.03704651e+00] [-3.78829446e-02 2.81745212e-04 9.99282144e-01 -9.77334335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.836547614999994 meters 0.07458880378195405 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.04, Z:-0.97 [[ 9.95372328e-01 8.82580305e-02 3.80059070e-02 1.91039166e+01] [-8.81927209e-02 9.96097645e-01 -3.39480016e-03 -1.03658251e+00] [-3.81572129e-02 2.72457813e-05 9.99271748e-01 -9.68402596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.866547614999995 meters 0.0771550934170084 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.01, Z:-0.97 [[ 9.93420749e-01 1.11270066e-01 2.70958858e-02 1.91357344e+01] [-1.11245164e-01 9.93790024e-01 -2.42941300e-03 -1.01444375e+00] [-2.71979419e-02 -6.00856978e-04 9.99629887e-01 -9.69799855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.896547614999996 meters 0.0793615347560299 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.00, Z:-0.98 [[ 9.92403931e-01 1.20043778e-01 2.69059247e-02 1.91673068e+01] [-1.20022467e-01 9.92768247e-01 -2.41150238e-03 -1.00201170e+00] [-2.70008336e-02 -8.36131002e-04 9.99635061e-01 -9.75075786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.926547614999993 meters 0.08279087592124672 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.98, Z:-0.98 [[ 9.90652972e-01 1.33455101e-01 2.82210120e-02 1.91993853e+01] [-1.33437046e-01 9.91054061e-01 -2.53049545e-03 -9.82049268e-01] [-2.83062561e-02 -1.25888565e-03 9.99598505e-01 -9.82979860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.956547614999995 meters 0.08643976245536598 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.97, Z:-0.99 [[ 9.89831382e-01 1.39059400e-01 2.99385807e-02 1.92299680e+01] [-1.39041612e-01 9.90282899e-01 -2.68532820e-03 -9.69002443e-01] [-3.00210846e-02 -1.50468638e-03 9.99548133e-01 -9.89894799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.986547614999996 meters 0.08496664241649197 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.98, Z:-0.99 [[ 9.90086037e-01 1.37408253e-01 2.91309201e-02 1.92614921e+01] [-1.37390864e-01 9.90513479e-01 -2.60719721e-03 -9.80187607e-01] [-2.92128194e-02 -1.42097273e-03 9.99572205e-01 -9.89479322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.016547614999993 meters 0.0835000986661506 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.99, Z:-0.99 [[ 9.90528286e-01 1.33844581e-01 3.06486904e-02 1.92912986e+01] [-1.33823219e-01 9.91001387e-01 -2.75645145e-03 -9.89426929e-01] [-3.07418307e-02 -1.37116326e-03 9.99526418e-01 -9.86245291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.046547614999994 meters 0.08347506375285343 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.99, Z:-0.98 [[ 9.90345660e-01 1.34493667e-01 3.35697231e-02 1.93234245e+01] [-1.34468552e-01 9.90913275e-01 -3.01502656e-03 -9.91425280e-01] [-3.36701863e-02 -1.52815359e-03 9.99431830e-01 -9.84437591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.076547614999996 meters 0.08467316594951842 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.99, Z:-0.99 [[ 9.90109974e-01 1.37150827e-01 2.95277779e-02 1.93546730e+01] [-1.37132263e-01 9.90549168e-01 -2.66245029e-03 -9.92725668e-01] [-2.96138731e-02 -1.41309241e-03 9.99560414e-01 -9.89251594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.106547614999997 meters 0.08640948576525657 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.99, Z:-0.99 [[ 9.89284659e-01 1.43509952e-01 2.68469124e-02 1.93858285e+01] [-1.43496918e-01 9.89647802e-01 -2.42149323e-03 -9.94380240e-01] [-2.69164962e-02 -1.45690307e-03 9.99636624e-01 -9.92091681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.136547614999994 meters 0.08904759522114407 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.99, Z:-0.99 [[ 9.88588672e-01 1.47384957e-01 3.11466196e-02 1.94175175e+01] [-1.47369415e-01 9.89077539e-01 -2.80661715e-03 -9.90538620e-01] [-3.12200750e-02 -1.81546919e-03 9.99510886e-01 -9.92610059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.166547614999995 meters 0.08393438178519044 Centerline is valid? [True, True] Translation: X:19.45, Y:-1.01, Z:-1.00 [[ 9.90182109e-01 1.36382514e-01 3.06463802e-02 1.94470895e+01] [-1.36361855e-01 9.90655215e-01 -2.77291963e-03 -1.00994335e+00] [-3.07381741e-02 -1.43330184e-03 9.99526443e-01 -9.95157578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.196547614999997 meters 0.08443157332849341 Centerline is valid? [True, True] Translation: X:19.48, Y:-1.01, Z:-1.01 [[ 9.90845943e-01 1.33316972e-01 2.12344441e-02 1.94772473e+01] [-1.33306481e-01 9.91073012e-01 -1.91515049e-03 -1.01404434e+00] [-2.13002065e-02 -9.33069907e-04 9.99772689e-01 -1.00990734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.226547614999994 meters 0.08443157332849341 Centerline is valid? [True, True] Translation: X:19.51, Y:-1.02, Z:-1.01 [[ 9.90809196e-01 1.33589849e-01 2.12341465e-02 1.95094622e+01] [-1.33579350e-01 9.91036264e-01 -1.91844213e-03 -1.01715490e+00] [-2.13000936e-02 -9.35633394e-04 9.99772689e-01 -1.01160263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.256547614999995 meters 0.0853509956261664 Centerline is valid? [True, True] Translation: X:19.54, Y:-1.02, Z:-1.02 [[ 9.90830799e-01 1.33979762e-01 1.74284651e-02 1.95403774e+01] [-1.33972553e-01 9.90983774e-01 -1.58583733e-03 -1.01652522e+00] [-1.74837962e-02 -7.63639486e-04 9.99846855e-01 -1.01906201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.286547614999996 meters 0.08801189788012873 Centerline is valid? [True, True] Translation: X:19.57, Y:-1.01, Z:-1.01 [[ 9.89565193e-01 1.42927558e-01 1.82329951e-02 1.95724488e+01] [-1.42921182e-01 9.89732683e-01 -1.65896342e-03 -1.01458285e+00] [-1.82829027e-02 -9.64228765e-04 9.99832389e-01 -1.01406659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.316547614999994 meters 0.0881321400572718 Centerline is valid? [True, True] Translation: X:19.60, Y:-1.02, Z:-1.01 [[ 9.89235696e-01 1.44584761e-01 2.25384984e-02 1.96032357e+01] [-1.44575554e-01 9.89491649e-01 -2.04605104e-03 -1.02182227e+00] [-2.25974837e-02 -1.23448916e-03 9.99743882e-01 -1.00630255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.346547614999995 meters 0.08671581562945695 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.03, Z:-1.01 [[ 9.89535205e-01 1.41990883e-01 2.56645014e-02 1.96341525e+01] [-1.41977748e-01 9.89867078e-01 -2.34256867e-03 -1.02623615e+00] [-2.57370684e-02 -1.32573394e-03 9.99667868e-01 -1.00592289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.376547614999996 meters 0.08484164398677212 Centerline is valid? [True, True] Translation: X:19.67, Y:-1.03, Z:-1.01 [[ 9.90005690e-01 1.38614747e-01 2.59747283e-02 1.96652082e+01] [-1.38600125e-01 9.90345588e-01 -2.37121087e-03 -1.02962899e+00] [-2.60526423e-02 -1.25258832e-03 9.99659788e-01 -1.01228656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.406547614999994 meters 0.08384431547024002 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.04, Z:-1.02 [[ 9.90921990e-01 1.32440593e-01 2.30889348e-02 1.96940695e+01] [-1.32427336e-01 9.91190473e-01 -2.10897014e-03 -1.04079825e+00] [-2.31648455e-02 -9.67781249e-04 9.99731191e-01 -1.01860461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.436547614999995 meters 0.08073223911196456 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.06, Z:-1.02 [[ 9.91992730e-01 1.23822734e-01 2.48667417e-02 1.97225760e+01] [-1.23804642e-01 9.92304011e-01 -2.27176774e-03 -1.06172063e+00] [-2.49566640e-02 -8.25040959e-04 9.99688194e-01 -1.01564851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.466547614999996 meters 0.07813004151974831 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.07, Z:-1.01 [[ 9.92465012e-01 1.18331145e-01 3.17952756e-02 1.97529427e+01] [-1.18298764e-01 9.92973800e-01 -2.90430327e-03 -1.07301669e+00] [-3.19155452e-02 -8.78922420e-04 9.99490183e-01 -1.00895898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.496547614999994 meters 0.077544273044053 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.07, Z:-1.01 [[ 9.92510619e-01 1.16633858e-01 3.63209907e-02 1.97844693e+01] [-1.16590446e-01 9.93174535e-01 -3.31823392e-03 -1.07407720e+00] [-3.64601015e-02 -9.41298101e-04 9.99334666e-01 -1.00778064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.526547614999995 meters 0.0779153788051942 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.08, Z:-1.02 [[ 9.92869617e-01 1.14991275e-01 3.14154598e-02 1.98150679e+01] [-1.14958068e-01 9.93366207e-01 -2.86716628e-03 -1.07665302e+00] [-3.15367552e-02 -7.64738289e-04 9.99502300e-01 -1.01574718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.556547614999996 meters 0.0794955087824088 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.07, Z:-1.03 [[ 9.92881828e-01 1.16853499e-01 2.30420355e-02 1.98456396e+01] [-1.16835959e-01 9.93148984e-01 -2.11063390e-03 -1.07382916e+00] [-2.31308091e-02 -5.96528275e-04 9.99732269e-01 -1.02653669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.586547614999994 meters 0.08043586147350877 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.07, Z:-1.02 [[ 9.92118015e-01 1.23012674e-01 2.38689493e-02 1.98776356e+01] [-1.22995630e-01 9.92404804e-01 -2.18642634e-03 -1.07241655e+00] [-2.39566181e-02 -7.66583506e-04 9.99712705e-01 -1.02213621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.616547614999995 meters 0.08477140399620202 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.07, Z:-1.02 [[ 9.90834799e-01 1.32894310e-01 2.41971761e-02 1.99087242e+01] [-1.32879697e-01 9.91129692e-01 -2.21797110e-03 -1.06658290e+00] [-2.42772955e-02 -1.01767049e-03 9.99704745e-01 -1.01936046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.646547614999996 meters 0.08844446123471196 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.06, Z:-1.03 [[ 9.90074924e-01 1.38866026e-01 2.16303481e-02 1.99403140e+01] [-1.38855766e-01 9.90310630e-01 -1.98284892e-03 -1.05525586e+00] [-2.16961140e-02 -1.04032955e-03 9.99764070e-01 -1.02962901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.676547614999993 meters 0.08332549259009994 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.07, Z:-1.03 [[ 9.90735263e-01 1.33715846e-01 2.37426133e-02 1.99706635e+01] [-1.33702007e-01 9.91019191e-01 -2.17650512e-03 -1.06659718e+00] [-2.38204187e-02 -1.01809468e-03 9.99715735e-01 -1.03095903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.706547614999995 meters 0.08180704974859009 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.07, Z:-1.03 [[ 9.91007596e-01 1.30304174e-01 3.04099846e-02 2.00016197e+01] [-1.30279840e-01 9.91473341e-01 -2.78868958e-03 -1.07298528e+00] [-3.05140670e-02 -1.19819538e-03 9.99533619e-01 -1.02899485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.736547614999996 meters 0.0841788873561956 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.07, Z:-1.03 [[ 9.91205134e-01 1.28251496e-01 3.26180222e-02 2.00319711e+01] [-1.28222361e-01 9.91740931e-01 -2.99206068e-03 -1.06906082e+00] [-3.27323640e-02 -1.21661392e-03 9.99463412e-01 -1.03306364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.766547614999993 meters 0.08110599713379632 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.08, Z:-1.03 [[ 9.90904382e-01 1.30737874e-01 3.18765450e-02 2.00637462e+01] [-1.30711350e-01 9.91416157e-01 -2.92351267e-03 -1.08031134e+00] [-3.19851356e-02 -1.26970470e-03 9.99487538e-01 -1.02820586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.796547614999994 meters 0.08885707434333111 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.06, Z:-1.04 [[ 9.89977902e-01 1.38329962e-01 2.84354610e-02 2.00946418e+01] [-1.38311879e-01 9.90385281e-01 -2.61133774e-03 -1.06405898e+00] [-2.85232882e-02 -1.34779539e-03 9.99592220e-01 -1.03502360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.826547614999996 meters 0.08610402489895246 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.08, Z:-1.03 [[ 9.89027257e-01 1.45590880e-01 2.50675136e-02 2.01250919e+01] [-1.45579164e-01 9.89343929e-01 -2.30144640e-03 -1.07711001e+00] [-2.51354620e-02 -1.37311446e-03 9.99683111e-01 -1.02888238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.856547614999993 meters 0.08795600756992165 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.08, Z:-1.03 [[ 9.88966195e-01 1.46412658e-01 2.25654473e-02 2.01555959e+01] [-1.46403383e-01 9.89222805e-01 -2.07144164e-03 -1.07858178e+00] [-2.26255404e-02 -1.25507209e-03 9.99743222e-01 -1.03498651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.886547614999994 meters 0.08533949598595643 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.08, Z:-1.04 [[ 9.89623937e-01 1.42102045e-01 2.12478837e-02 2.01859834e+01] [-1.42092812e-01 9.89851416e-01 -1.95137103e-03 -1.08343894e+00] [-2.13095416e-02 -1.08804807e-03 9.99772334e-01 -1.04445424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.916547614999995 meters 0.0855461578738244 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.09, Z:-1.06 [[ 9.90446247e-01 1.36600588e-01 1.88815034e-02 2.02148623e+01] [-1.36592270e-01 9.90625832e-01 -1.73557296e-03 -1.08676507e+00] [-1.89415853e-02 -8.60075690e-04 9.99820222e-01 -1.05685367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.946547614999997 meters 0.08236836037076829 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.10, Z:-1.05 [[ 9.90987596e-01 1.31872421e-01 2.35212585e-02 2.02452649e+01] [-1.31858221e-01 9.91266232e-01 -2.16043004e-03 -1.10192877e+00] [-2.36007304e-02 -9.60511941e-04 9.99721003e-01 -1.05077115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.976547614999994 meters 0.08153195194186452 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.11, Z:-1.04 [[ 9.90878237e-01 1.31769432e-01 2.82336014e-02 2.02758156e+01] [-1.31748891e-01 9.91279727e-01 -2.59468885e-03 -1.11106986e+00] [-2.83292974e-02 -1.14872498e-03 9.99597985e-01 -1.04104595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.006547614999995 meters 0.08099741722166924 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.12, Z:-1.05 [[ 9.90968041e-01 1.31486187e-01 2.63386653e-02 2.03074827e+01] [-1.31468330e-01 9.91317427e-01 -2.41604410e-03 -1.11648133e+00] [-2.64276544e-02 -1.06847786e-03 9.99650158e-01 -1.04542400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.036547614999996 meters 0.08286827845815595 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.11, Z:-1.06 [[ 9.91040204e-01 1.31551706e-01 2.30968190e-02 2.03381267e+01] [-1.31537758e-01 9.91308876e-01 -2.12871882e-03 -1.11248366e+00] [-2.31761183e-02 -9.28457866e-04 9.99730967e-01 -1.05812982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.066547614999994 meters 0.08253782742620776 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.12, Z:-1.06 [[ 9.91008887e-01 1.32080015e-01 2.13601595e-02 2.03695149e+01] [-1.32068329e-01 9.91238671e-01 -1.96303086e-03 -1.12156353e+00] [-2.14322932e-02 -8.75619535e-04 9.99769919e-01 -1.05873679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.096547614999995 meters 0.08153964786468401 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.13, Z:-1.05 [[ 9.90955756e-01 1.32419584e-01 2.17196419e-02 2.04017454e+01] [-1.32407491e-01 9.91193349e-01 -2.00027286e-03 -1.13258915e+00] [-2.17932399e-02 -8.93661397e-04 9.99762100e-01 -1.05457846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.126547614999996 meters 0.08117852459428022 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.14, Z:-1.06 [[ 9.91435425e-01 1.28941525e-01 2.07335700e-02 2.04318204e+01] [-1.28929481e-01 9.91651902e-01 -1.92217053e-03 -1.13938731e+00] [-2.08083317e-02 -7.67460461e-04 9.99783189e-01 -1.05633298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.156547614999994 meters 0.07886718969454673 Centerline is valid? [True, True] Translation: X:20.46, Y:-1.15, Z:-1.06 [[ 9.92074810e-01 1.23422369e-01 2.35476080e-02 2.04620146e+01] [-1.23405255e-01 9.92353955e-01 -2.18413163e-03 -1.14951690e+00] [-2.36371327e-02 -7.39076608e-04 9.99720331e-01 -1.05839404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.186547614999995 meters 0.0775628662486394 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.15, Z:-1.06 [[ 9.92468301e-01 1.18865746e-01 2.96244026e-02 2.04933785e+01] [-1.18836587e-01 9.92910020e-01 -2.74924107e-03 -1.15128235e+00] [-2.97411568e-02 -7.91928279e-04 9.99557320e-01 -1.05890508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.216547614999996 meters 0.07814797102226834 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.15, Z:-1.06 [[ 9.92284715e-01 1.19604651e-01 3.26461483e-02 2.05245561e+01] [-1.19569713e-01 9.92821192e-01 -3.02743967e-03 -1.15121795e+00] [-3.27738837e-02 -8.99408467e-04 9.99462387e-01 -1.05908743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.246547614999994 meters 0.07805343776103715 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.16, Z:-1.05 [[ 9.91644955e-01 1.24607715e-01 3.33646649e-02 2.05552689e+01] [-1.24573690e-01 9.92205501e-01 -3.10476055e-03 -1.15658613e+00] [-3.34914812e-02 -1.07753929e-03 9.99438422e-01 -1.05370424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.276547614999995 meters 0.08167182942842591 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.15, Z:-1.06 [[ 9.90850495e-01 1.31582560e-01 3.00221024e-02 2.05858752e+01] [-1.31558142e-01 9.91304514e-01 -2.79577087e-03 -1.14973558e+00] [-3.01289203e-02 -1.17946107e-03 9.99545325e-01 -1.05535099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.306547614999996 meters 0.08118638115732868 Centerline is valid? [True, True] Translation: X:20.62, Y:-1.16, Z:-1.06 [[ 9.90859555e-01 1.32261414e-01 2.65379093e-02 2.06175361e+01] [-1.32242612e-01 9.91214301e-01 -2.47001694e-03 -1.15625710e+00] [-2.66314431e-02 -1.06200255e-03 9.99644756e-01 -1.05732325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.336547614999994 meters 0.08066591705304182 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.16, Z:-1.07 [[ 9.91460078e-01 1.28462612e-01 2.24559900e-02 2.06486955e+01] [-1.28448265e-01 9.91714017e-01 -2.08612870e-03 -1.16143153e+00] [-2.25379095e-02 -8.16119635e-04 9.99745656e-01 -1.06686998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.366547614999995 meters 0.07982041271253881 Centerline is valid? [True, True] Translation: X:20.68, Y:-1.17, Z:-1.07 [[ 9.92017148e-01 1.24067389e-01 2.25668230e-02 2.06794615e+01] [-1.24051534e-01 9.92273541e-01 -2.10655644e-03 -1.16725938e+00] [-2.26538164e-02 -7.09708910e-04 9.99743117e-01 -1.07313053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.396547614999996 meters 0.07867874681869719 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.18, Z:-1.08 [[ 9.92583075e-01 1.18926123e-01 2.52074671e-02 2.07082182e+01] [-1.18904577e-01 9.92902888e-01 -2.35725775e-03 -1.17694227e+00] [-2.53089064e-02 -6.57509055e-04 9.99679462e-01 -1.07555002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.426547614999993 meters 0.07815435089782002 Centerline is valid? [True, True] Translation: X:20.74, Y:-1.18, Z:-1.07 [[ 9.92488736e-01 1.19296379e-01 2.71013359e-02 2.07396876e+01] [-1.19271766e-01 9.92858425e-01 -2.52865503e-03 -1.18141879e+00] [-2.72094490e-02 -7.22762563e-04 9.99629493e-01 -1.07383616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.456547614999995 meters 0.07830445399382405 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.19, Z:-1.07 [[ 9.91991576e-01 1.22701950e-01 2.99490293e-02 2.07720332e+01] [-1.22673191e-01 9.92443164e-01 -2.80274505e-03 -1.18673692e+00] [-3.00666117e-02 -8.93643505e-04 9.99547498e-01 -1.06693612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.486547614999996 meters 0.0782854225006291 Centerline is valid? [True, True] Translation: X:20.80, Y:-1.19, Z:-1.07 [[ 9.92076335e-01 1.22042285e-01 2.98366450e-02 2.08025375e+01] [-1.22013221e-01 9.92524527e-01 -2.79964319e-03 -1.19189910e+00] [-2.99552768e-02 -8.63005398e-04 9.99550867e-01 -1.06804679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.516547614999993 meters 0.07937277570866824 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.19, Z:-1.08 [[ 9.92032049e-01 1.23016364e-01 2.71917074e-02 2.08345330e+01] [-1.22992352e-01 9.92404316e-01 -2.56018705e-03 -1.18724421e+00] [-2.73001126e-02 -8.04584424e-04 9.99626959e-01 -1.07886105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.546547614999994 meters 0.07969861802770625 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.19, Z:-1.08 [[ 9.92097557e-01 1.22890596e-01 2.53049079e-02 2.08665467e+01] [-1.22869834e-01 9.92419942e-01 -2.37963098e-03 -1.18859473e+00] [-2.54055295e-02 -7.48383749e-04 9.99676947e-01 -1.08432462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.576547614999996 meters 0.07766926610073772 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.20, Z:-1.08 [[ 9.92606800e-01 1.19102076e-01 2.33759529e-02 2.08978327e+01] [-1.19083211e-01 9.92881835e-01 -2.20237529e-03 -1.20164847e+00] [-2.34718665e-02 -5.97590846e-04 9.99724319e-01 -1.08054298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.606547614999993 meters 0.07959898924517472 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.20, Z:-1.09 [[ 9.92110776e-01 1.24198218e-01 1.70590253e-02 2.09290112e+01] [-1.24188782e-01 9.92257294e-01 -1.61545496e-03 -1.19828460e+00] [-1.71275789e-02 -5.15829303e-04 9.99853179e-01 -1.08898608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.636547614999994 meters 0.08040501530418517 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.20, Z:-1.09 [[ 9.91962840e-01 1.25382759e-01 1.69967248e-02 2.09603098e+01] [-1.25373675e-01 9.92108296e-01 -1.60317258e-03 -1.19878732e+00] [-1.70636019e-02 -5.40654228e-04 9.99854260e-01 -1.09210737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.666547614999995 meters 0.07828193869173014 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.21, Z:-1.09 [[ 9.92550615e-01 1.19724928e-01 2.25658451e-02 2.09906872e+01] [-1.19707127e-01 9.92806936e-01 -2.14287166e-03 -1.20820075e+00] [-2.26600826e-02 -5.74383898e-04 9.99743062e-01 -1.08979280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.696547614999997 meters 0.07894863853113686 Centerline is valid? [True, True] Translation: X:21.02, Y:-1.20, Z:-1.10 [[ 9.92353826e-01 1.20901546e-01 2.48334585e-02 2.10221011e+01] [-1.20880457e-01 9.92664280e-01 -2.35418896e-03 -1.20310544e+00] [-2.49359123e-02 -6.65691396e-04 9.99688830e-01 -1.09575970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.726547614999994 meters 0.07777155477558606 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.21, Z:-1.09 [[ 9.92400659e-01 1.19078450e-01 3.10041028e-02 2.10524388e+01] [-1.19044243e-01 9.92884558e-01 -2.95343736e-03 -1.20824628e+00] [-3.11351857e-02 -7.59866781e-04 9.99514894e-01 -1.08977792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.756547614999995 meters 0.07775436494722529 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.22, Z:-1.08 [[ 9.92198270e-01 1.20578452e-01 3.16769749e-02 2.10833858e+01] [-1.20543651e-01 9.92703455e-01 -3.01304315e-03 -1.21675861e+00] [-3.18091506e-02 -8.28922012e-04 9.99493617e-01 -1.08448194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.786547614999996 meters 0.07862177733719877 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.22, Z:-1.09 [[ 9.91840995e-01 1.24713459e-01 2.64195791e-02 2.11137720e+01] [-1.24690473e-01 9.92192484e-01 -2.52217166e-03 -1.21838581e+00] [-2.65278566e-02 -7.92676552e-04 9.99647760e-01 -1.08886332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.816547614999994 meters 0.0789741724192098 Centerline is valid? [True, True] Translation: X:21.15, Y:-1.22, Z:-1.09 [[ 9.91843140e-01 1.24830170e-01 2.57801177e-02 2.11455833e+01] [-1.24808459e-01 9.92177815e-01 -2.45582575e-03 -1.21672413e+00] [-2.58850220e-02 -7.81782845e-04 9.99664621e-01 -1.09405396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.846547614999995 meters 0.07802048015309904 Centerline is valid? [True, True] Translation: X:21.18, Y:-1.22, Z:-1.09 [[ 9.92257277e-01 1.21185108e-01 2.71967971e-02 2.11771033e+01] [-1.21159274e-01 9.92629669e-01 -2.60186628e-03 -1.22244234e+00] [-2.73116552e-02 -7.13423434e-04 9.99626713e-01 -1.09485065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.876547614999996 meters 0.07859843500953914 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.22, Z:-1.10 [[ 9.92307156e-01 1.21324573e-01 2.46344622e-02 2.12078775e+01] [-1.21303414e-01 9.92612677e-01 -2.35700843e-03 -1.22001857e+00] [-2.47384426e-02 -6.49368032e-04 9.99693747e-01 -1.10221216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.906547614999994 meters 0.0798165323444106 Centerline is valid? [True, True] Translation: X:21.24, Y:-1.22, Z:-1.11 [[ 9.91839369e-01 1.25513801e-01 2.23819608e-02 2.12392456e+01] [-1.25497300e-01 9.92091640e-01 -2.14592217e-03 -1.21579922e+00] [-2.24742990e-02 -6.80465560e-04 9.99747189e-01 -1.10569456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.936547614999995 meters 0.08006864042603094 Centerline is valid? [True, True] Translation: X:21.27, Y:-1.22, Z:-1.10 [[ 9.91476433e-01 1.28030099e-01 2.41407700e-02 2.12701209e+01] [-1.28011677e-01 9.91769963e-01 -2.31333165e-03 -1.21723498e+00] [-2.42382667e-02 -7.96686630e-04 9.99705893e-01 -1.10109595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.966547614999996 meters 0.08024624217766492 Centerline is valid? [True, True] Translation: X:21.30, Y:-1.22, Z:-1.09 [[ 9.90675311e-01 1.32913958e-01 2.99384071e-02 2.13032970e+01] [-1.32887778e-01 9.91126931e-01 -2.87130513e-03 -1.21541700e+00] [-3.00543981e-02 -1.13391732e-03 9.99547621e-01 -1.09374701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.996547614999994 meters 0.07945521913440838 Centerline is valid? [True, True] Translation: X:21.34, Y:-1.21, Z:-1.10 [[ 9.90808593e-01 1.31188859e-01 3.29820312e-02 2.13352893e+01] [-1.31155705e-01 9.91356693e-01 -3.17607956e-03 -1.21319923e+00] [-3.31136236e-02 -1.17889464e-03 9.99450898e-01 -1.09570937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.026547614999995 meters 0.08056926922779843 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.21, Z:-1.10 [[ 9.90709010e-01 1.31891712e-01 3.31697596e-02 2.13666490e+01] [-1.31858622e-01 9.91263391e-01 -3.19270179e-03 -1.20821975e+00] [-3.33010593e-02 -1.21068036e-03 9.99444633e-01 -1.10098903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.056547614999996 meters 0.08227164356762813 Centerline is valid? [True, True] Translation: X:21.40, Y:-1.20, Z:-1.10 [[ 9.89996537e-01 1.38357763e-01 2.76402998e-02 2.13975353e+01] [-1.38337037e-01 9.90381611e-01 -2.66988888e-03 -1.20444297e+00] [-2.77438445e-02 -1.18049644e-03 9.99614368e-01 -1.10494044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.086547614999994 meters 0.08547686351970069 Centerline is valid? [True, True] Translation: X:21.43, Y:-1.20, Z:-1.11 [[ 9.89089257e-01 1.45539424e-01 2.28192267e-02 2.14286360e+01] [-1.45527212e-01 9.89351795e-01 -2.20377112e-03 -1.19991611e+00] [-2.28969785e-02 -1.14109212e-03 9.99737179e-01 -1.10860407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.116547614999995 meters 0.0931316016235858 Centerline is valid? [True, True] Translation: X:21.46, Y:-1.18, Z:-1.12 [[ 9.88659416e-01 1.48266582e-01 2.38658539e-02 2.14610031e+01] [-1.48254129e-01 9.88946623e-01 -2.30013357e-03 -1.17967717e+00] [-2.39430886e-02 -1.26416267e-03 9.99712524e-01 -1.12032662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.146547614999996 meters 0.0931316016235858 Centerline is valid? [True, True] Translation: X:21.49, Y:-1.18, Z:-1.12 [[ 9.88622282e-01 1.48514063e-01 2.38653743e-02 2.14932257e+01] [-1.48501563e-01 9.88909486e-01 -2.30509365e-03 -1.18303362e+00] [-2.39430338e-02 -1.26517843e-03 9.99712524e-01 -1.12202343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.176547614999993 meters 0.08634597515430643 Centerline is valid? [True, True] Translation: X:21.52, Y:-1.19, Z:-1.12 [[ 9.88415310e-01 1.49846993e-01 2.41050445e-02 2.15240404e+01] [-1.49834473e-01 9.88708339e-01 -2.33495011e-03 -1.19474712e+00] [-2.41827437e-02 -1.30386619e-03 9.99706704e-01 -1.11803739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.206547614999995 meters 0.08530784518925892 Centerline is valid? [True, True] Translation: X:21.55, Y:-1.20, Z:-1.12 [[ 9.88932102e-01 1.46770687e-01 2.17178033e-02 2.15542782e+01] [-1.46759567e-01 9.89169936e-01 -2.11362489e-03 -1.20292025e+00] [-2.17928163e-02 -1.09706391e-03 9.99761906e-01 -1.12110606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.236547614999996 meters 0.08376538744331838 Centerline is valid? [True, True] Translation: X:21.58, Y:-1.21, Z:-1.12 [[ 9.89296570e-01 1.43863180e-01 2.44066025e-02 2.15847205e+01] [-1.43848218e-01 9.89596908e-01 -2.37677191e-03 -1.20865994e+00] [-2.44946284e-02 -1.15951399e-03 9.99699289e-01 -1.11985731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.266547614999993 meters 0.08232410399505681 Centerline is valid? [True, True] Translation: X:21.61, Y:-1.21, Z:-1.12 [[ 9.89682942e-01 1.40616237e-01 2.74726797e-02 2.16144711e+01] [-1.40596000e-01 9.90063433e-01 -2.67653105e-03 -1.21413946e+00] [-2.75760593e-02 -1.21363175e-03 9.99618971e-01 -1.11701719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.296547614999994 meters 0.08093359161685407 Centerline is valid? [True, True] Translation: X:21.64, Y:-1.23, Z:-1.11 [[ 9.89921543e-01 1.38816977e-01 2.80211705e-02 2.16448827e+01] [-1.38795222e-01 9.90317342e-01 -2.72932760e-03 -1.22543374e+00] [-2.81287280e-02 -1.18738440e-03 9.99603604e-01 -1.11451056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.326547614999996 meters 0.08177171769411569 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.22, Z:-1.12 [[ 9.90074638e-01 1.37756011e-01 2.78476631e-02 2.16763260e+01] [-1.37734208e-01 9.90465522e-01 -2.70879495e-03 -1.22410848e+00] [-2.79553030e-02 -1.15366664e-03 9.99608508e-01 -1.12026506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.356547614999993 meters 0.08230919181807522 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.22, Z:-1.12 [[ 9.89603600e-01 1.40713757e-01 2.97380849e-02 2.17088435e+01] [-1.40689896e-01 9.90049454e-01 -2.90373141e-03 -1.22026193e+00] [-2.98507697e-02 -1.31030500e-03 9.99553508e-01 -1.12400001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.386547614999994 meters 0.08646582450974606 Centerline is valid? [True, True] Translation: X:21.74, Y:-1.21, Z:-1.13 [[ 9.89054016e-01 1.44955856e-01 2.75672473e-02 2.17391662e+01] [-1.44936901e-01 9.89437230e-01 -2.69510125e-03 -1.21337192e+00] [-2.76667315e-02 -1.32991067e-03 9.99616318e-01 -1.12882393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.416547614999995 meters 0.08414698209026109 Centerline is valid? [True, True] Translation: X:21.77, Y:-1.22, Z:-1.13 [[ 9.88761118e-01 1.47562024e-01 2.40187671e-02 2.17692081e+01] [-1.47548412e-01 9.89052048e-01 -2.34770920e-03 -1.22376857e+00] [-2.41022435e-02 -1.22260737e-03 9.99708751e-01 -1.12683615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.446547614999993 meters 0.08558912575775385 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.22, Z:-1.13 [[ 9.88589770e-01 1.48752604e-01 2.37261202e-02 2.18001999e+01] [-1.48739728e-01 9.88873666e-01 -2.31640609e-03 -1.22426599e+00] [-2.38067069e-02 -1.23904131e-03 9.99715812e-01 -1.12925521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.476547614999994 meters 0.08673881850843758 Centerline is valid? [True, True] Translation: X:21.83, Y:-1.22, Z:-1.13 [[ 9.88357620e-01 1.49578862e-01 2.78456218e-02 2.18317545e+01] [-1.49561388e-01 9.88748698e-01 -2.72097819e-03 -1.22335634e+00] [-2.79393231e-02 -1.47533032e-03 9.99608532e-01 -1.12710117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.506547614999995 meters 0.08448841399953468 Centerline is valid? [True, True] Translation: X:21.86, Y:-1.23, Z:-1.13 [[ 9.88618563e-01 1.47595562e-01 2.91356815e-02 2.18631701e+01] [-1.47575248e-01 9.89046701e-01 -2.85816925e-03 -1.23194983e+00] [-2.92384028e-02 -1.47406623e-03 9.99571380e-01 -1.12625074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.536547614999996 meters 0.08528893512230513 Centerline is valid? [True, True] Translation: X:21.89, Y:-1.24, Z:-1.13 [[ 9.89055449e-01 1.44966330e-01 2.74605643e-02 2.18929088e+01] [-1.44947214e-01 9.89435716e-01 -2.69597621e-03 -1.23711091e+00] [-2.75612889e-02 -1.31386234e-03 9.99619252e-01 -1.13311596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.566547614999994 meters 0.08280393877078163 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.25, Z:-1.13 [[ 9.88886948e-01 1.45747613e-01 2.93298093e-02 2.19242931e+01] [-1.45726288e-01 9.89320769e-01 -2.87477161e-03 -1.24590351e+00] [-2.94355806e-02 -1.43130009e-03 9.99565655e-01 -1.13033296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.596547614999995 meters 0.0829546301387735 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.25, Z:-1.13 [[ 9.88744871e-01 1.46570717e-01 3.00101001e-02 2.19565924e+01] [-1.46548554e-01 9.89199084e-01 -2.94857393e-03 -1.25114355e+00] [-3.01181381e-02 -1.48254943e-03 9.99545247e-01 -1.12644293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.626547614999996 meters 0.08239575215146512 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.26, Z:-1.13 [[ 9.88769577e-01 1.46717160e-01 2.84393989e-02 2.19882316e+01] [-1.46697084e-01 9.89177493e-01 -2.80242380e-03 -1.25867113e+00] [-2.85427770e-02 -1.40102549e-03 9.99591590e-01 -1.12595480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.656547614999994 meters 0.08328845185685071 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.26, Z:-1.13 [[ 9.88831612e-01 1.46742886e-01 2.60493633e-02 2.20194694e+01] [-1.46725894e-01 9.89173843e-01 -2.57288753e-03 -1.25705371e+00] [-2.61449017e-02 -1.27796360e-03 9.99657347e-01 -1.13403711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.686547614999995 meters 0.08310312194172134 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.26, Z:-1.14 [[ 9.89165376e-01 1.44870098e-01 2.37595138e-02 2.20513597e+01] [-1.44855328e-01 9.89450053e-01 -2.35068315e-03 -1.25795235e+00] [-2.38493959e-02 -1.11647778e-03 9.99714939e-01 -1.14268243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.716547614999996 meters 0.08203871900574933 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.27, Z:-1.14 [[ 9.89401031e-01 1.43173489e-01 2.42270915e-02 2.20827888e+01] [-1.43157341e-01 9.89697011e-01 -2.40858853e-03 -1.26600168e+00] [-2.43223261e-02 -1.08522603e-03 9.99703579e-01 -1.14118668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.746547614999994 meters 0.08181398578328673 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.27, Z:-1.13 [[ 9.89310751e-01 1.43116535e-01 2.79623856e-02 2.21133171e+01] [-1.43094935e-01 9.89705056e-01 -2.78231172e-03 -1.27245137e+00] [-2.80727092e-02 -1.24870486e-03 9.99605104e-01 -1.13469420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.776547614999995 meters 0.08114060865511197 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.28, Z:-1.13 [[ 9.89191248e-01 1.43899001e-01 2.81735954e-02 2.21451965e+01] [-1.43877504e-01 9.89591546e-01 -2.79932743e-03 -1.27995314e+00] [-2.82831723e-02 -1.28447639e-03 9.99599126e-01 -1.13092740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.806547614999996 meters 0.08181678145288372 Centerline is valid? [True, True] Translation: X:22.18, Y:-1.28, Z:-1.14 [[ 9.89137777e-01 1.44158700e-01 2.87180807e-02 2.21761849e+01] [-1.44136248e-01 9.89553715e-01 -2.86123681e-03 -1.28021946e+00] [-2.88305556e-02 -1.30915897e-03 9.99583456e-01 -1.13589035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.836547614999994 meters 0.08192239374299043 Centerline is valid? [True, True] Translation: X:22.21, Y:-1.28, Z:-1.15 [[ 9.89695553e-01 1.41230154e-01 2.35956611e-02 2.22074129e+01] [-1.41214051e-01 9.89976284e-01 -2.35573665e-03 -1.28156298e+00] [-2.36918459e-02 -1.00057679e-03 9.99718808e-01 -1.14745367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.866547614999995 meters 0.08245638378101813 Centerline is valid? [True, True] Translation: X:22.24, Y:-1.28, Z:-1.15 [[ 9.89640482e-01 1.41783109e-01 2.25669384e-02 2.22394258e+01] [-1.41768488e-01 9.89897274e-01 -2.25455056e-03 -1.28154504e+00] [-2.26586080e-02 -9.68086235e-04 9.99742792e-01 -1.15136415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.896547614999996 meters 0.08198765911321886 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.29, Z:-1.15 [[ 9.89288098e-01 1.44146160e-01 2.30422152e-02 2.22716684e+01] [-1.44131308e-01 9.89555869e-01 -2.31275577e-03 -1.28781558e+00] [-2.31349342e-02 -1.03312286e-03 9.99731818e-01 -1.14683967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.926547614999993 meters 0.08384233111499685 Centerline is valid? [True, True] Translation: X:22.30, Y:-1.29, Z:-1.15 [[ 9.88919350e-01 1.46821828e-01 2.19515535e-02 2.23017480e+01] [-1.46808941e-01 9.89162407e-01 -2.20624470e-03 -1.29075236e+00] [-2.20375764e-02 -1.04088624e-03 9.99756601e-01 -1.14697013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.956547614999995 meters 0.08234271480828842 Centerline is valid? [True, True] Translation: X:22.33, Y:-1.30, Z:-1.15 [[ 9.89163998e-01 1.45455904e-01 1.99290058e-02 2.23333869e+01] [-1.45445146e-01 9.89364304e-01 -1.99592885e-03 -1.29733261e+00] [-2.00073666e-02 -9.24276192e-04 9.99799405e-01 -1.15098840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.986547614999996 meters 0.0818145836360767 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.30, Z:-1.16 [[ 9.90091697e-01 1.39058977e-01 1.95200670e-02 2.23632092e+01] [-1.39047171e-01 9.90283805e-01 -1.96736322e-03 -1.29729957e+00] [-1.96039857e-02 -7.66340104e-04 9.99807530e-01 -1.16023123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.016547614999993 meters 0.08194076185376152 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.30, Z:-1.16 [[ 9.90195876e-01 1.38252532e-01 1.99590607e-02 2.23939966e+01] [-1.38240163e-01 9.90396708e-01 -2.00477038e-03 -1.29836644e+00] [-2.00445526e-02 -7.74028430e-04 9.99798788e-01 -1.16192521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.046547614999994 meters 0.081031057297756 Centerline is valid? [True, True] Translation: X:22.42, Y:-1.31, Z:-1.16 [[ 9.90102740e-01 1.39165405e-01 1.81536446e-02 2.24249075e+01] [-1.39155275e-01 9.90268890e-01 -1.82619417e-03 -1.31030877e+00] [-1.82311325e-02 -7.18055567e-04 9.99833541e-01 -1.15507799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.076547614999996 meters 0.08174496818630625 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.32, Z:-1.15 [[ 9.90173580e-01 1.38790422e-01 1.71318458e-02 2.24552854e+01] [-1.38781287e-01 9.90321550e-01 -1.72669874e-03 -1.31681810e+00] [-1.72056853e-02 -6.67848132e-04 9.99851748e-01 -1.15392856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.106547614999993 meters 0.08044356702183435 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.32, Z:-1.15 [[ 9.89962709e-01 1.40330955e-01 1.67647814e-02 2.24866918e+01] [-1.40322384e-01 9.90104421e-01 -1.69235735e-03 -1.32362630e+00] [-1.68363744e-02 -6.77103437e-04 9.99858029e-01 -1.15447864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.136547614999994 meters 0.08294296393457623 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.31, Z:-1.17 [[ 9.89356051e-01 1.44544489e-01 1.67777976e-02 2.25173371e+01] [-1.44536290e-01 9.89498028e-01 -1.70662924e-03 -1.31369603e+00] [-1.68482815e-02 -7.36536658e-04 9.99857786e-01 -1.16707190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.166547614999995 meters 0.08334282726585261 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.31, Z:-1.17 [[ 9.89657362e-01 1.42008800e-01 2.02929955e-02 2.25473054e+01] [-1.41996277e-01 9.89865040e-01 -2.06407251e-03 -1.31151862e+00] [-2.03804433e-02 -8.38805251e-04 9.99791945e-01 -1.17191535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.196547614999993 meters 0.08106802729017178 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.33, Z:-1.16 [[ 9.89816700e-01 1.40572692e-01 2.24102563e-02 2.25774515e+01] [-1.40557070e-01 9.90069956e-01 -2.27860576e-03 -1.32784540e+00] [-2.25080312e-02 -8.94517928e-04 9.99746262e-01 -1.16236101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.226547614999994 meters 0.0800305051396636 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.34, Z:-1.16 [[ 9.90171760e-01 1.38454711e-01 1.97529318e-02 2.26085802e+01] [-1.38442278e-01 9.90368480e-01 -2.00212540e-03 -1.34127803e+00] [-1.98398848e-02 -7.52192846e-04 9.99802887e-01 -1.16127453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.256547614999995 meters 0.08301722888602844 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.33, Z:-1.17 [[ 9.88991258e-01 1.46504352e-01 2.08030221e-02 2.26401599e+01] [-1.46492061e-01 9.89209570e-01 -2.12180297e-03 -1.32984573e+00] [-2.08894019e-02 -9.49032979e-04 9.99781342e-01 -1.16855721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.286547614999993 meters 0.08257951851735623 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.33, Z:-1.17 [[ 9.89131746e-01 1.45357286e-01 2.21280165e-02 2.26712675e+01] [-1.45343107e-01 9.89378740e-01 -2.25628281e-03 -1.33255492e+00] [-2.22209562e-02 -9.84393719e-04 9.99752599e-01 -1.16975490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.316547614999994 meters 0.08317548463376767 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.34, Z:-1.17 [[ 9.89076383e-01 1.45955629e-01 2.06121858e-02 2.27018991e+01] [-1.45943566e-01 9.89290696e-01 -2.09637417e-03 -1.33896017e+00] [-2.06974212e-02 -9.34741713e-04 9.99785348e-01 -1.17233714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.346547614999995 meters 0.0830786679734847 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.34, Z:-1.18 [[ 9.89377508e-01 1.44337114e-01 1.72900139e-02 2.27331218e+01] [-1.44328354e-01 9.89528286e-01 -1.75998265e-03 -1.34382457e+00] [-1.73629886e-02 -7.54151991e-04 9.99848968e-01 -1.17930303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.376547614999996 meters 0.08354560245644449 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.34, Z:-1.18 [[ 9.89263357e-01 1.44812928e-01 1.96780669e-02 2.27647582e+01] [-1.44801535e-01 9.89458678e-01 -2.01015117e-03 -1.33902413e+00] [-1.97617299e-02 -8.60845394e-04 9.99804347e-01 -1.18140767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.406547614999994 meters 0.08309441302295796 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.34, Z:-1.18 [[ 9.89132316e-01 1.45898190e-01 1.81928520e-02 2.27958959e+01] [-1.45888581e-01 9.89299276e-01 -1.86142341e-03 -1.34489004e+00] [-1.82697536e-02 -8.12935306e-04 9.99832764e-01 -1.18194624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.436547614999995 meters 0.08376350618029338 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.34, Z:-1.19 [[ 9.88943152e-01 1.47247428e-01 1.75964906e-02 2.28285522e+01] [-1.47238491e-01 9.89099364e-01 -1.80943212e-03 -1.34270810e+00] [-1.76711119e-02 -8.01455216e-04 9.99843532e-01 -1.18546471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.466547614999996 meters 0.08339564095325153 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.34, Z:-1.18 [[ 9.88706729e-01 1.48638760e-01 1.91186655e-02 2.28617637e+01] [-1.48628573e-01 9.88891148e-01 -1.96055880e-03 -1.34465233e+00] [-1.91976941e-02 -9.03162306e-04 9.99815299e-01 -1.18496489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.496547614999994 meters 0.08385984475527677 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.35, Z:-1.18 [[ 9.88430330e-01 1.50323986e-01 2.02035332e-02 2.28927841e+01] [-1.50312791e-01 9.88636302e-01 -2.08020851e-03 -1.34655041e+00] [-2.02866516e-02 -9.80708289e-04 9.99793724e-01 -1.18428091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.526547614999995 meters 0.08791812626725097 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.34, Z:-1.20 [[ 9.87966849e-01 1.53826818e-01 1.60877388e-02 2.29234397e+01] [-1.53820058e-01 9.88097475e-01 -1.66415751e-03 -1.33653105e+00] [-1.61522462e-02 -8.30484467e-04 9.99869199e-01 -1.19534855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.556547614999996 meters 0.0858785133065068 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.34, Z:-1.19 [[ 9.88203680e-01 1.52160304e-01 1.73415037e-02 2.29547238e+01] [-1.52152176e-01 9.88355449e-01 -1.79485021e-03 -1.34336989e+00] [-1.74126746e-02 -8.64869937e-04 9.99848014e-01 -1.19339291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.586547614999994 meters 0.0836482911758978 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.35, Z:-1.19 [[ 9.88742047e-01 1.48689358e-01 1.67523206e-02 2.29858531e+01] [-1.48681263e-01 9.88883650e-01 -1.73459734e-03 -1.35399576e+00] [-1.68240121e-02 -7.75686864e-04 9.99858165e-01 -1.19210584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.616547614999995 meters 0.08301532779063657 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.35, Z:-1.20 [[ 9.89190567e-01 1.45747049e-01 1.61189407e-02 2.30173459e+01] [-1.45739152e-01 9.89321642e-01 -1.66976977e-03 -1.35432750e+00] [-1.61901809e-02 -6.97440246e-04 9.99868687e-01 -1.19848474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.646547614999996 meters 0.08232517322654315 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.36, Z:-1.20 [[ 9.89619390e-01 1.42508060e-01 1.85719080e-02 2.30472861e+01] [-1.42496950e-01 9.89793365e-01 -1.92692791e-03 -1.35965122e+00] [-1.86569541e-02 -7.39515027e-04 9.99825670e-01 -1.19803385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.676547614999993 meters 0.08090044817395246 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.37, Z:-1.19 [[ 9.89955098e-01 1.40127380e-01 1.87941955e-02 2.30778443e+01] [-1.40115593e-01 9.90133234e-01 -1.94905272e-03 -1.37268582e+00] [-1.88818733e-02 -7.03885177e-04 9.99821474e-01 -1.19215393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.706547614999995 meters 0.07883528013953614 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.38, Z:-1.19 [[ 9.90200129e-01 1.37837975e-01 2.24587938e-02 2.31084603e+01] [-1.37820523e-01 9.90454478e-01 -2.33047789e-03 -1.38400813e+00] [-2.25656412e-02 -7.87643206e-04 9.99745053e-01 -1.18566150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.736547614999996 meters 0.08260853140980313 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.37, Z:-1.20 [[ 9.89865228e-01 1.39852787e-01 2.46582365e-02 2.31406276e+01] [-1.39832515e-01 9.90171879e-01 -2.55298208e-03 -1.37482225e+00] [-2.47729341e-02 -9.20915048e-04 9.99692680e-01 -1.19603006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.766547614999993 meters 0.08193270073614531 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.38, Z:-1.20 [[ 9.89319624e-01 1.43925090e-01 2.30705613e-02 2.31711035e+01] [-1.43908162e-01 9.89588135e-01 -2.40102606e-03 -1.37684579e+00] [-2.31759216e-02 -9.44659876e-04 9.99730956e-01 -1.19916961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.796547614999994 meters 0.08339697429042679 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.38, Z:-1.20 [[ 9.88915218e-01 1.47070145e-01 2.04221553e-02 2.32020174e+01] [-1.47057544e-01 9.89125654e-01 -2.12565425e-03 -1.37925897e+00] [-2.05126980e-02 -9.01140159e-04 9.99789186e-01 -1.20432011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.826547614999996 meters 0.08398501151713737 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.38, Z:-1.20 [[ 9.88045833e-01 1.52374476e-01 2.33976848e-02 2.32328074e+01] [-1.52359406e-01 9.88322153e-01 -2.43587683e-03 -1.38492364e+00] [-2.34956157e-02 -1.15809941e-03 9.99723269e-01 -1.19933052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.856547614999993 meters 0.08408269602914656 Centerline is valid? [True, True] Translation: X:23.26, Y:-1.40, Z:-1.20 [[ 9.88158288e-01 1.52150834e-01 1.98323364e-02 2.32631320e+01] [-1.52140092e-01 9.88356796e-01 -2.05814011e-03 -1.39524179e+00] [-1.99145722e-02 -9.83525271e-04 9.99801201e-01 -1.19875097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.886547614999994 meters 0.08558063067219283 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.40, Z:-1.21 [[ 9.88133017e-01 1.52607879e-01 1.74349098e-02 2.32939371e+01] [-1.52599602e-01 9.88286435e-01 -1.81199431e-03 -1.39718142e+00] [-1.75072094e-02 -8.70068894e-04 9.99846358e-01 -1.20585010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.916547614999995 meters 0.08284168167346423 Centerline is valid? [True, True] Translation: X:23.32, Y:-1.41, Z:-1.21 [[ 9.88823974e-01 1.48243940e-01 1.58392799e-02 2.33245225e+01] [-1.48236411e-01 9.88950569e-01 -1.65486805e-03 -1.40568530e+00] [-1.59095890e-02 -7.11584789e-04 9.99873181e-01 -1.21419158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.946547614999993 meters 0.08201462095035725 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.41, Z:-1.21 [[ 9.89373830e-01 1.44024755e-01 1.99071401e-02 2.33537816e+01] [-1.44011941e-01 9.89573757e-01 -2.08331753e-03 -1.41228370e+00] [-1.99996327e-02 -8.05686026e-04 9.99799663e-01 -1.21357615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.976547614999994 meters 0.08210277275323892 Centerline is valid? [True, True] Translation: X:23.38, Y:-1.42, Z:-1.21 [[ 9.89503216e-01 1.42767322e-01 2.23802937e-02 2.33837458e+01] [-1.42750811e-01 9.89755890e-01 -2.34185716e-03 -1.41905673e+00] [-2.24853682e-02 -8.77529887e-04 9.99746787e-01 -1.21161363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.006547614999995 meters 0.08108015601803063 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.43, Z:-1.21 [[ 9.89549386e-01 1.42968301e-01 1.87637551e-02 2.34148632e+01] [-1.42956862e-01 9.89726987e-01 -1.95649209e-03 -1.42597301e+00] [-1.88507111e-02 -7.46361991e-04 9.99822031e-01 -1.21464045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.036547614999993 meters 0.08108015601803063 Centerline is valid? [True, True] Translation: X:23.45, Y:-1.43, Z:-1.22 [[ 9.89508673e-01 1.43249842e-01 1.87634886e-02 2.34470188e+01] [-1.43238405e-01 9.89686274e-01 -1.95904534e-03 -1.42952661e+00] [-1.88506000e-02 -7.49159828e-04 9.99822031e-01 -1.21633542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.066547614999994 meters 0.08185689244522461 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.43, Z:-1.22 [[ 9.89365424e-01 1.44239500e-01 1.87356432e-02 2.34775464e+01] [-1.44228137e-01 9.89542515e-01 -1.96336076e-03 -1.43100428e+00] [-1.88229097e-02 -7.59725673e-04 9.99822545e-01 -1.22005015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.096547614999995 meters 0.08185147156424535 Centerline is valid? [True, True] Translation: X:23.51, Y:-1.44, Z:-1.22 [[ 9.89542843e-01 1.43237946e-01 1.69661898e-02 2.35077405e+01] [-1.43228433e-01 9.89688054e-01 -1.78083693e-03 -1.44054737e+00] [-1.70463188e-02 -6.67826335e-04 9.99854478e-01 -1.22003012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.126547614999993 meters 0.0805161635980424 Centerline is valid? [True, True] Translation: X:23.54, Y:-1.46, Z:-1.22 [[ 9.90128645e-01 1.39610428e-01 1.24175500e-02 2.35382900e+01] [-1.39605060e-01 9.90206408e-01 -1.30234915e-03 -1.45697742e+00] [-1.24777591e-02 -4.44059610e-04 9.99922051e-01 -1.22196973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.156547614999994 meters 0.07993534084733622 Centerline is valid? [True, True] Translation: X:23.57, Y:-1.46, Z:-1.23 [[ 9.90789045e-01 1.34747320e-01 1.34248731e-02 2.35685150e+01] [-1.34740422e-01 9.90879912e-01 -1.42111370e-03 -1.46218398e+00] [-1.34939283e-02 -4.00849179e-04 9.99908872e-01 -1.23124345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.186547614999995 meters 0.07996216620190556 Centerline is valid? [True, True] Translation: X:23.60, Y:-1.46, Z:-1.24 [[ 9.91352365e-01 1.30269545e-01 1.58219325e-02 2.35977684e+01] [-1.30259379e-01 9.91478535e-01 -1.67581224e-03 -1.46457810e+00] [-1.59054137e-02 -3.99634667e-04 9.99873421e-01 -1.23762432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.216547614999996 meters 0.07836306636448283 Centerline is valid? [True, True] Translation: X:23.63, Y:-1.48, Z:-1.23 [[ 9.91349394e-01 1.29479719e-01 2.14797864e-02 2.36278612e+01] [-1.29460801e-01 9.91581931e-01 -2.27484567e-03 -1.47767780e+00] [-2.15935144e-02 -5.25623478e-04 9.99766695e-01 -1.22654057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.246547614999994 meters 0.07684003859325651 Centerline is valid? [True, True] Translation: X:23.66, Y:-1.49, Z:-1.22 [[ 9.91439400e-01 1.28156144e-01 2.49783861e-02 2.36585753e+01] [-1.28130137e-01 9.91753835e-01 -2.64552178e-03 -1.48944325e+00] [-2.51114501e-02 -5.77609520e-04 9.99684491e-01 -1.21784116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.276547614999995 meters 0.07750209272497122 Centerline is valid? [True, True] Translation: X:23.69, Y:-1.49, Z:-1.23 [[ 9.91492784e-01 1.28336915e-01 2.17185512e-02 2.36900928e+01] [-1.28317408e-01 9.91730495e-01 -2.29517803e-03 -1.48886981e+00] [-2.18335056e-02 -5.11215746e-04 9.99761490e-01 -1.22712385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.306547614999996 meters 0.07877207852755937 Centerline is valid? [True, True] Translation: X:23.72, Y:-1.48, Z:-1.24 [[ 9.91742358e-01 1.27017682e-01 1.77088627e-02 2.37212825e+01] [-1.27004470e-01 9.91900376e-01 -1.87328042e-03 -1.48419014e+00] [-1.78033673e-02 -3.91293185e-04 9.99841431e-01 -1.24025226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.336547614999994 meters 0.07863818085800632 Centerline is valid? [True, True] Translation: X:23.75, Y:-1.49, Z:-1.24 [[ 9.91338548e-01 1.29926378e-01 1.91577712e-02 2.37545556e+01] [-1.29911391e-01 9.91523529e-01 -2.03003911e-03 -1.48703486e+00] [-1.92591366e-02 -4.76356689e-04 9.99814412e-01 -1.23571162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.366547614999995 meters 0.07848257103745834 Centerline is valid? [True, True] Translation: X:23.79, Y:-1.49, Z:-1.23 [[ 9.90770697e-01 1.33803579e-01 2.16801455e-02 2.37866815e+01] [-1.33785124e-01 9.91007681e-01 -2.30598102e-03 -1.49369996e+00] [-2.17937392e-02 -6.15782522e-04 9.99762299e-01 -1.22911003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.396547614999996 meters 0.07799854544443027 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.49, Z:-1.23 [[ 9.90755449e-01 1.33369445e-01 2.48240078e-02 2.38185346e+01] [-1.33344797e-01 9.91066156e-01 -2.65305683e-03 -1.49335851e+00] [-2.49560707e-02 -6.81621753e-04 9.99688316e-01 -1.22891368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426547614999993 meters 0.07864002843128863 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.49, Z:-1.24 [[ 9.90790029e-01 1.33509675e-01 2.25894847e-02 2.38509420e+01] [-1.33489404e-01 9.91047311e-01 -2.40969804e-03 -1.49080357e+00] [-2.27089661e-02 -6.27952059e-04 9.99741921e-01 -1.23673137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.456547614999995 meters 0.0807099827075023 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.48, Z:-1.25 [[ 9.90423131e-01 1.36913012e-01 1.78002263e-02 2.38825648e+01] [-1.36900812e-01 9.90582923e-01 -1.90787043e-03 -1.48479733e+00] [-1.78938125e-02 -5.47266422e-04 9.99839743e-01 -1.24612211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.486547614999996 meters 0.08075145130630587 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.49, Z:-1.24 [[ 9.89906717e-01 1.40577772e-01 1.79605311e-02 2.39143619e+01] [-1.40565978e-01 9.90069445e-01 -1.92371069e-03 -1.48992164e+00] [-1.80526041e-02 -6.20345499e-04 9.99836846e-01 -1.24274154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.516547614999993 meters 0.07930977323126379 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.50, Z:-1.24 [[ 9.90097924e-01 1.38678606e-01 2.17794601e-02 2.39445213e+01] [-1.38660715e-01 9.90337188e-01 -2.33681737e-03 -1.50051588e+00] [-2.18930759e-02 -7.06277483e-04 9.99760068e-01 -1.23580688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546547614999994 meters 0.08093356830657623 Centerline is valid? [True, True] Translation: X:23.98, Y:-1.49, Z:-1.24 [[ 9.89097311e-01 1.44718908e-01 2.72570641e-02 2.39765703e+01] [-1.44693239e-01 9.89472247e-01 -2.92217127e-03 -1.48960018e+00] [-2.73930019e-02 -1.05360115e-03 9.99624186e-01 -1.23707885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.576547614999996 meters 0.08099844845917303 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.49, Z:-1.24 [[ 9.89140398e-01 1.44308505e-01 2.78626810e-02 2.40087145e+01] [-1.44281501e-01 9.89532173e-01 -2.98775471e-03 -1.48892678e+00] [-2.80021777e-02 -1.06476057e-03 9.99607295e-01 -1.24014919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.606547614999993 meters 0.08074964603980667 Centerline is valid? [True, True] Translation: X:24.04, Y:-1.50, Z:-1.25 [[ 9.89413932e-01 1.43226256e-01 2.33732806e-02 2.40399941e+01] [-1.43206869e-01 9.89689594e-01 -2.50987108e-03 -1.49670573e+00] [-2.34917720e-02 -8.63912908e-04 9.99723657e-01 -1.24530668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.636547614999994 meters 0.08085828027605926 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.51, Z:-1.25 [[ 9.89590400e-01 1.42740337e-01 1.83313188e-02 2.40702916e+01] [-1.42728166e-01 9.89759951e-01 -1.97726223e-03 -1.50572044e+00] [-1.84258402e-02 -6.59715792e-04 9.99830012e-01 -1.24771936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.666547614999995 meters 0.08140307603266868 Centerline is valid? [True, True] Translation: X:24.10, Y:-1.51, Z:-1.25 [[ 9.89146967e-01 1.45764552e-01 1.84654834e-02 2.41020415e+01] [-1.45752738e-01 9.89319046e-01 -1.99121850e-03 -1.51250599e+00] [-1.85585035e-02 -7.21787015e-04 9.99827516e-01 -1.24675107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.696547614999993 meters 0.08082578431263363 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.52, Z:-1.25 [[ 9.89789360e-01 1.41143086e-01 1.98910212e-02 2.41309518e+01] [-1.41128371e-01 9.89988973e-01 -2.14867356e-03 -1.51913409e+00] [-1.99951621e-02 -6.80453197e-04 9.99799845e-01 -1.25190863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726547614999994 meters 0.09389737602205575 Centerline is valid? [True, True] Translation: X:24.16, Y:-1.49, Z:-1.28 [[ 9.90165930e-01 1.37665570e-01 2.48922187e-02 2.41627033e+01] [-1.37641419e-01 9.90478474e-01 -2.68919947e-03 -1.48806179e+00] [-2.50254169e-02 -7.63446596e-04 9.99686524e-01 -1.28402923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.756547614999995 meters 0.0795673104906435 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.53, Z:-1.26 [[ 9.90515348e-01 1.35379175e-01 2.34909551e-02 2.41919759e+01] [-1.35357178e-01 9.90793635e-01 -2.53126488e-03 -1.52824750e+00] [-2.36173693e-02 -6.72412688e-04 9.99720845e-01 -1.25535963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.786547614999993 meters 0.07854849915175477 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.54, Z:-1.25 [[ 9.90682361e-01 1.33928231e-01 2.47323386e-02 2.42240337e+01] [-1.33903133e-01 9.90990813e-01 -2.67563820e-03 -1.53629892e+00] [-2.48678639e-02 -6.61030046e-04 9.99690528e-01 -1.25241263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.816547614999994 meters 0.0789463965065639 Centerline is valid? [True, True] Translation: X:24.26, Y:-1.54, Z:-1.25 [[ 9.90134311e-01 1.37649800e-01 2.62026591e-02 2.42559696e+01] [-1.37622968e-01 9.90480637e-01 -2.83326181e-03 -1.53873118e+00] [-2.63432244e-02 -8.00777984e-04 9.99652636e-01 -1.24857255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.846547614999995 meters 0.08204634661693991 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.53, Z:-1.26 [[ 9.88944712e-01 1.46820209e-01 2.07890241e-02 2.42883371e+01] [-1.46805157e-01 9.89162855e-01 -2.25664045e-03 -1.52745423e+00] [-2.08950509e-02 -8.20243302e-04 9.99781338e-01 -1.25555716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.876547614999993 meters 0.08548745756978217 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.51, Z:-1.26 [[ 9.88184980e-01 1.52289837e-01 1.72699276e-02 2.43191111e+01] [-1.52280254e-01 9.88335572e-01 -1.87628111e-03 -1.51487143e+00] [-1.73542223e-02 -7.75756152e-04 9.99849103e-01 -1.26488077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.906547614999994 meters 0.084703122850376 Centerline is valid? [True, True] Translation: X:24.35, Y:-1.52, Z:-1.26 [[ 9.88139408e-01 1.52840050e-01 1.48468437e-02 2.43501955e+01] [-1.52833159e-01 9.88250703e-01 -1.60431920e-03 -1.52090924e+00] [-1.49176079e-02 -6.83798992e-04 9.99888492e-01 -1.26493956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.936547614999995 meters 0.0853777332462308 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.53, Z:-1.27 [[ 9.88198902e-01 1.52427378e-01 1.51269595e-02 2.43809665e+01] [-1.52420072e-01 9.88314437e-01 -1.64150737e-03 -1.52620477e+00] [-1.52004032e-02 -6.83516475e-04 9.99884234e-01 -1.26767834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.966547614999993 meters 0.08276365440226445 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.53, Z:-1.27 [[ 9.88906412e-01 1.47414385e-01 1.82512238e-02 2.44117554e+01] [-1.47402759e-01 9.89074555e-01 -1.98800238e-03 -1.53347212e+00] [-1.83448812e-02 -7.24332433e-04 9.99831456e-01 -1.26775197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.996547614999994 meters 0.08118744944611238 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.54, Z:-1.26 [[ 9.89357474e-01 1.42989195e-01 2.69421214e-02 2.44414044e+01] [-1.42962164e-01 9.89723797e-01 -2.93680663e-03 -1.54179349e+00] [-2.70851903e-02 -9.46152376e-04 9.99632681e-01 -1.26271063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.026547614999995 meters 0.07879536854475828 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.56, Z:-1.26 [[ 9.89967135e-01 1.38203227e-01 2.94098714e-02 2.44710567e+01] [-1.38168877e-01 9.90403492e-01 -3.20681463e-03 -1.55987231e+00] [-2.95708315e-02 -8.88887803e-04 9.99562292e-01 -1.25729617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.056547614999996 meters 0.08005825225445307 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.56, Z:-1.26 [[ 9.89581225e-01 1.41044700e-01 2.89031508e-02 2.45024883e+01] [-1.41012831e-01 9.90002763e-01 -3.14819470e-03 -1.55760840e+00] [-2.90582354e-02 -9.60320752e-04 9.99577259e-01 -1.26253790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.086547614999994 meters 0.08130882681575298 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.56, Z:-1.27 [[ 9.89224447e-01 1.43839669e-01 2.72973250e-02 2.45336054e+01] [-1.43812014e-01 9.89600526e-01 -2.98387655e-03 -1.55580015e+00] [-2.74426470e-02 -9.73959660e-04 9.99622905e-01 -1.26707079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.116547614999995 meters 0.0811641184764552 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.56, Z:-1.27 [[ 9.89028164e-01 1.45715759e-01 2.42942043e-02 2.45638583e+01] [-1.45694412e-01 9.89326076e-01 -2.65591371e-03 -1.56311643e+00] [-2.44218983e-02 -9.12756350e-04 9.99701324e-01 -1.26572362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.146547614999996 meters 0.08105688594402255 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.57, Z:-1.27 [[ 9.89367227e-01 1.43739540e-01 2.21683124e-02 2.45947081e+01] [-1.43721413e-01 9.89615235e-01 -2.41707465e-03 -1.56762387e+00] [-2.22855289e-02 -7.94686745e-04 9.99751331e-01 -1.27466831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.176547614999993 meters 0.0808873571481855 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.57, Z:-1.28 [[ 9.89590448e-01 1.42152948e-01 2.24339950e-02 2.46255437e+01] [-1.42133780e-01 9.89844413e-01 -2.45479604e-03 -1.56949737e+00] [-2.25551212e-02 -7.59385790e-04 9.99745312e-01 -1.27886305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.206547614999995 meters 0.08055606186809759 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.58, Z:-1.28 [[ 9.90087047e-01 1.38344455e-01 2.42580251e-02 2.46551891e+01] [-1.38320718e-01 9.90383912e-01 -2.66183314e-03 -1.57545733e+00] [-2.43930077e-02 -7.19940955e-04 9.99702187e-01 -1.28240873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.236547614999996 meters 0.08052956797250145 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.58, Z:-1.28 [[ 9.89801845e-01 1.40223149e-01 2.50953188e-02 2.46874223e+01] [-1.40198490e-01 9.90119604e-01 -2.74813087e-03 -1.58140824e+00] [-2.52327187e-02 -7.98220792e-04 9.99681286e-01 -1.27886417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.266547614999993 meters 0.08081594401206843 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.59, Z:-1.28 [[ 9.89245611e-01 1.43695542e-01 2.72894248e-02 2.47192478e+01] [-1.43667495e-01 9.89621481e-01 -2.99588721e-03 -1.58558208e+00] [-2.74366966e-02 -9.56935025e-04 9.99623085e-01 -1.27514965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.296547614999994 meters 0.08059436846989024 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.59, Z:-1.28 [[ 9.89244500e-01 1.43745918e-01 2.70634323e-02 2.47521679e+01] [-1.43718205e-01 9.89614176e-01 -2.97653094e-03 -1.59049590e+00] [-2.72102205e-02 -9.44991042e-04 9.99629287e-01 -1.27607224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.326547614999996 meters 0.07982350787699671 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.60, Z:-1.28 [[ 9.89775138e-01 1.40221110e-01 2.61383940e-02 2.47825602e+01] [-1.40193695e-01 9.90119887e-01 -2.88755581e-03 -1.59695640e+00] [-2.62850400e-02 -8.06407092e-04 9.99654163e-01 -1.28152872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.356547614999993 meters 0.08029176850676109 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.60, Z:-1.29 [[ 9.90202581e-01 1.37518356e-01 2.42394212e-02 2.48134397e+01] [-1.37494077e-01 9.90498981e-01 -2.67336107e-03 -1.59799221e+00] [-2.43767582e-02 -6.85607827e-04 9.99702608e-01 -1.29138430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.386547614999994 meters 0.08166955495716921 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.60, Z:-1.30 [[ 9.90001783e-01 1.39726796e-01 1.93104171e-02 2.48441524e+01] [-1.39711642e-01 9.90189924e-01 -2.13827321e-03 -1.59768692e+00] [-1.94197545e-02 -5.80995792e-04 9.99811250e-01 -1.29857807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.416547614999995 meters 0.08160885591035308 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.60, Z:-1.29 [[ 9.89613111e-01 1.42227801e-01 2.09079640e-02 2.48762726e+01] [-1.42210724e-01 9.89833713e-01 -2.30891785e-03 -1.60382168e+00] [-2.10238000e-02 -6.88401333e-04 9.99778738e-01 -1.29448999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.446547614999993 meters 0.0799378293011765 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.62, Z:-1.29 [[ 9.89801724e-01 1.40879422e-01 2.11076994e-02 2.49069023e+01] [-1.40861611e-01 9.90026541e-01 -2.33574463e-03 -1.61835442e+00] [-2.12262410e-02 -6.61340467e-04 9.99774479e-01 -1.29016987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.476547614999994 meters 0.08038549886982455 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.62, Z:-1.30 [[ 9.90132275e-01 1.38175083e-01 2.33607670e-02 2.49368722e+01] [-1.38152199e-01 9.90407602e-01 -2.59843600e-03 -1.61846832e+00] [-2.34957204e-02 -6.54545981e-04 9.99723723e-01 -1.29621793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.506547614999995 meters 0.07894287070787555 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.62, Z:-1.30 [[ 9.90495917e-01 1.35111243e-01 2.57447247e-02 2.49676275e+01] [-1.35082413e-01 9.90830228e-01 -2.86368939e-03 -1.62342149e+00] [-2.58955680e-02 -6.41186886e-04 9.99664448e-01 -1.29625619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.536547614999993 meters 0.08019221038072258 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.62, Z:-1.30 [[ 9.90066489e-01 1.38347097e-01 2.50684800e-02 2.49991640e+01] [-1.38320903e-01 9.90383550e-01 -2.78427129e-03 -1.62170498e+00] [-2.52126061e-02 -7.10881111e-04 9.99681859e-01 -1.29891426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.566547614999994 meters 0.07958498355294498 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.63, Z:-1.29 [[ 9.89113308e-01 1.44806242e-01 2.61919310e-02 2.50296568e+01] [-1.44779602e-01 9.89459618e-01 -2.92064413e-03 -1.63104148e+00] [-2.63387856e-02 -9.03209379e-04 9.99652666e-01 -1.28621382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.596547614999995 meters 0.08256865678895235 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.62, Z:-1.29 [[ 9.88859516e-01 1.46119199e-01 2.83907981e-02 2.50616367e+01] [-1.46088505e-01 9.89266466e-01 -3.16355027e-03 -1.62365662e+00] [-2.85483199e-02 -1.01926245e-03 9.99591894e-01 -1.29119863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.626547614999993 meters 0.08205690925376195 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.63, Z:-1.29 [[ 9.89150745e-01 1.43754143e-01 3.02580520e-02 2.50920316e+01] [-1.43717956e-01 9.89612921e-01 -3.37874422e-03 -1.62606813e+00] [-3.04294677e-02 -1.00653803e-03 9.99536410e-01 -1.29484204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.656547614999994 meters 0.07925061916592273 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.64, Z:-1.30 [[ 9.89836139e-01 1.39072827e-01 2.97181072e-02 2.51228439e+01] [-1.39035813e-01 9.90281794e-01 -3.31838929e-03 -1.63773200e+00] [-2.98907983e-02 -8.47219538e-04 9.99552811e-01 -1.29746756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.686547614999995 meters 0.07986058650996794 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.64, Z:-1.30 [[ 9.89715529e-01 1.40119523e-01 2.88043621e-02 2.51547235e+01] [-1.40085246e-01 9.90134229e-01 -3.21455039e-03 -1.63706390e+00] [-2.89706062e-02 -8.53575714e-04 9.99579899e-01 -1.30095724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.716547614999993 meters 0.08111338313710444 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.64, Z:-1.30 [[ 9.89117311e-01 1.44902409e-01 2.54997455e-02 2.51858026e+01] [-1.44876871e-01 9.89445570e-01 -2.85595823e-03 -1.63794651e+00] [-2.56444454e-02 -8.69445614e-04 9.99670749e-01 -1.30295522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746547614999994 meters 0.08179743908765533 Centerline is valid? [True, True] Translation: X:25.22, Y:-1.64, Z:-1.30 [[ 9.88751494e-01 1.47777422e-01 2.30719736e-02 2.52166133e+01] [-1.47757270e-01 9.89020276e-01 -2.58519117e-03 -1.64108791e+00] [-2.32006826e-02 -8.52940210e-04 9.99730464e-01 -1.30374237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.776547614999995 meters 0.08267417348783096 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.64, Z:-1.30 [[ 9.87933957e-01 1.53057912e-01 2.36595145e-02 2.52479983e+01] [-1.53038236e-01 9.88216713e-01 -2.65080246e-03 -1.63794245e+00] [-2.37864540e-02 -1.00199260e-03 9.99716560e-01 -1.30386174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.806547614999992 meters 0.08171389976898819 Centerline is valid? [True, True] Translation: X:25.28, Y:-1.64, Z:-1.30 [[ 9.88163936e-01 1.51276797e-01 2.54433922e-02 2.52792435e+01] [-1.51253429e-01 9.88490905e-01 -2.85158739e-03 -1.64419402e+00] [-2.55819408e-02 -1.03056449e-03 9.99672197e-01 -1.30344219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.836547614999994 meters 0.0805769596312865 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.66, Z:-1.31 [[ 9.88805277e-01 1.47126332e-01 2.48589500e-02 2.53081542e+01] [-1.47102659e-01 9.89117300e-01 -2.78831895e-03 -1.65765642e+00] [-2.49986527e-02 -8.99713160e-04 9.99687080e-01 -1.30502305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.866547614999995 meters 0.07991843054834083 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.67, Z:-1.31 [[ 9.89721414e-01 1.40884011e-01 2.45604886e-02 2.53367881e+01] [-1.40858964e-01 9.90025838e-01 -2.75554385e-03 -1.66673582e+00] [-2.47037304e-02 -7.32344228e-04 9.99694548e-01 -1.31393419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.896547614999996 meters 0.08032656739125194 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.67, Z:-1.32 [[ 9.90019143e-01 1.38656502e-01 2.52283830e-02 2.53667973e+01] [-1.38629409e-01 9.90340289e-01 -2.82823784e-03 -1.66865347e+00] [-2.53768377e-02 -6.97386235e-04 9.99677713e-01 -1.32074715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.926547614999993 meters 0.07973450737662602 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.68, Z:-1.32 [[ 9.90033559e-01 1.38434538e-01 2.58733622e-02 2.53981855e+01] [-1.38405985e-01 9.90371332e-01 -2.89983446e-03 -1.67920108e+00] [-2.60256734e-02 -7.10094744e-04 9.99661023e-01 -1.31843534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.956547614999995 meters 0.07973450737662602 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.68, Z:-1.32 [[ 9.89997114e-01 1.38695035e-01 2.58727893e-02 2.54302953e+01] [-1.38666437e-01 9.90334883e-01 -2.90493306e-03 -1.68301820e+00] [-2.60256256e-02 -7.11812167e-04 9.99661023e-01 -1.32012984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.986547614999996 meters 0.0788533679614078 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.69, Z:-1.31 [[ 9.89732736e-01 1.40212072e-01 2.77432088e-02 2.54613137e+01] [-1.40179530e-01 9.90121174e-01 -3.12407225e-03 -1.69362708e+00] [-2.79071711e-02 -7.97033393e-04 9.99610201e-01 -1.31490701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.016547614999993 meters 0.07813634590498542 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.70, Z:-1.31 [[ 9.89697422e-01 1.40012374e-01 2.99256905e-02 2.54936338e+01] [-1.39974182e-01 9.90149392e-01 -3.37772028e-03 -1.69597342e+00] [-3.01038269e-02 -8.45902989e-04 9.99546419e-01 -1.31393025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.046547614999994 meters 0.07756877979715995 Centerline is valid? [True, True] Translation: X:25.52, Y:-1.70, Z:-1.32 [[ 9.90021438e-01 1.37490155e-01 3.08870422e-02 2.55243074e+01] [-1.37447865e-01 9.90502825e-01 -3.49837862e-03 -1.70146660e+00] [-3.10746952e-02 -7.81888164e-04 9.99516759e-01 -1.31596143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.076547614999996 meters 0.07771069518992248 Centerline is valid? [True, True] Translation: X:25.55, Y:-1.71, Z:-1.32 [[ 9.90642314e-01 1.34342210e-01 2.40826829e-02 2.55543240e+01] [-1.34315687e-01 9.90934853e-01 -2.72293921e-03 -1.71261935e+00] [-2.42301755e-02 -5.37223282e-04 9.99706262e-01 -1.32291704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.106547614999993 meters 0.07763623302654432 Centerline is valid? [True, True] Translation: X:25.59, Y:-1.72, Z:-1.33 [[ 9.90831427e-01 1.32813038e-01 2.47745958e-02 2.55860064e+01] [-1.32784356e-01 9.91140978e-01 -2.80657057e-03 -1.71631545e+00] [-2.49278663e-02 -5.08840432e-04 9.99689123e-01 -1.32665458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.136547614999994 meters 0.07757695853188595 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.71, Z:-1.32 [[ 9.90468556e-01 1.34390740e-01 3.01855613e-02 2.56178522e+01] [-1.34348455e-01 9.90928202e-01 -3.43388071e-03 -1.71445102e+00] [-3.03732057e-02 -6.54232650e-04 9.99538414e-01 -1.32474252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.166547614999995 meters 0.07768525009165503 Centerline is valid? [True, True] Translation: X:25.65, Y:-1.71, Z:-1.32 [[ 9.89656870e-01 1.39455240e-01 3.36380014e-02 2.56504542e+01] [-1.39405732e-01 9.90227962e-01 -3.82419151e-03 -1.71329022e+00] [-3.38425932e-02 -9.04692804e-04 9.99426766e-01 -1.31983614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.196547614999993 meters 0.0787044282154058 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.71, Z:-1.32 [[ 9.89022070e-01 1.43905459e-01 3.35643203e-02 2.56816900e+01] [-1.43858313e-01 9.89590891e-01 -3.82802237e-03 -1.71214520e+00] [-3.37658189e-02 -1.04250787e-03 9.99429228e-01 -1.31922101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.226547614999994 meters 0.08127936860500554 Centerline is valid? [True, True] Translation: X:25.71, Y:-1.70, Z:-1.33 [[ 9.88663040e-01 1.46485401e-01 3.29760452e-02 2.57135115e+01] [-1.46441436e-01 9.89212205e-01 -3.75761815e-03 -1.70149252e+00] [-3.31707426e-02 -1.11404123e-03 9.99449079e-01 -1.32691444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.256547614999995 meters 0.08140057801535829 Centerline is valid? [True, True] Translation: X:25.74, Y:-1.70, Z:-1.33 [[ 9.87915105e-01 1.51841621e-01 3.11105565e-02 2.57443497e+01] [-1.51804822e-01 9.88404096e-01 -3.55519514e-03 -1.70060636e+00] [-3.12896280e-02 -1.21050149e-03 9.99509627e-01 -1.32842140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.286547614999993 meters 0.08140789090301652 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.71, Z:-1.33 [[ 9.88015037e-01 1.51904330e-01 2.74109799e-02 2.57752293e+01] [-1.51875819e-01 9.88394623e-01 -3.13121484e-03 -1.70836145e+00] [-2.75685102e-02 -1.06937768e-03 9.99619344e-01 -1.32820168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.316547614999994 meters 0.08060415955099377 Centerline is valid? [True, True] Translation: X:25.81, Y:-1.71, Z:-1.33 [[ 9.88282149e-01 1.49913152e-01 2.87130824e-02 2.58064657e+01] [-1.49880881e-01 9.88698604e-01 -3.28506314e-03 -1.71211142e+00] [-2.88810586e-02 -1.05697284e-03 9.99582296e-01 -1.33145818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.346547614999995 meters 0.08129934983103167 Centerline is valid? [True, True] Translation: X:25.84, Y:-1.71, Z:-1.34 [[ 9.88308410e-01 1.49774667e-01 2.85313084e-02 2.58387670e+01] [-1.49742832e-01 9.88719600e-01 -3.26128496e-03 -1.70660942e+00] [-2.86979217e-02 -1.04920356e-03 9.99587579e-01 -1.34050591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.376547614999993 meters 0.08261435207487325 Centerline is valid? [True, True] Translation: X:25.87, Y:-1.70, Z:-1.34 [[ 9.87752671e-01 1.53095714e-01 3.01058801e-02 2.58710840e+01] [-1.53061553e-01 9.88210636e-01 -3.44964118e-03 -1.70108458e+00] [-3.02790762e-02 -1.20066048e-03 9.99540763e-01 -1.34358727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.406547614999994 meters 0.08289230297058856 Centerline is valid? [True, True] Translation: X:25.90, Y:-1.71, Z:-1.33 [[ 9.86898018e-01 1.58237221e-01 3.15164164e-02 2.59018960e+01] [-1.58202024e-01 9.87400118e-01 -3.62309702e-03 -1.70788318e+00] [-3.16926221e-02 -1.41033359e-03 9.99496668e-01 -1.33468657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.436547614999995 meters 0.08299436044833307 Centerline is valid? [True, True] Translation: X:25.93, Y:-1.72, Z:-1.33 [[ 9.86480952e-01 1.60828963e-01 3.14543441e-02 2.59332781e+01] [-1.60795336e-01 9.86981161e-01 -3.61223908e-03 -1.71651644e+00] [-3.16257977e-02 -1.49430677e-03 9.99498662e-01 -1.32831125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.466547614999993 meters 0.08428245116809704 Centerline is valid? [True, True] Translation: X:25.96, Y:-1.71, Z:-1.33 [[ 9.86176860e-01 1.62320309e-01 3.32764046e-02 2.59649620e+01] [-1.62283242e-01 9.86736785e-01 -3.82978088e-03 -1.71281722e+00] [-3.34567037e-02 -1.62336155e-03 9.99438849e-01 -1.33275731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.496547614999994 meters 0.08243318703071109 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.71, Z:-1.34 [[ 9.86412345e-01 1.60667708e-01 3.43012152e-02 2.59958473e+01] [-1.60626932e-01 9.87007251e-01 -3.95917127e-03 -1.71344308e+00] [-3.44916591e-02 -1.60432354e-03 9.99403698e-01 -1.34058667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.526547614999995 meters 0.08240754435351888 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.72, Z:-1.35 [[ 9.87150732e-01 1.56666839e-01 3.14473127e-02 2.60253833e+01] [-1.56630495e-01 9.87650598e-01 -3.63111337e-03 -1.72143744e+00] [-3.16278322e-02 -1.34115193e-03 9.99498815e-01 -1.34659935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.556547614999992 meters 0.08122068754567444 Centerline is valid? [True, True] Translation: X:26.05, Y:-1.73, Z:-1.35 [[ 9.87809912e-01 1.52825853e-01 2.95945262e-02 2.60547470e+01] [-1.52791930e-01 9.88252471e-01 -3.41767352e-03 -1.73285306e+00] [-2.97691725e-02 -1.14579298e-03 9.99556143e-01 -1.34750794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.586547614999994 meters 0.0797760018249784 Centerline is valid? [True, True] Translation: X:26.09, Y:-1.74, Z:-1.35 [[ 9.88149829e-01 1.49948615e-01 3.27921887e-02 2.60855990e+01] [-1.49905375e-01 9.88693095e-01 -3.78717992e-03 -1.74001291e+00] [-3.29892929e-02 -1.17342415e-03 9.99455016e-01 -1.34509469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.616547614999995 meters 0.07900405181984685 Centerline is valid? [True, True] Translation: X:26.12, Y:-1.75, Z:-1.35 [[ 9.88496532e-01 1.48099613e-01 3.06775200e-02 2.61164478e+01] [-1.48060977e-01 9.88971899e-01 -3.53983575e-03 -1.74865789e+00] [-3.08634535e-02 -1.04302820e-03 9.99523066e-01 -1.34563015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.646547614999992 meters 0.0785690464947431 Centerline is valid? [True, True] Translation: X:26.15, Y:-1.76, Z:-1.35 [[ 9.88982624e-01 1.45654140e-01 2.64242337e-02 2.61460007e+01] [-1.45624467e-01 9.89335225e-01 -3.05415418e-03 -1.75787475e+00] [-2.65872753e-02 -8.27509514e-04 9.99646153e-01 -1.35189729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.676547614999993 meters 0.07845300742196527 Centerline is valid? [True, True] Translation: X:26.18, Y:-1.76, Z:-1.36 [[ 9.89277864e-01 1.43466103e-01 2.73273641e-02 2.61771967e+01] [-1.43433240e-01 9.89654921e-01 -3.16921158e-03 -1.76190648e+00] [-2.74993348e-02 -7.84421506e-04 9.99621514e-01 -1.35781438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.706547614999995 meters 0.07839596251340952 Centerline is valid? [True, True] Translation: X:26.21, Y:-1.77, Z:-1.36 [[ 9.89086934e-01 1.44467656e-01 2.89159678e-02 2.62094713e+01] [-1.44431263e-01 9.89509151e-01 -3.35429047e-03 -1.76600117e+00] [-2.90972012e-02 -8.58684878e-04 9.99576218e-01 -1.35848619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.736547614999996 meters 0.07804795555412074 Centerline is valid? [True, True] Translation: X:26.24, Y:-1.77, Z:-1.35 [[ 9.88601664e-01 1.46877448e-01 3.30721162e-02 2.62416510e+01] [-1.46831170e-01 9.89154126e-01 -3.83692437e-03 -1.77031778e+00] [-3.32769779e-02 -1.06282769e-03 9.99445603e-01 -1.35294040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.766547614999993 meters 0.0792977077717112 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.77, Z:-1.36 [[ 9.88156756e-01 1.50478245e-01 3.00420349e-02 2.62712135e+01] [-1.50441423e-01 9.88612746e-01 -3.49520651e-03 -1.77188520e+00] [-3.02258912e-02 -1.06575455e-03 9.99542525e-01 -1.35619072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.796547614999994 meters 0.0792346806825552 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.77, Z:-1.36 [[ 9.88176016e-01 1.50165317e-01 3.09602902e-02 2.63028449e+01] [-1.50126088e-01 9.88660301e-01 -3.60102513e-03 -1.77258680e+00] [-3.11499589e-02 -1.08950057e-03 9.99514128e-01 -1.35790869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.826547614999996 meters 0.07801761235663981 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.78, Z:-1.35 [[ 9.88191030e-01 1.49268541e-01 3.46033225e-02 2.63336904e+01] [-1.49218534e-01 9.88795998e-01 -4.03775164e-03 -1.77932671e+00] [-3.48183361e-02 -1.17338709e-03 9.99392969e-01 -1.35367084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.856547614999993 meters 0.07840721546028295 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.78, Z:-1.36 [[ 9.88207290e-01 1.49069063e-01 3.49966534e-02 2.63648569e+01] [-1.49017855e-01 9.88826081e-01 -4.08172239e-03 -1.78291024e+00] [-3.52140622e-02 -1.18153840e-03 9.99379094e-01 -1.35622222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.886547614999994 meters 0.07805371130969961 Centerline is valid? [True, True] Translation: X:26.40, Y:-1.79, Z:-1.36 [[ 9.88543777e-01 1.47595917e-01 3.15696982e-02 2.63966662e+01] [-1.47553341e-01 9.89047227e-01 -3.68696116e-03 -1.78673895e+00] [-3.17681029e-02 -1.01349193e-03 9.99494753e-01 -1.36355516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.916547614999995 meters 0.07918601990042619 Centerline is valid? [True, True] Translation: X:26.43, Y:-1.79, Z:-1.37 [[ 9.88201983e-01 1.49899634e-01 3.14156243e-02 2.64276254e+01] [-1.49858329e-01 9.88700637e-01 -3.67858963e-03 -1.78606197e+00] [-3.16120670e-02 -1.07270339e-03 9.99499638e-01 -1.36709459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.946547614999993 meters 0.07884053614824307 Centerline is valid? [True, True] Translation: X:26.46, Y:-1.79, Z:-1.36 [[ 9.87738574e-01 1.52598211e-01 3.29590069e-02 2.64594900e+01] [-1.52554004e-01 9.88287572e-01 -3.86666761e-03 -1.78958032e+00] [-3.31630235e-02 -1.20877172e-03 9.99449225e-01 -1.36411188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.976547614999994 meters 0.08046390540321505 Centerline is valid? [True, True] Translation: X:26.49, Y:-1.78, Z:-1.37 [[ 9.87111175e-01 1.56466735e-01 3.36108465e-02 2.64907456e+01] [-1.56422591e-01 9.87682302e-01 -3.95518642e-03 -1.78451046e+00] [-3.38156933e-02 -1.35328697e-03 9.99427170e-01 -1.36673571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.006547614999995 meters 0.08181306412411082 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.78, Z:-1.37 [[ 9.86692183e-01 1.59348789e-01 3.23496348e-02 2.65217481e+01] [-1.59309375e-01 9.87221361e-01 -3.80880413e-03 -1.78267224e+00] [-3.25431788e-02 -1.39548285e-03 9.99469356e-01 -1.37191470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.036547614999993 meters 0.08201215040097894 Centerline is valid? [True, True] Translation: X:26.55, Y:-1.79, Z:-1.37 [[ 9.86515029e-01 1.60903592e-01 2.99688581e-02 2.65527284e+01] [-1.60870604e-01 9.86969213e-01 -3.52441537e-03 -1.78804603e+00] [-3.01454314e-02 -1.34421958e-03 9.99544619e-01 -1.37312141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.066547614999994 meters 0.08141861521628785 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.80, Z:-1.37 [[ 9.86613891e-01 1.60088005e-01 3.10621939e-02 2.65839278e+01] [-1.60051942e-01 9.87101808e-01 -3.66008675e-03 -1.79616154e+00] [-3.12474837e-02 -1.36047201e-03 9.99510752e-01 -1.37361830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.096547614999995 meters 0.07942452176707131 Centerline is valid? [True, True] Translation: X:26.61, Y:-1.80, Z:-1.38 [[ 9.87440976e-01 1.54337273e-01 3.37687154e-02 2.66144707e+01] [-1.54290845e-01 9.88017408e-01 -3.99213691e-03 -1.80445513e+00] [-3.39802142e-02 -1.26820408e-03 9.99421701e-01 -1.37580211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.126547614999993 meters 0.0788281541021381 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.81, Z:-1.38 [[ 9.88275011e-01 1.49416978e-01 3.14176580e-02 2.66437113e+01] [-1.49374280e-01 9.88773747e-01 -3.71501479e-03 -1.81044358e+00] [-3.16200417e-02 -1.02153377e-03 9.99499439e-01 -1.38429604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.156547614999994 meters 0.07749655641104257 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.82, Z:-1.39 [[ 9.89027041e-01 1.44905539e-01 2.87731987e-02 2.66741520e+01] [-1.44867829e-01 9.89445167e-01 -3.40194045e-03 -1.82225615e+00] [-2.89624624e-02 -8.03699741e-04 9.99580177e-01 -1.38613406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.186547614999995 meters 0.0748297931204617 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.84, Z:-1.38 [[ 9.90041587e-01 1.37544609e-01 2.99856124e-02 2.67027408e+01] [-1.37500199e-01 9.90495385e-01 -3.54786328e-03 -1.84312523e+00] [-3.01886001e-02 -6.10495487e-04 9.99544034e-01 -1.37821126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.216547614999993 meters 0.07397887625213158 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.85, Z:-1.38 [[ 9.90484965e-01 1.33656128e-01 3.27959488e-02 2.67334948e+01] [-1.33600872e-01 9.91027623e-01 -3.88037378e-03 -1.84814404e+00] [-3.30203269e-02 -5.38115449e-04 9.99454535e-01 -1.38133157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.246547614999994 meters 0.07379658694263509 Centerline is valid? [True, True] Translation: X:26.77, Y:-1.85, Z:-1.38 [[ 9.90520797e-01 1.32937805e-01 3.45845586e-02 2.67659432e+01] [-1.32875997e-01 9.91124232e-01 -4.08972505e-03 -1.84878812e+00] [-3.48212732e-02 -5.44499995e-04 9.99393407e-01 -1.38207716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.276547614999995 meters 0.07364321151513428 Centerline is valid? [True, True] Translation: X:26.80, Y:-1.85, Z:-1.38 [[ 9.90404763e-01 1.33714699e-01 3.49110969e-02 2.67989799e+01] [-1.33651924e-01 9.91019705e-01 -4.13620229e-03 -1.85273484e+00] [-3.51506560e-02 -5.69420804e-04 9.99381863e-01 -1.38363793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.306547614999992 meters 0.07378564692268333 Centerline is valid? [True, True] Translation: X:26.83, Y:-1.85, Z:-1.38 [[ 9.89990239e-01 1.36413170e-01 3.62046098e-02 2.68308896e+01] [-1.36347047e-01 9.90651799e-01 -4.30073092e-03 -1.85268969e+00] [-3.64528382e-02 -6.78710007e-04 9.99335144e-01 -1.38399882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.336547614999994 meters 0.07408044031583652 Centerline is valid? [True, True] Translation: X:26.86, Y:-1.85, Z:-1.38 [[ 9.89464398e-01 1.39257997e-01 3.95905865e-02 2.68637505e+01] [-1.39180766e-01 9.90255772e-01 -4.71382563e-03 -1.85113772e+00] [-3.98612447e-02 -8.46085489e-04 9.99204867e-01 -1.38287763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.366547614999995 meters 0.07453535410351542 Centerline is valid? [True, True] Translation: X:26.89, Y:-1.85, Z:-1.38 [[ 9.88851011e-01 1.43960608e-01 3.80660124e-02 2.68949516e+01] [-1.43892209e-01 9.89582931e-01 -4.54483637e-03 -1.85038979e+00] [-3.83237535e-02 -9.83236558e-04 9.99264891e-01 -1.38391043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.396547614999992 meters 0.07724763655509417 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.84, Z:-1.39 [[ 9.87421900e-01 1.53247625e-01 3.88993180e-02 2.69267998e+01] [-1.53183284e-01 9.88186869e-01 -4.64690162e-03 -1.83836245e+00] [-3.91519219e-02 -1.37027285e-03 9.99232330e-01 -1.38535590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.426547614999993 meters 0.0796095582117378 Centerline is valid? [True, True] Translation: X:26.96, Y:-1.84, Z:-1.39 [[ 9.86578335e-01 1.60115465e-01 3.20347639e-02 2.69578197e+01] [-1.60075440e-01 9.87097365e-01 -3.82688068e-03 -1.83539686e+00] [-3.22341738e-02 -1.35246134e-03 9.99479429e-01 -1.39221326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.456547614999995 meters 0.08266468987981991 Centerline is valid? [True, True] Translation: X:26.99, Y:-1.83, Z:-1.40 [[ 9.86206354e-01 1.63527270e-01 2.56097665e-02 2.69874800e+01] [-1.63502859e-01 9.86538119e-01 -3.05847490e-03 -1.83319342e+00] [-2.57651550e-02 -1.17098267e-03 9.99667337e-01 -1.40360836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.486547614999992 meters 0.0807619317714815 Centerline is valid? [True, True] Translation: X:27.02, Y:-1.84, Z:-1.40 [[ 9.86200127e-01 1.62852139e-01 2.98075572e-02 2.70188800e+01] [-1.62818696e-01 9.86649575e-01 -3.56203885e-03 -1.84107789e+00] [-2.99896993e-02 -1.34034441e-03 9.99549309e-01 -1.40146695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.516547614999993 meters 0.08096872991822107 Centerline is valid? [True, True] Translation: X:27.05, Y:-1.84, Z:-1.40 [[ 9.86622409e-01 1.59718808e-01 3.26515644e-02 2.70496362e+01] [-1.59676875e-01 9.87161613e-01 -3.90465279e-03 -1.84136773e+00] [-3.28560175e-02 -1.36128183e-03 9.99459168e-01 -1.40356788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.546547614999994 meters 0.07934291962301822 Centerline is valid? [True, True] Translation: X:27.08, Y:-1.85, Z:-1.40 [[ 9.86724954e-01 1.58480754e-01 3.54642943e-02 2.70805951e+01] [-1.58430478e-01 9.87361026e-01 -4.24126003e-03 -1.85058907e+00] [-3.56882201e-02 -1.43366800e-03 9.99361944e-01 -1.39961472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.576547614999996 meters 0.0783699548036649 Centerline is valid? [True, True] Translation: X:27.11, Y:-1.86, Z:-1.40 [[ 9.87204321e-01 1.55682315e-01 3.45057416e-02 2.71098695e+01] [-1.55632962e-01 9.87806327e-01 -4.12810123e-03 -1.86239476e+00] [-3.47276622e-02 -1.29495139e-03 9.99395974e-01 -1.39808874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.606547614999993 meters 0.07825637299455349 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.87, Z:-1.40 [[ 9.87485363e-01 1.54695134e-01 3.06932236e-02 2.71395812e+01] [-1.54655730e-01 9.87961614e-01 -3.66808667e-03 -1.87098101e+00] [-3.08911619e-02 -1.12470100e-03 9.99522121e-01 -1.40139072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.636547614999994 meters 0.07851524843327838 Centerline is valid? [True, True] Translation: X:27.17, Y:-1.87, Z:-1.41 [[ 9.87228982e-01 1.56250450e-01 3.10601715e-02 2.71716300e+01] [-1.56210656e-01 9.87716762e-01 -3.71863582e-03 -1.87417476e+00] [-3.12596906e-02 -1.18078471e-03 9.99510599e-01 -1.40528908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.666547614999995 meters 0.08001806326196238 Centerline is valid? [True, True] Translation: X:27.20, Y:-1.87, Z:-1.42 [[ 9.86986669e-01 1.58121544e-01 2.92385428e-02 2.72033656e+01] [-1.58086902e-01 9.87418974e-01 -3.50728949e-03 -1.87074951e+00] [-2.94252700e-02 -1.16058270e-03 9.99566309e-01 -1.41700439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.696547614999993 meters 0.07956304266547 Centerline is valid? [True, True] Translation: X:27.23, Y:-1.88, Z:-1.42 [[ 9.87903477e-01 1.52593713e-01 2.76021605e-02 2.72325416e+01] [-1.52560383e-01 9.88288569e-01 -3.32182010e-03 -1.87631194e+00] [-2.77857885e-02 -9.29358535e-04 9.99613468e-01 -1.42340993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.726547614999994 meters 0.07864805905352817 Centerline is valid? [True, True] Translation: X:27.26, Y:-1.89, Z:-1.42 [[ 9.87806038e-01 1.53478029e-01 2.61481466e-02 2.72637862e+01] [-1.53448582e-01 9.88151642e-01 -3.14100396e-03 -1.88848600e+00] [-2.63204091e-02 -9.09693339e-04 9.99653144e-01 -1.41841835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.756547614999995 meters 0.07881054112348186 Centerline is valid? [True, True] Translation: X:27.29, Y:-1.90, Z:-1.42 [[ 9.87505610e-01 1.55907891e-01 2.29215782e-02 2.72938159e+01] [-1.55885674e-01 9.87771237e-01 -2.76388680e-03 -1.89796478e+00] [-2.30721874e-02 -8.43791948e-04 9.99733446e-01 -1.41705272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.786547614999993 meters 0.0796365114271267 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.90, Z:-1.42 [[ 9.87368359e-01 1.56575968e-01 2.42423315e-02 2.73249975e+01] [-1.56551447e-01 9.87665495e-01 -2.91787295e-03 -1.89608576e+00] [-2.44001832e-02 -9.14156654e-04 9.99701853e-01 -1.42373517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.816547614999994 meters 0.07916314568738689 Centerline is valid? [True, True] Translation: X:27.35, Y:-1.90, Z:-1.43 [[ 9.88031870e-01 1.52205637e-01 2.50293320e-02 2.73545887e+01] [-1.52177799e-01 9.88348507e-01 -3.02438248e-03 -1.90138715e+00] [-2.51980310e-02 -8.20722384e-04 9.99682142e-01 -1.43084155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.846547614999995 meters 0.07916314568738689 Centerline is valid? [True, True] Translation: X:27.39, Y:-1.91, Z:-1.43 [[ 9.87991019e-01 1.52470451e-01 2.50301255e-02 2.73866718e+01] [-1.52442864e-01 9.88307678e-01 -3.01782528e-03 -1.90547387e+00] [-2.51975944e-02 -8.34079751e-04 9.99682142e-01 -1.43252937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.876547614999993 meters 0.07790789465965257 Centerline is valid? [True, True] Translation: X:27.42, Y:-1.92, Z:-1.43 [[ 9.88492628e-01 1.49453417e-01 2.33666641e-02 2.74170844e+01] [-1.49428384e-01 9.88768520e-01 -2.82359253e-03 -1.92013827e+00] [-2.35262174e-02 -7.00542442e-04 9.99722975e-01 -1.43435863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.906547614999994 meters 0.07777993372884935 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.93, Z:-1.44 [[ 9.88671282e-01 1.48166848e-01 2.39933551e-02 2.74482521e+01] [-1.48139927e-01 9.88962143e-01 -2.90548423e-03 -1.92531179e+00] [-2.41590163e-02 -6.81805056e-04 9.99707896e-01 -1.43585989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.936547614999995 meters 0.07699892298477559 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.93, Z:-1.43 [[ 9.88317354e-01 1.49752490e-01 2.83372435e-02 2.74802479e+01] [-1.49715336e-01 9.88723157e-01 -3.44037505e-03 -1.92886899e+00] [-2.85328936e-02 -8.42337557e-04 9.99592499e-01 -1.43195931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.966547614999993 meters 0.07781753905979862 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.93, Z:-1.43 [[ 9.87884247e-01 1.53526770e-01 2.26769584e-02 2.75109893e+01] [-1.53503754e-01 9.88144203e-01 -2.76262690e-03 -1.93234002e+00] [-2.28322422e-02 -7.51842646e-04 9.99739028e-01 -1.43204322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.996547614999994 meters 0.0782577254928533 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.94, Z:-1.44 [[ 9.88119940e-01 1.52797334e-01 1.64911971e-02 2.75403253e+01] [-1.52785066e-01 9.88257400e-01 -2.00873195e-03 -1.94223313e+00] [-1.66044765e-02 -5.34740542e-04 9.99861993e-01 -1.43787905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.026547614999995 meters 0.07658783298866087 Centerline is valid? [True, True] Translation: X:27.57, Y:-1.96, Z:-1.44 [[ 9.88947613e-01 1.47030798e-01 1.90935581e-02 2.75689054e+01] [-1.47013240e-01 9.89131786e-01 -2.32761093e-03 -1.95695524e+00] [-1.92282757e-02 -5.05120562e-04 9.99814992e-01 -1.43870352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.056547614999992 meters 0.07452334056912777 Centerline is valid? [True, True] Translation: X:27.60, Y:-1.97, Z:-1.44 [[ 9.89972617e-01 1.38504692e-01 2.77608948e-02 2.75988894e+01] [-1.38464224e-01 9.90361654e-01 -3.38410753e-03 -1.96819442e+00] [-2.79620405e-02 -4.93716960e-04 9.99608864e-01 -1.43850205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.086547614999994 meters 0.07439882942825095 Centerline is valid? [True, True] Translation: X:27.63, Y:-1.97, Z:-1.44 [[ 9.90320263e-01 1.35261425e-01 3.11468156e-02 2.76299034e+01] [-1.35208849e-01 9.90809843e-01 -3.79776967e-03 -1.97160169e+00] [-3.13742632e-02 -4.50316839e-04 9.99507605e-01 -1.44028127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.116547614999995 meters 0.0744224836274209 Centerline is valid? [True, True] Translation: X:27.66, Y:-1.98, Z:-1.44 [[ 9.90326408e-01 1.35958901e-01 2.77269515e-02 2.76609392e+01] [-1.35917615e-01 9.90714387e-01 -3.37707288e-03 -1.97899054e+00] [-2.79286329e-02 -4.24176663e-04 9.99609830e-01 -1.44102753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.146547614999992 meters 0.07392227313346433 Centerline is valid? [True, True] Translation: X:27.69, Y:-1.99, Z:-1.44 [[ 9.90304005e-01 1.36565910e-01 2.54505544e-02 2.76910294e+01] [-1.36531206e-01 9.90630906e-01 -3.10450166e-03 -1.98865420e+00] [-2.56360748e-02 -4.00394448e-04 9.99671262e-01 -1.43900001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.176547614999993 meters 0.07364742900294038 Centerline is valid? [True, True] Translation: X:27.72, Y:-1.99, Z:-1.44 [[ 9.89880570e-01 1.39367118e-01 2.67070069e-02 2.77245114e+01] [-1.39329783e-01 9.90240660e-01 -3.26287785e-03 -1.99078386e+00] [-2.69011020e-02 -4.91222101e-04 9.99637979e-01 -1.43632584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.206547614999995 meters 0.0743372120950408 Centerline is valid? [True, True] Translation: X:27.76, Y:-1.99, Z:-1.44 [[ 9.89611980e-01 1.40983282e-01 2.81397172e-02 2.77564414e+01] [-1.40942160e-01 9.90011823e-01 -3.44944732e-03 -1.98556833e+00] [-2.83449671e-02 -5.52458130e-04 9.99598048e-01 -1.44133980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.236547614999992 meters 0.0748452431695057 Centerline is valid? [True, True] Translation: X:27.79, Y:-1.99, Z:-1.45 [[ 9.90015978e-01 1.38869251e-01 2.41597563e-02 2.77880174e+01] [-1.38838326e-01 9.90310634e-01 -2.96093521e-03 -1.98855239e+00] [-2.43368464e-02 -4.22926938e-04 9.99703726e-01 -1.45142040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.266547614999993 meters 0.07563904449980402 Centerline is valid? [True, True] Translation: X:27.82, Y:-1.99, Z:-1.46 [[ 9.89880607e-01 1.40112867e-01 2.24670436e-02 2.78202726e+01] [-1.40086345e-01 9.90135451e-01 -2.75783005e-03 -1.98933954e+00] [-2.26318238e-02 -4.17403533e-04 9.99743780e-01 -1.45544567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.296547614999994 meters 0.07574000094540527 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.99, Z:-1.45 [[ 9.88870770e-01 1.46165996e-01 2.77507162e-02 2.78528918e+01] [-1.46127644e-01 9.89259846e-01 -3.41592934e-03 -1.98867136e+00] [-2.79519620e-02 -6.77234104e-04 9.99609038e-01 -1.44800147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.326547614999992 meters 0.07560237109920176 Centerline is valid? [True, True] Translation: X:27.89, Y:-1.99, Z:-1.44 [[ 9.88343113e-01 1.49155151e-01 3.05062667e-02 2.78864748e+01] [-1.49109991e-01 9.88813457e-01 -3.76279171e-03 -1.99086329e+00] [-3.07262468e-02 -8.29859871e-04 9.99527493e-01 -1.44239822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.356547614999993 meters 0.07700104175231004 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.98, Z:-1.45 [[ 9.88037405e-01 1.51508896e-01 2.87600640e-02 2.79176438e+01] [-1.51469387e-01 9.88455538e-01 -3.56003898e-03 -1.98354823e+00] [-2.89674221e-02 -8.38817604e-04 9.99580004e-01 -1.45218993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.386547614999994 meters 0.0783251154522107 Centerline is valid? [True, True] Translation: X:27.95, Y:-1.98, Z:-1.46 [[ 9.87580265e-01 1.54559424e-01 2.82241946e-02 2.79504445e+01] [-1.54522614e-01 9.87983074e-01 -3.49384617e-03 -1.97682737e+00] [-2.84250334e-02 -9.10822786e-04 9.99595512e-01 -1.45864915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.416547614999995 meters 0.07865753135572547 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.98, Z:-1.46 [[ 9.86982409e-01 1.58313788e-01 2.83278982e-02 2.79823028e+01] [-1.58278301e-01 9.87388320e-01 -3.50491652e-03 -1.97888154e+00] [-2.85255124e-02 -1.02440063e-03 9.99592540e-01 -1.45553724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.446547614999993 meters 0.078680914350986 Centerline is valid? [True, True] Translation: X:28.01, Y:-1.99, Z:-1.45 [[ 9.86727802e-01 1.59623783e-01 2.98075806e-02 2.80136584e+01] [-1.59584888e-01 9.87177296e-01 -3.69463621e-03 -1.98518248e+00] [-3.00151186e-02 -1.11123914e-03 9.99548827e-01 -1.45066882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.476547614999994 meters 0.0791063689851882 Centerline is valid? [True, True] Translation: X:28.04, Y:-1.99, Z:-1.45 [[ 9.86748940e-01 1.59940835e-01 2.73030937e-02 2.80444134e+01] [-1.59908065e-01 9.87126078e-01 -3.39361935e-03 -1.99185314e+00] [-2.74943741e-02 -1.01733458e-03 9.99621441e-01 -1.45378036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.506547614999995 meters 0.07909563622365903 Centerline is valid? [True, True] Translation: X:28.08, Y:-1.99, Z:-1.47 [[ 9.87034620e-01 1.58602315e-01 2.46569160e-02 2.80762524e+01] [-1.58575215e-01 9.87342149e-01 -3.06298783e-03 -1.99349141e+00] [-2.48306094e-02 -8.86700728e-04 9.99691280e-01 -1.46608977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.536547614999993 meters 0.0778734942238515 Centerline is valid? [True, True] Translation: X:28.11, Y:-2.00, Z:-1.47 [[ 9.87896642e-01 1.52263124e-01 2.96000970e-02 2.81052580e+01] [-1.52220719e-01 9.88339622e-01 -3.69392580e-03 -2.00003966e+00] [-2.98173974e-02 -8.56531171e-04 9.99554996e-01 -1.46890637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.566547614999994 meters 0.07785209033303407 Centerline is valid? [True, True] Translation: X:28.14, Y:-2.01, Z:-1.47 [[ 9.87853677e-01 1.52574716e-01 2.94290344e-02 2.81374153e+01] [-1.52533107e-01 9.88291559e-01 -3.66687829e-03 -2.00582784e+00] [-2.96439392e-02 -8.66562858e-04 9.99560146e-01 -1.46876631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.596547614999995 meters 0.07948523594703727 Centerline is valid? [True, True] Translation: X:28.17, Y:-2.00, Z:-1.47 [[ 9.86922848e-01 1.58886447e-01 2.71733304e-02 2.81687872e+01] [-1.58853032e-01 9.87296394e-01 -3.39779267e-03 -2.00359285e+00] [-2.73679943e-02 -9.63206689e-04 9.99624962e-01 -1.46812973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.626547614999993 meters 0.07962044948427045 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.01, Z:-1.47 [[ 9.86878298e-01 1.59876942e-01 2.25961969e-02 2.81996725e+01] [-1.59854080e-01 9.87136610e-01 -2.82613133e-03 -2.00884291e+00] [-2.27573665e-02 -8.23046605e-04 9.99740679e-01 -1.47177881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.656547614999994 meters 0.07886440784463662 Centerline is valid? [True, True] Translation: X:28.23, Y:-2.02, Z:-1.47 [[ 9.87332555e-01 1.56985252e-01 2.30229621e-02 2.82297912e+01] [-1.56960725e-01 9.87600647e-01 -2.87983576e-03 -2.01934664e+00] [-2.31895840e-02 -7.70345220e-04 9.99730789e-01 -1.47320328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.686547614999995 meters 0.07822703315992303 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.02, Z:-1.48 [[ 9.87799119e-01 1.53790269e-01 2.45245675e-02 2.82600361e+01] [-1.53761406e-01 9.88103237e-01 -3.06961367e-03 -2.02475820e+00] [-2.47048812e-02 -7.38770312e-04 9.99694515e-01 -1.47696015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.716547614999993 meters 0.07673653936274108 Centerline is valid? [True, True] Translation: X:28.29, Y:-2.04, Z:-1.48 [[ 9.88765525e-01 1.46275721e-01 3.07595524e-02 2.82901689e+01] [-1.46226623e-01 9.89243619e-01 -3.85181909e-03 -2.03563117e+00] [-3.09921185e-02 -6.89319526e-04 9.99519391e-01 -1.47908583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.746547614999994 meters 0.07525362066288377 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.05, Z:-1.47 [[ 9.89031731e-01 1.43226629e-01 3.60883305e-02 2.83202122e+01] [-1.43156976e-01 9.89689673e-01 -4.52011109e-03 -2.04808028e+00] [-3.63636483e-02 -6.95762968e-04 9.99338382e-01 -1.47121336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.776547614999995 meters 0.07528473617461222 Centerline is valid? [True, True] Translation: X:28.35, Y:-2.06, Z:-1.47 [[ 9.88899377e-01 1.44946634e-01 3.26878350e-02 2.83515068e+01] [-1.44890434e-01 9.89439235e-01 -4.09407832e-03 -2.05596932e+00] [-3.29360493e-02 -6.87523107e-04 9.99457225e-01 -1.47019167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.806547614999992 meters 0.07691612082868463 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.05, Z:-1.48 [[ 9.88583291e-01 1.48343002e-01 2.64089009e-02 2.83815459e+01] [-1.48307455e-01 9.88935761e-01 -3.31053690e-03 -2.05308747e+00] [-2.66078015e-02 -6.43895408e-04 9.99645742e-01 -1.48078168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.836547614999994 meters 0.07797631674437798 Centerline is valid? [True, True] Translation: X:28.41, Y:-2.05, Z:-1.49 [[ 9.88183896e-01 1.51287028e-01 2.45931650e-02 2.84131840e+01] [-1.51257134e-01 9.88489646e-01 -3.08200718e-03 -2.05166322e+00] [-2.47763567e-02 -6.74301800e-04 9.99692792e-01 -1.48504664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.866547614999995 meters 0.07658349651545258 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.07, Z:-1.48 [[ 9.88682833e-01 1.47872582e-01 2.52973557e-02 2.84433980e+01] [-1.47839823e-01 9.89006235e-01 -3.17071664e-03 -2.06725376e+00] [-2.54881045e-02 -6.05123468e-04 9.99674942e-01 -1.48210418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.896547614999992 meters 0.07561992572945445 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.08, Z:-1.49 [[ 9.89364329e-01 1.43326502e-01 2.48140859e-02 2.84739238e+01] [-1.43293523e-01 9.89675344e-01 -3.11135229e-03 -2.07857192e+00] [-2.50038282e-02 -4.77436815e-04 9.99687241e-01 -1.48551781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.926547614999993 meters 0.07611810185262936 Centerline is valid? [True, True] Translation: X:28.51, Y:-2.08, Z:-1.50 [[ 9.89906314e-01 1.39080448e-01 2.72418629e-02 2.85054864e+01] [-1.39039047e-01 9.90281003e-01 -3.41736781e-03 -2.07598089e+00] [-2.74523884e-02 -4.04808668e-04 9.99623030e-01 -1.49617256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.956547614999995 meters 0.07689685847563753 Centerline is valid? [True, True] Translation: X:28.54, Y:-2.07, Z:-1.50 [[ 9.89519391e-01 1.41381323e-01 2.93717012e-02 2.85369438e+01] [-1.41334269e-01 9.89955082e-01 -3.68246407e-03 -2.07323327e+00] [-2.95972965e-02 -5.07358298e-04 9.99561775e-01 -1.49921088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.986547614999992 meters 0.07752852885526057 Centerline is valid? [True, True] Translation: X:28.57, Y:-2.07, Z:-1.49 [[ 9.88143901e-01 1.50428212e-01 3.07080440e-02 2.85690568e+01] [-1.50380788e-01 9.88620609e-01 -3.86129867e-03 -2.07325608e+00] [-3.09394534e-02 -8.02381110e-04 9.99520938e-01 -1.49077959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.016547614999993 meters 0.07911971554532021 Centerline is valid? [True, True] Translation: X:28.60, Y:-2.07, Z:-1.48 [[ 9.86301929e-01 1.62389321e-01 2.89518989e-02 2.86011872e+01] [-1.62352277e-01 9.86726142e-01 -3.64137028e-03 -2.07174132e+00] [-2.91589152e-02 -1.10891617e-03 9.99574173e-01 -1.48241292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.046547614999994 meters 0.07979245794908467 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.07, Z:-1.49 [[ 9.86793414e-01 1.59875722e-01 2.60482646e-02 2.86320737e+01] [-1.59844973e-01 9.87136708e-01 -3.27189891e-03 -2.07110827e+00] [-2.62362953e-02 -9.34995847e-04 9.99655332e-01 -1.49291504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.076547614999992 meters 0.07940967766410668 Centerline is valid? [True, True] Translation: X:28.66, Y:-2.07, Z:-1.50 [[ 9.86992937e-01 1.58736777e-01 2.54475590e-02 2.86635767e+01] [-1.58706920e-01 9.87320547e-01 -3.20161618e-03 -2.07339258e+00] [-2.56331121e-02 -8.78731147e-04 9.99671032e-01 -1.49879757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.106547614999993 meters 0.07850370363146159 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.08, Z:-1.51 [[ 9.88062402e-01 1.51767418e-01 2.64450387e-02 2.86941734e+01] [-1.51732351e-01 9.88415976e-01 -3.33935367e-03 -2.07890539e+00] [-2.66455038e-02 -7.13078083e-04 9.99644691e-01 -1.50559178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.136547614999994 meters 0.07903279339994629 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.08, Z:-1.51 [[ 9.87807964e-01 1.53393948e-01 2.65654570e-02 2.87253624e+01] [-1.53359260e-01 9.88164820e-01 -3.35038894e-03 -2.07895667e+00] [-2.67649794e-02 -7.64517948e-04 9.99641461e-01 -1.50669399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.166547614999995 meters 0.07981701872840365 Centerline is valid? [True, True] Translation: X:28.76, Y:-2.08, Z:-1.50 [[ 9.87091043e-01 1.57787905e-01 2.74636241e-02 2.87572019e+01] [-1.57752349e-01 9.87472609e-01 -3.47018199e-03 -2.07926085e+00] [-2.76671293e-02 -9.07065650e-04 9.99616780e-01 -1.50228257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.196547614999993 meters 0.08091522863190027 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.08, Z:-1.50 [[ 9.86450445e-01 1.62329915e-01 2.37596117e-02 2.87879843e+01] [-1.62304403e-01 9.86736142e-01 -3.01116475e-03 -2.08238449e+00] [-2.39332697e-02 -8.85924773e-04 9.99713166e-01 -1.50235781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.226547614999994 meters 0.0809940203206223 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.08, Z:-1.50 [[ 9.85577383e-01 1.67584014e-01 2.35121166e-02 2.88194179e+01] [-1.67560504e-01 9.85857289e-01 -2.98052347e-03 -2.08218040e+00] [-2.36790797e-02 -1.00216559e-03 9.99719109e-01 -1.50344181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.256547614999995 meters 0.08227019098501856 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.08, Z:-1.50 [[ 9.85207178e-01 1.68825636e-01 2.94061412e-02 2.88507052e+01] [-1.68789391e-01 9.85645088e-01 -3.72845409e-03 -2.07665804e+00] [-2.96134773e-02 -1.29014494e-03 9.99560592e-01 -1.50417526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.286547614999993 meters 0.08203730485580979 Centerline is valid? [True, True] Translation: X:28.88, Y:-2.08, Z:-1.51 [[ 9.85497609e-01 1.67121639e-01 2.94078117e-02 2.88814326e+01] [-1.67084696e-01 9.85935504e-01 -3.72653230e-03 -2.08235386e+00] [-2.96169899e-02 -1.24110661e-03 9.99560550e-01 -1.50608231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.316547614999994 meters 0.08060960557758418 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.09, Z:-1.51 [[ 9.85897470e-01 1.65499899e-01 2.48185798e-02 2.89122602e+01] [-1.65472984e-01 9.86209297e-01 -3.14856984e-03 -2.09097334e+00] [-2.49974021e-02 -1.00263742e-03 9.99687013e-01 -1.51116438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.346547614999995 meters 0.08106556067040167 Centerline is valid? [True, True] Translation: X:28.94, Y:-2.09, Z:-1.52 [[ 9.85897707e-01 1.65471328e-01 2.49990171e-02 2.89434482e+01] [-1.65444050e-01 9.86214083e-01 -3.16990606e-03 -2.09033767e+00] [-2.51789113e-02 -1.01073552e-03 9.99682450e-01 -1.51562893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.376547614999993 meters 0.0813721045239498 Centerline is valid? [True, True] Translation: X:28.97, Y:-2.09, Z:-1.52 [[ 9.85596748e-01 1.67089899e-01 2.60771094e-02 2.89743343e+01] [-1.67060607e-01 9.85941061e-01 -3.31331461e-03 -2.09237056e+00] [-2.62641143e-02 -1.09086560e-03 9.99654443e-01 -1.51597075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.406547614999994 meters 0.08107197153197446 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.10, Z:-1.51 [[ 9.85229188e-01 1.69031546e-01 2.74186674e-02 2.90059007e+01] [-1.68999731e-01 9.85609917e-01 -3.49033627e-03 -2.09787925e+00] [-2.76140874e-02 -1.19496625e-03 9.99617944e-01 -1.51212943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.436547614999995 meters 0.08094180774266925 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.10, Z:-1.51 [[ 9.85147679e-01 1.69557443e-01 2.70984060e-02 2.90378428e+01] [-1.69526385e-01 9.85519589e-01 -3.45616192e-03 -2.10457988e+00] [-2.72920280e-02 -1.18906494e-03 9.99626796e-01 -1.51183010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.466547614999993 meters 0.08244345047812165 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.10, Z:-1.52 [[ 9.84953517e-01 1.70656444e-01 2.72570507e-02 2.90687351e+01] [-1.70625242e-01 9.85329839e-01 -3.48367881e-03 -2.10270889e+00] [-2.74516976e-02 -1.21947918e-03 9.99622387e-01 -1.51787655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.496547614999994 meters 0.0827144563331447 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.11, Z:-1.52 [[ 9.85172414e-01 1.69576729e-01 2.60585577e-02 2.91007082e+01] [-1.69547699e-01 9.85516337e-01 -3.33560597e-03 -2.10623100e+00] [-2.62467755e-02 -1.13202153e-03 9.99654853e-01 -1.52398917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.526547614999995 meters 0.08179989555507095 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.11, Z:-1.52 [[ 9.85076086e-01 1.70211792e-01 2.55548426e-02 2.91323524e+01] [-1.70183941e-01 9.85406865e-01 -3.27682056e-03 -2.11423910e+00] [-2.57396708e-02 -1.12110624e-03 9.99668051e-01 -1.52320410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.556547614999992 meters 0.08111474931696172 Centerline is valid? [True, True] Translation: X:29.16, Y:-2.12, Z:-1.52 [[ 9.85214502e-01 1.69283382e-01 2.63727428e-02 2.91637519e+01] [-1.69253198e-01 9.85566777e-01 -3.38877018e-03 -2.11855029e+00] [-2.65657616e-02 -1.12500554e-03 9.99646435e-01 -1.52393284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.586547614999994 meters 0.08144439700286224 Centerline is valid? [True, True] Translation: X:29.20, Y:-2.12, Z:-1.52 [[ 9.84982081e-01 1.70513074e-01 2.71217943e-02 2.91957172e+01] [-1.70481316e-01 9.85354707e-01 -3.49600924e-03 -2.12211006e+00] [-2.73207030e-02 -1.18025274e-03 9.99626023e-01 -1.52452538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.616547614999995 meters 0.08096745839605445 Centerline is valid? [True, True] Translation: X:29.23, Y:-2.13, Z:-1.53 [[ 9.85505376e-01 1.68421779e-01 2.03287378e-02 2.92262547e+01] [-1.68403573e-01 9.85714660e-01 -2.61646588e-03 -2.12926320e+00] [-2.04790047e-02 -8.44890896e-04 9.99789926e-01 -1.53166409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.646547614999992 meters 0.08101202804308624 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.13, Z:-1.54 [[ 9.85637613e-01 1.67771595e-01 1.92662472e-02 2.92584529e+01] [-1.67755078e-01 9.85825580e-01 -2.48180083e-03 -2.13302850e+00] [-1.94095350e-02 -7.85854568e-04 9.99811308e-01 -1.53579266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.676547614999993 meters 0.07895668448915812 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.14, Z:-1.53 [[ 9.86454217e-01 1.62029746e-01 2.55820236e-02 2.92880325e+01] [-1.61998185e-01 9.86785487e-01 -3.31517021e-03 -2.14158738e+00] [-2.57811258e-02 -8.73977775e-04 9.99667229e-01 -1.53222494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.706547614999995 meters 0.07788250265840763 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.15, Z:-1.53 [[ 9.87030190e-01 1.58596836e-01 2.48685903e-02 2.93172665e+01] [-1.58565988e-01 9.87343131e-01 -3.22010887e-03 -2.15148722e+00] [-2.50645309e-02 -7.64967916e-04 9.99685543e-01 -1.53016959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.736547614999992 meters 0.0776534526665327 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.15, Z:-1.53 [[ 9.87228876e-01 1.57544185e-01 2.36426669e-02 2.93497691e+01] [-1.57516063e-01 9.87511688e-01 -3.05880678e-03 -2.15472769e+00] [-2.38293071e-02 -7.04357419e-04 9.99715794e-01 -1.53303534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.766547614999993 meters 0.0776534526665327 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.16, Z:-1.53 [[ 9.87186451e-01 1.57809932e-01 2.36418349e-02 2.93818135e+01] [-1.57781733e-01 9.87469255e-01 -3.06521607e-03 -2.15908933e+00] [-2.38293066e-02 -7.04309901e-04 9.99715794e-01 -1.53473111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.796547614999994 meters 0.07914783183410462 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.16, Z:-1.54 [[ 9.86663249e-01 1.61407525e-01 2.10533387e-02 2.94131650e+01] [-1.61385739e-01 9.86887598e-01 -2.74101397e-03 -2.15844478e+00] [-2.12196991e-02 -6.93250863e-04 9.99774596e-01 -1.54005390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.826547614999992 meters 0.07920463994934043 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.16, Z:-1.54 [[ 9.85786981e-01 1.66817437e-01 1.98990133e-02 2.94436222e+01] [-1.66799047e-01 9.85987505e-01 -2.59204250e-03 -2.16498858e+00] [-2.00525763e-02 -7.63934705e-04 9.99798635e-01 -1.53697211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.856547614999993 meters 0.08081326963176756 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.16, Z:-1.54 [[ 9.85264770e-01 1.69178400e-01 2.51396443e-02 2.94755131e+01] [-1.69149940e-01 9.85584906e-01 -3.26976802e-03 -2.15989723e+00] [-2.53304280e-02 -1.03078207e-03 9.99678602e-01 -1.54028642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.886547614999994 meters 0.07949669269855246 Centerline is valid? [True, True] Translation: X:29.51, Y:-2.17, Z:-1.54 [[ 9.85777609e-01 1.65616504e-01 2.85250627e-02 2.95058219e+01] [-1.65578002e-01 9.86189670e-01 -3.72296665e-03 -2.16569204e+00] [-2.87477068e-02 -1.05310573e-03 9.99586145e-01 -1.54109955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.916547614999992 meters 0.07879593042287418 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.17, Z:-1.54 [[ 9.85717304e-01 1.66121005e-01 2.76624058e-02 2.95376052e+01] [-1.66085124e-01 9.86104827e-01 -3.60578369e-03 -2.17227660e+00] [-2.78770283e-02 -1.04003072e-03 9.99610819e-01 -1.54014995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.946547614999993 meters 0.07918263314396032 Centerline is valid? [True, True] Translation: X:29.57, Y:-2.18, Z:-1.54 [[ 9.85434572e-01 1.68311368e-01 2.42896750e-02 2.95680731e+01] [-1.68284189e-01 9.85733413e-01 -3.17340724e-03 -2.17550402e+00] [-2.44772648e-02 -9.60383076e-04 9.99699926e-01 -1.54337709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.976547614999994 meters 0.08068824801520987 Centerline is valid? [True, True] Translation: X:29.60, Y:-2.17, Z:-1.54 [[ 9.84548276e-01 1.73141158e-01 2.62074685e-02 2.95990021e+01] [-1.73111069e-01 9.84896337e-01 -3.42983072e-03 -2.17195189e+00] [-2.64054846e-02 -1.15996898e-03 9.99650641e-01 -1.54164744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.006547614999995 meters 0.08307148932440551 Centerline is valid? [True, True] Translation: X:29.63, Y:-2.17, Z:-1.54 [[ 9.83602743e-01 1.78758586e-01 2.38958426e-02 2.96302867e+01] [-1.78735135e-01 9.83892244e-01 -3.13097152e-03 -2.17005407e+00] [-2.40706222e-02 -1.19139447e-03 9.99709551e-01 -1.54320367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.036547614999996 meters 0.08392825116607382 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.18, Z:-1.55 [[ 9.83583130e-01 1.79305583e-01 2.03404745e-02 2.96594997e+01] [-1.79288733e-01 9.83792892e-01 -2.66389890e-03 -2.17810163e+00] [-2.04884662e-02 -1.02665188e-03 9.99789562e-01 -1.54667814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06654761499999 meters 0.0808579694549901 Centerline is valid? [True, True] Translation: X:29.69, Y:-2.19, Z:-1.55 [[ 9.84338721e-01 1.74640277e-01 2.40428095e-02 2.96896037e+01] [-1.74615292e-01 9.84631693e-01 -3.15095104e-03 -2.19033905e+00] [-2.42235952e-02 -1.09663910e-03 9.99705964e-01 -1.54638397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09654761499999 meters 0.08083896634513037 Centerline is valid? [True, True] Translation: X:29.72, Y:-2.19, Z:-1.56 [[ 9.85375223e-01 1.68520202e-01 2.52311483e-02 2.97202462e+01] [-1.68490636e-01 9.85697702e-01 -3.30851799e-03 -2.18821327e+00] [-2.54278371e-02 -9.91080570e-04 9.99676169e-01 -1.55672877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12654761499999 meters 0.0795654931127128 Centerline is valid? [True, True] Translation: X:29.75, Y:-2.20, Z:-1.56 [[ 9.86360513e-01 1.62996992e-01 2.29111266e-02 2.97503000e+01] [-1.62971145e-01 9.86626264e-01 -3.00339060e-03 -2.20147014e+00] [-2.30942629e-02 -7.71426651e-04 9.99732994e-01 -1.56067407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.156547614999994 meters 0.0788569247133778 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.21, Z:-1.56 [[ 9.86445304e-01 1.62705467e-01 2.12742283e-02 2.97814805e+01] [-1.62683196e-01 9.86674425e-01 -2.78498102e-03 -2.20892611e+00] [-2.14438686e-02 -7.13728010e-04 9.99769799e-01 -1.55910026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.186547614999995 meters 0.07837821923623137 Centerline is valid? [True, True] Translation: X:29.81, Y:-2.22, Z:-1.55 [[ 9.85914459e-01 1.65998797e-01 2.04225306e-02 2.98116916e+01] [-1.65978742e-01 9.86125676e-01 -2.68499145e-03 -2.21874158e+00] [-2.05848871e-02 -7.42534029e-04 9.99787833e-01 -1.55270712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.216547614999996 meters 0.08090770814074001 Centerline is valid? [True, True] Translation: X:29.84, Y:-2.21, Z:-1.56 [[ 9.84697877e-01 1.72512785e-01 2.46866383e-02 2.98430391e+01] [-1.72485493e-01 9.85006707e-01 -3.24674778e-03 -2.20614973e+00] [-2.48766098e-02 -1.06102133e-03 9.99689966e-01 -1.55780296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24654761499999 meters 0.08192262503869614 Centerline is valid? [True, True] Translation: X:29.87, Y:-2.21, Z:-1.57 [[ 9.84507996e-01 1.73916095e-01 2.22979276e-02 2.98745603e+01] [-1.73894212e-01 9.84759975e-01 -2.93153567e-03 -2.20570321e+00] [-2.24679478e-02 -9.91360227e-04 9.99747072e-01 -1.56517526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27654761499999 meters 0.08192539251429973 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.22, Z:-1.57 [[ 9.84782476e-01 1.72816695e-01 1.83811159e-02 2.99038659e+01] [-1.72801746e-01 9.84953677e-01 -2.41048660e-03 -2.21955094e+00] [-1.85211200e-02 -8.02483965e-04 9.99828147e-01 -1.56684948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30654761499999 meters 0.07948219368597483 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.24, Z:-1.56 [[ 9.85686050e-01 1.67579729e-01 1.84403022e-02 2.99334057e+01] [-1.67563566e-01 9.85858281e-01 -2.42911093e-03 -2.23546464e+00] [-1.85865944e-02 -6.95582053e-04 9.99827012e-01 -1.56442591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33654761499999 meters 0.07988734854546765 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.24, Z:-1.57 [[ 9.85782426e-01 1.66497475e-01 2.26185742e-02 2.99639441e+01] [-1.66472845e-01 9.86041534e-01 -2.98077974e-03 -2.23638176e+00] [-2.27991459e-02 -8.26978114e-04 9.99739724e-01 -1.56546872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.366547614999995 meters 0.07962581185313318 Centerline is valid? [True, True] Translation: X:30.00, Y:-2.24, Z:-1.57 [[ 9.86093157e-01 1.64752317e-01 2.18394260e-02 2.99951455e+01] [-1.64729060e-01 9.86334673e-01 -2.87207287e-03 -2.24028630e+00] [-2.20141637e-02 -7.65456707e-04 9.99757366e-01 -1.57019326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.396547614999996 meters 0.08013474060073014 Centerline is valid? [True, True] Translation: X:30.03, Y:-2.24, Z:-1.57 [[ 9.86218009e-01 1.64216650e-01 2.01725004e-02 3.00261759e+01] [-1.64196603e-01 9.86424054e-01 -2.65736758e-03 -2.24418491e+00] [-2.03350236e-02 -6.91512285e-04 9.99792983e-01 -1.57463163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.426547615 meters 0.08104294943863434 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.25, Z:-1.58 [[ 9.85756859e-01 1.67072125e-01 1.92437176e-02 3.00567901e+01] [-1.67054224e-01 9.85944424e-01 -2.54542220e-03 -2.24748074e+00] [-1.93985052e-02 -7.05576917e-04 9.99811582e-01 -1.57517111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45654761499999 meters 0.08121232980095282 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.25, Z:-1.57 [[ 9.85068665e-01 1.70810479e-01 2.15291613e-02 3.00894249e+01] [-1.70789100e-01 9.85303511e-01 -2.84143171e-03 -2.24881291e+00] [-2.16981045e-02 -8.77940738e-04 9.99764183e-01 -1.57212276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48654761499999 meters 0.08226454357035398 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.24, Z:-1.57 [[ 9.84230983e-01 1.75263480e-01 2.39182961e-02 3.01220461e+01] [-1.75238222e-01 9.84520976e-01 -3.16432113e-03 -2.24259264e+00] [-2.41026542e-02 -1.07697679e-03 9.99708909e-01 -1.57393008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51654761499999 meters 0.08294571413206926 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.24, Z:-1.58 [[ 9.84457794e-01 1.74391084e-01 2.07509227e-02 3.01540560e+01] [-1.74371823e-01 9.84676046e-01 -2.74795562e-03 -2.24389351e+00] [-2.09121555e-02 -9.13129897e-04 9.99780900e-01 -1.58218411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.546547614999994 meters 0.08349633252621545 Centerline is valid? [True, True] Translation: X:30.18, Y:-2.25, Z:-1.58 [[ 9.84556890e-01 1.74191429e-01 1.74664521e-02 3.01844115e+01] [-1.74177587e-01 9.84711519e-01 -2.32237387e-03 -2.24830423e+00] [-1.76039541e-02 -7.55755269e-04 9.99844753e-01 -1.58432937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.576547614999996 meters 0.08465572218132977 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.25, Z:-1.59 [[ 9.84174111e-01 1.76154080e-01 1.92628790e-02 3.02157604e+01] [-1.76137720e-01 9.84362215e-01 -2.55598946e-03 -2.24566031e+00] [-1.94118982e-02 -8.77380946e-04 9.99811186e-01 -1.58527769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.606547615 meters 0.08398168949416475 Centerline is valid? [True, True] Translation: X:30.25, Y:-2.25, Z:-1.58 [[ 9.83958453e-01 1.77474176e-01 1.81295394e-02 3.02474439e+01] [-1.77459753e-01 9.84125098e-01 -2.41410768e-03 -2.25284467e+00] [-1.82701765e-02 -8.41881927e-04 9.99832732e-01 -1.58320971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63654761499999 meters 0.08352871645374312 Centerline is valid? [True, True] Translation: X:30.28, Y:-2.26, Z:-1.59 [[ 9.84086997e-01 1.76975263e-01 1.58914914e-02 3.02784708e+01] [-1.76964206e-01 9.84215025e-01 -2.11047408e-03 -2.26218398e+00] [-1.60141463e-02 -7.35335061e-04 9.99871495e-01 -1.58622261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66654761499999 meters 0.08310284859234333 Centerline is valid? [True, True] Translation: X:30.31, Y:-2.26, Z:-1.59 [[ 9.84090558e-01 1.76611982e-01 1.93385926e-02 3.03105541e+01] [-1.76595271e-01 9.84280165e-01 -2.58202657e-03 -2.26167537e+00] [-1.94906100e-02 -8.74156037e-04 9.99809658e-01 -1.58877959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69654761499999 meters 0.08280120237408531 Centerline is valid? [True, True] Translation: X:30.34, Y:-2.26, Z:-1.59 [[ 9.83829713e-01 1.77556884e-01 2.35084822e-02 3.03422070e+01] [-1.77532428e-01 9.84109942e-01 -3.14001823e-03 -2.26389476e+00] [-2.36924629e-02 -1.08427468e-03 9.99718706e-01 -1.58898815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.726547614999994 meters 0.08287371996425284 Centerline is valid? [True, True] Translation: X:30.37, Y:-2.27, Z:-1.58 [[ 9.83764253e-01 1.77508226e-01 2.64334056e-02 3.03721885e+01] [-1.77477245e-01 9.84118565e-01 -3.53233540e-03 -2.27142738e+00] [-2.66406238e-02 -1.21634271e-03 9.99644336e-01 -1.58466388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.756547614999995 meters 0.08252494274888982 Centerline is valid? [True, True] Translation: X:30.40, Y:-2.28, Z:-1.58 [[ 9.83586955e-01 1.78176387e-01 2.84583540e-02 3.04035328e+01] [-1.78140752e-01 9.83997667e-01 -3.80308027e-03 -2.27713274e+00] [-2.86805730e-02 -1.32893244e-03 9.99587744e-01 -1.58118914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.786547614999996 meters 0.08358333979742523 Centerline is valid? [True, True] Translation: X:30.43, Y:-2.28, Z:-1.58 [[ 9.83361923e-01 1.79968295e-01 2.47131914e-02 3.04348631e+01] [-1.79941784e-01 9.83671690e-01 -3.31067841e-03 -2.27757669e+00] [-2.49054839e-02 -1.19134067e-03 9.99689100e-01 -1.58472621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81654761499999 meters 0.08363243428277109 Centerline is valid? [True, True] Translation: X:30.47, Y:-2.28, Z:-1.59 [[ 9.83205757e-01 1.81209921e-01 2.16657232e-02 3.04656453e+01] [-1.81189768e-01 9.83443859e-01 -2.90603957e-03 -2.28187718e+00] [-2.18336257e-02 -1.06837253e-03 9.99761047e-01 -1.59033912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84654761499999 meters 0.08444433647345902 Centerline is valid? [True, True] Translation: X:30.50, Y:-2.28, Z:-1.60 [[ 9.83053720e-01 1.82128958e-01 2.08428926e-02 3.04980014e+01] [-1.82110635e-01 9.83274089e-01 -2.78981106e-03 -2.28115170e+00] [-2.10023816e-02 -1.05317827e-03 9.99778871e-01 -1.59588275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87654761499999 meters 0.08540106025536662 Centerline is valid? [True, True] Translation: X:30.53, Y:-2.28, Z:-1.60 [[ 9.82973858e-01 1.82860316e-01 1.80138624e-02 3.05288896e+01] [-1.82846583e-01 9.83138479e-01 -2.42043828e-03 -2.27898467e+00] [-1.81527234e-02 -9.14545635e-04 9.99834807e-01 -1.60302875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.906547614999994 meters 0.08573468350137886 Centerline is valid? [True, True] Translation: X:30.56, Y:-2.29, Z:-1.60 [[ 9.82844565e-01 1.83613481e-01 1.73968521e-02 3.05606176e+01] [-1.83600894e-01 9.82998105e-01 -2.33164205e-03 -2.28592317e+00] [-1.75291935e-02 -9.02435871e-04 9.99845945e-01 -1.60314724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.936547614999995 meters 0.08520754455975206 Centerline is valid? [True, True] Translation: X:30.59, Y:-2.29, Z:-1.60 [[ 9.82854971e-01 1.83530190e-01 1.76854350e-02 3.05915359e+01] [-1.83517087e-01 9.83013651e-01 -2.37489139e-03 -2.29437507e+00] [-1.78208884e-02 -9.11405705e-04 9.99840780e-01 -1.60156076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.966547614999996 meters 0.08411705371021654 Centerline is valid? [True, True] Translation: X:30.62, Y:-2.30, Z:-1.60 [[ 9.83012527e-01 1.82166325e-01 2.24009311e-02 3.06210537e+01] [-1.82144589e-01 9.83267107e-01 -3.02409625e-03 -2.30226219e+00] [-2.25769872e-02 -1.10748390e-03 9.99744494e-01 -1.59573495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.99654761499999 meters 0.08329442874146324 Centerline is valid? [True, True] Translation: X:30.65, Y:-2.30, Z:-1.60 [[ 9.82867683e-01 1.82162687e-01 2.80690681e-02 3.06532858e+01] [-1.82128575e-01 9.83267424e-01 -3.78869549e-03 -2.30298751e+00] [-2.82895592e-02 -1.38839301e-03 9.99598806e-01 -1.59647079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02654761499999 meters 0.08569160235962352 Centerline is valid? [True, True] Translation: X:30.68, Y:-2.30, Z:-1.61 [[ 9.82669427e-01 1.84065560e-01 2.19241367e-02 3.06840480e+01] [-1.84045218e-01 9.82913323e-01 -2.95940644e-03 -2.29616669e+00] [-2.20942508e-02 -1.12691428e-03 9.99755257e-01 -1.60980634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05654761499999 meters 0.08750977253335872 Centerline is valid? [True, True] Translation: X:30.71, Y:-2.30, Z:-1.61 [[ 9.81908655e-01 1.88486145e-01 1.81208705e-02 3.07148533e+01] [-1.88472964e-01 9.82075328e-01 -2.44791154e-03 -2.29978437e+00] [-1.82574572e-02 -1.01166865e-03 9.99832807e-01 -1.60942547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08654761499999 meters 0.08900026128657919 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.31, Z:-1.61 [[ 9.81318005e-01 1.91630250e-01 1.71120018e-02 3.07445707e+01] [-1.91618985e-01 9.81466670e-01 -2.31082426e-03 -2.30501551e+00] [-1.72376832e-02 -1.01133096e-03 9.99850909e-01 -1.60726502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.116547614999995 meters 0.08999332829098086 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.30, Z:-1.61 [[ 9.81303152e-01 1.91975323e-01 1.37694771e-02 3.07747757e+01] [-1.91968082e-01 9.81399411e-01 -1.85808263e-03 -2.30434824e+00] [-1.38700627e-02 -8.19957764e-04 9.99903470e-01 -1.61336646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.146547614999996 meters 0.08908908064789976 Centerline is valid? [True, True] Translation: X:30.81, Y:-2.31, Z:-1.62 [[ 9.81806375e-01 1.89415660e-01 1.33397722e-02 3.08054507e+01] [-1.89408573e-01 9.81896704e-01 -1.80426867e-03 -2.30647171e+00] [-1.34400351e-02 -7.55224724e-04 9.99909393e-01 -1.62215879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.17654761499999 meters 0.08638021224410991 Centerline is valid? [True, True] Translation: X:30.83, Y:-2.32, Z:-1.62 [[ 9.83026960e-01 1.82844671e-01 1.50273992e-02 3.08348924e+01] [-1.82834889e-01 9.83141529e-01 -2.03388788e-03 -2.31728499e+00] [-1.51459458e-02 -7.48166248e-04 9.99885014e-01 -1.62465439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20654761499999 meters 0.08198026782898565 Centerline is valid? [True, True] Translation: X:30.86, Y:-2.34, Z:-1.62 [[ 9.84522360e-01 1.74556319e-01 1.56784611e-02 3.08637848e+01] [-1.74544618e-01 9.84646979e-01 -2.12220915e-03 -2.33745366e+00] [-1.58081944e-02 -6.47228646e-04 9.99874833e-01 -1.61881500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23654761499999 meters 0.0804781901757233 Centerline is valid? [True, True] Translation: X:30.89, Y:-2.35, Z:-1.61 [[ 9.85078833e-01 1.70990588e-01 1.95425796e-02 3.08932108e+01] [-1.70971684e-01 9.85272388e-01 -2.64644171e-03 -2.34984950e+00] [-1.97072807e-02 -7.34274044e-04 9.99805523e-01 -1.61229229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26654761499999 meters 0.08142331348894231 Centerline is valid? [True, True] Translation: X:30.92, Y:-2.35, Z:-1.62 [[ 9.84781481e-01 1.72592636e-01 2.04259049e-02 3.09242180e+01] [-1.72572464e-01 9.84992959e-01 -2.75945014e-03 -2.34932702e+00] [-2.05956333e-02 -8.07493350e-04 9.99787561e-01 -1.61555530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.296547614999994 meters 0.08290668115580072 Centerline is valid? [True, True] Translation: X:30.96, Y:-2.34, Z:-1.62 [[ 9.83884629e-01 1.77701604e-01 1.98286851e-02 3.09566726e+01] [-1.77683427e-01 9.84084026e-01 -2.68889658e-03 -2.34136398e+00] [-1.99909135e-02 -8.77664700e-04 9.99799776e-01 -1.62185073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.326547614999996 meters 0.08469985660044985 Centerline is valid? [True, True] Translation: X:30.99, Y:-2.34, Z:-1.62 [[ 9.82884870e-01 1.83019543e-01 2.10042780e-02 3.09881909e+01] [-1.83000327e-01 9.83108722e-01 -2.84970166e-03 -2.34087183e+00] [-2.11710400e-02 -1.04286110e-03 9.99775325e-01 -1.62249534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.356547615 meters 0.08567188345400248 Centerline is valid? [True, True] Translation: X:31.02, Y:-2.35, Z:-1.62 [[ 9.82755421e-01 1.83745400e-01 2.07222389e-02 3.10183032e+01] [-1.83726867e-01 9.82973314e-01 -2.81101836e-03 -2.34692393e+00] [-2.08859195e-02 -1.04468850e-03 9.99781320e-01 -1.62204427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38654761499999 meters 0.0825403825688719 Centerline is valid? [True, True] Translation: X:31.05, Y:-2.36, Z:-1.62 [[ 9.83587140e-01 1.79155812e-01 2.14366998e-02 3.10479776e+01] [-1.79134859e-01 9.83820226e-01 -2.90938927e-03 -2.36179355e+00] [-2.16110928e-02 -9.78422323e-04 9.99765974e-01 -1.61657392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41654761499999 meters 0.08147465052730894 Centerline is valid? [True, True] Translation: X:31.08, Y:-2.37, Z:-1.62 [[ 9.83941596e-01 1.77125749e-01 2.20318855e-02 3.10785609e+01] [-1.77103099e-01 9.84187761e-01 -2.99057908e-03 -2.37070052e+00] [-2.22132206e-02 -9.59360058e-04 9.99752796e-01 -1.61828961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44654761499999 meters 0.08100104082752402 Centerline is valid? [True, True] Translation: X:31.11, Y:-2.38, Z:-1.63 [[ 9.84513071e-01 1.74218999e-01 1.95385245e-02 3.11097637e+01] [-1.74200742e-01 9.84706607e-01 -2.64568655e-03 -2.37583964e+00] [-1.97006430e-02 -7.98912477e-04 9.99805604e-01 -1.62879906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.476547614999994 meters 0.08191957471409211 Centerline is valid? [True, True] Translation: X:31.14, Y:-2.38, Z:-1.63 [[ 9.84619283e-01 1.73524967e-01 2.03458318e-02 3.11409901e+01] [-1.73504892e-01 9.84829136e-01 -2.76127584e-03 -2.37574639e+00] [-2.05163183e-02 -8.11295926e-04 9.99789189e-01 -1.63238239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.506547614999995 meters 0.08257234941461603 Centerline is valid? [True, True] Translation: X:31.17, Y:-2.38, Z:-1.63 [[ 9.84062706e-01 1.76754429e-01 1.94540955e-02 3.11711649e+01] [-1.76736492e-01 9.84254634e-01 -2.65115152e-03 -2.38260057e+00] [-1.96163864e-02 -8.29349246e-04 9.99807236e-01 -1.62835764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.536547614999996 meters 0.08398492617525215 Centerline is valid? [True, True] Translation: X:31.20, Y:-2.39, Z:-1.63 [[ 9.83539257e-01 1.80038061e-01 1.53891495e-02 3.12018144e+01] [-1.80027241e-01 9.83659390e-01 -2.09693422e-03 -2.38816453e+00] [-1.55152094e-02 -7.08048991e-04 9.99879381e-01 -1.63071597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56654761499999 meters 0.0847019488969944 Centerline is valid? [True, True] Translation: X:31.23, Y:-2.39, Z:-1.64 [[ 9.82979076e-01 1.83176329e-01 1.40914496e-02 3.12327554e+01] [-1.83167571e-01 9.83079830e-01 -1.92071083e-03 -2.38768727e+00] [-1.42048486e-02 -6.93078028e-04 9.99898866e-01 -1.63756870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59654761499999 meters 0.08356963213085696 Centerline is valid? [True, True] Translation: X:31.26, Y:-2.39, Z:-1.64 [[ 9.83517816e-01 1.79837320e-01 1.87415306e-02 3.12642586e+01] [-1.79821214e-01 9.83695991e-01 -2.55492146e-03 -2.38725277e+00] [-1.88954387e-02 -8.57314003e-04 9.99821098e-01 -1.64032623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62654761499999 meters 0.08252690045152064 Centerline is valid? [True, True] Translation: X:31.29, Y:-2.40, Z:-1.64 [[ 9.83815154e-01 1.77997321e-01 2.06081776e-02 3.12946318e+01] [-1.77977438e-01 9.84030557e-01 -2.80970077e-03 -2.39590550e+00] [-2.07791957e-02 -9.03564465e-04 9.99783681e-01 -1.63754105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.656547614999994 meters 0.08252690045152064 Centerline is valid? [True, True] Translation: X:31.33, Y:-2.40, Z:-1.64 [[ 9.83765487e-01 1.78271509e-01 2.06091123e-02 3.13266690e+01] [-1.78251829e-01 9.83980909e-01 -2.80285868e-03 -2.40046945e+00] [-2.07786429e-02 -9.16256327e-04 9.99783681e-01 -1.63923052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.686547614999995 meters 0.08166499302626277 Centerline is valid? [True, True] Translation: X:31.36, Y:-2.42, Z:-1.63 [[ 9.84167519e-01 1.75753696e-01 2.29114005e-02 3.13552187e+01] [-1.75728316e-01 9.84433720e-01 -3.13224377e-03 -2.41628003e+00] [-2.31052586e-02 -9.43529235e-04 9.99732593e-01 -1.63266689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.716547614999996 meters 0.08056048000341812 Centerline is valid? [True, True] Translation: X:31.39, Y:-2.42, Z:-1.64 [[ 9.84281032e-01 1.75088270e-01 2.31289447e-02 3.13874004e+01] [-1.75062383e-01 9.84552288e-01 -3.15509386e-03 -2.41927935e+00] [-2.33240753e-02 -9.43509126e-04 9.99727512e-01 -1.63500517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74654761499999 meters 0.0815423089053905 Centerline is valid? [True, True] Translation: X:31.42, Y:-2.42, Z:-1.64 [[ 9.83924201e-01 1.77356385e-01 2.09255803e-02 3.14188176e+01] [-1.77335499e-01 9.84146288e-01 -2.86439255e-03 -2.41594272e+00] [-2.11018505e-02 -8.92503086e-04 9.99776933e-01 -1.64238701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77654761499999 meters 0.08252317232822057 Centerline is valid? [True, True] Translation: X:31.45, Y:-2.42, Z:-1.65 [[ 9.83896636e-01 1.77915028e-01 1.71362894e-02 3.14492232e+01] [-1.77901141e-01 9.84045574e-01 -2.34366354e-03 -2.41804281e+00] [-1.72798627e-02 -7.42642759e-04 9.99850416e-01 -1.64704107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80654761499999 meters 0.08170119133682484 Centerline is valid? [True, True] Translation: X:31.48, Y:-2.43, Z:-1.64 [[ 9.83947513e-01 1.77547446e-01 1.80054260e-02 3.14812048e+01] [-1.77531988e-01 9.84111941e-01 -2.46614806e-03 -2.42687673e+00] [-1.81572130e-02 -7.69978813e-04 9.99834848e-01 -1.64269858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.83654761499999 meters 0.08157074394281535 Centerline is valid? [True, True] Translation: X:31.51, Y:-2.44, Z:-1.64 [[ 9.83908522e-01 1.77661273e-01 1.89866615e-02 3.15117986e+01] [-1.77644155e-01 9.84091360e-01 -2.59790965e-03 -2.43542262e+00] [-1.91461574e-02 -8.16763984e-04 9.99816362e-01 -1.63937826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.866547614999995 meters 0.08284235348800548 Centerline is valid? [True, True] Translation: X:31.54, Y:-2.43, Z:-1.65 [[ 9.83884433e-01 1.77484496e-01 2.16950776e-02 3.15428477e+01] [-1.77461875e-01 9.84123168e-01 -2.97894616e-03 -2.42990949e+00] [-2.18793452e-02 -9.19110391e-04 9.99760196e-01 -1.64951054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.896547614999996 meters 0.08193189775965692 Centerline is valid? [True, True] Translation: X:31.57, Y:-2.44, Z:-1.65 [[ 9.84420812e-01 1.74528231e-01 2.13438949e-02 3.15727282e+01] [-1.74505551e-01 9.84651816e-01 -2.93498121e-03 -2.43935117e+00] [-2.15285419e-02 -8.35371540e-04 9.99767885e-01 -1.65338706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92654761499999 meters 0.07983829634112106 Centerline is valid? [True, True] Translation: X:31.60, Y:-2.45, Z:-1.65 [[ 9.84864091e-01 1.71908146e-01 2.21429654e-02 3.16028833e+01] [-1.71883057e-01 9.85112653e-01 -3.04564456e-03 -2.45198510e+00] [-2.23368865e-02 -8.06454601e-04 9.99750175e-01 -1.65019066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95654761499999 meters 0.08099995969606182 Centerline is valid? [True, True] Translation: X:31.63, Y:-2.45, Z:-1.65 [[ 9.84570736e-01 1.73457300e-01 2.30874640e-02 3.16344757e+01] [-1.73430556e-01 9.84840996e-01 -3.17095252e-03 -2.45352668e+00] [-2.32875059e-02 -8.82044677e-04 9.99728420e-01 -1.65109989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98654761499999 meters 0.08146751816506848 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.46, Z:-1.65 [[ 9.83743958e-01 1.78061280e-01 2.32810306e-02 3.16652758e+01] [-1.78035104e-01 9.84018904e-01 -3.20896770e-03 -2.45748178e+00] [-2.34803671e-02 -9.88038123e-04 9.99723810e-01 -1.64792425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.01654761499999 meters 0.08076213544312937 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.47, Z:-1.65 [[ 9.84145622e-01 1.75870479e-01 2.29558314e-02 3.16960013e+01] [-1.75844462e-01 9.84412881e-01 -3.16293984e-03 -2.46706247e+00] [-2.31542839e-02 -9.23862425e-04 9.99731477e-01 -1.64959088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.046547614999994 meters 0.0812695648330756 Centerline is valid? [True, True] Translation: X:31.73, Y:-2.47, Z:-1.66 [[ 9.84644923e-01 1.73368820e-01 2.04359426e-02 3.17270754e+01] [-1.73347740e-01 9.84856667e-01 -2.81202943e-03 -2.46832237e+00] [-2.06139925e-02 -7.73673949e-04 9.99787210e-01 -1.65956407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.076547614999996 meters 0.08109508117534267 Centerline is valid? [True, True] Translation: X:31.76, Y:-2.47, Z:-1.67 [[ 9.85096904e-01 1.70970176e-01 1.87959707e-02 3.17589445e+01] [-1.70951855e-01 9.85275982e-01 -2.58910811e-03 -2.46966224e+00] [-1.89618788e-02 -6.62683682e-04 9.99819988e-01 -1.66832425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.106547615 meters 0.08176851771241639 Centerline is valid? [True, True] Translation: X:31.79, Y:-2.47, Z:-1.67 [[ 9.84839809e-01 1.72534194e-01 1.79583665e-02 3.17894467e+01] [-1.72517647e-01 9.85003310e-01 -2.47823303e-03 -2.47329615e+00] [-1.81166304e-02 -6.57472591e-04 9.99835664e-01 -1.67001941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13654761499999 meters 0.081983749874733 Centerline is valid? [True, True] Translation: X:31.82, Y:-2.48, Z:-1.66 [[ 9.83936663e-01 1.77533084e-01 1.87255775e-02 3.18202543e+01] [-1.77515779e-01 9.84114531e-01 -2.59562132e-03 -2.47927876e+00] [-1.88889216e-02 -7.70158496e-04 9.99821292e-01 -1.66178948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16654761499999 meters 0.08399887479682241 Centerline is valid? [True, True] Translation: X:31.85, Y:-2.48, Z:-1.67 [[ 9.83575715e-01 1.79441023e-01 1.94867102e-02 3.18519145e+01] [-1.79422783e-01 9.83768369e-01 -2.69467738e-03 -2.47727021e+00] [-1.96539448e-02 -8.45940552e-04 9.99806485e-01 -1.66559000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19654761499999 meters 0.08198124287495077 Centerline is valid? [True, True] Translation: X:31.88, Y:-2.48, Z:-1.66 [[ 9.83647117e-01 1.78711840e-01 2.23702156e-02 3.18828266e+01] [-1.78687329e-01 9.83901007e-01 -3.10604640e-03 -2.48237384e+00] [-2.25651649e-02 -9.42020493e-04 9.99744930e-01 -1.66447687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.226547614999994 meters 0.08196117608878857 Centerline is valid? [True, True] Translation: X:31.91, Y:-2.48, Z:-1.67 [[ 9.84547770e-01 1.73578189e-01 2.31581725e-02 3.19131181e+01] [-1.73550465e-01 9.84819723e-01 -3.21705372e-03 -2.48397198e+00] [-2.33650354e-02 -8.51768529e-04 9.99726637e-01 -1.67162676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.256547614999995 meters 0.08235838933042909 Centerline is valid? [True, True] Translation: X:31.94, Y:-2.49, Z:-1.68 [[ 9.84627261e-01 1.73536989e-01 1.98511976e-02 3.19443455e+01] [-1.73516674e-01 9.84827080e-01 -2.75442615e-03 -2.48907799e+00] [-2.00279918e-02 -7.32430717e-04 9.99799151e-01 -1.67602538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.286547614999996 meters 0.08225956302614625 Centerline is valid? [True, True] Translation: X:31.98, Y:-2.50, Z:-1.68 [[ 9.84762431e-01 1.73061572e-01 1.71069236e-02 3.19755374e+01] [-1.73046471e-01 9.84910808e-01 -2.37038291e-03 -2.49920592e+00] [-1.72590162e-02 -6.26028716e-04 9.99850856e-01 -1.67579128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31654761499999 meters 0.08119561155617529 Centerline is valid? [True, True] Translation: X:32.00, Y:-2.51, Z:-1.67 [[ 9.85178782e-01 1.70391239e-01 1.97381255e-02 3.20037669e+01] [-1.70370361e-01 9.85376271e-01 -2.74690348e-03 -2.51390863e+00] [-1.99175288e-02 -6.56600552e-04 9.99801411e-01 -1.67263385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34654761499999 meters 0.08032733278010891 Centerline is valid? [True, True] Translation: X:32.03, Y:-2.52, Z:-1.67 [[ 9.85065727e-01 1.70326295e-01 2.51886348e-02 3.20341874e+01] [-1.70292144e-01 9.85387367e-01 -3.51051467e-03 -2.52016253e+00] [-2.54184954e-02 -8.31338917e-04 9.99676552e-01 -1.67091577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37654761499999 meters 0.08046078168353928 Centerline is valid? [True, True] Translation: X:32.07, Y:-2.52, Z:-1.68 [[ 9.85249068e-01 1.69151894e-01 2.59212229e-02 3.20663545e+01] [-1.69115345e-01 9.85589649e-01 -3.61171379e-03 -2.52393730e+00] [-2.61586172e-02 -8.25238913e-04 9.99657464e-01 -1.67782922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.406547614999994 meters 0.07840537619821696 Centerline is valid? [True, True] Translation: X:32.10, Y:-2.54, Z:-1.68 [[ 9.86944426e-01 1.59285893e-01 2.38475335e-02 3.20954009e+01] [-1.59251998e-01 9.87232363e-01 -3.32603424e-03 -2.54223308e+00] [-2.40728472e-02 -5.15156392e-04 9.99710074e-01 -1.68257105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.436547614999995 meters 0.07883460937050651 Centerline is valid? [True, True] Translation: X:32.13, Y:-2.55, Z:-1.69 [[ 9.86998737e-01 1.59285824e-01 2.14829978e-02 3.21267101e+01] [-1.59258441e-01 9.87232397e-01 -2.99052719e-03 -2.54859249e+00] [-2.16850600e-02 -4.69702167e-04 9.99764741e-01 -1.68709341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.466547614999996 meters 0.07880545434765304 Centerline is valid? [True, True] Translation: X:32.16, Y:-2.56, Z:-1.69 [[ 9.87075137e-01 1.59084175e-01 1.93622980e-02 3.21574132e+01] [-1.59061818e-01 9.87264935e-01 -2.69917724e-03 -2.55596300e+00] [-1.95451143e-02 -4.15511570e-04 9.99808890e-01 -1.68938068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.49654761499999 meters 0.0795588773071873 Centerline is valid? [True, True] Translation: X:32.19, Y:-2.56, Z:-1.69 [[ 9.86603763e-01 1.61800606e-01 2.08225440e-02 3.21900328e+01] [-1.61775259e-01 9.86823345e-01 -2.90718678e-03 -2.55571983e+00] [-2.10185571e-02 -5.00331045e-04 9.99778961e-01 -1.69221722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52654761499999 meters 0.07931806122416994 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.56, Z:-1.69 [[ 9.86663278e-01 1.61328783e-01 2.16471511e-02 3.22218379e+01] [-1.61301135e-01 9.86900588e-01 -3.02876267e-03 -2.56100081e+00] [-2.18522127e-02 -5.03341129e-04 9.99761085e-01 -1.69271499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.55654761499999 meters 0.08038777844839815 Centerline is valid? [True, True] Translation: X:32.26, Y:-2.56, Z:-1.69 [[ 9.86062293e-01 1.64952105e-01 2.17245965e-02 3.22551117e+01] [-1.64924915e-01 9.86301410e-01 -3.04974866e-03 -2.55615886e+00] [-2.19300626e-02 -5.75685065e-04 9.99759342e-01 -1.69485013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58654761499999 meters 0.08066001022138859 Centerline is valid? [True, True] Translation: X:32.29, Y:-2.56, Z:-1.69 [[ 9.85620043e-01 1.67539564e-01 2.19914913e-02 3.22878526e+01] [-1.67512424e-01 9.85865142e-01 -3.08363995e-03 -2.55651062e+00] [-2.21972764e-02 -6.44550669e-04 9.99753402e-01 -1.69487867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.616547614999995 meters 0.08137557493070528 Centerline is valid? [True, True] Translation: X:32.32, Y:-2.56, Z:-1.70 [[ 9.85131432e-01 1.70525300e-01 2.09089389e-02 3.23196111e+01] [-1.70501212e-01 9.85353073e-01 -2.94254655e-03 -2.55628803e+00] [-2.11044658e-02 -6.66204311e-04 9.99777054e-01 -1.69504350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.646547614999996 meters 0.08284002470777051 Centerline is valid? [True, True] Translation: X:32.35, Y:-2.55, Z:-1.70 [[ 9.84438827e-01 1.74574360e-01 2.00994916e-02 3.23507921e+01] [-1.74552919e-01 9.84643728e-01 -2.82980256e-03 -2.55333634e+00] [-2.02848493e-02 -7.22657417e-04 9.99793980e-01 -1.69812331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.67654761499999 meters 0.08342946865943193 Centerline is valid? [True, True] Translation: X:32.38, Y:-2.55, Z:-1.70 [[ 9.84195141e-01 1.75639357e-01 2.25995761e-02 3.23824096e+01] [-1.75612657e-01 9.84454217e-01 -3.17626116e-03 -2.55411427e+00] [-2.28061244e-02 -8.42710805e-04 9.99739551e-01 -1.69887272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70654761499999 meters 0.08249266712353634 Centerline is valid? [True, True] Translation: X:32.41, Y:-2.56, Z:-1.70 [[ 9.84139359e-01 1.75494033e-01 2.59145981e-02 3.24131623e+01] [-1.75458549e-01 9.84480036e-01 -3.65463654e-03 -2.56048124e+00] [-2.61537714e-02 -9.50266120e-04 9.99657480e-01 -1.69836258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73654761499999 meters 0.08118478306290432 Centerline is valid? [True, True] Translation: X:32.44, Y:-2.57, Z:-1.70 [[ 9.84839501e-01 1.70999582e-01 2.91599071e-02 3.24428522e+01] [-1.70952631e-01 9.85270659e-01 -4.11412667e-03 -2.57004005e+00] [-2.94339148e-02 -9.33208376e-04 9.99566293e-01 -1.69646376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76654761499999 meters 0.0807106839380439 Centerline is valid? [True, True] Translation: X:32.47, Y:-2.58, Z:-1.70 [[ 9.85113063e-01 1.69653350e-01 2.77487639e-02 3.24743446e+01] [-1.69610448e-01 9.85503430e-01 -3.90972994e-03 -2.57687756e+00] [-2.80098008e-02 -8.54954233e-04 9.99607283e-01 -1.69935810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.796547614999994 meters 0.08277434675002159 Centerline is valid? [True, True] Translation: X:32.50, Y:-2.57, Z:-1.71 [[ 9.84729994e-01 1.72556849e-01 2.30428277e-02 3.25045296e+01] [-1.72527865e-01 9.84999259e-01 -3.25503262e-03 -2.57317188e+00] [-2.32588464e-02 -7.70201627e-04 9.99729180e-01 -1.70802611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.826547614999996 meters 0.08310091857127978 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.58, Z:-1.71 [[ 9.84494290e-01 1.74048356e-01 2.18669320e-02 3.25362089e+01] [-1.74022588e-01 9.84736811e-01 -3.09049319e-03 -2.57698712e+00] [-2.20710681e-02 -7.62767181e-04 9.99756113e-01 -1.70985861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.85654761499999 meters 0.08349731286005979 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.58, Z:-1.71 [[ 9.84394097e-01 1.74978795e-01 1.87265497e-02 3.25668177e+01] [-1.74960029e-01 9.84571975e-01 -2.64858176e-03 -2.58439474e+00] [-1.89010816e-02 -6.69149411e-04 9.99821135e-01 -1.71079214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88654761499999 meters 0.08188615949271008 Centerline is valid? [True, True] Translation: X:32.59, Y:-2.60, Z:-1.72 [[ 9.85629950e-01 1.67735588e-01 1.99593295e-02 3.25949260e+01] [-1.67712750e-01 9.85831859e-01 -2.82459045e-03 -2.59761520e+00] [-2.01503273e-02 -5.63433104e-04 9.99796803e-01 -1.71596369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91654761499999 meters 0.08151300445210577 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.60, Z:-1.72 [[ 9.86414218e-01 1.63012518e-01 2.03447517e-02 3.26256291e+01] [-1.62987824e-01 9.86623885e-01 -2.87725083e-03 -2.60258038e+00] [-2.05416459e-02 -4.77785679e-04 9.99788884e-01 -1.72419793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94654761499999 meters 0.0808670558774764 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.61, Z:-1.72 [[ 9.86689788e-01 1.61083017e-01 2.22603820e-02 3.26565191e+01] [-1.61052902e-01 9.86940745e-01 -3.15082224e-03 -2.61236979e+00] [-2.24772220e-02 -4.76215007e-04 9.99747242e-01 -1.72260257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.976547614999994 meters 0.07884171457922862 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.63, Z:-1.71 [[ 9.86985318e-01 1.58706286e-01 2.59287024e-02 3.26865312e+01] [-1.58664561e-01 9.87325719e-01 -3.67183401e-03 -2.63095330e+00] [-2.61828179e-02 -4.89919927e-04 9.99657051e-01 -1.71249306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.006547614999995 meters 0.07797602955220355 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.64, Z:-1.71 [[ 9.87454503e-01 1.55425532e-01 2.78659127e-02 3.27160956e+01] [-1.55376021e-01 9.87847517e-01 -3.94655030e-03 -2.63981722e+00] [-2.81406674e-02 -4.32655777e-04 9.99603879e-01 -1.71237298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.036547614999996 meters 0.07904570166935387 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.63, Z:-1.72 [[ 9.87000647e-01 1.58374347e-01 2.73365875e-02 3.27491408e+01] [-1.58327848e-01 9.87379010e-01 -3.87093785e-03 -2.63324860e+00] [-2.76046299e-02 -5.07524899e-04 9.99618791e-01 -1.71919283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06654761499999 meters 0.0811637034876629 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.62, Z:-1.73 [[ 9.86017826e-01 1.64603270e-01 2.59732558e-02 3.27819157e+01] [-1.64563169e-01 9.86359649e-01 -3.68863275e-03 -2.62340083e+00] [-2.62261325e-02 -6.37183626e-04 9.99655833e-01 -1.72541786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09654761499999 meters 0.08207725568950358 Centerline is valid? [True, True] Translation: X:32.81, Y:-2.63, Z:-1.72 [[ 9.85001535e-01 1.70355508e-01 2.74039455e-02 3.28134595e+01] [-1.70313060e-01 9.85382315e-01 -3.89284356e-03 -2.62663239e+00] [-2.76665307e-02 -8.32792932e-04 9.99616861e-01 -1.72291682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12654761499999 meters 0.08126798096453602 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.64, Z:-1.72 [[ 9.84793266e-01 1.70935358e-01 3.10374934e-02 3.28450965e+01] [-1.70881284e-01 9.85281773e-01 -4.40611685e-03 -2.63543782e+00] [-3.13338377e-02 -9.64612524e-04 9.99508509e-01 -1.71781076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.156547614999994 meters 0.08072715907063986 Centerline is valid? [True, True] Translation: X:32.88, Y:-2.64, Z:-1.72 [[ 9.85170067e-01 1.68968583e-01 2.98254274e-02 3.28759771e+01] [-1.68917553e-01 9.85621062e-01 -4.24059338e-03 -2.64276824e+00] [-3.01130965e-02 -8.60332546e-04 9.99546128e-01 -1.72173736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.186547614999995 meters 0.08039064477905514 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.65, Z:-1.73 [[ 9.85747943e-01 1.65581405e-01 2.97286097e-02 3.29065102e+01] [-1.65528818e-01 9.86195846e-01 -4.23839097e-03 -2.64915716e+00] [-3.00200301e-02 -7.42956457e-04 9.99549021e-01 -1.72624668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.216547614999996 meters 0.08010211696902773 Centerline is valid? [True, True] Translation: X:32.94, Y:-2.65, Z:-1.73 [[ 9.86204805e-01 1.62850637e-01 2.96606307e-02 3.29386459e+01] [-1.62797088e-01 9.86650513e-01 -4.22762224e-03 -2.65442121e+00] [-2.99531475e-02 -6.59362945e-04 9.99551086e-01 -1.72924278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24654761499999 meters 0.08049704297510746 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.66, Z:-1.73 [[ 9.86294707e-01 1.62961341e-01 2.58138141e-02 3.29696555e+01] [-1.62920715e-01 9.86632289e-01 -3.68340781e-03 -2.66314938e+00] [-2.60689955e-02 -5.72679405e-04 9.99659982e-01 -1.73308167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27654761499999 meters 0.08190270836384923 Centerline is valid? [True, True] Translation: X:33.00, Y:-2.66, Z:-1.74 [[ 9.85456135e-01 1.68512894e-01 2.19000108e-02 3.30020524e+01] [-1.68484972e-01 9.85699262e-01 -3.12721044e-03 -2.65816765e+00] [-2.21137998e-02 -6.08093994e-04 9.99755275e-01 -1.73641325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30654761499999 meters 0.08197386262478723 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.67, Z:-1.74 [[ 9.85250991e-01 1.69679734e-01 2.21194996e-02 3.30327539e+01] [-1.69651665e-01 9.85499046e-01 -3.15309358e-03 -2.66560456e+00] [-2.23337618e-02 -6.46021369e-04 9.99750362e-01 -1.73684634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33654761499999 meters 0.08053432572333648 Centerline is valid? [True, True] Translation: X:33.06, Y:-2.68, Z:-1.73 [[ 9.85569371e-01 1.67263160e-01 2.60009838e-02 3.30633553e+01] [-1.67223195e-01 9.85912050e-01 -3.71931595e-03 -2.67588619e+00] [-2.62567878e-02 -6.82323703e-04 9.99654998e-01 -1.73492121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.366547614999995 meters 0.08020310231627797 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.68, Z:-1.74 [[ 9.85568690e-01 1.66544555e-01 3.02864554e-02 3.30947676e+01] [-1.66489974e-01 9.86033628e-01 -4.33283103e-03 -2.67934374e+00] [-3.05850729e-02 -7.72088574e-04 9.99531869e-01 -1.73586517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.396547614999996 meters 0.08107401068263605 Centerline is valid? [True, True] Translation: X:33.13, Y:-2.68, Z:-1.74 [[ 9.84827221e-01 1.70201825e-01 3.38627201e-02 3.31272495e+01] [-1.70135749e-01 9.85408726e-01 -4.84446037e-03 -2.67895728e+00] [-3.41931558e-02 -9.90302794e-04 9.99414752e-01 -1.73641899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42654761499999 meters 0.08083493818498419 Centerline is valid? [True, True] Translation: X:33.16, Y:-2.69, Z:-1.74 [[ 9.84864880e-01 1.70601020e-01 3.06016237e-02 3.31584565e+01] [-1.70546950e-01 9.85339782e-01 -4.38768119e-03 -2.68581344e+00] [-3.09015401e-02 -8.97740483e-04 9.99522030e-01 -1.73783133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45654761499999 meters 0.08209478766492301 Centerline is valid? [True, True] Translation: X:33.19, Y:-2.69, Z:-1.74 [[ 9.84388717e-01 1.74126855e-01 2.56650182e-02 3.31891350e+01] [-1.74089959e-01 9.84722868e-01 -3.68222820e-03 -2.68641771e+00] [-2.59141052e-02 -8.43278080e-04 9.99663818e-01 -1.74280353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48654761499999 meters 0.08241553533626195 Centerline is valid? [True, True] Translation: X:33.22, Y:-2.69, Z:-1.75 [[ 9.84001534e-01 1.76575193e-01 2.37103870e-02 3.32205698e+01] [-1.76544408e-01 9.84286797e-01 -3.40197783e-03 -2.68891970e+00] [-2.39385258e-02 -8.38384846e-04 9.99713081e-01 -1.74598632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51654761499999 meters 0.08333620293375117 Centerline is valid? [True, True] Translation: X:33.25, Y:-2.69, Z:-1.75 [[ 9.83570235e-01 1.79066569e-01 2.29075666e-02 3.32511797e+01] [-1.79038490e-01 9.83836577e-01 -3.28758091e-03 -2.69028918e+00] [-2.31259978e-02 -8.67769420e-04 9.99732182e-01 -1.74773436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.546547614999994 meters 0.08375163060388248 Centerline is valid? [True, True] Translation: X:33.28, Y:-2.69, Z:-1.75 [[ 9.83243828e-01 1.80555231e-01 2.51273430e-02 3.32825047e+01] [-1.80522035e-01 9.83564345e-01 -3.60208572e-03 -2.69391939e+00] [-2.53647341e-02 -9.94310527e-04 9.99677769e-01 -1.74656159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.576547614999996 meters 0.08375163060388248 Centerline is valid? [True, True] Translation: X:33.31, Y:-2.70, Z:-1.75 [[ 9.83193652e-01 1.80828345e-01 2.51267320e-02 3.33144943e+01] [-1.80795129e-01 9.83514166e-01 -3.60634119e-03 -2.69871470e+00] [-2.53646256e-02 -9.97058986e-04 9.99677769e-01 -1.74825621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60654761499999 meters 0.08429264624714579 Centerline is valid? [True, True] Translation: X:33.34, Y:-2.70, Z:-1.75 [[ 9.83205183e-01 1.80686799e-01 2.56875125e-02 3.33448478e+01] [-1.80651801e-01 9.83540171e-01 -3.69586682e-03 -2.70233102e+00] [-2.59324948e-02 -1.00669999e-03 9.99663189e-01 -1.75081449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63654761499999 meters 0.08373603176899772 Centerline is valid? [True, True] Translation: X:33.38, Y:-2.71, Z:-1.75 [[ 9.83280261e-01 1.80186500e-01 2.63202039e-02 3.33762206e+01] [-1.80149419e-01 9.83631944e-01 -3.79290263e-03 -2.71039034e+00] [-2.65728231e-02 -1.01208315e-03 9.99646368e-01 -1.75174430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66654761499999 meters 0.08262809557462683 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.72, Z:-1.75 [[ 9.83892792e-01 1.76941593e-01 2.54292380e-02 3.34070232e+01] [-1.76905624e-01 9.84220958e-01 -3.67512520e-03 -2.71981831e+00] [-2.56782715e-02 -8.82646031e-04 9.99669869e-01 -1.75321358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69654761499999 meters 0.08230756155606624 Centerline is valid? [True, True] Translation: X:33.44, Y:-2.72, Z:-1.76 [[ 9.84473946e-01 1.73783616e-01 2.47043532e-02 3.34384948e+01] [-1.73748645e-01 9.84783556e-01 -3.57156376e-03 -2.72395260e+00] [-2.49491201e-02 -7.76236447e-04 9.99688421e-01 -1.75796654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.726547614999994 meters 0.08318222491962504 Centerline is valid? [True, True] Translation: X:33.47, Y:-2.72, Z:-1.76 [[ 9.83424996e-01 1.79767720e-01 2.36398732e-02 3.34707396e+01] [-1.79737380e-01 9.83708687e-01 -3.41946924e-03 -2.72123082e+00] [-2.38694588e-02 -8.86177344e-04 9.99714691e-01 -1.75818537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.756547614999995 meters 0.08656512901398733 Centerline is valid? [True, True] Translation: X:33.50, Y:-2.72, Z:-1.76 [[ 9.81842252e-01 1.88249967e-01 2.34038926e-02 3.35014114e+01] [-1.88222636e-01 9.82120553e-01 -3.38510837e-03 -2.72029328e+00] [-2.36226905e-02 -1.08149995e-03 9.99720360e-01 -1.75506571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.786547614999996 meters 0.08519131011458676 Centerline is valid? [True, True] Translation: X:33.53, Y:-2.73, Z:-1.76 [[ 9.82108743e-01 1.87131493e-01 2.10765520e-02 3.35335400e+01] [-1.87109199e-01 9.82334409e-01 -3.04242374e-03 -2.72980060e+00] [-2.12735556e-02 -9.55625823e-04 9.99773236e-01 -1.75675843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.81654761499999 meters 0.08642867549308272 Centerline is valid? [True, True] Translation: X:33.57, Y:-2.73, Z:-1.76 [[ 9.82120852e-01 1.86971735e-01 2.19135336e-02 3.35653003e+01] [-1.86947410e-01 9.82364803e-01 -3.17164792e-03 -2.72706510e+00] [-2.21200926e-02 -9.81736804e-04 9.99754839e-01 -1.76424516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84654761499999 meters 0.08578960412450075 Centerline is valid? [True, True] Translation: X:33.60, Y:-2.73, Z:-1.77 [[ 9.82831787e-01 1.83169004e-01 2.21538682e-02 3.35967032e+01] [-1.83142935e-01 9.83081032e-01 -3.21725162e-03 -2.72871844e+00] [-2.23683484e-02 -8.95307295e-04 9.99749396e-01 -1.77181313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87654761499999 meters 0.08573734705045183 Centerline is valid? [True, True] Translation: X:33.63, Y:-2.74, Z:-1.77 [[ 9.82773358e-01 1.83353298e-01 2.31968760e-02 3.36271098e+01] [-1.83324813e-01 9.83046630e-01 -3.36682562e-03 -2.73796045e+00] [-2.34209294e-02 -9.43736428e-04 9.99725247e-01 -1.76694243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.906547614999994 meters 0.08611867786198422 Centerline is valid? [True, True] Translation: X:33.66, Y:-2.75, Z:-1.76 [[ 9.82304822e-01 1.85724232e-01 2.41608255e-02 3.36572687e+01] [-1.85693888e-01 9.82601362e-01 -3.51320530e-03 -2.74589228e+00] [-2.43929474e-02 -1.03547910e-03 9.99701912e-01 -1.76248176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.936547614999995 meters 0.0854404612118214 Centerline is valid? [True, True] Translation: X:33.69, Y:-2.75, Z:-1.76 [[ 9.82316812e-01 1.85920865e-01 2.20706182e-02 3.36882530e+01] [-1.85895718e-01 9.82564257e-01 -3.20366586e-03 -2.75282080e+00] [-2.22814289e-02 -9.55818590e-04 9.99751281e-01 -1.76401536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.966547614999996 meters 0.08644702750042736 Centerline is valid? [True, True] Translation: X:33.72, Y:-2.75, Z:-1.77 [[ 9.82516688e-01 1.84575989e-01 2.43446692e-02 3.37195273e+01] [-1.84544662e-01 9.82817729e-01 -3.54672310e-03 -2.75038085e+00] [-2.45810125e-02 -1.00796413e-03 9.99697333e-01 -1.77127906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.99654761499999 meters 0.08455352723525555 Centerline is valid? [True, True] Translation: X:33.75, Y:-2.76, Z:-1.78 [[ 9.83217887e-01 1.80720249e-01 2.49555424e-02 3.37499090e+01] [-1.80686057e-01 9.83534097e-01 -3.63701635e-03 -2.75583080e+00] [-2.52019094e-02 -9.33139039e-04 9.99681946e-01 -1.77518323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02654761499999 meters 0.08507468975184412 Centerline is valid? [True, True] Translation: X:33.78, Y:-2.76, Z:-1.78 [[ 9.83277011e-01 1.80583023e-01 2.35816044e-02 3.37817058e+01] [-1.80552587e-01 9.83559348e-01 -3.43114021e-03 -2.75875827e+00] [-2.38135131e-02 -8.83958402e-04 9.99716027e-01 -1.77910575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05654761499999 meters 0.08588225925819577 Centerline is valid? [True, True] Translation: X:33.81, Y:-2.77, Z:-1.77 [[ 9.82491500e-01 1.84889043e-01 2.29454594e-02 3.38118728e+01] [-1.84861165e-01 9.82758941e-01 -3.34867518e-03 -2.76763160e+00] [-2.31689887e-02 -9.51679456e-04 9.99731110e-01 -1.77392282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08654761499999 meters 0.08691105725256171 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.77, Z:-1.77 [[ 9.81435145e-01 1.90471082e-01 2.24905256e-02 3.38426577e+01] [-1.90445703e-01 9.81692235e-01 -3.28480334e-03 -2.77113779e+00] [-2.27044344e-02 -1.05940250e-03 9.99741660e-01 -1.77092578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.116547614999995 meters 0.08629519334473072 Centerline is valid? [True, True] Translation: X:33.87, Y:-2.77, Z:-1.78 [[ 9.81638862e-01 1.89577321e-01 2.11088529e-02 3.38746668e+01] [-1.89554891e-01 9.81865305e-01 -3.07673839e-03 -2.77115381e+00] [-2.13093301e-02 -9.81040330e-04 9.99772449e-01 -1.77970327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.146547614999996 meters 0.08679534274060174 Centerline is valid? [True, True] Translation: X:33.90, Y:-2.77, Z:-1.79 [[ 9.82526808e-01 1.84979747e-01 2.05807133e-02 3.39048015e+01] [-1.84957157e-01 9.82741968e-01 -3.01228594e-03 -2.76848091e+00] [-2.07827426e-02 -8.46898541e-04 9.99783657e-01 -1.79068020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.17654761499999 meters 0.08563031483454796 Centerline is valid? [True, True] Translation: X:33.94, Y:-2.77, Z:-1.79 [[ 9.82657963e-01 1.84308473e-01 2.03399886e-02 3.39368645e+01] [-1.84286324e-01 9.82868101e-01 -2.97418879e-03 -2.77495123e+00] [-2.05396942e-02 -8.25771451e-04 9.99788697e-01 -1.78998942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20654761499999 meters 0.08586426245675387 Centerline is valid? [True, True] Translation: X:33.97, Y:-2.78, Z:-1.79 [[ 9.82219486e-01 1.86521475e-01 2.13218483e-02 3.39689866e+01] [-1.86497715e-01 9.82450456e-01 -3.11502969e-03 -2.77796800e+00] [-2.15286795e-02 -9.16833123e-04 9.99767811e-01 -1.78693525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23654761499999 meters 0.0880705232454513 Centerline is valid? [True, True] Translation: X:34.00, Y:-2.78, Z:-1.78 [[ 9.80446285e-01 1.95255453e-01 2.45028466e-02 3.40015315e+01] [-1.95226453e-01 9.80751609e-01 -3.59345448e-03 -2.77507906e+00] [-2.47328478e-02 -1.26041473e-03 9.99693302e-01 -1.78008492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26654761499999 meters 0.09047892556965811 Centerline is valid? [True, True] Translation: X:34.03, Y:-2.77, Z:-1.79 [[ 9.79620033e-01 1.99213219e-01 2.56648558e-02 3.40328911e+01] [-1.99182700e-01 9.79955136e-01 -3.76600872e-03 -2.76777862e+00] [-2.59006460e-02 -1.42273769e-03 9.99663510e-01 -1.78542727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.296547614999994 meters 0.09228936490116604 Centerline is valid? [True, True] Translation: X:34.07, Y:-2.76, Z:-1.79 [[ 9.78879724e-01 2.02460808e-01 2.83567830e-02 3.40657365e+01] [-2.02424979e-01 9.79288943e-01 -4.15855667e-03 -2.76039650e+00] [-2.86114288e-02 -1.66939440e-03 9.99589215e-01 -1.79038331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.326547614999996 meters 0.09337690798559414 Centerline is valid? [True, True] Translation: X:34.10, Y:-2.76, Z:-1.79 [[ 9.78776468e-01 2.03184789e-01 2.66939677e-02 3.40964155e+01] [-2.03153180e-01 9.79139124e-01 -3.91940149e-03 -2.76143162e+00] [-2.69334709e-02 -1.58674650e-03 9.99635969e-01 -1.79420657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.35654761499999 meters 0.09066727845507377 Centerline is valid? [True, True] Translation: X:34.13, Y:-2.78, Z:-1.79 [[ 9.79234163e-01 2.01474257e-01 2.25516810e-02 3.41278030e+01] [-2.01451399e-01 9.79492938e-01 -3.30438483e-03 -2.77649255e+00] [-2.27549607e-02 -1.30730119e-03 9.99740218e-01 -1.79335605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38654761499999 meters 0.09143869824181806 Centerline is valid? [True, True] Translation: X:34.16, Y:-2.78, Z:-1.79 [[ 9.79469310e-01 2.00375319e-01 2.21269550e-02 3.41589650e+01] [-2.00352870e-01 9.79718413e-01 -3.24954029e-03 -2.78125021e+00] [-2.23293129e-02 -1.25037395e-03 9.99749888e-01 -1.79422643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41654761499999 meters 0.08932570344232177 Centerline is valid? [True, True] Translation: X:34.19, Y:-2.79, Z:-1.79 [[ 9.79801860e-01 1.98419233e-01 2.48620728e-02 3.41895834e+01] [-1.98389919e-01 9.80116324e-01 -3.66491794e-03 -2.78732571e+00] [-2.50949136e-02 -1.34149120e-03 9.99684173e-01 -1.79390725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44654761499999 meters 0.08757119103654395 Centerline is valid? [True, True] Translation: X:34.22, Y:-2.79, Z:-1.80 [[ 9.80181462e-01 1.96294776e-01 2.66957531e-02 3.42204961e+01] [-1.96260175e-01 9.80543957e-01 -3.93589588e-03 -2.79281179e+00] [-2.69489552e-02 -1.38142100e-03 9.99635856e-01 -1.79550436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.476547614999994 meters 0.08779261705736524 Centerline is valid? [True, True] Translation: X:34.25, Y:-2.79, Z:-1.80 [[ 9.80175450e-01 1.96439561e-01 2.58376789e-02 3.42521951e+01] [-1.96407306e-01 9.80515013e-01 -3.80526906e-03 -2.79410777e+00] [-2.60817374e-02 -1.34487759e-03 9.99658909e-01 -1.79830231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.506547614999995 meters 0.0877706953749499 Centerline is valid? [True, True] Translation: X:34.28, Y:-2.80, Z:-1.80 [[ 9.80412099e-01 1.95448469e-01 2.43313016e-02 3.42831508e+01] [-1.95419417e-01 9.80713194e-01 -3.58928104e-03 -2.79749222e+00] [-2.45635480e-02 -1.23583420e-03 9.99697507e-01 -1.80006483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.53654761499999 meters 0.08720211809905995 Centerline is valid? [True, True] Translation: X:34.32, Y:-2.81, Z:-1.80 [[ 9.80606545e-01 1.94718549e-01 2.22596152e-02 3.43154674e+01] [-1.94693987e-01 9.80858528e-01 -3.28627973e-03 -2.80696545e+00] [-2.24734330e-02 -1.11126583e-03 9.99746823e-01 -1.79913907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56654761499999 meters 0.08669841926827374 Centerline is valid? [True, True] Translation: X:34.35, Y:-2.81, Z:-1.80 [[ 9.80654066e-01 1.94472667e-01 2.23155673e-02 3.43473606e+01] [-1.94447753e-01 9.80907319e-01 -3.30185279e-03 -2.81229315e+00] [-2.25316234e-02 -1.10123656e-03 9.99745524e-01 -1.80012444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59654761499999 meters 0.08620794189547115 Centerline is valid? [True, True] Translation: X:34.38, Y:-2.82, Z:-1.81 [[ 9.81577707e-01 1.90140445e-01 1.87567704e-02 3.43764731e+01] [-1.90121862e-01 9.81756548e-01 -2.78547350e-03 -2.81806744e+00] [-1.89442133e-02 -8.31913417e-04 9.99820196e-01 -1.80953359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62654761499999 meters 0.08564131414315619 Centerline is valid? [True, True] Translation: X:34.41, Y:-2.83, Z:-1.81 [[ 9.82000713e-01 1.88196592e-01 1.60200784e-02 3.44077932e+01] [-1.88182928e-01 9.82131137e-01 -2.36976789e-03 -2.82631627e+00] [-1.61798000e-02 -6.87591503e-04 9.99868862e-01 -1.81469225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.656547614999994 meters 0.08445084014774851 Centerline is valid? [True, True] Translation: X:34.44, Y:-2.83, Z:-1.81 [[ 9.82277135e-01 1.86718042e-01 1.63707979e-02 3.44388216e+01] [-1.86703470e-01 9.82413315e-01 -2.42761325e-03 -2.83457781e+00] [-1.65361690e-02 -6.71895781e-04 9.99863042e-01 -1.81416318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.686547614999995 meters 0.08344086127120304 Centerline is valid? [True, True] Translation: X:34.47, Y:-2.84, Z:-1.81 [[ 9.82534723e-01 1.85276460e-01 1.72670700e-02 3.44695772e+01] [-1.85259805e-01 9.82686208e-01 -2.57312018e-03 -2.84177672e+00] [-1.74448501e-02 -6.70714097e-04 9.99847602e-01 -1.81070227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.716547614999996 meters 0.08470126416841813 Centerline is valid? [True, True] Translation: X:34.50, Y:-2.84, Z:-1.81 [[ 9.82908603e-01 1.83108100e-01 1.90289776e-02 3.45004392e+01] [-1.83087450e-01 9.83092539e-01 -2.83658824e-03 -2.84207237e+00] [-1.92266482e-02 -6.95859997e-04 9.99814909e-01 -1.81378394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74654761499999 meters 0.08254714740784745 Centerline is valid? [True, True] Translation: X:34.53, Y:-2.85, Z:-1.81 [[ 9.83493272e-01 1.79841433e-01 1.99510361e-02 3.45309341e+01] [-1.79818054e-01 9.83695390e-01 -2.97439911e-03 -2.85469290e+00] [-2.01606624e-02 -6.62254972e-04 9.99796534e-01 -1.81089892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.77654761499999 meters 0.08126210147334477 Centerline is valid? [True, True] Translation: X:34.56, Y:-2.86, Z:-1.81 [[ 9.84016687e-01 1.76622774e-01 2.27058200e-02 3.45617109e+01] [-1.76591588e-01 9.84278384e-01 -3.38722139e-03 -2.85979477e+00] [-2.29471083e-02 -6.76574445e-04 9.99736452e-01 -1.81184551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80654761499999 meters 0.07933403487790805 Centerline is valid? [True, True] Translation: X:34.59, Y:-2.87, Z:-1.81 [[ 9.85034508e-01 1.70309824e-01 2.64873859e-02 3.45917289e+01] [-1.70265068e-01 9.85390371e-01 -3.95257898e-03 -2.86685316e+00] [-2.67735781e-02 -6.16449858e-04 9.99641333e-01 -1.81251274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83654761499999 meters 0.0777303894160994 Centerline is valid? [True, True] Translation: X:34.62, Y:-2.88, Z:-1.81 [[ 9.86212620e-01 1.63086612e-01 2.80611075e-02 3.46213999e+01] [-1.63033437e-01 9.86611656e-01 -4.18799510e-03 -2.88167795e+00] [-2.83684217e-02 -4.44645175e-04 9.99597436e-01 -1.81140356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.866547614999995 meters 0.07663742966931415 Centerline is valid? [True, True] Translation: X:34.65, Y:-2.90, Z:-1.81 [[ 9.87098079e-01 1.57392486e-01 2.94106735e-02 3.46509918e+01] [-1.57331514e-01 9.87536085e-01 -4.39038372e-03 -2.89505569e+00] [-2.97351148e-02 -2.93486453e-04 9.99557771e-01 -1.80834361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.896547614999996 meters 0.07605781353739803 Centerline is valid? [True, True] Translation: X:34.68, Y:-2.90, Z:-1.81 [[ 9.87882642e-01 1.52369188e-01 2.95214586e-02 3.46825980e+01] [-1.52305618e-01 9.88323636e-01 -4.40336319e-03 -2.90147690e+00] [-2.98476922e-02 -1.46277922e-04 9.99554448e-01 -1.80774444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92654761499999 meters 0.07579272888375997 Centerline is valid? [True, True] Translation: X:34.71, Y:-2.91, Z:-1.81 [[ 9.88324344e-01 1.49205557e-01 3.08657136e-02 3.47140300e+01] [-1.49134274e-01 9.88806199e-01 -4.61179084e-03 -2.90787101e+00] [-3.12083138e-02 -4.51906413e-05 9.99512901e-01 -1.80550622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.95654761499999 meters 0.07561404036401906 Centerline is valid? [True, True] Translation: X:34.74, Y:-2.91, Z:-1.81 [[ 9.88545948e-01 1.47524974e-01 3.18322114e-02 3.47440949e+01] [-1.47448003e-01 9.89058331e-01 -4.76496234e-03 -2.91476702e+00] [-3.21868648e-02 1.67882239e-05 9.99481868e-01 -1.80614437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98654761499999 meters 0.0762851675547757 Centerline is valid? [True, True] Translation: X:34.78, Y:-2.91, Z:-1.81 [[ 9.88372367e-01 1.49070916e-01 2.99654264e-02 3.47764791e+01] [-1.49003227e-01 9.88826507e-01 -4.49188583e-03 -2.90857926e+00] [-3.03002174e-02 -2.52893952e-05 9.99540843e-01 -1.81470932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.01654761499999 meters 0.07730473237855408 Centerline is valid? [True, True] Translation: X:34.81, Y:-2.90, Z:-1.82 [[ 9.87849094e-01 1.53295638e-01 2.55854254e-02 3.48096686e+01] [-1.53247489e-01 9.88180364e-01 -3.84381508e-03 -2.89993893e+00] [-2.58722551e-02 -1.23792974e-04 9.99665250e-01 -1.82109959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.046547614999994 meters 0.07845332649272112 Centerline is valid? [True, True] Translation: X:34.84, Y:-2.89, Z:-1.82 [[ 9.85844343e-01 1.65773962e-01 2.50983068e-02 3.48421860e+01] [-1.65731611e-01 9.86163678e-01 -3.77273080e-03 -2.88988321e+00] [-2.53764591e-02 -4.40257495e-04 9.99677869e-01 -1.81994735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.076547614999996 meters 0.0784682054251688 Centerline is valid? [True, True] Translation: X:34.88, Y:-2.89, Z:-1.82 [[ 9.85369244e-01 1.68312968e-01 2.67992037e-02 3.48759282e+01] [-1.68265776e-01 9.85733456e-01 -4.02260907e-03 -2.89016574e+00] [-2.70939289e-02 -5.45633556e-04 9.99632743e-01 -1.81867863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10654761499999 meters 0.07900573251609304 Centerline is valid? [True, True] Translation: X:34.91, Y:-2.88, Z:-1.82 [[ 9.84107244e-01 1.75109813e-01 2.94870386e-02 3.49106206e+01] [-1.75055308e-01 9.84548590e-01 -4.44000247e-03 -2.87758176e+00] [-2.98089103e-02 -7.92424042e-04 9.99555302e-01 -1.81956349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.13654761499999 meters 0.08022224786349944 Centerline is valid? [True, True] Translation: X:34.94, Y:-2.87, Z:-1.82 [[ 9.83583603e-01 1.78324828e-01 2.76324209e-02 3.49417342e+01] [-1.78278168e-01 9.83971323e-01 -4.16302913e-03 -2.87374244e+00] [-2.79318812e-02 -8.31570173e-04 9.99609483e-01 -1.82497886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16654761499999 meters 0.08087956114615508 Centerline is valid? [True, True] Translation: X:34.97, Y:-2.88, Z:-1.83 [[ 9.83276487e-01 1.80681639e-01 2.28362659e-02 3.49725899e+01] [-1.80650368e-01 9.83541355e-01 -3.44207605e-03 -2.87557836e+00] [-2.30823319e-02 -7.40867402e-04 9.99733293e-01 -1.82894696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.19654761499999 meters 0.08199345296932373 Centerline is valid? [True, True] Translation: X:35.00, Y:-2.87, Z:-1.83 [[ 9.82505101e-01 1.85005375e-01 2.13714258e-02 3.50043215e+01] [-1.84979018e-01 9.82737192e-01 -3.22085732e-03 -2.87347981e+00] [-2.15983709e-02 -7.88756612e-04 9.99766417e-01 -1.83160704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.226547614999994 meters 0.08360879766908316 Centerline is valid? [True, True] Translation: X:35.04, Y:-2.87, Z:-1.83 [[ 9.81517546e-01 1.90084568e-01 2.21621976e-02 3.50352486e+01] [-1.90057463e-01 9.81767279e-01 -3.34236196e-03 -2.86698397e+00] [-2.23934519e-02 -9.31504143e-04 9.99748801e-01 -1.83239769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.256547614999995 meters 0.08817200667420101 Centerline is valid? [True, True] Translation: X:35.07, Y:-2.86, Z:-1.84 [[ 9.80209879e-01 1.96732601e-01 2.20199020e-02 3.50670454e+01] [-1.96707521e-01 9.80456590e-01 -3.32063095e-03 -2.85723819e+00] [-2.22428344e-02 -1.07656508e-03 9.99752018e-01 -1.83573049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28654761499999 meters 0.08749137584351865 Centerline is valid? [True, True] Translation: X:35.10, Y:-2.86, Z:-1.83 [[ 9.79454796e-01 2.00602517e-01 2.06623586e-02 3.50976780e+01] [-2.00581296e-01 9.79672106e-01 -3.11575173e-03 -2.86378644e+00] [-2.08673640e-02 -1.09274469e-03 9.99781656e-01 -1.83478938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.31654761499999 meters 0.08756698474809346 Centerline is valid? [True, True] Translation: X:35.13, Y:-2.87, Z:-1.84 [[ 9.79221595e-01 2.01468325e-01 2.31426470e-02 3.51299100e+01] [-2.01442085e-01 9.79494232e-01 -3.48370521e-03 -2.86712912e+00] [-2.33699455e-02 -1.25058369e-03 9.99726103e-01 -1.83539386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34654761499999 meters 0.08557308904233664 Centerline is valid? [True, True] Translation: X:35.16, Y:-2.88, Z:-1.84 [[ 9.80306699e-01 1.96167385e-01 2.27405444e-02 3.51593198e+01] [-1.96140336e-01 9.80569816e-01 -3.43576506e-03 -2.87626914e+00] [-2.29726765e-02 -1.09223450e-03 9.99735497e-01 -1.83897306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.37654761499999 meters 0.08331653607370249 Centerline is valid? [True, True] Translation: X:35.19, Y:-2.89, Z:-1.84 [[ 9.81540290e-01 1.89675814e-01 2.45304785e-02 3.51884974e+01] [-1.89642320e-01 9.81846249e-01 -3.70594630e-03 -2.89056965e+00] [-2.47880867e-02 -1.01448125e-03 9.99692213e-01 -1.83896211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.406547614999994 meters 0.08267149447982551 Centerline is valid? [True, True] Translation: X:35.22, Y:-2.90, Z:-1.84 [[ 9.82241617e-01 1.85873170e-01 2.55454610e-02 3.52175201e+01] [-1.85835537e-01 9.82573281e-01 -3.86022889e-03 -2.90243611e+00] [-2.58178004e-02 -9.55577012e-04 9.99666208e-01 -1.83750747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.436547614999995 meters 0.08123122291404047 Centerline is valid? [True, True] Translation: X:35.25, Y:-2.91, Z:-1.84 [[ 9.82528912e-01 1.84550308e-01 2.40441452e-02 3.52486168e+01] [-1.84516726e-01 9.82822681e-01 -3.62709048e-03 -2.91178480e+00] [-2.43005120e-02 -8.72825705e-04 9.99704318e-01 -1.83685116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.466547614999996 meters 0.08123122291404047 Centerline is valid? [True, True] Translation: X:35.28, Y:-2.92, Z:-1.84 [[ 9.82475125e-01 1.84836535e-01 2.40433725e-02 3.52805846e+01] [-1.84802914e-01 9.82768889e-01 -3.63220220e-03 -2.91679719e+00] [-2.43004421e-02 -8.74736986e-04 9.99704318e-01 -1.83854627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.49654761499999 meters 0.08214657758078812 Centerline is valid? [True, True] Translation: X:35.31, Y:-2.92, Z:-1.84 [[ 9.82495951e-01 1.84994346e-01 2.18814644e-02 3.53113790e+01] [-1.84966387e-01 9.82739265e-01 -3.31246895e-03 -2.92132843e+00] [-2.21165623e-02 -7.92848089e-04 9.99755085e-01 -1.84422663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52654761499999 meters 0.0820683574957094 Centerline is valid? [True, True] Translation: X:35.34, Y:-2.93, Z:-1.85 [[ 9.82461408e-01 1.85088276e-01 2.26254697e-02 3.53433931e+01] [-1.85058175e-01 9.82721563e-01 -3.43527219e-03 -2.92778400e+00] [-2.28703656e-02 -8.12005783e-04 9.99738109e-01 -1.84571337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.55654761499999 meters 0.08143718435044171 Centerline is valid? [True, True] Translation: X:35.37, Y:-2.94, Z:-1.85 [[ 9.82646796e-01 1.83652867e-01 2.60172865e-02 3.53743459e+01] [-1.83612474e-01 9.82990757e-01 -3.95358904e-03 -2.93508007e+00] [-2.63008401e-02 -8.92116728e-04 9.99653675e-01 -1.84676140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58654761499999 meters 0.08163028412663391 Centerline is valid? [True, True] Translation: X:35.40, Y:-2.94, Z:-1.85 [[ 9.82924292e-01 1.82559939e-01 2.30587453e-02 3.54042543e+01] [-1.82527909e-01 9.83194428e-01 -3.50404900e-03 -2.94058678e+00] [-2.33109289e-02 -7.64649704e-04 9.99727971e-01 -1.85212698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.616547614999995 meters 0.08219102395782289 Centerline is valid? [True, True] Translation: X:35.43, Y:-2.95, Z:-1.86 [[ 9.82415053e-01 1.85725039e-01 1.91539414e-02 3.54346417e+01] [-1.85703460e-01 9.82601511e-01 -2.91481672e-03 -2.94842544e+00] [-1.93620462e-02 -6.93393361e-04 9.99812298e-01 -1.85607617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.646547614999996 meters 0.08330907143383987 Centerline is valid? [True, True] Translation: X:35.46, Y:-2.95, Z:-1.86 [[ 9.81939812e-01 1.88299649e-01 1.83697399e-02 3.54649364e+01] [-1.88280217e-01 9.82111366e-01 -2.79724177e-03 -2.94660205e+00] [-1.85678500e-02 -7.11935561e-04 9.99827349e-01 -1.86084523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.67654761499999 meters 0.08290050023670226 Centerline is valid? [True, True] Translation: X:35.50, Y:-2.95, Z:-1.86 [[ 9.81735986e-01 1.89022053e-01 2.15665522e-02 3.54962689e+01] [-1.88995606e-01 9.81972467e-01 -3.27654747e-03 -2.95301566e+00] [-2.17971002e-02 -8.59279049e-04 9.99762046e-01 -1.85726457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70654761499999 meters 0.08296449920568043 Centerline is valid? [True, True] Translation: X:35.53, Y:-2.96, Z:-1.86 [[ 9.82023580e-01 1.87492035e-01 2.18271804e-02 3.55260852e+01] [-1.87464429e-01 9.82265773e-01 -3.32242500e-03 -2.96205937e+00] [-2.20630205e-02 -8.29120223e-04 9.99756238e-01 -1.85887940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.73654761499999 meters 0.08105842395858973 Centerline is valid? [True, True] Translation: X:35.56, Y:-2.98, Z:-1.86 [[ 9.82705507e-01 1.84000546e-01 2.08251412e-02 3.55552335e+01] [-1.83974415e-01 9.82925888e-01 -3.18024760e-03 -2.97861692e+00] [-2.10547377e-02 -7.06046351e-04 9.99778075e-01 -1.85759014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76654761499999 meters 0.08001776512089709 Centerline is valid? [True, True] Translation: X:35.58, Y:-2.99, Z:-1.86 [[ 9.83442828e-01 1.79421153e-01 2.54608113e-02 3.55838033e+01] [-1.79380504e-01 9.83772077e-01 -3.89030308e-03 -2.98720838e+00] [-2.57456379e-02 -7.41282509e-04 9.99668251e-01 -1.86007544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.796547614999994 meters 0.08019096948268707 Centerline is valid? [True, True] Translation: X:35.61, Y:-2.99, Z:-1.86 [[ 9.83844021e-01 1.76806914e-01 2.81115348e-02 3.56145148e+01] [-1.76756305e-01 9.84245276e-01 -4.29489113e-03 -2.99052163e+00] [-2.84280117e-02 -7.43388047e-04 9.99595566e-01 -1.86363188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.826547614999996 meters 0.0808380541561446 Centerline is valid? [True, True] Translation: X:35.65, Y:-3.00, Z:-1.87 [[ 9.83622216e-01 1.78339298e-01 2.61233690e-02 3.56463597e+01] [-1.78296136e-01 9.83968779e-01 -3.99110148e-03 -2.99553139e+00] [-2.64163497e-02 -7.31959668e-04 9.99650759e-01 -1.86588689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.85654761499999 meters 0.08084901989527501 Centerline is valid? [True, True] Translation: X:35.68, Y:-3.01, Z:-1.86 [[ 9.82858052e-01 1.82702079e-01 2.46981699e-02 3.56759467e+01] [-1.82664802e-01 9.83167997e-01 -3.77622582e-03 -3.00696755e+00] [-2.49723745e-02 -7.99992342e-04 9.99687822e-01 -1.86007662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88654761499999 meters 0.08188752084015385 Centerline is valid? [True, True] Translation: X:35.71, Y:-3.01, Z:-1.86 [[ 9.82115233e-01 1.86405511e-01 2.65076404e-02 3.57065806e+01] [-1.86363914e-01 9.82472424e-01 -4.05299472e-03 -3.01084709e+00] [-2.67985262e-02 -9.59559761e-04 9.99640394e-01 -1.85924618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91654761499999 meters 0.08282588288256107 Centerline is valid? [True, True] Translation: X:35.74, Y:-3.01, Z:-1.87 [[ 9.81757677e-01 1.88492457e-01 2.49491009e-02 3.57371112e+01] [-1.88456275e-01 9.82074172e-01 -3.81491536e-03 -3.01187324e+00] [-2.52209503e-02 -9.56492183e-04 9.99681444e-01 -1.86575969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94654761499999 meters 0.08218818105851447 Centerline is valid? [True, True] Translation: X:35.77, Y:-3.02, Z:-1.87 [[ 9.82260092e-01 1.85814111e-01 2.52631651e-02 3.57674799e+01] [-1.85776075e-01 9.82584506e-01 -3.86500652e-03 -3.01881889e+00] [-2.55413673e-02 -8.96849989e-04 9.99673364e-01 -1.87270331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.976547614999994 meters 0.08046584407950441 Centerline is valid? [True, True] Translation: X:35.80, Y:-3.03, Z:-1.88 [[ 9.83434446e-01 1.79552374e-01 2.48522776e-02 3.57961677e+01] [-1.79513532e-01 9.83748151e-01 -3.80347649e-03 -3.03357789e+00] [-2.51313054e-02 -7.20850320e-04 9.99683899e-01 -1.87594467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.006547614999995 meters 0.07940954475481099 Centerline is valid? [True, True] Translation: X:35.82, Y:-3.05, Z:-1.88 [[ 9.84862365e-01 1.71755868e-01 2.33675851e-02 3.58239443e+01] [-1.71719325e-01 9.85139422e-01 -3.57658981e-03 -3.05137360e+00] [-2.36346296e-02 -4.90217240e-04 9.99720543e-01 -1.87809044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.03654761499999 meters 0.07763464528619214 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.07, Z:-1.88 [[ 9.85829562e-01 1.66148745e-01 2.31229076e-02 3.58530488e+01] [-1.66111421e-01 9.86100639e-01 -3.53910178e-03 -3.06723528e+00] [-2.33895313e-02 -3.52027879e-04 9.99726366e-01 -1.87560544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06654761499999 meters 0.07803613088922576 Centerline is valid? [True, True] Translation: X:35.88, Y:-3.07, Z:-1.88 [[ 9.85897911e-01 1.65914091e-01 2.18591640e-02 3.58838576e+01] [-1.65880785e-01 9.86140154e-01 -3.34085438e-03 -3.07009975e+00] [-2.21104942e-02 -3.32273922e-04 9.99755478e-01 -1.88044003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09654761499999 meters 0.07740583408506553 Centerline is valid? [True, True] Translation: X:35.92, Y:-3.07, Z:-1.88 [[ 9.86374911e-01 1.62669910e-01 2.45567733e-02 3.59150674e+01] [-1.62626590e-01 9.86680506e-01 -3.76439195e-03 -3.07414559e+00] [-2.48420428e-02 -2.80482523e-04 9.99691349e-01 -1.88287685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12654761499999 meters 0.07711369424093115 Centerline is valid? [True, True] Translation: X:35.95, Y:-3.08, Z:-1.88 [[ 9.86920982e-01 1.59433764e-01 2.38295938e-02 3.59450598e+01] [-1.59392114e-01 9.87208608e-01 -3.64932822e-03 -3.08415237e+00] [-2.41066063e-02 -1.96650751e-04 9.99709374e-01 -1.88407513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.156547614999994 meters 0.0769462245308213 Centerline is valid? [True, True] Translation: X:35.98, Y:-3.09, Z:-1.88 [[ 9.86937890e-01 1.59190379e-01 2.47391191e-02 3.59759882e+01] [-1.59145204e-01 9.87247885e-01 -3.79694065e-03 -3.08687954e+00] [-2.50280795e-02 -1.89767576e-04 9.99686731e-01 -1.88423158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.186547614999995 meters 0.07685625795367074 Centerline is valid? [True, True] Translation: X:36.01, Y:-3.09, Z:-1.88 [[ 9.86665218e-01 1.60811255e-01 2.51294283e-02 3.60092763e+01] [-1.60765170e-01 9.86985149e-01 -3.85679231e-03 -3.08725397e+00] [-2.54225882e-02 -2.34574002e-04 9.99676766e-01 -1.88429400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.21654761499999 meters 0.07715909981093547 Centerline is valid? [True, True] Translation: X:36.04, Y:-3.09, Z:-1.89 [[ 9.86260291e-01 1.63488152e-01 2.37120620e-02 3.60419181e+01] [-1.63447736e-01 9.86545258e-01 -3.64581455e-03 -3.08510697e+00] [-2.39890698e-02 -2.79960724e-04 9.99712182e-01 -1.88526034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24654761499999 meters 0.07866999241173996 Centerline is valid? [True, True] Translation: X:36.07, Y:-3.08, Z:-1.89 [[ 9.85122644e-01 1.70605628e-01 2.06662874e-02 3.60744794e+01] [-1.70576274e-01 9.85339318e-01 -3.18798281e-03 -3.07782613e+00] [-2.09071934e-02 -3.84624248e-04 9.99781347e-01 -1.88879469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27654761499999 meters 0.08005389863749655 Centerline is valid? [True, True] Translation: X:36.11, Y:-3.07, Z:-1.89 [[ 9.84050491e-01 1.77172364e-01 1.59556794e-02 3.61060045e+01] [-1.77155722e-01 9.84179755e-01 -2.46169913e-03 -3.07399936e+00] [-1.61394017e-02 -4.04203676e-04 9.99869670e-01 -1.89077068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30654761499999 meters 0.08078135541187205 Centerline is valid? [True, True] Translation: X:36.14, Y:-3.07, Z:-1.90 [[ 9.83399309e-01 1.80545667e-01 1.81400465e-02 3.61387554e+01] [-1.80524886e-01 9.83566460e-01 -2.79020510e-03 -3.06966822e+00] [-1.83457007e-02 -5.30844052e-04 9.99831563e-01 -1.89520509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33654761499999 meters 0.08028591607964247 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.07, Z:-1.90 [[ 9.83492636e-01 1.79536762e-01 2.25562799e-02 3.61698060e+01] [-1.79503983e-01 9.83751069e-01 -3.48625536e-03 -3.07040960e+00] [-2.28156755e-02 -6.20235603e-04 9.99739496e-01 -1.89569630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.366547614999995 meters 0.07964734309481478 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.08, Z:-1.90 [[ 9.83925251e-01 1.76959902e-01 2.40061168e-02 3.61989884e+01] [-1.76921991e-01 9.84217881e-01 -3.71092618e-03 -3.07911239e+00] [-2.42839345e-02 -5.95936006e-04 9.99704924e-01 -1.89521766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.396547614999996 meters 0.07816829076528439 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.09, Z:-1.89 [[ 9.84131628e-01 1.75490276e-01 2.62316805e-02 3.62296864e+01] [-1.75444486e-01 9.84480975e-01 -4.05502569e-03 -3.08917077e+00] [-2.65362080e-02 -6.11524667e-04 9.99647666e-01 -1.89046747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42654761499999 meters 0.07837388986680724 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.09, Z:-1.89 [[ 9.84123243e-01 1.75153084e-01 2.86851941e-02 3.62613181e+01] [-1.75098280e-01 9.84540989e-01 -4.43096281e-03 -3.08826434e+00] [-2.90178462e-02 -6.62114671e-04 9.99578674e-01 -1.89369726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45654761499999 meters 0.07904284925641517 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.09, Z:-1.90 [[ 9.83957222e-01 1.76294434e-01 2.73579636e-02 3.62920985e+01] [-1.76244852e-01 9.84337259e-01 -4.23223884e-03 -3.08992140e+00] [-2.76755830e-02 -6.57358266e-04 9.99616742e-01 -1.89753341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48654761499999 meters 0.07900734295953404 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.10, Z:-1.90 [[ 9.83524914e-01 1.78798887e-01 2.66402407e-02 3.63233098e+01] [-1.78752648e-01 9.83885391e-01 -4.12644590e-03 -3.09655094e+00] [-2.69487475e-02 -7.03551225e-04 9.99636569e-01 -1.89746512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51654761499999 meters 0.07993794935678314 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.10, Z:-1.90 [[ 9.83149954e-01 1.81151771e-01 2.44990517e-02 3.63543604e+01] [-1.81113195e-01 9.83454904e-01 -3.80292678e-03 -3.09525299e+00] [-2.47826195e-02 -6.98254242e-04 9.99692620e-01 -1.90265662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.546547614999994 meters 0.07967198947204938 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.10, Z:-1.90 [[ 9.83126679e-01 1.81085052e-01 2.58870145e-02 3.63870491e+01] [-1.81041949e-01 9.83467164e-01 -4.01868696e-03 -3.09550895e+00] [-2.61867529e-02 -7.35757217e-04 9.99656797e-01 -1.90385048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.576547614999996 meters 0.07921263661759065 Centerline is valid? [True, True] Translation: X:36.42, Y:-3.10, Z:-1.90 [[ 9.83424584e-01 1.79374291e-01 2.64754810e-02 3.64179421e+01] [-1.79328400e-01 9.83780654e-01 -4.11703738e-03 -3.10333781e+00] [-2.67845567e-02 -6.99009875e-04 9.99640985e-01 -1.90276886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60654761499999 meters 0.07778103973146706 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.12, Z:-1.90 [[ 9.84545295e-01 1.72919592e-01 2.77376546e-02 3.64463470e+01] [-1.72866293e-01 9.84935799e-01 -4.32626818e-03 -3.12008139e+00] [-2.80679055e-02 -5.35498560e-04 9.99605875e-01 -1.90253685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.63654761499999 meters 0.07795981347462623 Centerline is valid? [True, True] Translation: X:36.48, Y:-3.12, Z:-1.91 [[ 9.84875544e-01 1.71504824e-01 2.46223317e-02 3.64783137e+01] [-1.71462527e-01 9.85183180e-01 -3.83466659e-03 -3.12121793e+00] [-2.49151708e-02 -4.45137854e-04 9.99689470e-01 -1.90887117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66654761499999 meters 0.0791895605401225 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.12, Z:-1.91 [[ 9.84365416e-01 1.74651479e-01 2.28383109e-02 3.65091180e+01] [-1.74615746e-01 9.84630201e-01 -3.56505742e-03 -3.12008413e+00] [-2.31099332e-02 -4.78609447e-04 9.99732815e-01 -1.91361015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69654761499999 meters 0.07973359694998176 Centerline is valid? [True, True] Translation: X:36.54, Y:-3.13, Z:-1.91 [[ 9.83246864e-01 1.80902165e-01 2.23609256e-02 3.65394881e+01] [-1.80869396e-01 9.83500909e-01 -3.49616300e-03 -3.12618794e+00] [-2.26244541e-02 -6.06815801e-04 9.99743850e-01 -1.91023473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.726547614999994 meters 0.0811472147892673 Centerline is valid? [True, True] Translation: X:36.57, Y:-3.13, Z:-1.91 [[ 9.82495508e-01 1.85259061e-01 1.95360430e-02 3.65700169e+01] [-1.85234893e-01 9.82689524e-01 -3.05530064e-03 -3.12556440e+00] [-1.97638869e-02 -6.16937672e-04 9.99804485e-01 -1.91392856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.756547614999995 meters 0.08307958407827831 Centerline is valid? [True, True] Translation: X:36.60, Y:-3.12, Z:-1.92 [[ 9.81944892e-01 1.88267895e-01 1.84236063e-02 3.66010970e+01] [-1.88246982e-01 9.82117502e-01 -2.87854069e-03 -3.11767922e+00] [-1.86360830e-02 -6.41619956e-04 9.99826127e-01 -1.92400023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78654761499999 meters 0.08340903991183281 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.12, Z:-1.92 [[ 9.81475360e-01 1.90487464e-01 2.05095932e-02 3.66341661e+01] [-1.90462111e-01 9.81689330e-01 -3.20053734e-03 -3.12231586e+00] [-2.07437110e-02 -7.65051865e-04 9.99784533e-01 -1.92444808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.81654761499999 meters 0.0824857459870482 Centerline is valid? [True, True] Translation: X:36.66, Y:-3.14, Z:-1.92 [[ 9.81430444e-01 1.90608868e-01 2.15068187e-02 3.66644911e+01] [-1.90580850e-01 9.81665739e-01 -3.36390918e-03 -3.13805414e+00] [-2.17536980e-02 -7.97344916e-04 9.99763042e-01 -1.91919796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84654761499999 meters 0.0826414678618044 Centerline is valid? [True, True] Translation: X:36.70, Y:-3.15, Z:-1.92 [[ 9.81254119e-01 1.91656894e-01 2.01987234e-02 3.66958912e+01] [-1.91632315e-01 9.81461689e-01 -3.16357785e-03 -3.14543366e+00] [-2.04305947e-02 -7.66454328e-04 9.99790980e-01 -1.92103957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87654761499999 meters 0.08409399788102008 Centerline is valid? [True, True] Translation: X:36.73, Y:-3.14, Z:-1.92 [[ 9.80321486e-01 1.96304638e-01 2.08392482e-02 3.67272258e+01] [-1.96279254e-01 9.80542563e-01 -3.27664348e-03 -3.14310716e+00] [-2.10769901e-02 -8.78148082e-04 9.99777470e-01 -1.92319100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.906547614999994 meters 0.08584146872444108 Centerline is valid? [True, True] Translation: X:36.76, Y:-3.15, Z:-1.92 [[ 9.79131870e-01 2.01967859e-01 2.25779771e-02 3.67586017e+01] [-2.01939567e-01 9.79391551e-01 -3.54987745e-03 -3.14567159e+00] [-2.28296411e-02 -1.08358877e-03 9.99738783e-01 -1.92123108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.936547614999995 meters 0.08747998762628285 Centerline is valid? [True, True] Translation: X:36.79, Y:-3.15, Z:-1.93 [[ 9.78749941e-01 2.03945137e-01 2.13291841e-02 3.67883108e+01] [-2.03920346e-01 9.78981738e-01 -3.35398276e-03 -3.15058614e+00] [-2.15649102e-02 -1.06674417e-03 9.99766881e-01 -1.92532209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96654761499999 meters 0.0857497892300417 Centerline is valid? [True, True] Translation: X:36.82, Y:-3.16, Z:-1.93 [[ 9.79121334e-01 2.01977278e-01 2.29475867e-02 3.68180898e+01] [-2.01948003e-01 9.79389591e-01 -3.61022456e-03 -3.16273207e+00] [-2.32038109e-02 -1.09937141e-03 9.99730151e-01 -1.92614694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.99654761499999 meters 0.08312559518051359 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.18, Z:-1.92 [[ 9.80442628e-01 1.95148922e-01 2.54784324e-02 3.68474125e+01] [-1.95110511e-01 9.80773070e-01 -4.00908199e-03 -3.18038119e+00] [-2.57709284e-02 -1.04043510e-03 9.99667333e-01 -1.92406893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02654761499999 meters 0.08295764098211797 Centerline is valid? [True, True] Translation: X:36.88, Y:-3.19, Z:-1.93 [[ 9.80811501e-01 1.93465912e-01 2.40777974e-02 3.68784195e+01] [-1.93431206e-01 9.81106542e-01 -3.78438650e-03 -3.18996275e+00] [-2.43550343e-02 -9.45627592e-04 9.99702925e-01 -1.92709363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05654761499999 meters 0.08260341053649337 Centerline is valid? [True, True] Translation: X:36.91, Y:-3.20, Z:-1.93 [[ 9.82064548e-01 1.86893354e-01 2.49017783e-02 3.69065556e+01] [-1.86853788e-01 9.82379886e-01 -3.92707263e-03 -3.20135733e+00] [-2.51969499e-02 -7.96352780e-04 9.99682189e-01 -1.93193065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08654761499999 meters 0.08139610850120009 Centerline is valid? [True, True] Translation: X:36.94, Y:-3.21, Z:-1.93 [[ 9.82199260e-01 1.86179009e-01 2.49397223e-02 3.69378543e+01] [-1.86139248e-01 9.82515527e-01 -3.92688251e-03 -3.20859450e+00] [-2.52347675e-02 -7.85280060e-04 9.99681244e-01 -1.93136455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.116547614999995 meters 0.08180040355907629 Centerline is valid? [True, True] Translation: X:36.97, Y:-3.22, Z:-1.93 [[ 9.82158924e-01 1.86607336e-01 2.32712445e-02 3.69678477e+01] [-1.86572707e-01 9.82434302e-01 -3.66972226e-03 -3.21763163e+00] [-2.35472660e-02 -7.37528616e-04 9.99722453e-01 -1.93317994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.146547614999996 meters 0.08151707835341501 Centerline is valid? [True, True] Translation: X:37.00, Y:-3.23, Z:-1.93 [[ 9.81773586e-01 1.88931035e-01 2.06322412e-02 3.69979080e+01] [-1.88904129e-01 9.81990113e-01 -3.26302735e-03 -3.22815595e+00] [-2.08771440e-02 -6.93961488e-04 9.99781808e-01 -1.93209634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.17654761499999 meters 0.08306604029824984 Centerline is valid? [True, True] Translation: X:37.03, Y:-3.22, Z:-1.94 [[ 9.81035598e-01 1.92456209e-01 2.30165679e-02 3.70293700e+01] [-1.92423734e-01 9.81305186e-01 -3.63837647e-03 -3.22490386e+00] [-2.32865056e-02 -8.59557098e-04 9.99728463e-01 -1.93677859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20654761499999 meters 0.08381639180035041 Centerline is valid? [True, True] Translation: X:37.06, Y:-3.23, Z:-1.94 [[ 9.80582537e-01 1.94692474e-01 2.35101920e-02 3.70610944e+01] [-1.94659229e-01 9.80863891e-01 -3.71656042e-03 -3.22653072e+00] [-2.37838847e-02 -9.32081597e-04 9.99716689e-01 -1.94113563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23654761499999 meters 0.08404036602031455 Centerline is valid? [True, True] Translation: X:37.09, Y:-3.23, Z:-1.94 [[ 9.80308814e-01 1.96085635e-01 2.33463719e-02 3.70921228e+01] [-1.96053113e-01 9.80586312e-01 -3.69629624e-03 -3.23390354e+00] [-2.36179233e-02 -9.53617092e-04 9.99720603e-01 -1.94363230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26654761499999 meters 0.08546424131507643 Centerline is valid? [True, True] Translation: X:37.12, Y:-3.24, Z:-1.95 [[ 9.80010363e-01 1.97831421e-01 2.10337113e-02 3.71212179e+01] [-1.97805232e-01 9.80235655e-01 -3.33916132e-03 -3.23865562e+00] [-2.12785848e-02 -8.88165452e-04 9.99773191e-01 -1.94858965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.296547614999994 meters 0.08529420629145745 Centerline is valid? [True, True] Translation: X:37.15, Y:-3.25, Z:-1.95 [[ 9.79498623e-01 2.00305531e-01 2.14509331e-02 3.71522951e+01] [-2.00278829e-01 9.79733013e-01 -3.40796096e-03 -3.24727871e+00] [-2.16988208e-02 -9.58074707e-04 9.99764094e-01 -1.94659441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.326547614999996 meters 0.08629445291213113 Centerline is valid? [True, True] Translation: X:37.18, Y:-3.25, Z:-1.94 [[ 9.78609787e-01 2.04291200e-01 2.42484945e-02 3.71838913e+01] [-2.04258352e-01 9.78909445e-01 -3.85027360e-03 -3.25063781e+00] [-2.45236573e-02 -1.18504207e-03 9.99698548e-01 -1.94481126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.35654761499999 meters 0.0890997988372446 Centerline is valid? [True, True] Translation: X:37.21, Y:-3.25, Z:-1.95 [[ 9.77532348e-01 2.09649523e-01 2.18537557e-02 3.72139493e+01] [-2.09623947e-01 9.77775888e-01 -3.48038431e-03 -3.25423635e+00] [-2.20977363e-02 -1.17888227e-03 9.99755120e-01 -1.95185475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38654761499999 meters 0.0890997988372446 Centerline is valid? [True, True] Translation: X:37.25, Y:-3.26, Z:-1.95 [[ 9.77474341e-01 2.09919688e-01 2.18549398e-02 3.72459001e+01] [-2.09894344e-01 9.77717905e-01 -3.47295798e-03 -3.25952379e+00] [-2.20970082e-02 -1.19250095e-03 9.99755120e-01 -1.95354486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.41654761499999 meters 0.09163649077418753 Centerline is valid? [True, True] Translation: X:37.28, Y:-3.26, Z:-1.96 [[ 9.76881208e-01 2.12694128e-01 2.15479422e-02 3.72768039e+01] [-2.12669942e-01 9.77118059e-01 -3.43437355e-03 -3.25671675e+00] [-2.17853546e-02 -1.22762465e-03 9.99761917e-01 -1.96186073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44654761499999 meters 0.09199482943566213 Centerline is valid? [True, True] Translation: X:37.31, Y:-3.27, Z:-1.96 [[ 9.76458810e-01 2.14338210e-01 2.42347868e-02 3.73088271e+01] [-2.14308110e-01 9.76758471e-01 -3.86304773e-03 -3.26527663e+00] [-2.44995321e-02 -1.42160438e-03 9.99698831e-01 -1.96090346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.476547614999994 meters 0.0917503829275402 Centerline is valid? [True, True] Translation: X:37.34, Y:-3.28, Z:-1.96 [[ 9.76512716e-01 2.13866990e-01 2.61500874e-02 3.73389253e+01] [-2.13831396e-01 9.76861627e-01 -4.18272588e-03 -3.27903248e+00] [-2.64395639e-02 -1.50722468e-03 9.99649277e-01 -1.95608501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.506547614999995 meters 0.0903287854794701 Centerline is valid? [True, True] Translation: X:37.37, Y:-3.29, Z:-1.96 [[ 9.76835343e-01 2.12442830e-01 2.57051701e-02 3.73693445e+01] [-2.12408044e-01 9.77172425e-01 -4.10777281e-03 -3.28985405e+00] [-2.59910502e-02 -1.44736723e-03 9.99661128e-01 -1.95567121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.53654761499999 meters 0.08833827592595396 Centerline is valid? [True, True] Translation: X:37.40, Y:-3.30, Z:-1.96 [[ 9.77745722e-01 2.08656143e-01 2.18155251e-02 3.73986619e+01] [-2.08629929e-01 9.77988410e-01 -3.49607761e-03 -3.30431304e+00] [-2.20648088e-02 -1.13309652e-03 9.99755900e-01 -1.96224621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56654761499999 meters 0.0878607523364732 Centerline is valid? [True, True] Translation: X:37.43, Y:-3.31, Z:-1.97 [[ 9.78440993e-01 2.05530964e-01 2.02545332e-02 3.74286917e+01] [-2.05507686e-01 9.78650117e-01 -3.24654573e-03 -3.31102390e+00] [-2.04893669e-02 -9.85908823e-04 9.99789585e-01 -1.96974769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59654761499999 meters 0.08855130803554515 Centerline is valid? [True, True] Translation: X:37.46, Y:-3.31, Z:-1.97 [[ 9.78418887e-01 2.05611771e-01 2.05007627e-02 3.74597219e+01] [-2.05588051e-01 9.78633123e-01 -3.28073839e-03 -3.31409003e+00] [-2.07372839e-02 -1.00477546e-03 9.99784455e-01 -1.97175891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62654761499999 meters 0.0882365091446998 Centerline is valid? [True, True] Translation: X:37.49, Y:-3.33, Z:-1.97 [[ 9.78205441e-01 2.06621866e-01 2.05309443e-02 3.74900448e+01] [-2.06598209e-01 9.78420337e-01 -3.28985402e-03 -3.32935148e+00] [-2.07676492e-02 -1.02350322e-03 9.99783805e-01 -1.96772337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.656547614999994 meters 0.08719035288581248 Centerline is valid? [True, True] Translation: X:37.52, Y:-3.34, Z:-1.97 [[ 9.78899955e-01 2.03440729e-01 1.91506470e-02 3.75192918e+01] [-2.03419342e-01 9.79086867e-01 -3.07881050e-03 -3.34264682e+00] [-1.93765025e-02 -8.81764553e-04 9.99811869e-01 -1.96858239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.686547614999995 meters 0.08588338814828848 Centerline is valid? [True, True] Translation: X:37.55, Y:-3.35, Z:-1.97 [[ 9.79889677e-01 1.98328749e-01 2.19528436e-02 3.75485840e+01] [-1.98299301e-01 9.80135150e-01 -3.53214472e-03 -3.34681206e+00] [-2.22172794e-02 -8.92121374e-04 9.99752768e-01 -1.97447831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.71654761499999 meters 0.08461760708722331 Centerline is valid? [True, True] Translation: X:37.58, Y:-3.36, Z:-1.98 [[ 9.81039193e-01 1.92422995e-01 2.31407116e-02 3.75782008e+01] [-1.92388637e-01 9.81311751e-01 -3.72299305e-03 -3.35637090e+00] [-2.34246417e-02 -7.99607872e-04 9.99725286e-01 -1.97742354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74654761499999 meters 0.08461768522214062 Centerline is valid? [True, True] Translation: X:37.61, Y:-3.36, Z:-1.98 [[ 9.81409955e-01 1.90414948e-01 2.40135102e-02 3.76076619e+01] [-1.90377322e-01 9.81703387e-01 -3.86450132e-03 -3.36439354e+00] [-2.43100032e-02 -7.78967717e-04 9.99704165e-01 -1.97923931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77654761499999 meters 0.08497767898234045 Centerline is valid? [True, True] Translation: X:37.64, Y:-3.38, Z:-1.98 [[ 9.80848717e-01 1.93675832e-01 2.06268178e-02 3.76374960e+01] [-1.93648791e-01 9.81065302e-01 -3.31949325e-03 -3.37518226e+00] [-2.08791609e-02 -7.38437625e-04 9.99781734e-01 -1.97508211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80654761499999 meters 0.08448354314754693 Centerline is valid? [True, True] Translation: X:37.67, Y:-3.38, Z:-1.97 [[ 9.80359548e-01 1.95988183e-01 2.19952221e-02 3.76690426e+01] [-1.95958148e-01 9.80605893e-01 -3.53373928e-03 -3.38282540e+00] [-2.22612156e-02 -8.45807959e-04 9.99751831e-01 -1.97283632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83654761499999 meters 0.08415364622624648 Centerline is valid? [True, True] Translation: X:37.70, Y:-3.38, Z:-1.98 [[ 9.80764979e-01 1.93512477e-01 2.55533978e-02 3.77005131e+01] [-1.93470738e-01 9.81097398e-01 -4.11937214e-03 -3.38185949e+00] [-2.58675220e-02 -9.03698789e-04 9.99664971e-01 -1.97712408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.866547614999995 meters 0.08472689848437631 Centerline is valid? [True, True] Translation: X:37.73, Y:-3.38, Z:-1.99 [[ 9.81255320e-01 1.91188469e-01 2.41860827e-02 3.77318233e+01] [-1.91150496e-01 9.81553017e-01 -3.89386079e-03 -3.38323636e+00] [-2.44843838e-02 -8.02310100e-04 9.99699891e-01 -1.98641509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.896547614999996 meters 0.08497919910230227 Centerline is valid? [True, True] Translation: X:37.76, Y:-3.39, Z:-1.99 [[ 9.81524211e-01 1.90210934e-01 2.07369979e-02 3.77621535e+01] [-1.90182719e-01 9.81743022e-01 -3.34251043e-03 -3.39124228e+00] [-2.09941850e-02 -6.63063727e-04 9.99779378e-01 -1.99066509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92654761499999 meters 0.08363913762213801 Centerline is valid? [True, True] Translation: X:37.79, Y:-3.40, Z:-1.98 [[ 9.81347871e-01 1.90523110e-01 2.56378556e-02 3.77919674e+01] [-1.90479745e-01 9.81682372e-01 -4.14569351e-03 -3.40497416e+00] [-2.59580813e-02 -8.15124682e-04 9.99662700e-01 -1.98106263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95654761499999 meters 0.0837425460559415 Centerline is valid? [True, True] Translation: X:37.83, Y:-3.41, Z:-1.98 [[ 9.80450144e-01 1.94419709e-01 3.03066375e-02 3.78253628e+01] [-1.94361083e-01 9.80917831e-01 -4.89685757e-03 -3.40763060e+00] [-3.06803667e-02 -1.08930617e-03 9.99528653e-01 -1.97591463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98654761499999 meters 0.08426451134603719 Centerline is valid? [True, True] Translation: X:37.86, Y:-3.40, Z:-1.98 [[ 9.80485195e-01 1.94323928e-01 2.97824478e-02 3.78584126e+01] [-1.94267025e-01 9.80936842e-01 -4.82022984e-03 -3.40456779e+00] [-3.01513863e-02 -1.05958355e-03 9.99544782e-01 -1.98409132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.01654761499999 meters 0.08560477881247715 Centerline is valid? [True, True] Translation: X:37.89, Y:-3.40, Z:-1.99 [[ 9.80498469e-01 1.94848990e-01 2.56246813e-02 3.78900063e+01] [-1.94806755e-01 9.80832827e-01 -4.15851522e-03 -3.40430730e+00] [-2.59438111e-02 -9.14443207e-04 9.99662984e-01 -1.99262909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.046547614999994 meters 0.0864975965103584 Centerline is valid? [True, True] Translation: X:37.92, Y:-3.41, Z:-2.00 [[ 9.80163311e-01 1.96579374e-01 2.52276264e-02 3.79204095e+01] [-1.96539099e-01 9.80487455e-01 -4.09059108e-03 -3.40900766e+00] [-2.55394970e-02 -9.48767664e-04 9.99673364e-01 -1.99518555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.076547614999996 meters 0.08525704095866248 Centerline is valid? [True, True] Translation: X:37.95, Y:-3.42, Z:-1.99 [[ 9.80240994e-01 1.95864151e-01 2.76555150e-02 3.79512501e+01] [-1.95815147e-01 9.80630520e-01 -4.49565384e-03 -3.41983755e+00] [-2.80003795e-02 -1.00854456e-03 9.99607404e-01 -1.98969796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10654761499999 meters 0.08548976444146822 Centerline is valid? [True, True] Translation: X:37.99, Y:-3.42, Z:-1.99 [[ 9.79826578e-01 1.97623818e-01 2.97439752e-02 3.79850208e+01] [-1.97568038e-01 9.80277268e-01 -4.83196522e-03 -3.42000008e+00] [-3.01122541e-02 -1.14197088e-03 9.99545871e-01 -1.99011824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.13654761499999 meters 0.08659877185957855 Centerline is valid? [True, True] Translation: X:38.02, Y:-3.42, Z:-2.00 [[ 9.79737112e-01 1.98107360e-01 2.94731106e-02 3.80165129e+01] [-1.98052544e-01 9.80179667e-01 -4.79687530e-03 -3.41538654e+00] [-2.98392400e-02 -1.13754778e-03 9.99554063e-01 -1.99763154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16654761499999 meters 0.08693918588120635 Centerline is valid? [True, True] Translation: X:38.05, Y:-3.42, Z:-2.00 [[ 9.79817871e-01 1.98016633e-01 2.73194545e-02 3.80468493e+01] [-1.97969329e-01 9.80198102e-01 -4.45254943e-03 -3.41937968e+00] [-2.76601563e-02 -1.04572659e-03 9.99616838e-01 -2.00102499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19654761499999 meters 0.08646520037605045 Centerline is valid? [True, True] Translation: X:38.08, Y:-3.43, Z:-2.00 [[ 9.79907359e-01 1.97461137e-01 2.81188169e-02 3.80771895e+01] [-1.97410604e-01 9.80310150e-01 -4.58957565e-03 -3.42627424e+00] [-2.84714244e-02 -1.05359367e-03 9.99594052e-01 -2.00194754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.226547614999994 meters 0.08607002395616975 Centerline is valid? [True, True] Translation: X:38.11, Y:-3.43, Z:-2.00 [[ 9.79997763e-01 1.96886817e-01 2.89821672e-02 3.81088333e+01] [-1.96832690e-01 9.80425649e-01 -4.73703740e-03 -3.43262918e+00] [-2.93475203e-02 -1.06235188e-03 9.99568704e-01 -2.00289584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.256547614999995 meters 0.08541642950159772 Centerline is valid? [True, True] Translation: X:38.14, Y:-3.44, Z:-2.00 [[ 9.79987227e-01 1.97034595e-01 2.83267396e-02 3.81403505e+01] [-1.96982789e-01 9.80395988e-01 -4.63551230e-03 -3.44233212e+00] [-2.86847781e-02 -1.03713733e-03 9.99587969e-01 -2.00354440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28654761499999 meters 0.08655714710299413 Centerline is valid? [True, True] Translation: X:38.17, Y:-3.44, Z:-2.01 [[ 9.80201328e-01 1.96202856e-01 2.66420022e-02 3.81721895e+01] [-1.96156469e-01 9.80562874e-01 -4.36922386e-03 -3.44169769e+00] [-2.69814125e-02 -9.43282058e-04 9.99635490e-01 -2.01201874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.31654761499999 meters 0.08460860102802664 Centerline is valid? [True, True] Translation: X:38.20, Y:-3.46, Z:-2.01 [[ 9.80338546e-01 1.95687730e-01 2.53504742e-02 3.82030203e+01] [-1.95645529e-01 9.80665862e-01 -4.15864282e-03 -3.45612034e+00] [-2.56741400e-02 -8.82829069e-04 9.99669975e-01 -2.00991497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34654761499999 meters 0.08424184899155017 Centerline is valid? [True, True] Translation: X:38.23, Y:-3.46, Z:-2.01 [[ 9.80876381e-01 1.93144505e-01 2.40151131e-02 3.82328900e+01] [-1.93105626e-01 9.81170025e-01 -3.94964706e-03 -3.46466213e+00] [-2.43257618e-02 -7.63337936e-04 9.99703793e-01 -2.01322261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37654761499999 meters 0.08537649352055789 Centerline is valid? [True, True] Translation: X:38.26, Y:-3.46, Z:-2.02 [[ 9.80727769e-01 1.93707188e-01 2.55062301e-02 3.82643517e+01] [-1.93663473e-01 9.81059043e-01 -4.19675218e-03 -3.46462203e+00] [-2.58360588e-02 -8.23753688e-04 9.99665854e-01 -2.01668889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.406547614999994 meters 0.08367202645756788 Centerline is valid? [True, True] Translation: X:38.30, Y:-3.47, Z:-2.01 [[ 9.81023689e-01 1.92204327e-01 2.54954636e-02 3.82951996e+01] [-1.92160007e-01 9.81354620e-01 -4.20015127e-03 -3.47479878e+00] [-2.58273782e-02 -7.78760584e-04 9.99666114e-01 -2.01395879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.436547614999995 meters 0.08246933655469871 Centerline is valid? [True, True] Translation: X:38.32, Y:-3.49, Z:-2.02 [[ 9.81963411e-01 1.87408080e-01 2.50213950e-02 3.83246050e+01] [-1.87363552e-01 9.82281943e-01 -4.13327664e-03 -3.48747803e+00] [-2.53526739e-02 -6.29371019e-04 9.99678371e-01 -2.01575377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46654761499999 meters 0.0816246141288481 Centerline is valid? [True, True] Translation: X:38.35, Y:-3.50, Z:-2.02 [[ 9.82862828e-01 1.82705520e-01 2.44817062e-02 3.83532477e+01] [-1.82661401e-01 9.83167558e-01 -4.04541964e-03 -3.49948702e+00] [-2.48087398e-02 -4.95770162e-04 9.99692093e-01 -2.01804133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.49654761499999 meters 0.08166112115920766 Centerline is valid? [True, True] Translation: X:38.39, Y:-3.50, Z:-2.02 [[ 9.82855244e-01 1.82625688e-01 2.53658655e-02 3.83856799e+01] [-1.82578434e-01 9.83182379e-01 -4.18621995e-03 -3.50174423e+00] [-2.57037833e-02 -5.16811782e-04 9.99669470e-01 -2.02073846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52654761499999 meters 0.08177506355907786 Centerline is valid? [True, True] Translation: X:38.42, Y:-3.50, Z:-2.02 [[ 9.82406098e-01 1.84806163e-01 2.69247273e-02 3.84187350e+01] [-1.84753568e-01 9.82774806e-01 -4.44977891e-03 -3.50155922e+00] [-2.72832902e-02 -6.02949510e-04 9.99627560e-01 -2.01971487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.55654761499999 meters 0.08141886663754479 Centerline is valid? [True, True] Translation: X:38.45, Y:-3.51, Z:-2.02 [[ 9.82256705e-01 1.85517015e-01 2.74809317e-02 3.84508075e+01] [-1.85462284e-01 9.82640851e-01 -4.54955257e-03 -3.51171520e+00] [-2.78479055e-02 -6.27847838e-04 9.99611975e-01 -2.01658148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58654761499999 meters 0.0816408929902551 Centerline is valid? [True, True] Translation: X:38.48, Y:-3.52, Z:-2.02 [[ 9.82207123e-01 1.86173264e-01 2.46715198e-02 3.84813816e+01] [-1.86129190e-01 9.82516762e-01 -4.09121139e-03 -3.51876815e+00] [-2.50018559e-02 -5.73673017e-04 9.99687240e-01 -2.01968330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.616547614999995 meters 0.08305361531084461 Centerline is valid? [True, True] Translation: X:38.51, Y:-3.51, Z:-2.03 [[ 9.81768381e-01 1.88640680e-01 2.33567752e-02 3.85135727e+01] [-1.88601695e-01 9.82045997e-01 -3.88084334e-03 -3.51300345e+00] [-2.36695125e-02 -5.95038114e-04 9.99719661e-01 -2.02823122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64654761499999 meters 0.08506018351092899 Centerline is valid? [True, True] Translation: X:38.55, Y:-3.50, Z:-2.03 [[ 9.80264910e-01 1.95992518e-01 2.58387153e-02 3.85467473e+01] [-1.95947207e-01 9.80605023e-01 -4.29882861e-03 -3.50441073e+00] [-2.61801123e-02 -8.49033274e-04 9.99656882e-01 -2.03077074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.67654761499999 meters 0.0869489515423005 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.50, Z:-2.03 [[ 9.78791158e-01 2.02826495e-01 2.87972732e-02 3.85775267e+01] [-2.02773158e-01 9.79214017e-01 -4.79116213e-03 -3.50310504e+00] [-2.91704682e-02 -1.14976690e-03 9.99573790e-01 -2.02705627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70654761499999 meters 0.08665704099250053 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.51, Z:-2.03 [[ 9.78058585e-01 2.06955879e-01 2.38886676e-02 3.86073273e+01] [-2.06920342e-01 9.78349710e-01 -3.97712426e-03 -3.51488536e+00] [-2.41945602e-02 -1.05319073e-03 9.99706714e-01 -2.02563479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73654761499999 meters 0.08735406633590724 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.52, Z:-2.03 [[ 9.77974520e-01 2.07128249e-01 2.57629158e-02 3.86386761e+01] [-2.07087084e-01 9.78313129e-01 -4.28496274e-03 -3.51575568e+00] [-2.60917356e-02 -1.14458274e-03 9.99658897e-01 -2.03143577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76654761499999 meters 0.08725345353259298 Centerline is valid? [True, True] Translation: X:38.67, Y:-3.52, Z:-2.03 [[ 9.77897177e-01 2.07260572e-01 2.75711298e-02 3.86697561e+01] [-2.07213287e-01 9.78285010e-01 -4.59258619e-03 -3.52174980e+00] [-2.79242850e-02 -1.22202737e-03 9.99609294e-01 -2.03325082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.796547614999994 meters 0.08639537543121584 Centerline is valid? [True, True] Translation: X:38.70, Y:-3.53, Z:-2.03 [[ 9.77725820e-01 2.08218914e-01 2.64027308e-02 3.86996257e+01] [-2.08175733e-01 9.78081524e-01 -4.40420882e-03 -3.53462625e+00] [-2.67410628e-02 -1.19029916e-03 9.99641685e-01 -2.03431361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.826547614999996 meters 0.0875526239454623 Centerline is valid? [True, True] Translation: X:38.73, Y:-3.54, Z:-2.04 [[ 9.77695353e-01 2.08377379e-01 2.62804858e-02 3.87313743e+01] [-2.08334522e-01 9.78047783e-01 -4.38877560e-03 -3.53663805e+00] [-2.66180924e-02 -1.18424695e-03 9.99644974e-01 -2.03806017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.85654761499999 meters 0.08719112091984493 Centerline is valid? [True, True] Translation: X:38.76, Y:-3.54, Z:-2.04 [[ 9.77643790e-01 2.08321929e-01 2.85410783e-02 3.87630576e+01] [-2.08271052e-01 9.78059482e-01 -4.77687631e-03 -3.54137918e+00] [-2.89100004e-02 -1.27419694e-03 9.99581206e-01 -2.03681596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88654761499999 meters 0.08753239625378008 Centerline is valid? [True, True] Translation: X:38.79, Y:-3.55, Z:-2.04 [[ 9.77890899e-01 2.07514201e-01 2.58310917e-02 3.87926675e+01] [-2.07472095e-01 9.78231358e-01 -4.32908232e-03 -3.55032566e+00] [-2.61671300e-02 -1.12586050e-03 9.99656948e-01 -2.04014977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91654761499999 meters 0.08661730313622466 Centerline is valid? [True, True] Translation: X:38.82, Y:-3.56, Z:-2.05 [[ 9.78311381e-01 2.05714552e-01 2.42562327e-02 3.88233646e+01] [-2.05676766e-01 9.78611520e-01 -4.06946185e-03 -3.56023778e+00] [-2.45745763e-02 -1.00774265e-03 9.99697492e-01 -2.04517311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94654761499999 meters 0.08629332670483496 Centerline is valid? [True, True] Translation: X:38.85, Y:-3.57, Z:-2.05 [[ 9.78538153e-01 2.04263831e-01 2.71913735e-02 3.88538996e+01] [-2.04215418e-01 9.78915282e-01 -4.57526390e-03 -3.56545086e+00] [-2.75526120e-02 -1.07582742e-03 9.99619776e-01 -2.04637650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.976547614999994 meters 0.0860344271944746 Centerline is valid? [True, True] Translation: X:38.89, Y:-3.57, Z:-2.05 [[ 9.78574093e-01 2.03946061e-01 2.82621486e-02 3.88856547e+01] [-2.03893734e-01 9.78981494e-01 -4.75171277e-03 -3.57129143e+00] [-2.86372135e-02 -1.11257200e-03 9.99589252e-01 -2.04637268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.006547614999995 meters 0.08638341842861501 Centerline is valid? [True, True] Translation: X:38.92, Y:-3.58, Z:-2.05 [[ 9.78795815e-01 2.03338301e-01 2.47444633e-02 3.89166250e+01] [-2.03297884e-01 9.79108076e-01 -4.16475800e-03 -3.57819572e+00] [-2.50743587e-02 -9.54049317e-04 9.99685134e-01 -2.05026038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.03654761499999 meters 0.08551192269368917 Centerline is valid? [True, True] Translation: X:38.95, Y:-3.59, Z:-2.05 [[ 9.78750419e-01 2.03859709e-01 2.21096463e-02 3.89468705e+01] [-2.03827480e-01 9.78999734e-01 -3.72549469e-03 -3.58930861e+00] [-2.24048161e-02 -8.60224013e-04 9.99748611e-01 -2.04996603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06654761499999 meters 0.08480036428825276 Centerline is valid? [True, True] Translation: X:38.98, Y:-3.60, Z:-2.05 [[ 9.79081732e-01 2.02418079e-01 2.06369410e-02 3.89777757e+01] [-2.02389610e-01 9.79298897e-01 -3.48076199e-03 -3.59918593e+00] [-2.09143027e-02 -7.68751962e-04 9.99780976e-01 -2.05193351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09654761499999 meters 0.08574090320980447 Centerline is valid? [True, True] Translation: X:39.01, Y:-3.60, Z:-2.06 [[ 9.79407608e-01 2.00862276e-01 2.03735785e-02 3.90084708e+01] [-2.00834076e-01 9.79619225e-01 -3.44199764e-03 -3.60344768e+00] [-2.06497166e-02 -7.20590121e-04 9.99786512e-01 -2.05985439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12654761499999 meters 0.08437124652309143 Centerline is valid? [True, True] Translation: X:39.04, Y:-3.62, Z:-2.06 [[ 9.80317893e-01 1.96126671e-01 2.26087739e-02 3.90373979e+01] [-1.96090387e-01 9.80578335e-01 -3.83259104e-03 -3.61786771e+00] [-2.29213472e-02 -6.76205635e-04 9.99737043e-01 -2.05938870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.156547614999994 meters 0.0837782856972958 Centerline is valid? [True, True] Translation: X:39.07, Y:-3.62, Z:-2.06 [[ 9.80488102e-01 1.94665512e-01 2.73572561e-02 3.90684331e+01] [-1.94611821e-01 9.80869377e-01 -4.63731161e-03 -3.62428697e+00] [-2.77366194e-02 -7.77216583e-04 9.99614964e-01 -2.05830369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.186547614999995 meters 0.08373002323317702 Centerline is valid? [True, True] Translation: X:39.10, Y:-3.63, Z:-2.06 [[ 9.80168169e-01 1.95888134e-01 2.99699672e-02 3.91009866e+01] [-1.95824340e-01 9.80625843e-01 -5.07781174e-03 -3.62730843e+00] [-3.03840074e-02 -8.91739589e-04 9.99537902e-01 -2.05658355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.21654761499999 meters 0.08374426358099035 Centerline is valid? [True, True] Translation: X:39.13, Y:-3.64, Z:-2.06 [[ 9.79856004e-01 1.97769771e-01 2.77367916e-02 3.91319806e+01] [-1.97715600e-01 9.80248112e-01 -4.70949582e-03 -3.63586571e+00] [-2.81203335e-02 -8.69368655e-04 9.99604167e-01 -2.05592176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24654761499999 meters 0.085142063924109 Centerline is valid? [True, True] Translation: X:39.16, Y:-3.64, Z:-2.06 [[ 9.79371082e-01 2.00468338e-01 2.53915101e-02 3.91627142e+01] [-2.00423785e-01 9.79699800e-01 -4.31367275e-03 -3.63842397e+00] [-2.57408122e-02 -8.64376220e-04 9.99668277e-01 -2.05967701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27654761499999 meters 0.085142063924109 Centerline is valid? [True, True] Translation: X:39.19, Y:-3.64, Z:-2.06 [[ 9.79316595e-01 2.00734233e-01 2.53924174e-02 3.91945617e+01] [-2.00689908e-01 9.79645343e-01 -4.30833988e-03 -3.64405639e+00] [-2.57403948e-02 -8.76773190e-04 9.99668277e-01 -2.06136547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30654761499999 meters 0.08543984803440112 Centerline is valid? [True, True] Translation: X:39.23, Y:-3.65, Z:-2.07 [[ 9.79153582e-01 2.01448924e-01 2.60114090e-02 3.92270026e+01] [-2.01402463e-01 9.79498598e-01 -4.42097758e-03 -3.64549973e+00] [-2.63687399e-02 -9.09945813e-04 9.99651870e-01 -2.06510542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33654761499999 meters 0.08525189820359878 Centerline is valid? [True, True] Translation: X:39.26, Y:-3.65, Z:-2.07 [[ 9.79046805e-01 2.01773046e-01 2.74771236e-02 3.92593124e+01] [-2.01720992e-01 9.79431835e-01 -4.68214106e-03 -3.64998799e+00] [-2.78566995e-02 -9.58677396e-04 9.99611467e-01 -2.06592238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.366547614999995 meters 0.08469533028303747 Centerline is valid? [True, True] Translation: X:39.29, Y:-3.66, Z:-2.07 [[ 9.79396883e-01 2.00191059e-01 2.65572267e-02 3.92900369e+01] [-2.00141838e-01 9.79756480e-01 -4.52588523e-03 -3.65949773e+00] [-2.69256567e-02 -8.82574282e-04 9.99637049e-01 -2.06763896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39654761499999 meters 0.08489442961837951 Centerline is valid? [True, True] Translation: X:39.32, Y:-3.66, Z:-2.07 [[ 9.79459438e-01 2.00152958e-01 2.44540744e-02 3.93213146e+01] [-2.00111089e-01 9.79764330e-01 -4.17250155e-03 -3.66393594e+00] [-2.47943684e-02 -8.06735426e-04 9.99692247e-01 -2.07385138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42654761499999 meters 0.08555058356536048 Centerline is valid? [True, True] Translation: X:39.35, Y:-3.66, Z:-2.08 [[ 9.78993071e-01 2.02233843e-01 2.59622845e-02 3.93543094e+01] [-2.02187189e-01 9.79336843e-01 -4.43707504e-03 -3.66248457e+00] [-2.63231485e-02 -9.05375603e-04 9.99653076e-01 -2.07806809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45654761499999 meters 0.08597052364168502 Centerline is valid? [True, True] Translation: X:39.39, Y:-3.67, Z:-2.08 [[ 9.78241422e-01 2.05788604e-01 2.63585046e-02 3.93861441e+01] [-2.05741495e-01 9.78595954e-01 -4.51628657e-03 -3.66606383e+00] [-2.67237263e-02 -1.00501955e-03 9.99642352e-01 -2.07709976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48654761499999 meters 0.08768557231110045 Centerline is valid? [True, True] Translation: X:39.42, Y:-3.67, Z:-2.08 [[ 9.76969292e-01 2.12056419e-01 2.37292395e-02 3.94171724e+01] [-2.12020039e-01 9.77256853e-01 -4.06759951e-03 -3.66852175e+00] [-2.40521225e-02 -1.05715447e-03 9.99710147e-01 -2.07604691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51654761499999 meters 0.08782080406024137 Centerline is valid? [True, True] Translation: X:39.45, Y:-3.67, Z:-2.08 [[ 9.77061181e-01 2.11690894e-01 2.32037505e-02 3.94480038e+01] [-2.11656076e-01 9.77336129e-01 -3.97449612e-03 -3.67496380e+00] [-2.35192283e-02 -1.02788891e-03 9.99722856e-01 -2.07646740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.546547614999994 meters 0.08654738826991083 Centerline is valid? [True, True] Translation: X:39.48, Y:-3.68, Z:-2.08 [[ 9.77995835e-01 2.07221663e-01 2.41522126e-02 3.94788054e+01] [-2.07182434e-01 9.78293553e-01 -4.14286485e-03 -3.67918231e+00] [-2.44864452e-02 -9.52209614e-04 9.99699709e-01 -2.08413921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.576547614999996 meters 0.08538358936317646 Centerline is valid? [True, True] Translation: X:39.51, Y:-3.69, Z:-2.09 [[ 9.79327788e-01 2.01113267e-01 2.16918730e-02 3.95086799e+01] [-2.01080106e-01 9.79567731e-01 -3.72169110e-03 -3.68923432e+00] [-2.19971403e-02 -7.17048621e-04 9.99757776e-01 -2.09103524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60654761499999 meters 0.08472321684300094 Centerline is valid? [True, True] Translation: X:39.54, Y:-3.70, Z:-2.09 [[ 9.79940480e-01 1.98187278e-01 2.09393868e-02 3.95387215e+01] [-1.98155813e-01 9.80163967e-01 -3.58780048e-03 -3.70118879e+00] [-2.12350889e-02 -6.33430286e-04 9.99774309e-01 -2.09251273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.63654761499999 meters 0.08316291087773045 Centerline is valid? [True, True] Translation: X:39.57, Y:-3.71, Z:-2.08 [[ 9.80011721e-01 1.97378041e-01 2.48784267e-02 3.95685855e+01] [-1.97333011e-01 9.80327187e-01 -4.27662034e-03 -3.71457668e+00] [-2.52331090e-02 -7.18196793e-04 9.99681336e-01 -2.08491721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66654761499999 meters 0.0838154880214569 Centerline is valid? [True, True] Translation: X:39.60, Y:-3.71, Z:-2.09 [[ 9.79336622e-01 2.00559342e-01 2.59948198e-02 3.95996729e+01] [-2.00511401e-01 9.79681196e-01 -4.46468018e-03 -3.71470643e+00] [-2.63620694e-02 -8.39832916e-04 9.99652107e-01 -2.08693587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69654761499999 meters 0.08418882631834824 Centerline is valid? [True, True] Translation: X:39.63, Y:-3.72, Z:-2.09 [[ 9.78774348e-01 2.03185302e-01 2.67676702e-02 3.96318801e+01] [-2.03135284e-01 9.79139860e-01 -4.60340667e-03 -3.71593758e+00] [-2.71446375e-02 -9.31761943e-04 9.99631082e-01 -2.08929605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.726547614999994 meters 0.0851884597168932 Centerline is valid? [True, True] Translation: X:39.66, Y:-3.72, Z:-2.10 [[ 9.78572850e-01 2.04405006e-01 2.47744004e-02 3.96625923e+01] [-2.04362410e-01 9.78886002e-01 -4.26621822e-03 -3.71759019e+00] [-2.51233501e-02 -8.88150845e-04 9.99683964e-01 -2.09503667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.756547614999995 meters 0.08431090644767898 Centerline is valid? [True, True] Translation: X:39.69, Y:-3.72, Z:-2.10 [[ 9.78513214e-01 2.04636883e-01 2.52118436e-02 3.96945501e+01] [-2.04592715e-01 9.78837539e-01 -4.34669793e-03 -3.72295420e+00] [-2.55677936e-02 -9.04858167e-04 9.99672681e-01 -2.09581482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78654761499999 meters 0.0856566839721036 Centerline is valid? [True, True] Translation: X:39.73, Y:-3.73, Z:-2.10 [[ 9.77816918e-01 2.07916557e-01 2.53925335e-02 3.97255446e+01] [-2.07872674e-01 9.78146065e-01 -4.38494095e-03 -3.72564887e+00] [-2.57493085e-02 -9.90744393e-04 9.99667941e-01 -2.09699022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.81654761499999 meters 0.08511217347440013 Centerline is valid? [True, True] Translation: X:39.76, Y:-3.73, Z:-2.09 [[ 9.77339072e-01 2.10245063e-01 2.46038982e-02 3.97574104e+01] [-2.10204359e-01 9.77648195e-01 -4.25841641e-03 -3.73292943e+00] [-2.49492677e-02 -1.00992990e-03 9.99688208e-01 -2.09416108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84654761499999 meters 0.0867869940180821 Centerline is valid? [True, True] Translation: X:39.79, Y:-3.73, Z:-2.10 [[ 9.77130909e-01 2.10870198e-01 2.73668831e-02 3.97897820e+01] [-2.10820135e-01 9.77513403e-01 -4.73471821e-03 -3.73033819e+00] [-2.77499060e-02 -1.14305048e-03 9.99614244e-01 -2.09673112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87654761499999 meters 0.08588566574846447 Centerline is valid? [True, True] Translation: X:39.82, Y:-3.74, Z:-2.10 [[ 9.77259896e-01 2.10348110e-01 2.67725462e-02 3.98209031e+01] [-2.10299821e-01 9.77625935e-01 -4.63856462e-03 -3.73723799e+00] [-2.71492489e-02 -1.09717851e-03 9.99630789e-01 -2.09885846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.906547614999994 meters 0.08615727187784857 Centerline is valid? [True, True] Translation: X:39.85, Y:-3.74, Z:-2.10 [[ 9.77562651e-01 2.09012330e-01 2.61745981e-02 3.98519339e+01] [-2.08965532e-01 9.77912462e-01 -4.54117314e-03 -3.74151623e+00] [-2.65456269e-02 -1.03030757e-03 9.99647072e-01 -2.10420148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.936547614999995 meters 0.08556655780454896 Centerline is valid? [True, True] Translation: X:39.88, Y:-3.75, Z:-2.11 [[ 9.77945734e-01 2.07155188e-01 2.66245862e-02 3.98831005e+01] [-2.07105767e-01 9.78307598e-01 -4.63081315e-03 -3.74693475e+00] [-2.70063320e-02 -9.85421380e-04 9.99634777e-01 -2.10650318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96654761499999 meters 0.08620227692221469 Centerline is valid? [True, True] Translation: X:39.91, Y:-3.75, Z:-2.11 [[ 9.77459854e-01 2.09608197e-01 2.52316634e-02 3.99137758e+01] [-2.09564585e-01 9.77784951e-01 -4.39017955e-03 -3.75353515e+00] [-2.55913584e-02 -9.96438811e-04 9.99671991e-01 -2.10548594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.99654761499999 meters 0.08564041496477327 Centerline is valid? [True, True] Translation: X:39.95, Y:-3.76, Z:-2.10 [[ 9.77174481e-01 2.10944232e-01 2.51508204e-02 3.99450105e+01] [-2.10901465e-01 9.77497552e-01 -4.37124211e-03 -3.76145053e+00] [-2.55069537e-02 -1.03287863e-03 9.99674111e-01 -2.10491621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02654761499999 meters 0.08651784384227668 Centerline is valid? [True, True] Translation: X:39.98, Y:-3.77, Z:-2.11 [[ 9.76983668e-01 2.11942640e-01 2.41501435e-02 3.99752305e+01] [-2.11903362e-01 9.77281585e-01 -4.20350547e-03 -3.76841490e+00] [-2.44923925e-02 -1.01074039e-03 9.99699505e-01 -2.10768907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05654761499999 meters 0.08608328117051406 Centerline is valid? [True, True] Translation: X:40.00, Y:-3.77, Z:-2.11 [[ 9.77416129e-01 2.09900051e-01 2.44883717e-02 4.00046745e+01] [-2.09858790e-01 9.77722374e-01 -4.27181268e-03 -3.77281550e+00] [-2.48394826e-02 -9.63761439e-04 9.99690988e-01 -2.11262089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08654761499999 meters 0.08548443422864466 Centerline is valid? [True, True] Translation: X:40.03, Y:-3.78, Z:-2.12 [[ 9.78096828e-01 2.06800647e-01 2.36661761e-02 4.00344730e+01] [-2.06761101e-01 9.78382731e-01 -4.13265088e-03 -3.78213711e+00] [-2.40092129e-02 -8.51111919e-04 9.99711375e-01 -2.11636027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.116547614999995 meters 0.08525189470202588 Centerline is valid? [True, True] Translation: X:40.07, Y:-3.79, Z:-2.12 [[ 9.78396071e-01 2.05572032e-01 2.19378301e-02 4.00660098e+01] [-2.05537890e-01 9.78641687e-01 -3.82427534e-03 -3.79192020e+00] [-2.22554391e-02 -7.67399335e-04 9.99752023e-01 -2.12078260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14654761499999 meters 0.08494842125365075 Centerline is valid? [True, True] Translation: X:40.10, Y:-3.80, Z:-2.12 [[ 9.78404661e-01 2.05489185e-01 2.23274153e-02 4.00977300e+01] [-2.05453627e-01 9.78659082e-01 -3.89974139e-03 -3.79850813e+00] [-2.26522825e-02 -7.71723312e-04 9.99743106e-01 -2.12284302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.17654761499999 meters 0.08521337211620654 Centerline is valid? [True, True] Translation: X:40.13, Y:-3.80, Z:-2.12 [[ 9.78096917e-01 2.06881974e-01 2.29405939e-02 4.01295702e+01] [-2.06844665e-01 9.78365564e-01 -4.01338813e-03 -3.79971672e+00] [-2.32745847e-02 -8.19656904e-04 9.99728774e-01 -2.12426925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20654761499999 meters 0.08601497805968336 Centerline is valid? [True, True] Translation: X:40.16, Y:-3.80, Z:-2.13 [[ 9.77508185e-01 2.09747254e-01 2.19962980e-02 4.01607004e+01] [-2.09713454e-01 9.77755277e-01 -3.85824016e-03 -3.80284434e+00] [-2.23162517e-02 -8.41458290e-04 9.99750607e-01 -2.12528781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23654761499999 meters 0.08589014874592431 Centerline is valid? [True, True] Translation: X:40.19, Y:-3.81, Z:-2.12 [[ 9.77287432e-01 2.10847545e-01 2.12741178e-02 4.01914188e+01] [-2.10816296e-01 9.77518594e-01 -3.72654370e-03 -3.81082949e+00] [-2.15815783e-02 -8.43026398e-04 9.99766735e-01 -2.12450262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26654761499999 meters 0.08483151223166126 Centerline is valid? [True, True] Translation: X:40.22, Y:-3.82, Z:-2.13 [[ 9.77828517e-01 2.08201293e-01 2.24413423e-02 4.02219027e+01] [-2.08165572e-01 9.78085658e-01 -3.94211381e-03 -3.81843307e+00] [-2.27703082e-02 -8.16803545e-04 9.99740389e-01 -2.12638320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.296547614999994 meters 0.08389867274420262 Centerline is valid? [True, True] Translation: X:40.25, Y:-3.83, Z:-2.13 [[ 9.78626724e-01 2.04531033e-01 2.13726702e-02 4.02525764e+01] [-2.04497757e-01 9.78859832e-01 -3.75448697e-03 -3.82680226e+00] [-2.16887575e-02 -6.96421828e-04 9.99764529e-01 -2.13169373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32654761499999 meters 0.0837529071219544 Centerline is valid? [True, True] Translation: X:40.28, Y:-3.84, Z:-2.14 [[ 9.79693039e-01 1.99562529e-01 1.93996412e-02 4.02819939e+01] [-1.99534112e-01 9.79884950e-01 -3.40924111e-03 -3.83642832e+00] [-1.96897732e-02 -5.30880389e-04 9.99805997e-01 -2.13770811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.35654761499999 meters 0.08300450893121668 Centerline is valid? [True, True] Translation: X:40.31, Y:-3.84, Z:-2.14 [[ 9.79900156e-01 1.98388929e-01 2.09169083e-02 4.03122168e+01] [-1.98355679e-01 9.80123222e-01 -3.67335772e-03 -3.84441795e+00] [-2.12299010e-02 -5.49463733e-04 9.99774469e-01 -2.13674252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38654761499999 meters 0.08178492053302062 Centerline is valid? [True, True] Translation: X:40.34, Y:-3.85, Z:-2.13 [[ 9.79749762e-01 1.98524513e-01 2.60465197e-02 4.03432155e+01] [-1.98472786e-01 9.80095687e-01 -4.58232639e-03 -3.85267359e+00] [-2.64377858e-02 -6.79992150e-04 9.99650229e-01 -2.12844114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41654761499999 meters 0.08065432245412346 Centerline is valid? [True, True] Translation: X:40.37, Y:-3.86, Z:-2.13 [[ 9.79922856e-01 1.97334281e-01 2.84671393e-02 4.03738309e+01] [-1.97271929e-01 9.80336005e-01 -5.01029695e-03 -3.86096215e+00] [-2.88960649e-02 -7.06062975e-04 9.99582172e-01 -2.12514902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44654761499999 meters 0.08100622516535883 Centerline is valid? [True, True] Translation: X:40.41, Y:-3.87, Z:-2.13 [[ 9.80470131e-01 1.95331893e-01 2.28860898e-02 4.04052637e+01] [-1.95291075e-01 9.80737059e-01 -4.02693778e-03 -3.86557150e+00] [-2.32318258e-02 -5.21156865e-04 9.99729969e-01 -2.13226967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.476547614999994 meters 0.0813392130874943 Centerline is valid? [True, True] Translation: X:40.43, Y:-3.88, Z:-2.14 [[ 9.81531445e-01 1.90552837e-01 1.69008254e-02 4.04346799e+01] [-1.90529948e-01 9.81676893e-01 -2.96919900e-03 -3.87617372e+00] [-1.71569391e-02 -3.05751195e-04 9.99852762e-01 -2.14254905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.506547614999995 meters 0.07973608231607716 Centerline is valid? [True, True] Translation: X:40.46, Y:-3.89, Z:-2.14 [[ 9.82557353e-01 1.84744150e-01 2.12284651e-02 4.04640428e+01] [-1.84706378e-01 9.82786620e-01 -3.74349306e-03 -3.89049564e+00] [-2.15546399e-02 -2.42836263e-04 9.99767642e-01 -2.13885157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.53654761499999 meters 0.07821492225445824 Centerline is valid? [True, True] Translation: X:40.49, Y:-3.91, Z:-2.13 [[ 9.84332045e-01 1.74179282e-01 2.74226637e-02 4.04932192e+01] [-1.74112103e-01 9.84713957e-01 -4.83713377e-03 -3.90613545e+00] [-2.78460081e-02 -1.32718748e-05 9.99612225e-01 -2.13195110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56654761499999 meters 0.07770465598177148 Centerline is valid? [True, True] Translation: X:40.52, Y:-3.91, Z:-2.13 [[ 9.84722840e-01 1.71378208e-01 3.08291737e-02 4.05234026e+01] [-1.71292007e-01 9.85205311e-01 -5.43540742e-03 -3.91463866e+00] [-3.13045760e-02 7.15787919e-05 9.99509889e-01 -2.13103315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.59654761499999 meters 0.07703923201264558 Centerline is valid? [True, True] Translation: X:40.55, Y:-3.92, Z:-2.13 [[ 9.84691381e-01 1.71427025e-01 3.15540836e-02 4.05548112e+01] [-1.71336525e-01 9.85196817e-01 -5.57011113e-03 -3.92132647e+00] [-3.20418503e-02 7.84733720e-05 9.99486525e-01 -2.12938864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62654761499999 meters 0.0772260971864462 Centerline is valid? [True, True] Translation: X:40.59, Y:-3.92, Z:-2.14 [[ 9.84495112e-01 1.73318940e-01 2.70170209e-02 4.05861824e+01] [-1.73253171e-01 9.84865750e-01 -4.77432178e-03 -3.92479085e+00] [-2.74356189e-02 1.95119175e-05 9.99623572e-01 -2.13503547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.656547614999994 meters 0.07758589324129019 Centerline is valid? [True, True] Translation: X:40.62, Y:-3.92, Z:-2.14 [[ 9.83199672e-01 1.80261431e-01 2.87092709e-02 4.06204243e+01] [-1.80189928e-01 9.83618719e-01 -5.07989334e-03 -3.91534506e+00] [-2.91546852e-02 -1.78571989e-04 9.99574896e-01 -2.13730499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.686547614999995 meters 0.07783756296260495 Centerline is valid? [True, True] Translation: X:40.65, Y:-3.91, Z:-2.14 [[ 9.81916617e-01 1.86604403e-01 3.19147908e-02 4.06540193e+01] [-1.86519089e-01 9.82435055e-01 -5.65612694e-03 -3.91011255e+00] [-3.24096674e-02 -3.98872653e-04 9.99474589e-01 -2.13661448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.71654761499999 meters 0.07910166115901518 Centerline is valid? [True, True] Translation: X:40.69, Y:-3.90, Z:-2.14 [[ 9.80843093e-01 1.92637081e-01 2.89444616e-02 4.06855766e+01] [-1.92569234e-01 9.81269928e-01 -5.13988929e-03 -3.90410898e+00] [-2.93924630e-02 -5.32387877e-04 9.99567806e-01 -2.14163524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74654761499999 meters 0.08037796951436588 Centerline is valid? [True, True] Translation: X:40.72, Y:-3.90, Z:-2.15 [[ 9.79885497e-01 1.97886060e-01 2.57976859e-02 4.07181603e+01] [-1.97833949e-01 9.80224837e-01 -4.58235882e-03 -3.90000749e+00] [-2.61943174e-02 -6.13471108e-04 9.99656682e-01 -2.14578014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77654761499999 meters 0.08125116216191539 Centerline is valid? [True, True] Translation: X:40.75, Y:-3.90, Z:-2.15 [[ 9.79444456e-01 2.00061461e-01 2.57675947e-02 4.07491536e+01] [-2.00010195e-01 9.79783120e-01 -4.57808301e-03 -3.90011085e+00] [-2.61625523e-02 -6.69803610e-04 9.99657477e-01 -2.14772419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80654761499999 meters 0.08112890714020436 Centerline is valid? [True, True] Translation: X:40.78, Y:-3.90, Z:-2.15 [[ 9.79233927e-01 2.01292441e-01 2.41302502e-02 4.07810770e+01] [-2.01247971e-01 9.79530966e-01 -4.28253937e-03 -3.90457473e+00] [-2.44983701e-02 -6.62556039e-04 9.99699650e-01 -2.14850086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83654761499999 meters 0.08134703872614181 Centerline is valid? [True, True] Translation: X:40.81, Y:-3.90, Z:-2.15 [[ 9.78737334e-01 2.03725194e-01 2.38594927e-02 4.08137690e+01] [-2.03682319e-01 9.79027855e-01 -4.23938788e-03 -3.90431163e+00] [-2.42227781e-02 -7.10509618e-04 9.99706333e-01 -2.15100430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.866547614999995 meters 0.08328370647024355 Centerline is valid? [True, True] Translation: X:40.85, Y:-3.90, Z:-2.16 [[ 9.78097093e-01 2.06890984e-01 2.28516301e-02 4.08452108e+01] [-2.06852382e-01 9.78363715e-01 -4.06611669e-03 -3.90211940e+00] [-2.31984486e-02 -7.49857205e-04 9.99730599e-01 -2.15678444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89654761499999 meters 0.08422297281941246 Centerline is valid? [True, True] Translation: X:40.88, Y:-3.91, Z:-2.16 [[ 9.77457541e-01 2.10463879e-01 1.67842447e-02 4.08763441e+01] [-2.10443459e-01 9.77601447e-01 -2.99367463e-03 -3.90616450e+00] [-1.70383623e-02 -6.05944661e-04 9.99854653e-01 -2.16080037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92654761499999 meters 0.08530930816879077 Centerline is valid? [True, True] Translation: X:40.91, Y:-3.91, Z:-2.16 [[ 9.76816758e-01 2.13672882e-01 1.31499198e-02 4.09071114e+01] [-2.13660627e-01 9.76905129e-01 -2.34622118e-03 -3.90964484e+00] [-1.33475479e-02 -5.17791944e-04 9.99910783e-01 -2.16340839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.95654761499999 meters 0.0867422782756339 Centerline is valid? [True, True] Translation: X:40.94, Y:-3.91, Z:-2.16 [[ 9.75645872e-01 2.18734179e-01 1.64466102e-02 4.09386761e+01] [-2.18715833e-01 9.75784203e-01 -2.92806484e-03 -3.91032752e+00] [-1.66888103e-02 -7.40379686e-04 9.99860458e-01 -2.16223565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98654761499999 meters 0.08780199871428862 Centerline is valid? [True, True] Translation: X:40.97, Y:-3.91, Z:-2.16 [[ 9.74887364e-01 2.21728662e-01 2.07612008e-02 4.09697765e+01] [-2.21699935e-01 9.75107900e-01 -3.70428412e-03 -3.91244121e+00] [-2.10657569e-02 -9.91497093e-04 9.99777601e-01 -2.16237788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01654761499999 meters 0.08888477979335829 Centerline is valid? [True, True] Translation: X:41.00, Y:-3.92, Z:-2.17 [[ 9.74644221e-01 2.22687862e-01 2.18805629e-02 4.10006780e+01] [-2.22656099e-01 9.74889218e-01 -3.90830183e-03 -3.91911409e+00] [-2.22014562e-02 -1.06263699e-03 9.99752953e-01 -2.16606598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.046547614999994 meters 0.0878150446647808 Centerline is valid? [True, True] Translation: X:41.03, Y:-3.93, Z:-2.17 [[ 9.75135462e-01 2.20630536e-01 2.08085840e-02 4.10303999e+01] [-2.20601212e-01 9.75356983e-01 -3.72297669e-03 -3.93193780e+00] [-2.11172001e-02 -9.59992248e-04 9.99776546e-01 -2.17088878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.07654761499999 meters 0.08693836801151246 Centerline is valid? [True, True] Translation: X:41.06, Y:-3.94, Z:-2.17 [[ 9.75229608e-01 2.20140575e-01 2.15717279e-02 4.10619307e+01] [-2.20108707e-01 9.75467672e-01 -3.87015254e-03 -3.94125575e+00] [-2.18945008e-02 -9.73837803e-04 9.99759812e-01 -2.17077313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10654761499999 meters 0.0883394643275765 Centerline is valid? [True, True] Translation: X:41.09, Y:-3.95, Z:-2.17 [[ 9.75008323e-01 2.21342945e-01 1.91329737e-02 4.10912265e+01] [-2.21318051e-01 9.75195630e-01 -3.43547843e-03 -3.94922594e+00] [-1.94188112e-02 -8.84852388e-04 9.99811046e-01 -2.17426108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.13654761499999 meters 0.08702594136477267 Centerline is valid? [True, True] Translation: X:41.12, Y:-3.96, Z:-2.18 [[ 9.75676736e-01 2.18580413e-01 1.66586044e-02 4.11217599e+01] [-2.18561258e-01 9.75818667e-01 -2.98420983e-03 -3.96101131e+00] [-1.69080670e-02 -7.29301437e-04 9.99856782e-01 -2.17797373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16654761499999 meters 0.08693187856655979 Centerline is valid? [True, True] Translation: X:41.15, Y:-3.97, Z:-2.18 [[ 9.76102413e-01 2.16686523e-01 1.64629924e-02 4.11517457e+01] [-2.16667415e-01 9.76240999e-01 -2.95700126e-03 -3.96874385e+00] [-1.67125905e-02 -6.80657944e-04 9.99860103e-01 -2.18167732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19654761499999 meters 0.08693187856655979 Centerline is valid? [True, True] Translation: X:41.18, Y:-3.97, Z:-2.18 [[ 9.76043459e-01 2.16951891e-01 1.64633961e-02 4.11835592e+01] [-2.16932858e-01 9.76182055e-01 -2.95476702e-03 -3.97469361e+00] [-1.67123141e-02 -6.87470547e-04 9.99860103e-01 -2.18337018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.226547614999994 meters 0.08542985325280002 Centerline is valid? [True, True] Translation: X:41.21, Y:-3.99, Z:-2.19 [[ 9.76614919e-01 2.14432846e-01 1.55516960e-02 4.12147439e+01] [-2.14415406e-01 9.76738550e-01 -2.79987825e-03 -3.98502263e+00] [-1.57903269e-02 -6.00120355e-04 9.99875145e-01 -2.18517474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.256547614999995 meters 0.0849205042875967 Centerline is valid? [True, True] Translation: X:41.24, Y:-3.99, Z:-2.19 [[ 9.77231426e-01 2.11510252e-01 1.67974341e-02 4.12440717e+01] [-2.11489366e-01 9.77375600e-01 -3.03051677e-03 -3.99429775e+00] [-1.70583876e-02 -5.90962475e-04 9.99854320e-01 -2.18686250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28654761499999 meters 0.08343797757029363 Centerline is valid? [True, True] Translation: X:41.27, Y:-4.01, Z:-2.18 [[ 9.77514022e-01 2.10160302e-01 1.72911494e-02 4.12743060e+01] [-2.10138076e-01 9.77666763e-01 -3.11295215e-03 -4.00837015e+00] [-1.75592010e-02 -5.90574489e-04 9.99845651e-01 -2.18306772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.31654761499999 meters 0.08381797253777958 Centerline is valid? [True, True] Translation: X:41.30, Y:-4.01, Z:-2.19 [[ 9.77824157e-01 2.08720889e-01 1.71903469e-02 4.13048677e+01] [-2.08698615e-01 9.77975092e-01 -3.09962107e-03 -4.01406536e+00] [-1.74586867e-02 -5.56717229e-04 9.99847431e-01 -2.18819557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34654761499999 meters 0.08326041638376927 Centerline is valid? [True, True] Translation: X:41.34, Y:-4.02, Z:-2.19 [[ 9.77905544e-01 2.08287449e-01 1.78069131e-02 4.13364893e+01] [-2.08263402e-01 9.78067493e-01 -3.21491217e-03 -4.01856446e+00] [-1.80859887e-02 -5.64647852e-04 9.99836276e-01 -2.19043929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37654761499999 meters 0.08305858096495453 Centerline is valid? [True, True] Translation: X:41.37, Y:-4.02, Z:-2.19 [[ 9.77390899e-01 2.10424037e-01 2.07064192e-02 4.13688927e+01] [-2.10391781e-01 9.77609966e-01 -3.74877540e-03 -4.02289135e+00] [-2.10316343e-02 -6.92441473e-04 9.99778571e-01 -2.18838118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.406547614999994 meters 0.08277521302632068 Centerline is valid? [True, True] Translation: X:41.40, Y:-4.03, Z:-2.19 [[ 9.77145186e-01 2.11681774e-01 1.94451193e-02 4.13997587e+01] [-2.11653493e-01 9.77338414e-01 -3.52466658e-03 -4.03332655e+00] [-1.97505697e-02 -6.71516433e-04 9.99804713e-01 -2.18648862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.436547614999995 meters 0.08246365635902105 Centerline is valid? [True, True] Translation: X:41.43, Y:-4.04, Z:-2.19 [[ 9.77204857e-01 2.11377149e-01 1.97577175e-02 4.14303977e+01] [-2.11347973e-01 9.77404337e-01 -3.57720165e-03 -4.04406070e+00] [-2.00674175e-02 -6.80094716e-04 9.99798398e-01 -2.18681030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46654761499999 meters 0.08156381168515069 Centerline is valid? [True, True] Translation: X:41.46, Y:-4.04, Z:-2.19 [[ 9.77755338e-01 2.08435507e-01 2.34336962e-02 4.14619059e+01] [-2.08393280e-01 9.78035848e-01 -4.25691938e-03 -4.04465416e+00] [-2.38062881e-02 -7.21199174e-04 9.99716330e-01 -2.19226037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.49654761499999 meters 0.08210016097299698 Centerline is valid? [True, True] Translation: X:41.49, Y:-4.05, Z:-2.20 [[ 9.78054940e-01 2.07119070e-01 2.25881823e-02 4.14931414e+01] [-2.07079592e-01 9.78315513e-01 -4.09868030e-03 -4.04713208e+00] [-2.29472840e-02 -6.68817055e-04 9.99736453e-01 -2.19722566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52654761499999 meters 0.08254119619295978 Centerline is valid? [True, True] Translation: X:41.52, Y:-4.05, Z:-2.20 [[ 9.77934445e-01 2.07859199e-01 2.09469685e-02 4.15248683e+01] [-2.07825343e-01 9.78158552e-01 -3.80442372e-03 -4.05251425e+00] [-2.12802409e-02 -6.32833928e-04 9.99773350e-01 -2.20033496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55654761499999 meters 0.08303862588322797 Centerline is valid? [True, True] Translation: X:41.56, Y:-4.06, Z:-2.20 [[ 9.76872219e-01 2.13094645e-01 1.76448348e-02 4.15559807e+01] [-2.13071319e-01 9.77031364e-01 -3.21339425e-03 -4.05834867e+00] [-1.79243142e-02 -6.20532663e-04 9.99839154e-01 -2.19636345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58654761499999 meters 0.0825155036870218 Centerline is valid? [True, True] Translation: X:41.59, Y:-4.06, Z:-2.19 [[ 9.75937826e-01 2.17166159e-01 1.96015062e-02 4.15879550e+01] [-2.17138184e-01 9.76134347e-01 -3.57008778e-03 -4.06250674e+00] [-1.99090057e-02 -7.72051751e-04 9.99801498e-01 -2.19398112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.616547614999995 meters 0.08370114327524003 Centerline is valid? [True, True] Translation: X:41.62, Y:-4.06, Z:-2.20 [[ 9.76238002e-01 2.15526145e-01 2.25354202e-02 4.16187028e+01] [-2.15488704e-01 9.76497702e-01 -4.10566399e-03 -4.06071900e+00] [-2.28906640e-02 -8.48023297e-04 9.99737615e-01 -2.19919709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64654761499999 meters 0.08379154685957249 Centerline is valid? [True, True] Translation: X:41.65, Y:-4.07, Z:-2.20 [[ 9.76792532e-01 2.13147947e-01 2.10784920e-02 4.16489620e+01] [-2.13114670e-01 9.77019653e-01 -3.83875642e-03 -4.06582409e+00] [-2.14123240e-02 -7.42467260e-04 9.99770454e-01 -2.20486510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.67654761499999 meters 0.08417174921491091 Centerline is valid? [True, True] Translation: X:41.68, Y:-4.07, Z:-2.21 [[ 9.76603302e-01 2.14028033e-01 2.09282459e-02 4.16800996e+01] [-2.13995331e-01 9.76827229e-01 -3.81608797e-03 -4.07057124e+00] [-2.12600303e-02 -7.51742787e-04 9.99773697e-01 -2.20784514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70654761499999 meters 0.08440986218801767 Centerline is valid? [True, True] Translation: X:41.71, Y:-4.07, Z:-2.21 [[ 9.76152474e-01 2.15692283e-01 2.45598403e-02 4.17111888e+01] [-2.15647584e-01 9.76460955e-01 -4.48578430e-03 -4.07459079e+00] [-2.49492742e-02 -9.17460802e-04 9.99688297e-01 -2.20564429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73654761499999 meters 0.08330275983700815 Centerline is valid? [True, True] Translation: X:41.74, Y:-4.08, Z:-2.20 [[ 9.76133724e-01 2.15601540e-01 2.60562635e-02 4.17427382e+01] [-2.15551039e-01 9.76480949e-01 -4.76502886e-03 -4.08193876e+00] [-2.64707925e-02 -9.65149293e-04 9.99649121e-01 -2.20443958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76654761499999 meters 0.08420401141896242 Centerline is valid? [True, True] Translation: X:41.77, Y:-4.09, Z:-2.21 [[ 9.76292268e-01 2.15181776e-01 2.34565723e-02 4.17725222e+01] [-2.15140511e-01 9.76573644e-01 -4.29877020e-03 -4.08802083e+00] [-2.38320873e-02 -8.49602842e-04 9.99715614e-01 -2.20899865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.796547614999994 meters 0.08393126626902576 Centerline is valid? [True, True] Translation: X:41.80, Y:-4.10, Z:-2.21 [[ 9.76416982e-01 2.14970953e-01 1.99340619e-02 4.18027915e+01] [-2.14941085e-01 9.76620180e-01 -3.65433568e-03 -4.10084455e+00] [-2.02535832e-02 -7.16493476e-04 9.99794618e-01 -2.21135023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82654761499999 meters 0.08213802742068431 Centerline is valid? [True, True] Translation: X:41.83, Y:-4.12, Z:-2.21 [[ 9.77057891e-01 2.12097519e-01 1.93007723e-02 4.18324782e+01] [-2.12069049e-01 9.77248296e-01 -3.53360140e-03 -4.11513873e+00] [-1.96111149e-02 -6.40563305e-04 9.99807478e-01 -2.21347900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.85654761499999 meters 0.08245164279936375 Centerline is valid? [True, True] Translation: X:41.86, Y:-4.12, Z:-2.22 [[ 9.77550232e-01 2.09554489e-01 2.19649548e-02 4.18628616e+01] [-2.09516667e-01 9.77796750e-01 -4.03514903e-03 -4.11944996e+00] [-2.23228450e-02 -6.57463258e-04 9.99750598e-01 -2.21948699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88654761499999 meters 0.0815804745824367 Centerline is valid? [True, True] Translation: X:41.89, Y:-4.13, Z:-2.22 [[ 9.78063054e-01 2.06983545e-01 2.34622016e-02 4.18932918e+01] [-2.06939644e-01 9.78344215e-01 -4.31048544e-03 -4.13077083e+00] [-2.38463087e-02 -6.39333087e-04 9.99715432e-01 -2.21973207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91654761499999 meters 0.08039508967162726 Centerline is valid? [True, True] Translation: X:41.92, Y:-4.14, Z:-2.22 [[ 9.78516367e-01 2.04640363e-01 2.50607703e-02 4.19236596e+01] [-2.04589469e-01 9.78837033e-01 -4.60565503e-03 -4.14291203e+00] [-2.54729130e-02 -6.20460869e-04 9.99675320e-01 -2.21812577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94654761499999 meters 0.07994399475798804 Centerline is valid? [True, True] Translation: X:41.95, Y:-4.15, Z:-2.22 [[ 9.78793161e-01 2.03507715e-01 2.34213201e-02 4.19544467e+01] [-2.03463041e-01 9.79073184e-01 -4.30006471e-03 -4.15331913e+00] [-2.38062828e-02 -5.56499098e-04 9.99716435e-01 -2.22019462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.976547614999994 meters 0.0802688595241199 Centerline is valid? [True, True] Translation: X:41.98, Y:-4.16, Z:-2.23 [[ 9.79208499e-01 2.01804193e-01 2.06344956e-02 4.19843166e+01] [-2.01769054e-01 9.79425784e-01 -3.79253948e-03 -4.16096430e+00] [-2.09753074e-02 -4.49715753e-04 9.99779893e-01 -2.22759829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00654761499999 meters 0.08041441764407195 Centerline is valid? [True, True] Translation: X:42.01, Y:-4.17, Z:-2.23 [[ 9.78847655e-01 2.03776989e-01 1.82265579e-02 4.20148722e+01] [-2.03749755e-01 9.79017240e-01 -3.35859747e-03 -4.16812409e+00] [-1.85285193e-02 -4.26101454e-04 9.99828241e-01 -2.22898608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.03654761499999 meters 0.08076889571982541 Centerline is valid? [True, True] Translation: X:42.04, Y:-4.17, Z:-2.23 [[ 9.78800844e-01 2.03950377e-01 1.87923406e-02 4.20449854e+01] [-2.03921554e-01 9.78981125e-01 -3.45778678e-03 -4.17405431e+00] [-1.91025637e-02 -4.47678698e-04 9.99817429e-01 -2.23128077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06654761499999 meters 0.07935518742853424 Centerline is valid? [True, True] Translation: X:42.08, Y:-4.18, Z:-2.23 [[ 9.78860782e-01 2.03334334e-01 2.20616806e-02 4.20758144e+01] [-2.03294162e-01 9.79109238e-01 -4.07232737e-03 -4.18074255e+00] [-2.24288392e-02 -4.98769297e-04 9.99748318e-01 -2.22720330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09654761499999 meters 0.08046297295377812 Centerline is valid? [True, True] Translation: X:42.11, Y:-4.18, Z:-2.23 [[ 9.78658453e-01 2.04129521e-01 2.36383501e-02 4.21070384e+01] [-2.04083745e-01 9.78943730e-01 -4.35873977e-03 -4.17907509e+00] [-2.40303621e-02 -5.58485485e-04 9.99711073e-01 -2.23263906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12654761499999 meters 0.08032976058264388 Centerline is valid? [True, True] Translation: X:42.14, Y:-4.18, Z:-2.23 [[ 9.78260273e-01 2.06046144e-01 2.34909321e-02 4.21389385e+01] [-2.06001364e-01 9.78542094e-01 -4.33678143e-03 -4.18434932e+00] [-2.38804430e-02 -5.96663060e-04 9.99714644e-01 -2.23094574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.156547614999994 meters 0.08058415463830608 Centerline is valid? [True, True] Translation: X:42.17, Y:-4.19, Z:-2.23 [[ 9.77530446e-01 2.09261256e-01 2.53762598e-02 4.21702623e+01] [-2.09209804e-01 9.77859504e-01 -4.69551548e-03 -4.18700726e+00] [-2.57970063e-02 -7.18953024e-04 9.99666943e-01 -2.23014394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.186547614999995 meters 0.08138305989633153 Centerline is valid? [True, True] Translation: X:42.20, Y:-4.19, Z:-2.23 [[ 9.76410510e-01 2.14331099e-01 2.61666887e-02 4.22017270e+01] [-2.14278165e-01 9.76760672e-01 -4.84340404e-03 -4.18910311e+00] [-2.65966845e-02 -8.77799421e-04 9.99645860e-01 -2.23074729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.21654761499999 meters 0.08223462088476706 Centerline is valid? [True, True] Translation: X:42.23, Y:-4.19, Z:-2.23 [[ 9.75758657e-01 2.17243887e-01 2.64601039e-02 4.22333756e+01] [-2.17190578e-01 9.76116886e-01 -4.90697447e-03 -4.18610030e+00] [-2.68941644e-02 -9.58862441e-04 9.99637827e-01 -2.23462371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24654761499999 meters 0.0829743568813687 Centerline is valid? [True, True] Translation: X:42.27, Y:-4.19, Z:-2.24 [[ 9.75327156e-01 2.19048780e-01 2.74694524e-02 4.22651862e+01] [-2.18992036e-01 9.75713347e-01 -5.09432100e-03 -4.18506486e+00] [-2.79182161e-02 -1.04696170e-03 9.99609662e-01 -2.23748329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27654761499999 meters 0.08409309831477234 Centerline is valid? [True, True] Translation: X:42.30, Y:-4.18, Z:-2.24 [[ 9.74993826e-01 2.20867564e-01 2.45877691e-02 4.22972125e+01] [-2.20822447e-01 9.75303322e-01 -4.56921609e-03 -4.18489635e+00] [-2.49897245e-02 -9.74573862e-04 9.99687233e-01 -2.24306923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30654761499999 meters 0.08505950196839386 Centerline is valid? [True, True] Translation: X:42.33, Y:-4.19, Z:-2.25 [[ 9.74483516e-01 2.23548952e-01 2.01926687e-02 4.23279614e+01] [-2.23519170e-01 9.74692324e-01 -3.74890341e-03 -4.18847208e+00] [-2.05197026e-02 -8.60203980e-04 9.99789079e-01 -2.24565907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33654761499999 meters 0.08480030600046222 Centerline is valid? [True, True] Translation: X:42.36, Y:-4.19, Z:-2.24 [[ 9.74334840e-01 2.24183107e-01 2.03360319e-02 4.23596049e+01] [-2.24153006e-01 9.74546645e-01 -3.77711167e-03 -4.19491898e+00] [-2.06651763e-02 -8.78211200e-04 9.99786067e-01 -2.24428892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.366547614999995 meters 0.08525302314483185 Centerline is valid? [True, True] Translation: X:42.39, Y:-4.20, Z:-2.25 [[ 9.74275816e-01 2.24122592e-01 2.35732460e-02 4.23899518e+01] [-2.24081784e-01 9.74560444e-01 -4.39269252e-03 -4.19726052e+00] [-2.39580547e-02 -1.00264092e-03 9.99712462e-01 -2.24601596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39654761499999 meters 0.08484159413491256 Centerline is valid? [True, True] Translation: X:42.42, Y:-4.20, Z:-2.25 [[ 9.74587342e-01 2.22405190e-01 2.67477814e-02 4.24203143e+01] [-2.22351997e-01 9.74953714e-01 -4.98451407e-03 -4.20118185e+00] [-2.71864306e-02 -1.08957829e-03 9.99629787e-01 -2.24711327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42654761499999 meters 0.08540328322446997 Centerline is valid? [True, True] Translation: X:42.45, Y:-4.20, Z:-2.25 [[ 9.74590156e-01 2.22319007e-01 2.73548329e-02 4.24526645e+01] [-2.22263349e-01 9.74973344e-01 -5.09720814e-03 -4.20229858e+00] [-2.78034391e-02 -1.11228789e-03 9.99612791e-01 -2.24893494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.45654761499999 meters 0.08603878521296832 Centerline is valid? [True, True] Translation: X:42.48, Y:-4.21, Z:-2.25 [[ 9.74079567e-01 2.24685963e-01 2.61765999e-02 4.24838345e+01] [-2.24635890e-01 9.74430572e-01 -4.87617930e-03 -4.20867484e+00] [-2.66028883e-02 -1.13041719e-03 9.99645441e-01 -2.24872462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48654761499999 meters 0.08693669956985772 Centerline is valid? [True, True] Translation: X:42.51, Y:-4.22, Z:-2.25 [[ 9.73871593e-01 2.25708432e-01 2.50962791e-02 4.25132654e+01] [-2.25662499e-01 9.74194278e-01 -4.68459707e-03 -4.21750865e+00] [-2.55060046e-02 -1.10109304e-03 9.99674063e-01 -2.24906137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51654761499999 meters 0.08735307033824924 Centerline is valid? [True, True] Translation: X:42.55, Y:-4.22, Z:-2.25 [[ 9.73647396e-01 2.26298191e-01 2.82820870e-02 4.25460601e+01] [-2.26240053e-01 9.74057262e-01 -5.28098453e-03 -4.21967091e+00] [-2.87434495e-02 -1.25672403e-03 9.99586032e-01 -2.25125916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.546547614999994 meters 0.08640652611182767 Centerline is valid? [True, True] Translation: X:42.58, Y:-4.23, Z:-2.25 [[ 9.73454054e-01 2.27225174e-01 2.74940935e-02 4.25777504e+01] [-2.27170650e-01 9.73841444e-01 -5.13206421e-03 -4.22543324e+00] [-2.79410219e-02 -1.25002237e-03 9.99608792e-01 -2.25435235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.57654761499999 meters 0.08544028418482866 Centerline is valid? [True, True] Translation: X:42.61, Y:-4.24, Z:-2.26 [[ 9.73600335e-01 2.26661653e-01 2.69607577e-02 4.26083423e+01] [-2.26608825e-01 9.73972816e-01 -5.03918496e-03 -4.23649590e+00] [-2.74012351e-02 -1.20339345e-03 9.99623791e-01 -2.25559155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60654761499999 meters 0.0876186196022088 Centerline is valid? [True, True] Translation: X:42.64, Y:-4.24, Z:-2.26 [[ 9.73278778e-01 2.28062687e-01 2.67550096e-02 4.26393575e+01] [-2.28010991e-01 9.73645678e-01 -5.00806939e-03 -4.24111593e+00] [-2.71920532e-02 -1.22618858e-03 9.99629476e-01 -2.25746454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.63654761499999 meters 0.08722777574081017 Centerline is valid? [True, True] Translation: X:42.67, Y:-4.25, Z:-2.26 [[ 9.73141302e-01 2.28326687e-01 2.93756907e-02 4.26708300e+01] [-2.28264249e-01 9.73583643e-01 -5.50659242e-03 -4.24900368e+00] [-2.98569940e-02 -1.34672746e-03 9.99553273e-01 -2.25728650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66654761499999 meters 0.0876739575406987 Centerline is valid? [True, True] Translation: X:42.70, Y:-4.25, Z:-2.26 [[ 9.73172790e-01 2.27818986e-01 3.21438978e-02 4.27021067e+01] [-2.27743540e-01 9.73702430e-01 -6.03798153e-03 -4.24850196e+00] [-3.26741582e-02 -1.44456572e-03 9.99465013e-01 -2.26039980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69654761499999 meters 0.08522743885512925 Centerline is valid? [True, True] Translation: X:42.73, Y:-4.26, Z:-2.26 [[ 9.73123828e-01 2.28394995e-01 2.94234807e-02 4.27316832e+01] [-2.28332149e-01 9.73567626e-01 -5.52340335e-03 -4.26256058e+00] [-2.99072659e-02 -1.34337115e-03 9.99551775e-01 -2.26010347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.726547614999994 meters 0.08546290457417637 Centerline is valid? [True, True] Translation: X:42.76, Y:-4.27, Z:-2.26 [[ 9.73104422e-01 2.28645176e-01 2.80921285e-02 4.27632291e+01] [-2.28587830e-01 9.73508980e-01 -5.27919292e-03 -4.26998640e+00] [-2.85550014e-02 -1.28431274e-03 9.99591398e-01 -2.26224859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75654761499999 meters 0.08691639735144029 Centerline is valid? [True, True] Translation: X:42.79, Y:-4.28, Z:-2.26 [[ 9.72953314e-01 2.29556140e-01 2.58036292e-02 4.27934047e+01] [-2.29507921e-01 9.73294684e-01 -4.85506190e-03 -4.27714284e+00] [-2.62290444e-02 -1.19838871e-03 9.99655241e-01 -2.26281929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78654761499999 meters 0.08398290008208809 Centerline is valid? [True, True] Translation: X:42.82, Y:-4.29, Z:-2.26 [[ 9.73585348e-01 2.26822057e-01 2.61404640e-02 4.28234824e+01] [-2.26771291e-01 9.73935563e-01 -4.92954213e-03 -4.28787155e+00] [-2.65772564e-02 -1.12857679e-03 9.99646125e-01 -2.26190521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.81654761499999 meters 0.08398169600980207 Centerline is valid? [True, True] Translation: X:42.85, Y:-4.29, Z:-2.27 [[ 9.74407678e-01 2.23484630e-01 2.41722437e-02 4.28527379e+01] [-2.23440188e-01 9.74706982e-01 -4.55872385e-03 -4.29281549e+00] [-2.45796594e-02 -9.58995143e-04 9.99697415e-01 -2.26883166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84654761499999 meters 0.08369636230750219 Centerline is valid? [True, True] Translation: X:42.88, Y:-4.30, Z:-2.27 [[ 9.75208227e-01 2.20215178e-01 2.17759053e-02 4.28822597e+01] [-2.20178338e-01 9.75450998e-01 -4.10491095e-03 -4.30239324e+00] [-2.21452922e-02 -7.91439699e-04 9.99754450e-01 -2.27276902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87654761499999 meters 0.08250452288726094 Centerline is valid? [True, True] Translation: X:42.91, Y:-4.31, Z:-2.27 [[ 9.76203174e-01 2.15935823e-01 1.99770891e-02 4.29126493e+01] [-2.15903818e-01 9.76407354e-01 -3.77097145e-03 -4.31360306e+00] [-2.03200645e-02 -6.31895523e-04 9.99793326e-01 -2.27358102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.906547614999994 meters 0.08068579278309108 Centerline is valid? [True, True] Translation: X:42.94, Y:-4.32, Z:-2.27 [[ 9.77445718e-01 2.09940681e-01 2.29080636e-02 4.29426666e+01] [-2.09896896e-01 9.77713953e-01 -4.32645014e-03 -4.32423972e+00] [-2.33058313e-02 -5.79461279e-04 9.99728214e-01 -2.27207157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.936547614999995 meters 0.07923052458632268 Centerline is valid? [True, True] Translation: X:42.97, Y:-4.34, Z:-2.27 [[ 9.78799362e-01 2.03358345e-01 2.44375143e-02 4.29714690e+01] [-2.03306435e-01 9.79104275e-01 -4.61650220e-03 -4.33763570e+00] [-2.48656790e-02 -4.49674499e-04 9.99690700e-01 -2.26831514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96654761499999 meters 0.07809970330581632 Centerline is valid? [True, True] Translation: X:43.00, Y:-4.35, Z:-2.27 [[ 9.80471434e-01 1.95062240e-01 2.50297664e-02 4.29998125e+01] [-1.95005070e-01 9.80790835e-01 -4.72863897e-03 -4.35382860e+00] [-2.54713444e-02 -2.44635902e-04 9.99675523e-01 -2.27239303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.99654761499999 meters 0.07771726320249717 Centerline is valid? [True, True] Translation: X:43.03, Y:-4.36, Z:-2.27 [[ 9.81418331e-01 1.90523145e-01 2.27813645e-02 4.30308674e+01] [-1.90474681e-01 9.81682697e-01 -4.29871007e-03 -4.36101682e+00] [-2.31830751e-02 -1.20440276e-04 9.99731229e-01 -2.27304390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02654761499999 meters 0.07822311102981686 Centerline is valid? [True, True] Translation: X:43.06, Y:-4.36, Z:-2.28 [[ 9.81171431e-01 1.91573887e-01 2.45370825e-02 4.30639910e+01] [-1.91517828e-01 9.81478183e-01 -4.63663936e-03 -4.35555382e+00] [-2.49708702e-02 -1.49950664e-04 9.99688168e-01 -2.27704753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.05654761499999 meters 0.07777452728702663 Centerline is valid? [True, True] Translation: X:43.09, Y:-4.36, Z:-2.28 [[ 9.81198346e-01 1.91199488e-01 2.63165659e-02 4.30945147e+01] [-1.91134602e-01 9.81551189e-01 -4.98278041e-03 -4.36318102e+00] [-2.67837616e-02 -1.40910458e-04 9.99641241e-01 -2.27567249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08654761499999 meters 0.07777452728702663 Centerline is valid? [True, True] Translation: X:43.13, Y:-4.37, Z:-2.28 [[ 9.81147956e-01 1.91457908e-01 2.63165131e-02 4.31262386e+01] [-1.91393107e-01 9.81500814e-01 -4.98306366e-03 -4.36939509e+00] [-2.67837260e-02 -1.47676492e-04 9.99641241e-01 -2.27736332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.116547614999995 meters 0.07646939926528974 Centerline is valid? [True, True] Translation: X:43.16, Y:-4.38, Z:-2.27 [[ 9.81511016e-01 1.89362810e-01 2.78899856e-02 4.31570822e+01] [-1.89288818e-01 9.81907185e-01 -5.29376791e-03 -4.38450300e+00] [-2.83878200e-02 -8.33709008e-05 9.99596981e-01 -2.26877722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14654761499999 meters 0.07600866671457228 Centerline is valid? [True, True] Translation: X:43.19, Y:-4.39, Z:-2.27 [[ 9.81696841e-01 1.87867968e-01 3.12560296e-02 4.31892975e+01] [-1.87774275e-01 9.82194291e-01 -5.93271655e-03 -4.38771003e+00] [-3.18140613e-02 -4.49492102e-05 9.99493804e-01 -2.26773560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.17654761499999 meters 0.0763478485782641 Centerline is valid? [True, True] Translation: X:43.22, Y:-4.39, Z:-2.28 [[ 9.81995268e-01 1.86215496e-01 3.17660600e-02 4.32209638e+01] [-1.86117578e-01 9.82508926e-01 -6.03809311e-03 -4.38524451e+00] [-3.23348240e-02 1.71567257e-05 9.99477093e-01 -2.27563132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20654761499999 meters 0.07750935329022476 Centerline is valid? [True, True] Translation: X:43.25, Y:-4.38, Z:-2.28 [[ 9.81953220e-01 1.87261229e-01 2.64783935e-02 4.32522899e+01] [-1.87193359e-01 9.82310151e-01 -5.04125644e-03 -4.38436274e+00] [-2.69540266e-02 -6.30142116e-06 9.99636674e-01 -2.28181669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.23654761499999 meters 0.07825171387499211 Centerline is valid? [True, True] Translation: X:43.28, Y:-4.39, Z:-2.29 [[ 9.81404278e-01 1.90752779e-01 2.14247478e-02 4.32819641e+01] [-1.90709175e-01 9.81638106e-01 -4.07921328e-03 -4.38742087e+00] [-2.18094701e-02 -8.25386075e-05 9.99762142e-01 -2.28617328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26654761499999 meters 0.07771991225505781 Centerline is valid? [True, True] Translation: X:43.31, Y:-4.39, Z:-2.28 [[ 9.80531251e-01 1.95334770e-01 2.00697177e-02 4.33138129e+01] [-1.95297539e-01 9.80736609e-01 -3.81767367e-03 -4.39141983e+00] [-2.04288313e-02 -1.76218139e-04 9.99791294e-01 -2.28299759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.296547614999994 meters 0.07799887372178306 Centerline is valid? [True, True] Translation: X:43.35, Y:-4.38, Z:-2.28 [[ 9.79041243e-01 2.02154346e-01 2.47358950e-02 4.33475531e+01] [-2.02099719e-01 9.79353600e-01 -4.71488152e-03 -4.38177332e+00] [-2.51783216e-02 -3.83053958e-04 9.99682902e-01 -2.28446776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32654761499999 meters 0.07959083873279536 Centerline is valid? [True, True] Translation: X:43.38, Y:-4.38, Z:-2.29 [[ 9.77666206e-01 2.08912741e-01 2.28966621e-02 4.33796361e+01] [-2.08867599e-01 9.77934154e-01 -4.37232479e-03 -4.37745788e+00] [-2.33048622e-02 -5.07696656e-04 9.99728276e-01 -2.29104250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.35654761499999 meters 0.08151279488726114 Centerline is valid? [True, True] Translation: X:43.41, Y:-4.38, Z:-2.30 [[ 9.76757903e-01 2.13488060e-01 1.91532695e-02 4.34094271e+01] [-2.13457272e-01 9.76945539e-01 -3.66156090e-03 -4.37737043e+00] [-1.94934007e-02 -5.11946118e-04 9.99809855e-01 -2.29915479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38654761499999 meters 0.08279522502294494 Centerline is valid? [True, True] Translation: X:43.44, Y:-4.38, Z:-2.30 [[ 9.75948051e-01 2.17122712e-01 1.95737230e-02 4.34409535e+01] [-2.17091420e-01 9.76144130e-01 -3.73526035e-03 -4.37614027e+00] [-1.99177847e-02 -6.03867249e-04 9.99801439e-01 -2.30269472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.41654761499999 meters 0.08184590497512989 Centerline is valid? [True, True] Translation: X:43.47, Y:-4.38, Z:-2.29 [[ 9.74472622e-01 2.23452040e-01 2.17323369e-02 4.34714932e+01] [-2.23414835e-01 9.74714593e-01 -4.15617426e-03 -4.38183228e+00] [-2.21115315e-02 -8.05248443e-04 9.99755186e-01 -2.29425829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44654761499999 meters 0.08339445653752246 Centerline is valid? [True, True] Translation: X:43.50, Y:-4.39, Z:-2.30 [[ 9.73373017e-01 2.28134414e-01 2.23530426e-02 4.35014969e+01] [-2.28096195e-01 9.73629199e-01 -4.27884324e-03 -4.38509759e+00] [-2.27397264e-02 -9.33733412e-04 9.99740983e-01 -2.29569679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.476547614999994 meters 0.08353850439370322 Centerline is valid? [True, True] Translation: X:43.53, Y:-4.39, Z:-2.30 [[ 9.73525792e-01 2.27628858e-01 2.07998855e-02 4.35322315e+01] [-2.27595711e-01 9.73747587e-01 -3.97867563e-03 -4.39044260e+00] [-2.11594997e-02 -8.60621401e-04 9.99775742e-01 -2.30319118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50654761499999 meters 0.08434127437080526 Centerline is valid? [True, True] Translation: X:43.56, Y:-4.39, Z:-2.31 [[ 9.73469198e-01 2.27988158e-01 1.94709929e-02 4.35645811e+01] [-2.27959118e-01 9.73663568e-01 -3.72778458e-03 -4.39076261e+00] [-1.98080872e-02 -8.09706910e-04 9.99803473e-01 -2.31061892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.53654761499999 meters 0.08466555279742369 Centerline is valid? [True, True] Translation: X:43.60, Y:-4.40, Z:-2.31 [[ 9.73032977e-01 2.29533944e-01 2.28253092e-02 4.35958141e+01] [-2.29494260e-01 9.73300166e-01 -4.37859942e-03 -4.39538684e+00] [-2.32209144e-02 -9.77755803e-04 9.99729880e-01 -2.30705080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56654761499999 meters 0.08467453114546876 Centerline is valid? [True, True] Translation: X:43.62, Y:-4.41, Z:-2.30 [[ 9.73071255e-01 2.28851576e-01 2.75551922e-02 4.36248156e+01] [-2.28793082e-01 9.73460651e-01 -5.29965046e-03 -4.41098654e+00] [-2.80367287e-02 -1.14749981e-03 9.99606235e-01 -2.29839545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59654761499999 meters 0.08298285676639906 Centerline is valid? [True, True] Translation: X:43.65, Y:-4.43, Z:-2.29 [[ 9.72836340e-01 2.29478666e-01 3.04794715e-02 4.36543677e+01] [-2.29407502e-01 9.73312833e-01 -5.85890456e-03 -4.42749924e+00] [-3.10105544e-02 -1.29246414e-03 9.99518221e-01 -2.29114041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62654761499999 meters 0.0830512176935069 Centerline is valid? [True, True] Translation: X:43.69, Y:-4.43, Z:-2.30 [[ 9.72898721e-01 2.29334267e-01 2.95613517e-02 4.36872785e+01] [-2.29267079e-01 9.73346931e-01 -5.68843274e-03 -4.42826332e+00] [-3.00780035e-02 -1.24317581e-03 9.99546781e-01 -2.30290311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.656547614999994 meters 0.08479432922294178 Centerline is valid? [True, True] Translation: X:43.72, Y:-4.43, Z:-2.32 [[ 9.73173006e-01 2.28596275e-01 2.60392451e-02 4.37170553e+01] [-2.28543621e-01 9.73520728e-01 -5.02049917e-03 -4.43229269e+00] [-2.64974123e-02 -1.06528909e-03 9.99648314e-01 -2.31575692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68654761499999 meters 0.08492879466278419 Centerline is valid? [True, True] Translation: X:43.75, Y:-4.45, Z:-2.32 [[ 9.73198690e-01 2.28713841e-01 2.39643257e-02 4.37468995e+01] [-2.28669223e-01 9.73493203e-01 -4.62277159e-03 -4.44705146e+00] [-2.43864000e-02 -9.81028471e-04 9.99702126e-01 -2.31846099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.71654761499999 meters 0.085484374424937 Centerline is valid? [True, True] Translation: X:43.78, Y:-4.46, Z:-2.31 [[ 9.72566781e-01 2.31265590e-01 2.51014637e-02 4.37768111e+01] [-2.31217353e-01 9.72890045e-01 -4.84729321e-03 -4.45691187e+00] [-2.55419763e-02 -1.08957763e-03 9.99673157e-01 -2.31491591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74654761499999 meters 0.08610934711618379 Centerline is valid? [True, True] Translation: X:43.81, Y:-4.46, Z:-2.31 [[ 9.71383027e-01 2.35790542e-01 2.85978261e-02 4.38086096e+01] [-2.35729915e-01 9.71802923e-01 -5.52137668e-03 -4.46113466e+00] [-2.90933394e-02 -1.37799154e-03 9.99575749e-01 -2.31105715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.77654761499999 meters 0.08656175305368503 Centerline is valid? [True, True] Translation: X:43.84, Y:-4.46, Z:-2.32 [[ 9.71380381e-01 2.35983072e-01 2.70581779e-02 4.38411383e+01] [-2.35928726e-01 9.71756291e-01 -5.22940829e-03 -4.46249428e+00] [-2.75280064e-02 -1.30405683e-03 9.99620182e-01 -2.31743423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80654761499999 meters 0.08466765284040845 Centerline is valid? [True, True] Translation: X:43.87, Y:-4.48, Z:-2.33 [[ 9.73265868e-01 2.28559554e-01 2.26733464e-02 4.38682729e+01] [-2.28519196e-01 9.73529509e-01 -4.39005536e-03 -4.47762647e+00] [-2.30765609e-02 -9.08603834e-04 9.99733288e-01 -2.32531207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83654761499999 meters 0.08228218333104155 Centerline is valid? [True, True] Translation: X:43.90, Y:-4.50, Z:-2.33 [[ 9.74877170e-01 2.21582380e-01 2.27101947e-02 4.38959835e+01] [-2.21539928e-01 9.75141374e-01 -4.40018237e-03 -4.49634918e+00] [-2.31206533e-02 -7.41577557e-04 9.99732407e-01 -2.32588275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.866547614999995 meters 0.07932682662909948 Centerline is valid? [True, True] Translation: X:43.93, Y:-4.51, Z:-2.32 [[ 9.75751012e-01 2.16925322e-01 2.92124504e-02 4.39253786e+01] [-2.16852917e-01 9.76187866e-01 -5.66244533e-03 -4.51387880e+00] [-2.97451674e-02 -8.09668322e-04 9.99557187e-01 -2.31644100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.89654761499999 meters 0.08019904270290706 Centerline is valid? [True, True] Translation: X:43.96, Y:-4.51, Z:-2.32 [[ 9.75205872e-01 2.18786792e-01 3.32542835e-02 4.39567361e+01] [-2.18694099e-01 9.75772188e-01 -6.44420644e-03 -4.51373621e+00] [-3.38585122e-02 -9.88087600e-04 9.99426148e-01 -2.31719622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92654761499999 meters 0.08325644000841927 Centerline is valid? [True, True] Translation: X:43.99, Y:-4.51, Z:-2.33 [[ 9.73577125e-01 2.26671554e-01 2.77053805e-02 4.39895161e+01] [-2.26610128e-01 9.73970698e-01 -5.37852989e-03 -4.50717391e+00] [-2.82033885e-02 -1.04190616e-03 9.99601662e-01 -2.32798218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.95654761499999 meters 0.08527269331162365 Centerline is valid? [True, True] Translation: X:44.02, Y:-4.51, Z:-2.33 [[ 9.72498255e-01 2.31599349e-01 2.46755952e-02 4.40207506e+01] [-2.31552184e-01 9.72810686e-01 -4.79122669e-03 -4.50937285e+00] [-2.51143276e-02 -1.05422835e-03 9.99684030e-01 -2.33175044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98654761499999 meters 0.08769474752753156 Centerline is valid? [True, True] Translation: X:44.05, Y:-4.51, Z:-2.33 [[ 9.71912681e-01 2.33797667e-01 2.69145119e-02 4.40521139e+01] [-2.33742493e-01 9.72284513e-01 -5.22238419e-03 -4.50934676e+00] [-2.73895444e-02 -1.21536368e-03 9.99624097e-01 -2.33342412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01654761499999 meters 0.0893726887198405 Centerline is valid? [True, True] Translation: X:44.08, Y:-4.51, Z:-2.33 [[ 9.71086655e-01 2.36709656e-01 3.09717067e-02 4.40839025e+01] [-2.36637726e-01 9.71579302e-01 -6.02046844e-03 -4.50723501e+00] [-3.15165722e-02 -1.48267768e-03 9.99502130e-01 -2.33164201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.046547614999994 meters 0.08637501284833767 Centerline is valid? [True, True] Translation: X:44.11, Y:-4.52, Z:-2.33 [[ 9.70712182e-01 2.37703551e-01 3.48551426e-02 4.41145159e+01] [-2.37612997e-01 9.71336257e-01 -6.77794114e-03 -4.51827743e+00] [-3.54672044e-02 -1.70260485e-03 9.99369390e-01 -2.32511383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.07654761499999 meters 0.09013501713441305 Centerline is valid? [True, True] Translation: X:44.15, Y:-4.51, Z:-2.33 [[ 9.70936702e-01 2.37250725e-01 3.15279897e-02 4.41469460e+01] [-2.37176111e-01 9.71447268e-01 -6.13987129e-03 -4.51435852e+00] [-3.20844684e-02 -1.51625962e-03 9.99484011e-01 -2.33357746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10654761499999 meters 0.08995859587403475 Centerline is valid? [True, True] Translation: X:44.18, Y:-4.52, Z:-2.34 [[ 9.71052687e-01 2.36852931e-01 3.09413669e-02 4.41780268e+01] [-2.36780798e-01 9.71544399e-01 -6.02781487e-03 -4.52220829e+00] [-3.14886173e-02 -1.47299570e-03 9.99503025e-01 -2.33634143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.13654761499999 meters 0.08970051900003194 Centerline is valid? [True, True] Translation: X:44.21, Y:-4.53, Z:-2.34 [[ 9.71180402e-01 2.36196405e-01 3.19356502e-02 4.42084607e+01] [-2.36118899e-01 9.71704194e-01 -6.23097098e-03 -4.52856580e+00] [-3.25037382e-02 -1.48921365e-03 9.99470504e-01 -2.33736922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16654761499999 meters 0.09007534526000881 Centerline is valid? [True, True] Translation: X:44.24, Y:-4.54, Z:-2.34 [[ 9.71190531e-01 2.36629865e-01 2.82003496e-02 4.42396159e+01] [-2.36569487e-01 9.71598969e-01 -5.50653792e-03 -4.53768727e+00] [-2.87024419e-02 -1.32344477e-03 9.99587124e-01 -2.34052355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19654761499999 meters 0.09022813311953075 Centerline is valid? [True, True] Translation: X:44.27, Y:-4.54, Z:-2.35 [[ 9.71398002e-01 2.35945840e-01 2.67484998e-02 4.42707311e+01] [-2.35891334e-01 9.71765417e-01 -5.22035030e-03 -4.54329206e+00] [-2.72249870e-02 -1.23870145e-03 9.99628564e-01 -2.34587898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.226547614999994 meters 0.0842934935037813 Centerline is valid? [True, True] Translation: X:44.30, Y:-4.56, Z:-2.35 [[ 9.72698607e-01 2.30479193e-01 2.71433706e-02 4.42990733e+01] [-2.30420682e-01 9.73076640e-01 -5.30672387e-03 -4.56205484e+00] [-2.76356693e-02 -1.09255105e-03 9.99617465e-01 -2.34623308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.25654761499999 meters 0.08171071895719333 Centerline is valid? [True, True] Translation: X:44.33, Y:-4.58, Z:-2.35 [[ 9.74386735e-01 2.23302596e-01 2.65789619e-02 4.43273494e+01] [-2.23243761e-01 9.74748787e-01 -5.19864339e-03 -4.58105505e+00] [-2.70686814e-02 -8.68098261e-04 9.99633199e-01 -2.34673473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28654761499999 meters 0.08171766111559507 Centerline is valid? [True, True] Translation: X:44.36, Y:-4.59, Z:-2.35 [[ 9.75749357e-01 2.16988137e-01 2.87982643e-02 4.43565245e+01] [-2.16916074e-01 9.76173958e-01 -5.64092455e-03 -4.59160240e+00] [-2.93361293e-02 -7.42677925e-04 9.99569327e-01 -2.34974814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.31654761499999 meters 0.0777206137505616 Centerline is valid? [True, True] Translation: X:44.38, Y:-4.61, Z:-2.34 [[ 9.76921142e-01 2.11073035e-01 3.27605960e-02 4.43844010e+01] [-2.10976433e-01 9.77470082e-01 -6.41742113e-03 -4.61435399e+00] [-3.33770470e-02 -6.42399329e-04 9.99442625e-01 -2.33900174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34654761499999 meters 0.07745291290010675 Centerline is valid? [True, True] Translation: X:44.42, Y:-4.62, Z:-2.34 [[ 9.77112159e-01 2.09889158e-01 3.46174748e-02 4.44158570e+01] [-2.09780622e-01 9.77724979e-01 -6.77911901e-03 -4.61880161e+00] [-3.52692334e-02 -6.38115769e-04 9.99377643e-01 -2.34048842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37654761499999 meters 0.08101425956829057 Centerline is valid? [True, True] Translation: X:44.45, Y:-4.61, Z:-2.36 [[ 9.76487734e-01 2.13455582e-01 3.01400009e-02 4.44489724e+01] [-2.13374803e-01 9.76952546e-01 -5.90898385e-03 -4.60510444e+00] [-3.07066562e-02 -6.61066508e-04 9.99528221e-01 -2.35759134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.406547614999994 meters 0.08119770778366646 Centerline is valid? [True, True] Translation: X:44.48, Y:-4.61, Z:-2.35 [[ 9.75138703e-01 2.20068990e-01 2.59643930e-02 4.44797905e+01] [-2.20011179e-01 9.75484029e-01 -5.09809181e-03 -4.61033958e+00] [-2.64497826e-02 -7.41110083e-04 9.99649869e-01 -2.35201351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43654761499999 meters 0.08008842685609256 Centerline is valid? [True, True] Translation: X:44.51, Y:-4.62, Z:-2.34 [[ 9.74968919e-01 2.20333141e-01 2.98146532e-02 4.45107464e+01] [-2.20256986e-01 9.75424303e-01 -5.85568755e-03 -4.62017637e+00] [-3.03721394e-02 -8.57772289e-04 9.99538292e-01 -2.34464165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46654761499999 meters 0.08052878924313961 Centerline is valid? [True, True] Translation: X:44.54, Y:-4.62, Z:-2.35 [[ 9.75110219e-01 2.19975084e-01 2.77672983e-02 4.45432206e+01] [-2.19908975e-01 9.75505170e-01 -5.45041091e-03 -4.61914140e+00] [-2.82860977e-02 -7.91526736e-04 9.99599555e-01 -2.35290282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.49654761499999 meters 0.08172985241604028 Centerline is valid? [True, True] Translation: X:44.58, Y:-4.62, Z:-2.36 [[ 9.74834396e-01 2.21409090e-01 2.59983707e-02 4.45756220e+01] [-2.21351382e-01 9.75180712e-01 -5.11314117e-03 -4.61818615e+00] [-2.64852056e-02 -7.70309396e-04 9.99648909e-01 -2.35998549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52654761499999 meters 0.08056880545366907 Centerline is valid? [True, True] Translation: X:44.61, Y:-4.63, Z:-2.36 [[ 9.74619054e-01 2.21930790e-01 2.94010763e-02 4.46067727e+01] [-2.21857265e-01 9.75062016e-01 -5.78090697e-03 -4.62777433e+00] [-2.99508340e-02 -8.88660301e-04 9.99550978e-01 -2.35520082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55654761499999 meters 0.08039529303844721 Centerline is valid? [True, True] Translation: X:44.64, Y:-4.63, Z:-2.35 [[ 9.74010650e-01 2.23816618e-01 3.47760618e-02 4.46375517e+01] [-2.23714544e-01 9.74630644e-01 -6.84912808e-03 -4.63407537e+00] [-3.54267642e-02 -1.10878713e-03 9.99371660e-01 -2.34900535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58654761499999 meters 0.08273222979815338 Centerline is valid? [True, True] Translation: X:44.67, Y:-4.63, Z:-2.35 [[ 9.73171099e-01 2.27392510e-01 3.50807527e-02 4.46689595e+01] [-2.27290575e-01 9.73802398e-01 -6.91982982e-03 -4.63298908e+00] [-3.57352386e-02 -1.23934605e-03 9.99360524e-01 -2.35053857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.616547614999995 meters 0.08162338900808001 Centerline is valid? [True, True] Translation: X:44.70, Y:-4.64, Z:-2.35 [[ 9.72558229e-01 2.30305973e-01 3.30098357e-02 4.46987780e+01] [-2.30217313e-01 9.73117444e-01 -6.51372755e-03 -4.64013671e+00] [-3.36225973e-02 -1.26445635e-03 9.99433801e-01 -2.35383347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64654761499999 meters 0.08190020024637411 Centerline is valid? [True, True] Translation: X:44.73, Y:-4.65, Z:-2.36 [[ 9.72661033e-01 2.30033820e-01 3.18583929e-02 4.47298918e+01] [-2.29951154e-01 9.73181879e-01 -6.28462195e-03 -4.64750095e+00] [-3.24496863e-02 -1.21306734e-03 9.99472634e-01 -2.35877967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.67654761499999 meters 0.08128708219392342 Centerline is valid? [True, True] Translation: X:44.76, Y:-4.66, Z:-2.36 [[ 9.73215013e-01 2.27820743e-01 3.08260858e-02 4.47599620e+01] [-2.27741981e-01 9.73702476e-01 -6.08922497e-03 -4.65883048e+00] [-3.14026878e-02 -1.09426867e-03 9.99506215e-01 -2.36290067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70654761499999 meters 0.07971383360380525 Centerline is valid? [True, True] Translation: X:44.79, Y:-4.67, Z:-2.37 [[ 9.74996139e-01 2.20248033e-01 2.95522097e-02 4.47887176e+01] [-2.20171828e-01 9.75443570e-01 -5.84883920e-03 -4.67394989e+00] [-3.01147082e-02 -8.03968371e-04 9.99546126e-01 -2.36640977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.73654761499999 meters 0.07925073441069874 Centerline is valid? [True, True] Translation: X:44.82, Y:-4.68, Z:-2.37 [[ 9.75252112e-01 2.18856857e-01 3.13846244e-02 4.48188372e+01] [-2.18770257e-01 9.75756640e-01 -6.20927965e-03 -4.68335774e+00] [-3.19826990e-02 -8.10409244e-04 9.99488094e-01 -2.36613941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76654761499999 meters 0.07757195475957858 Centerline is valid? [True, True] Translation: X:44.85, Y:-4.70, Z:-2.36 [[ 9.76007780e-01 2.14988409e-01 3.44789400e-02 4.48487503e+01] [-2.14881071e-01 9.76616320e-01 -6.83291867e-03 -4.69824896e+00] [-3.51416938e-02 -7.39889764e-04 9.99382066e-01 -2.36118327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.796547614999994 meters 0.07707858796772968 Centerline is valid? [True, True] Translation: X:44.88, Y:-4.71, Z:-2.37 [[ 9.76678938e-01 2.12056798e-01 3.36179411e-02 4.48800240e+01] [-2.11953033e-01 9.77257147e-01 -6.66185640e-03 -4.70580474e+00] [-3.42660651e-02 -6.18929736e-04 9.99412554e-01 -2.36525538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82654761499999 meters 0.0778857352846123 Centerline is valid? [True, True] Translation: X:44.91, Y:-4.71, Z:-2.37 [[ 9.76432381e-01 2.13486295e-01 3.16765980e-02 4.49118186e+01] [-2.13394695e-01 9.76945860e-01 -6.28419119e-03 -4.70750477e+00] [-3.22879100e-02 -6.23530212e-04 9.99478415e-01 -2.37061445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.85654761499999 meters 0.07851663279343138 Centerline is valid? [True, True] Translation: X:44.94, Y:-4.71, Z:-2.37 [[ 9.75922654e-01 2.16053237e-01 2.99327888e-02 4.49435357e+01] [-2.15972340e-01 9.76381362e-01 -5.94847040e-03 -4.71132954e+00] [-3.05110033e-02 -6.59407428e-04 9.99534213e-01 -2.37363707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88654761499999 meters 0.07805778307264484 Centerline is valid? [True, True] Translation: X:44.97, Y:-4.72, Z:-2.37 [[ 9.75628784e-01 2.17322376e-01 3.03226163e-02 4.49747007e+01] [-2.17240019e-01 9.76099627e-01 -6.02436808e-03 -4.72066818e+00] [-3.09071244e-02 -7.09738830e-04 9.99522009e-01 -2.37190300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.91654761499999 meters 0.0792202093344077 Centerline is valid? [True, True] Translation: X:45.01, Y:-4.72, Z:-2.38 [[ 9.75256141e-01 2.19234410e-01 2.84909150e-02 4.50059053e+01] [-2.19162254e-01 9.75671954e-01 -5.66958292e-03 -4.71872961e+00] [-2.90407543e-02 -7.14837573e-04 9.99577973e-01 -2.37909869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94654761499999 meters 0.08101785514522031 Centerline is valid? [True, True] Translation: X:45.04, Y:-4.72, Z:-2.39 [[ 9.74566858e-01 2.22627181e-01 2.56237559e-02 4.50384987e+01] [-2.22569872e-01 9.74903383e-01 -5.10350353e-03 -4.71628975e+00] [-2.61168649e-02 -7.29370664e-04 9.99658630e-01 -2.38547151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.976547614999994 meters 0.08205950358896157 Centerline is valid? [True, True] Translation: X:45.07, Y:-4.72, Z:-2.39 [[ 9.73797546e-01 2.25955832e-01 2.57352174e-02 4.50705689e+01] [-2.25899197e-01 9.74137200e-01 -5.12520932e-03 -4.71726800e+00] [-2.62277036e-02 -8.22648679e-04 9.99655656e-01 -2.38515596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00654761499999 meters 0.08205950358896157 Centerline is valid? [True, True] Translation: X:45.10, Y:-4.72, Z:-2.39 [[ 9.73737112e-01 2.26216100e-01 2.57354376e-02 4.51022545e+01] [-2.26159584e-01 9.74076786e-01 -5.12410962e-03 -4.72379133e+00] [-2.62274485e-02 -8.30780173e-04 9.99655656e-01 -2.38684710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.03654761499999 meters 0.08178301391275168 Centerline is valid? [True, True] Translation: X:45.13, Y:-4.73, Z:-2.38 [[ 9.73407109e-01 2.27638812e-01 2.56743380e-02 4.51331494e+01] [-2.27582850e-01 9.73745261e-01 -5.11993708e-03 -4.73248211e+00] [-2.61657613e-02 -8.59255845e-04 9.99657249e-01 -2.38388671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06654761499999 meters 0.08150316308210152 Centerline is valid? [True, True] Translation: X:45.16, Y:-4.74, Z:-2.38 [[ 9.73470268e-01 2.27334109e-01 2.59776812e-02 4.51646138e+01] [-2.27276535e-01 9.73816447e-01 -5.18693068e-03 -4.73989981e+00] [-2.64766595e-02 -8.54794579e-04 9.99649066e-01 -2.38473196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.09654761499999 meters 0.0813257683462295 Centerline is valid? [True, True] Translation: X:45.20, Y:-4.74, Z:-2.39 [[ 9.73444102e-01 2.27034064e-01 2.93617778e-02 4.51960964e+01] [-2.26959978e-01 9.73886360e-01 -5.87587488e-03 -4.74071686e+00] [-2.99290587e-02 -9.44112710e-04 9.99551580e-01 -2.38691582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12654761499999 meters 0.08230444254344263 Centerline is valid? [True, True] Translation: X:45.23, Y:-4.74, Z:-2.39 [[ 9.73238693e-01 2.28055627e-01 2.82325682e-02 4.52286571e+01] [-2.27987668e-01 9.73647649e-01 -5.64613662e-03 -4.73949101e+00] [-2.87762069e-02 -9.41638762e-04 9.99585436e-01 -2.39250182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.156547614999994 meters 0.08267286852636843 Centerline is valid? [True, True] Translation: X:45.26, Y:-4.75, Z:-2.39 [[ 9.72848135e-01 2.30060155e-01 2.52751190e-02 4.52589493e+01] [-2.30006114e-01 9.73176006e-01 -5.06440190e-03 -4.74911454e+00] [-2.57622564e-02 -8.86537951e-04 9.99667705e-01 -2.39398361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18654761499999 meters 0.08294806569661582 Centerline is valid? [True, True] Translation: X:45.29, Y:-4.76, Z:-2.39 [[ 9.72667846e-01 2.30710998e-01 2.62620717e-02 4.52891114e+01] [-2.30652974e-01 9.73021864e-01 -5.25903399e-03 -4.75886649e+00] [-2.67668870e-02 -9.42131695e-04 9.99641259e-01 -2.39220003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.21654761499999 meters 0.08246499687039753 Centerline is valid? [True, True] Translation: X:45.32, Y:-4.76, Z:-2.39 [[ 9.71903982e-01 2.33447150e-01 3.00845137e-02 4.53219585e+01] [-2.33372088e-01 9.72368801e-01 -6.03180291e-03 -4.76102439e+00] [-3.06613497e-02 -1.15855251e-03 9.99529159e-01 -2.38862775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24654761499999 meters 0.08456357853666926 Centerline is valid? [True, True] Translation: X:45.35, Y:-4.76, Z:-2.39 [[ 9.71097825e-01 2.36492623e-01 3.22529743e-02 4.53548892e+01] [-2.36407650e-01 9.71632368e-01 -6.47792433e-03 -4.75584345e+00] [-3.28700151e-02 -1.33415164e-03 9.99458745e-01 -2.39087071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.27654761499999 meters 0.08460652684616138 Centerline is valid? [True, True] Translation: X:45.38, Y:-4.76, Z:-2.40 [[ 9.71217520e-01 2.36783962e-01 2.58821242e-02 4.53849659e+01] [-2.36729235e-01 9.71561733e-01 -5.20266449e-03 -4.76373171e+00] [-2.63779890e-02 -1.07413657e-03 9.99651463e-01 -2.39947416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30654761499999 meters 0.08388317311142411 Centerline is valid? [True, True] Translation: X:45.41, Y:-4.77, Z:-2.40 [[ 9.71848607e-01 2.34139657e-01 2.62470280e-02 4.54141134e+01] [-2.34082158e-01 9.72202451e-01 -5.28553921e-03 -4.77447062e+00] [-2.67549793e-02 -1.00721704e-03 9.99641514e-01 -2.40038596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33654761499999 meters 0.0826454312385488 Centerline is valid? [True, True] Translation: X:45.44, Y:-4.79, Z:-2.40 [[ 9.72061121e-01 2.32993000e-01 2.84857781e-02 4.54442111e+01] [-2.32924759e-01 9.72477836e-01 -5.73712331e-03 -4.78689153e+00] [-2.90384974e-02 -1.05820848e-03 9.99577734e-01 -2.39507545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.366547614999995 meters 0.08096887812940126 Centerline is valid? [True, True] Translation: X:45.47, Y:-4.80, Z:-2.40 [[ 9.73133690e-01 2.28072958e-01 3.15205785e-02 4.54729491e+01] [-2.27986736e-01 9.73643525e-01 -6.35092968e-03 -4.79645952e+00] [-3.21382825e-02 -1.00597019e-03 9.99482926e-01 -2.39584011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.39654761499999 meters 0.08069374878020687 Centerline is valid? [True, True] Translation: X:45.50, Y:-4.80, Z:-2.40 [[ 9.73999347e-01 2.24861165e-01 2.76175438e-02 4.55036281e+01] [-2.24793820e-01 9.74390490e-01 -5.55974606e-03 -4.80279983e+00] [-2.81604430e-02 -7.93064134e-04 9.99603101e-01 -2.40497926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42654761499999 meters 0.07943783073807252 Centerline is valid? [True, True] Translation: X:45.53, Y:-4.82, Z:-2.41 [[ 9.75268703e-01 2.19883418e-01 2.24107068e-02 4.55337598e+01] [-2.19837723e-01 9.75526015e-01 -4.51320053e-03 -4.82033384e+00] [-2.28546054e-02 -5.25135518e-04 9.99738661e-01 -2.40878212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.45654761499999 meters 0.07890266617336446 Centerline is valid? [True, True] Translation: X:45.56, Y:-4.83, Z:-2.41 [[ 9.76222437e-01 2.15927303e-01 1.91089905e-02 4.55632207e+01] [-2.15893229e-01 9.76409375e-01 -3.85313599e-03 -4.83362551e+00] [-1.94901947e-02 -3.63983842e-04 9.99809982e-01 -2.41120561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48654761499999 meters 0.07811505193362825 Centerline is valid? [True, True] Translation: X:45.59, Y:-4.84, Z:-2.41 [[ 9.76741652e-01 2.13344267e-01 2.14469070e-02 4.55940264e+01] [-2.13300458e-01 9.76977026e-01 -4.33658660e-03 -4.84096043e+00] [-2.18783213e-02 -3.38910314e-04 9.99760583e-01 -2.40882045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51654761499999 meters 0.07747819274448445 Centerline is valid? [True, True] Translation: X:45.62, Y:-4.85, Z:-2.40 [[ 9.76630501e-01 2.13419105e-01 2.53997958e-02 4.56248560e+01] [-2.13357649e-01 9.76960656e-01 -5.13709347e-03 -4.84736845e+00] [-2.59109551e-02 -4.02198558e-04 9.99664174e-01 -2.40475136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.546547614999994 meters 0.07775384317004712 Centerline is valid? [True, True] Translation: X:45.66, Y:-4.85, Z:-2.41 [[ 9.76621099e-01 2.12937564e-01 2.94758121e-02 4.56554231e+01] [-2.12854525e-01 9.77065705e-01 -5.96320905e-03 -4.84754476e+00] [-3.00695963e-02 -4.50264209e-04 9.99547706e-01 -2.40760797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.57654761499999 meters 0.07822386881483621 Centerline is valid? [True, True] Translation: X:45.69, Y:-4.85, Z:-2.41 [[ 9.76811445e-01 2.12262000e-01 2.80043542e-02 4.56872149e+01] [-2.12186881e-01 9.77212707e-01 -5.66161560e-03 -4.84822251e+00] [-2.85679566e-02 -4.11825650e-04 9.99591768e-01 -2.41295121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60654761499999 meters 0.0781399584210078 Centerline is valid? [True, True] Translation: X:45.72, Y:-4.85, Z:-2.41 [[ 9.76343585e-01 2.14692164e-01 2.56997860e-02 4.57181572e+01] [-2.14629642e-01 9.76681668e-01 -5.19954748e-03 -4.85499413e+00] [-2.62168120e-02 -4.39391043e-04 9.99656184e-01 -2.40952771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.63654761499999 meters 0.0785949942523184 Centerline is valid? [True, True] Translation: X:45.75, Y:-4.86, Z:-2.41 [[ 9.75395370e-01 2.19105837e-01 2.44234325e-02 4.57501223e+01] [-2.19050629e-01 9.75700956e-01 -4.94628835e-03 -4.85801690e+00] [-2.49137271e-02 -5.25381502e-04 9.99689467e-01 -2.40800542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66654761499999 meters 0.0791451485394559 Centerline is valid? [True, True] Translation: X:45.78, Y:-4.86, Z:-2.41 [[ 9.75006355e-01 2.21041708e-01 2.24314928e-02 4.57815921e+01] [-2.20995552e-01 9.75264215e-01 -4.54722139e-03 -4.85831720e+00] [-2.28817578e-02 -5.23690361e-04 9.99738041e-01 -2.41109631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69654761499999 meters 0.07955772346362536 Centerline is valid? [True, True] Translation: X:45.81, Y:-4.86, Z:-2.42 [[ 9.75210579e-01 2.20080595e-01 2.29969281e-02 4.58129472e+01] [-2.20031680e-01 9.75481560e-01 -4.66758643e-03 -4.85984469e+00] [-2.34603245e-02 -5.08173075e-04 9.99724640e-01 -2.41638476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.726547614999994 meters 0.07837144618665794 Centerline is valid? [True, True] Translation: X:45.84, Y:-4.87, Z:-2.42 [[ 9.75965921e-01 2.16655334e-01 2.34731132e-02 4.58438213e+01] [-2.16603265e-01 9.76248063e-01 -4.76908961e-03 -4.86795954e+00] [-2.39488300e-02 -4.29884021e-04 9.99713093e-01 -2.41698728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.75654761499999 meters 0.07836693374480948 Centerline is valid? [True, True] Translation: X:45.87, Y:-4.87, Z:-2.42 [[ 9.77185222e-01 2.11193849e-01 2.24988877e-02 4.58740281e+01] [-2.11144429e-01 9.77444157e-01 -4.57703087e-03 -4.87291936e+00] [-2.29580471e-02 -2.77907852e-04 9.99736391e-01 -2.42271471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78654761499999 meters 0.07824814092758522 Centerline is valid? [True, True] Translation: X:45.90, Y:-4.88, Z:-2.43 [[ 9.78121282e-01 2.07089853e-01 1.98129004e-02 4.59045142e+01] [-2.07050614e-01 9.78321915e-01 -4.03420792e-03 -4.88100691e+00] [-2.02188382e-02 -1.56328581e-04 9.99795566e-01 -2.42553749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.81654761499999 meters 0.07731155203629923 Centerline is valid? [True, True] Translation: X:45.94, Y:-4.89, Z:-2.42 [[ 9.78434085e-01 2.05423824e-01 2.16285296e-02 4.59357206e+01] [-2.05376540e-01 9.78673100e-01 -4.40913177e-03 -4.88987096e+00] [-2.20730008e-02 -1.27947773e-04 9.99756353e-01 -2.42064076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84654761499999 meters 0.07743405979930275 Centerline is valid? [True, True] Translation: X:45.97, Y:-4.89, Z:-2.43 [[ 9.77694341e-01 2.08773896e-01 2.29616044e-02 4.59675291e+01] [-2.08721357e-01 9.77963914e-01 -4.68815176e-03 -4.88687133e+00] [-2.34343842e-02 -2.08997774e-04 9.99725355e-01 -2.42530392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.87654761499999 meters 0.07793403775436714 Centerline is valid? [True, True] Translation: X:46.00, Y:-4.87, Z:-2.42 [[ 9.76047013e-01 2.16056451e-01 2.55311187e-02 4.60036954e+01] [-2.15993798e-01 9.76380783e-01 -5.21973214e-03 -4.87180435e+00] [-2.60558505e-02 -4.19859322e-04 9.99660401e-01 -2.42474912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.906547614999994 meters 0.0781659970085433 Centerline is valid? [True, True] Translation: X:46.04, Y:-4.87, Z:-2.42 [[ 9.75486915e-01 2.18733800e-01 2.40998536e-02 4.60363841e+01] [-2.18678539e-01 9.75784463e-01 -4.93737494e-03 -4.87411184e+00] [-2.45962335e-02 -4.53776140e-04 9.99697364e-01 -2.42445016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93654761499999 meters 0.07854124758393842 Centerline is valid? [True, True] Translation: X:46.07, Y:-4.88, Z:-2.43 [[ 9.75324458e-01 2.19558312e-01 2.31591997e-02 4.60664528e+01] [-2.19507561e-01 9.75599271e-01 -4.74268939e-03 -4.87948675e+00] [-2.36353953e-02 -4.57958485e-04 9.99720540e-01 -2.42774440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96654761499999 meters 0.07806196728211551 Centerline is valid? [True, True] Translation: X:46.10, Y:-4.88, Z:-2.43 [[ 9.75709671e-01 2.17848768e-01 2.30770941e-02 4.60987268e+01] [-2.17797823e-01 9.75982451e-01 -4.72903982e-03 -4.87986971e+00] [-2.35530544e-02 -4.11970972e-04 9.99722503e-01 -2.43185064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.99654761499999 meters 0.07758087649753859 Centerline is valid? [True, True] Translation: X:46.13, Y:-4.88, Z:-2.43 [[ 9.76356957e-01 2.14901946e-01 2.33290805e-02 4.61311282e+01] [-2.14848795e-01 9.76635573e-01 -4.79096212e-03 -4.88457928e+00] [-2.38135970e-02 -3.34535641e-04 9.99716360e-01 -2.43305155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02654761499999 meters 0.07715355442710158 Centerline is valid? [True, True] Translation: X:46.16, Y:-4.89, Z:-2.43 [[ 9.76900071e-01 2.12276203e-01 2.45980720e-02 4.61617148e+01] [-2.12216312e-01 9.77209666e-01 -5.05027736e-03 -4.89185768e+00] [-2.51095274e-02 -2.86495822e-04 9.99684665e-01 -2.43277996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05654761499999 meters 0.07657284219627984 Centerline is valid? [True, True] Translation: X:46.19, Y:-4.90, Z:-2.43 [[ 9.77979049e-01 2.07406473e-01 2.32278818e-02 4.61928257e+01] [-2.07351618e-01 9.78254840e-01 -4.77219924e-03 -4.90266702e+00] [-2.37125728e-02 -1.49227998e-04 9.99718806e-01 -2.43214506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08654761499999 meters 0.07653966426177447 Centerline is valid? [True, True] Translation: X:46.22, Y:-4.91, Z:-2.44 [[ 9.78784845e-01 2.03830104e-01 2.08210378e-02 4.62239522e+01] [-2.03785105e-01 9.79006275e-01 -4.28308980e-03 -4.90806819e+00] [-2.12569493e-02 -5.07939812e-05 9.99774044e-01 -2.43559776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11654761499999 meters 0.07698442353142958 Centerline is valid? [True, True] Translation: X:46.25, Y:-4.91, Z:-2.44 [[ 9.79026505e-01 2.02828952e-01 1.91708017e-02 4.62545408e+01] [-2.02790522e-01 9.79214183e-01 -3.94819680e-03 -4.91147355e+00] [-1.95731295e-02 -2.22675646e-05 9.99808428e-01 -2.44238292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14654761499999 meters 0.07654646898305371 Centerline is valid? [True, True] Translation: X:46.29, Y:-4.91, Z:-2.44 [[ 9.79034402e-01 2.02808912e-01 1.89785560e-02 4.62877777e+01] [-2.02771190e-01 9.79218334e-01 -3.91147715e-03 -4.91381539e+00] [-1.93774324e-02 -1.88336935e-05 9.99812240e-01 -2.44250746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.17654761499999 meters 0.075845659496884 Centerline is valid? [True, True] Translation: X:46.32, Y:-4.91, Z:-2.44 [[ 9.78478405e-01 2.05226970e-01 2.14918817e-02 4.63210001e+01] [-2.05178979e-01 9.78714405e-01 -4.43848761e-03 -4.91269613e+00] [-2.19453115e-02 -6.67180705e-05 9.99759170e-01 -2.43826130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20654761499999 meters 0.07557985599795154 Centerline is valid? [True, True] Translation: X:46.35, Y:-4.91, Z:-2.44 [[ 9.78462417e-01 2.05233723e-01 2.21453634e-02 4.63529133e+01] [-2.05182633e-01 9.78712989e-01 -4.57951275e-03 -4.91485109e+00] [-2.26138253e-02 -6.29628691e-05 9.99744273e-01 -2.43920802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.23654761499999 meters 0.07559752309130312 Centerline is valid? [True, True] Translation: X:46.38, Y:-4.92, Z:-2.44 [[ 9.79539899e-01 2.00148623e-01 2.10265246e-02 4.63848204e+01] [-2.00101296e-01 9.79765546e-01 -4.35266927e-03 -4.91919444e+00] [-2.14722451e-02 5.61783936e-05 9.99769443e-01 -2.44340941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26654761499999 meters 0.07579529331071475 Centerline is valid? [True, True] Translation: X:46.42, Y:-4.92, Z:-2.45 [[ 9.80213734e-01 1.97054032e-01 1.87281748e-02 4.64171256e+01] [-1.97015740e-01 9.80392623e-01 -3.88636379e-03 -4.92183873e+00] [-1.91267880e-02 1.19721939e-04 9.99817059e-01 -2.44738391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.296547614999994 meters 0.07576769785508795 Centerline is valid? [True, True] Translation: X:46.45, Y:-4.92, Z:-2.45 [[ 9.80384880e-01 1.96397039e-01 1.65435863e-02 4.64496363e+01] [-1.96367053e-01 9.80524446e-01 -3.43382023e-03 -4.92248996e+00] [-1.68957830e-02 1.17850138e-04 9.99857249e-01 -2.45002247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32654761499999 meters 0.07500487970003816 Centerline is valid? [True, True] Translation: X:46.48, Y:-4.92, Z:-2.45 [[ 9.80283091e-01 1.96668558e-01 1.91452111e-02 4.64819172e+01] [-1.96628400e-01 9.80470020e-01 -3.97641586e-03 -4.92473763e+00] [-1.95533415e-02 1.33520994e-04 9.99808806e-01 -2.44665013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.35654761499999 meters 0.0739340394553276 Centerline is valid? [True, True] Translation: X:46.51, Y:-4.93, Z:-2.44 [[ 9.80013751e-01 1.97607786e-01 2.28956550e-02 4.65138056e+01] [-1.97550553e-01 9.80281155e-01 -4.75771988e-03 -4.92703344e+00] [-2.33843417e-02 1.39581596e-04 9.99726539e-01 -2.44187999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38654761499999 meters 0.07373337789287215 Centerline is valid? [True, True] Translation: X:46.55, Y:-4.92, Z:-2.45 [[ 9.79734399e-01 1.98985031e-01 2.29230023e-02 4.65490154e+01] [-1.98928188e-01 9.80002524e-01 -4.75694890e-03 -4.92014129e+00] [-2.34111617e-02 1.00515160e-04 9.99725916e-01 -2.44590467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.41654761499999 meters 0.07452255434910585 Centerline is valid? [True, True] Translation: X:46.58, Y:-4.92, Z:-2.45 [[ 9.79454397e-01 2.00598951e-01 2.07158377e-02 4.65815539e+01] [-2.00552685e-01 9.79673444e-01 -4.30862276e-03 -4.91530083e+00] [-2.11590613e-02 6.54826395e-05 9.99776120e-01 -2.45314891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44654761499999 meters 0.07470289636199044 Centerline is valid? [True, True] Translation: X:46.61, Y:-4.92, Z:-2.45 [[ 9.79457795e-01 2.00739649e-01 1.91316706e-02 4.66137164e+01] [-2.00700255e-01 9.79644624e-01 -3.97711612e-03 -4.91960662e+00] [-1.95406031e-02 5.56862234e-05 9.99809063e-01 -2.45385891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.476547614999994 meters 0.07485073421199924 Centerline is valid? [True, True] Translation: X:46.65, Y:-4.92, Z:-2.45 [[ 9.79113238e-01 2.02621912e-01 1.67818027e-02 4.66461773e+01] [-2.02591825e-01 9.79257045e-01 -3.49169158e-03 -4.91933514e+00] [-1.71411917e-02 1.89054174e-05 9.99853079e-01 -2.45245144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50654761499999 meters 0.07489197856946717 Centerline is valid? [True, True] Translation: X:46.68, Y:-4.91, Z:-2.45 [[ 9.78261103e-01 2.06662139e-01 1.72038994e-02 4.66797295e+01] [-2.06631061e-01 9.78412366e-01 -3.58423059e-03 -4.91254592e+00] [-1.75732327e-02 -4.85466182e-05 9.99845578e-01 -2.45478106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.53654761499999 meters 0.07455190067072037 Centerline is valid? [True, True] Translation: X:46.71, Y:-4.91, Z:-2.46 [[ 9.77513124e-01 2.09690181e-01 2.23186343e-02 4.67108144e+01] [-2.09638299e-01 9.77767873e-01 -4.66576179e-03 -4.91144294e+00] [-2.28008080e-02 -1.17997149e-04 9.99740021e-01 -2.45543846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56654761499999 meters 0.07363165381946145 Centerline is valid? [True, True] Translation: X:46.74, Y:-4.91, Z:-2.45 [[ 9.76931874e-01 2.11730201e-01 2.78286816e-02 4.67431297e+01] [-2.11650365e-01 9.77328133e-01 -5.81753823e-03 -4.91497722e+00] [-2.84295020e-02 -2.06612090e-04 9.99595779e-01 -2.44647512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.59654761499999 meters 0.07401131804765308 Centerline is valid? [True, True] Translation: X:46.78, Y:-4.91, Z:-2.45 [[ 9.76358262e-01 2.14559645e-01 2.62431661e-02 4.67760262e+01] [-2.14489773e-01 9.76710849e-01 -5.48223835e-03 -4.91317107e+00] [-2.68082522e-02 -2.76262043e-04 9.99640556e-01 -2.45049784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62654761499999 meters 0.07524335949581204 Centerline is valid? [True, True] Translation: X:46.81, Y:-4.92, Z:-2.46 [[ 9.76769736e-01 2.13416260e-01 1.93489978e-02 4.68057987e+01] [-2.13377869e-01 9.76961345e-01 -4.05149475e-03 -4.91629564e+00] [-1.97678778e-02 -1.71270457e-04 9.99804582e-01 -2.46055465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.656547614999994 meters 0.0750647128168997 Centerline is valid? [True, True] Translation: X:46.84, Y:-4.92, Z:-2.46 [[ 9.76968459e-01 2.12427632e-01 2.01775078e-02 4.68372277e+01] [-2.12385819e-01 9.77176787e-01 -4.21780293e-03 -4.92218753e+00] [-2.06129702e-02 -1.64756102e-04 9.99787517e-01 -2.45938458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68654761499999 meters 0.07486804286117345 Centerline is valid? [True, True] Translation: X:46.87, Y:-4.93, Z:-2.46 [[ 9.76996558e-01 2.12205451e-01 2.11322712e-02 4.68681217e+01] [-2.12159400e-01 9.77225061e-01 -4.42367167e-03 -4.92984131e+00] [-2.15897123e-02 -1.61497986e-04 9.99766902e-01 -2.45839370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.71654761499999 meters 0.07473087448733763 Centerline is valid? [True, True] Translation: X:46.90, Y:-4.93, Z:-2.46 [[ 9.76786837e-01 2.13168630e-01 2.11331495e-02 4.69008070e+01] [-2.13122703e-01 9.77015406e-01 -4.42834613e-03 -4.93221321e+00] [-2.15913971e-02 -1.78403723e-04 9.99766863e-01 -2.45969860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74654761499999 meters 0.07572228695959282 Centerline is valid? [True, True] Translation: X:46.93, Y:-4.92, Z:-2.47 [[ 9.76286207e-01 2.15673770e-01 1.87101038e-02 4.69344260e+01] [-2.15638123e-01 9.76465455e-01 -3.92624822e-03 -4.92398677e+00] [-1.91165588e-02 -2.01469692e-04 9.99817242e-01 -2.46588229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.77654761499999 meters 0.07621221112066141 Centerline is valid? [True, True] Translation: X:46.97, Y:-4.93, Z:-2.47 [[ 9.75060364e-01 2.21129926e-01 1.89431167e-02 4.69657178e+01] [-2.21094331e-01 9.75244308e-01 -3.97939812e-03 -4.93074120e+00] [-1.93541307e-02 -3.08062326e-04 9.99812644e-01 -2.46538015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80654761499999 meters 0.0762021955077903 Centerline is valid? [True, True] Translation: X:47.00, Y:-4.93, Z:-2.47 [[ 9.74637447e-01 2.22963418e-01 1.92135776e-02 4.69971642e+01] [-2.22927039e-01 9.74826752e-01 -4.04215513e-03 -4.93177846e+00] [-1.96311621e-02 -3.43590196e-04 9.99807231e-01 -2.46967645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83654761499999 meters 0.07668752762764248 Centerline is valid? [True, True] Translation: X:47.03, Y:-4.92, Z:-2.47 [[ 9.74111999e-01 2.25263507e-01 1.90306719e-02 4.70309590e+01] [-2.25228180e-01 9.74297802e-01 -4.00755421e-03 -4.92492320e+00] [-1.94442975e-02 -3.82436965e-04 9.99810869e-01 -2.47413002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86654761499999 meters 0.07766180997878155 Centerline is valid? [True, True] Translation: X:47.06, Y:-4.93, Z:-2.47 [[ 9.72831631e-01 2.30602386e-01 2.05221247e-02 4.70622431e+01] [-2.30562341e-01 9.73047927e-01 -4.32876491e-03 -4.92699627e+00] [-2.09672344e-02 -5.20469686e-04 9.99780028e-01 -2.47425572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.89654761499999 meters 0.07766180997878155 Centerline is valid? [True, True] Translation: X:47.09, Y:-4.93, Z:-2.48 [[ 9.72766432e-01 2.30877327e-01 2.05214221e-02 4.70939016e+01] [-2.30837273e-01 9.72982727e-01 -4.33209222e-03 -4.93387489e+00] [-2.09671711e-02 -5.22995214e-04 9.99780028e-01 -2.47595048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92654761499999 meters 0.07820894281108823 Centerline is valid? [True, True] Translation: X:47.12, Y:-4.94, Z:-2.48 [[ 9.72155302e-01 2.33360637e-01 2.13747939e-02 4.71244923e+01] [-2.33317593e-01 9.72390077e-01 -4.52088052e-03 -4.94136543e+00] [-2.18396331e-02 -5.92117487e-04 9.99761311e-01 -2.47570051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.95654761499999 meters 0.0791195895766747 Centerline is valid? [True, True] Translation: X:47.16, Y:-4.94, Z:-2.48 [[ 9.70798879e-01 2.38798218e-01 2.29117421e-02 4.71572151e+01] [-2.38749991e-01 9.71068917e-01 -4.85792534e-03 -4.93975759e+00] [-2.34089445e-02 -7.54109758e-04 9.99725689e-01 -2.47566946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98654761499999 meters 0.08222951916335736 Centerline is valid? [True, True] Translation: X:47.19, Y:-4.93, Z:-2.49 [[ 9.69306625e-01 2.45119587e-01 1.90014245e-02 4.71898428e+01] [-2.45087626e-01 9.69492560e-01 -4.02898140e-03 -4.92942550e+00] [-1.94093219e-02 -7.51695642e-04 9.99811339e-01 -2.48616755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01654761499999 meters 0.08337433356070521 Centerline is valid? [True, True] Translation: X:47.22, Y:-4.94, Z:-2.49 [[ 9.67910242e-01 2.50758410e-01 1.64311662e-02 4.72198325e+01] [-2.50735305e-01 9.68049411e-01 -3.48498032e-03 -4.93719472e+00] [-1.67800689e-02 -7.46725304e-04 9.99858926e-01 -2.48641696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.046547614999994 meters 0.08192390227410193 Centerline is valid? [True, True] Translation: X:47.25, Y:-4.96, Z:-2.48 [[ 9.67789504e-01 2.51144999e-01 1.75972926e-02 4.72480371e+01] [-2.51118700e-01 9.67949134e-01 -3.72454659e-03 -4.96017421e+00] [-1.79686854e-02 -8.14432153e-04 9.99838218e-01 -2.47944920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.07654761499999 meters 0.0804354204607159 Centerline is valid? [True, True] Translation: X:47.28, Y:-4.97, Z:-2.48 [[ 9.68674779e-01 2.47583501e-01 1.92764598e-02 4.72762922e+01] [-2.47550936e-01 9.68866225e-01 -4.09536843e-03 -4.96985273e+00] [-1.96902565e-02 -8.04825566e-04 9.99805804e-01 -2.48009640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10654761499999 meters 0.0827648050847075 Centerline is valid? [True, True] Translation: X:47.31, Y:-4.96, Z:-2.49 [[ 9.69457314e-01 2.44505102e-01 1.92294546e-02 4.73089183e+01] [-2.44472114e-01 9.69647722e-01 -4.08415788e-03 -4.96200513e+00] [-1.96443943e-02 -7.41648699e-04 9.99806755e-01 -2.49378491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.13654761499999 meters 0.08114159661733858 Centerline is valid? [True, True] Translation: X:47.34, Y:-4.98, Z:-2.49 [[ 9.70067993e-01 2.41978551e-01 2.03585386e-02 4.73368269e+01] [-2.41940999e-01 9.70281324e-01 -4.32495098e-03 -4.98247307e+00] [-2.08000551e-02 -7.30068634e-04 9.99783389e-01 -2.49022149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16654761499999 meters 0.07945456375754505 Centerline is valid? [True, True] Translation: X:47.36, Y:-5.01, Z:-2.49 [[ 9.70659415e-01 2.39747157e-01 1.84824664e-02 4.73638082e+01] [-2.39715936e-01 9.70835160e-01 -3.91937169e-03 -5.00991291e+00] [-1.88830865e-02 -6.26166708e-04 9.99821503e-01 -2.48541174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.19654761499999 meters 0.07959661401429187 Centerline is valid? [True, True] Translation: X:47.40, Y:-5.01, Z:-2.49 [[ 9.70452344e-01 2.40668343e-01 1.73492476e-02 4.73955757e+01] [-2.40640911e-01 9.70607226e-01 -3.68291158e-03 -5.01399692e+00] [-1.77256653e-02 -6.00848580e-04 9.99842708e-01 -2.49008477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.226547614999994 meters 0.0811399497848276 Centerline is valid? [True, True] Translation: X:47.43, Y:-5.00, Z:-2.50 [[ 9.69639946e-01 2.43936737e-01 1.71243413e-02 4.74290500e+01] [-2.43910432e-01 9.69790931e-01 -3.64028636e-03 -5.00474553e+00] [-1.74950305e-02 -6.47038414e-04 9.99846741e-01 -2.49750493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.25654761499999 meters 0.08139783422961695 Centerline is valid? [True, True] Translation: X:47.46, Y:-5.01, Z:-2.50 [[ 9.68858691e-01 2.46828652e-01 1.97092336e-02 4.74611924e+01] [-2.46794277e-01 9.69058811e-01 -4.19600061e-03 -5.00878518e+00] [-2.01350996e-02 -7.98794392e-04 9.99796949e-01 -2.49523960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28654761499999 meters 0.0813456322389772 Centerline is valid? [True, True] Translation: X:47.49, Y:-5.03, Z:-2.49 [[ 9.68819490e-01 2.46905598e-01 2.06500002e-02 4.74907528e+01] [-2.46867642e-01 9.69039184e-01 -4.40756957e-03 -5.02778438e+00] [-2.10989129e-02 -8.27677549e-04 9.99777051e-01 -2.49111573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.31654761499999 meters 0.08141197684949586 Centerline is valid? [True, True] Translation: X:47.52, Y:-5.04, Z:-2.49 [[ 9.68819080e-01 2.47087165e-01 1.83717897e-02 4.75213541e+01] [-2.47057121e-01 9.68992976e-01 -3.92313536e-03 -5.03872984e+00] [-1.87714916e-02 -7.38073077e-04 9.99823528e-01 -2.49373670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34654761499999 meters 0.08077637958804508 Centerline is valid? [True, True] Translation: X:47.55, Y:-5.04, Z:-2.50 [[ 9.69313711e-01 2.45046728e-01 1.95711684e-02 4.75532008e+01] [-2.45012187e-01 9.69510985e-01 -4.18078220e-03 -5.03994871e+00] [-1.99989497e-02 -7.42685257e-04 9.99799725e-01 -2.50160091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.37654761499999 meters 0.08096469480139586 Centerline is valid? [True, True] Translation: X:47.58, Y:-5.05, Z:-2.51 [[ 9.69565641e-01 2.44116771e-01 1.86941043e-02 4.75831459e+01] [-2.44085170e-01 9.69745595e-01 -3.98889342e-03 -5.05078911e+00] [-1.91022810e-02 -6.95459602e-04 9.99817293e-01 -2.50534667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.406547614999994 meters 0.08017497592894404 Centerline is valid? [True, True] Translation: X:47.61, Y:-5.07, Z:-2.50 [[ 9.69732796e-01 2.43544388e-01 1.74480728e-02 4.76127183e+01] [-2.43516729e-01 9.69889543e-01 -3.72516015e-03 -5.07054878e+00] [-1.78299453e-02 -6.36487655e-04 9.99840831e-01 -2.50365543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43654761499999 meters 0.08018748656464504 Centerline is valid? [True, True] Translation: X:47.64, Y:-5.08, Z:-2.51 [[ 9.70139153e-01 2.41931092e-01 1.73023208e-02 4.76427720e+01] [-2.41903509e-01 9.70293251e-01 -3.70128453e-03 -5.07891054e+00] [-1.76837809e-02 -5.94731077e-04 9.99843453e-01 -2.50676762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46654761499999 meters 0.0801935696585953 Centerline is valid? [True, True] Translation: X:47.67, Y:-5.09, Z:-2.51 [[ 9.70795902e-01 2.39271118e-01 1.74541859e-02 4.76719445e+01] [-2.39242402e-01 9.70952646e-01 -3.74592941e-03 -5.08642132e+00] [-1.78434807e-02 -5.39248425e-04 9.99840647e-01 -2.51102149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.49654761499999 meters 0.07990017496054308 Centerline is valid? [True, True] Translation: X:47.70, Y:-5.09, Z:-2.51 [[ 9.70601511e-01 2.39759643e-01 2.11665055e-02 4.77025656e+01] [-2.39717526e-01 9.70832051e-01 -4.54271588e-03 -5.09338727e+00] [-2.16382819e-02 -6.64815441e-04 9.99765644e-01 -2.51121061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52654761499999 meters 0.08004103982198675 Centerline is valid? [True, True] Translation: X:47.73, Y:-5.11, Z:-2.51 [[ 9.70166672e-01 2.41369440e-01 2.27469320e-02 4.77339884e+01] [-2.41321384e-01 9.70433005e-01 -4.87570036e-03 -5.10599263e+00] [-2.32512187e-02 -7.59079121e-04 9.99729366e-01 -2.50886050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.55654761499999 meters 0.07875149980223185 Centerline is valid? [True, True] Translation: X:47.76, Y:-5.12, Z:-2.51 [[ 9.70305479e-01 2.40904369e-01 2.17338934e-02 4.77640773e+01] [-2.40860254e-01 9.70548599e-01 -4.66430607e-03 -5.12063669e+00] [-2.22174514e-02 -7.09029345e-04 9.99752911e-01 -2.50811552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58654761499999 meters 0.07962290410088062 Centerline is valid? [True, True] Translation: X:47.80, Y:-5.12, Z:-2.52 [[ 9.70065096e-01 2.42106715e-01 1.89221452e-02 4.77959330e+01] [-2.42073282e-01 9.70249422e-01 -4.07240021e-03 -5.11943557e+00] [-1.93451559e-02 -6.30052490e-04 9.99812666e-01 -2.51709809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61654761499999 meters 0.08113675966130338 Centerline is valid? [True, True] Translation: X:47.83, Y:-5.12, Z:-2.52 [[ 9.69202825e-01 2.45508173e-01 1.92774659e-02 4.78269809e+01] [-2.45474128e-01 9.69394261e-01 -4.14966837e-03 -5.12131908e+00] [-1.97062423e-02 -7.10248830e-04 9.99805561e-01 -2.51997927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64654761499999 meters 0.08134421880206925 Centerline is valid? [True, True] Translation: X:47.86, Y:-5.13, Z:-2.52 [[ 9.68423060e-01 2.48386076e-01 2.14740438e-02 4.78570236e+01] [-2.48344647e-01 9.68660733e-01 -4.61747162e-03 -5.13103018e+00] [-2.19479787e-02 -8.61297833e-04 9.99758743e-01 -2.51585540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.67654761499999 meters 0.07985830142956088 Centerline is valid? [True, True] Translation: X:47.89, Y:-5.15, Z:-2.51 [[ 9.68585389e-01 2.47707052e-01 2.19899979e-02 4.78869308e+01] [-2.47663324e-01 9.68834596e-01 -4.73327374e-03 -5.14641141e+00] [-2.24771361e-02 -8.61536205e-04 9.99746986e-01 -2.51221336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70654761499999 meters 0.08191999523451604 Centerline is valid? [True, True] Translation: X:47.92, Y:-5.15, Z:-2.52 [[ 9.68797127e-01 2.47440704e-01 1.43256817e-02 4.79155421e+01] [-2.47421985e-01 9.68902883e-01 -3.09262670e-03 -5.15103359e+00] [-1.46454360e-02 -5.48360723e-04 9.99892599e-01 -2.52436793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73654761499999 meters 0.08193191051213851 Centerline is valid? [True, True] Translation: X:47.95, Y:-5.16, Z:-2.52 [[ 9.68284001e-01 2.49356389e-01 1.57316492e-02 4.79462149e+01] [-2.49334218e-01 9.68411575e-01 -3.38673867e-03 -5.16074360e+00] [-1.60792161e-02 -6.43113579e-04 9.99870514e-01 -2.52441878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76654761499999 meters 0.0825108661165608 Centerline is valid? [True, True] Translation: X:47.98, Y:-5.17, Z:-2.53 [[ 9.68054788e-01 2.50201662e-01 1.64029428e-02 4.79767403e+01] [-2.50177606e-01 9.68193506e-01 -3.53565574e-03 -5.16940204e+00] [-1.67658497e-02 -6.80940504e-04 9.99859211e-01 -2.52680755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79654761499999 meters 0.08251935319924625 Centerline is valid? [True, True] Translation: X:48.01, Y:-5.18, Z:-2.53 [[ 9.67817271e-01 2.51234846e-01 1.45183407e-02 4.80073442e+01] [-2.51216059e-01 9.67925965e-01 -3.13326597e-03 -5.17801979e+00] [-1.48398645e-02 -6.14811412e-04 9.99889694e-01 -2.52817240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82654761499999 meters 0.08326503616286131 Centerline is valid? [True, True] Translation: X:48.04, Y:-5.19, Z:-2.53 [[ 9.67045094e-01 2.54248428e-01 1.34730270e-02 4.80362403e+01] [-2.54232389e-01 9.67138756e-01 -2.91870366e-03 -5.18999663e+00] [-1.37723624e-02 -6.02761796e-04 9.99904975e-01 -2.52583372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.85654761499999 meters 0.08342795061753383 Centerline is valid? [True, True] Translation: X:48.07, Y:-5.20, Z:-2.53 [[ 9.66985829e-01 2.54415926e-01 1.45238969e-02 4.80662667e+01] [-2.54397435e-01 9.67094670e-01 -3.13770795e-03 -5.20028166e+00] [-1.48442662e-02 -6.60722998e-04 9.99889600e-01 -2.52739217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88654761499999 meters 0.08318389486926532 Centerline is valid? [True, True] Translation: X:48.10, Y:-5.21, Z:-2.53 [[ 9.67231985e-01 2.53455970e-01 1.49116771e-02 4.80979457e+01] [-2.53436203e-01 9.67346704e-01 -3.23202420e-03 -5.20812275e+00] [-1.52439375e-02 -6.53041641e-04 9.99883591e-01 -2.53023208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.91654761499999 meters 0.08206479498219868 Centerline is valid? [True, True] Translation: X:48.13, Y:-5.22, Z:-2.53 [[ 9.67895298e-01 2.50747769e-01 1.74427329e-02 4.81270219e+01] [-2.50720199e-01 9.68052195e-01 -3.78536304e-03 -5.22036043e+00] [-1.78346473e-02 -7.09410387e-04 9.99840698e-01 -2.52924211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94654761499999 meters 0.08061982349435579 Centerline is valid? [True, True] Translation: X:48.16, Y:-5.24, Z:-2.53 [[ 9.69129886e-01 2.46065601e-01 1.54591094e-02 4.81555119e+01] [-2.46043362e-01 9.69253019e-01 -3.35405394e-03 -5.23960549e+00] [-1.58091058e-02 -5.53097344e-04 9.99874875e-01 -2.53010922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.976547614999994 meters 0.08127834173316023 Centerline is valid? [True, True] Translation: X:48.18, Y:-5.25, Z:-2.54 [[ 9.70364003e-01 2.41275567e-01 1.34090738e-02 4.81842571e+01] [-2.41258471e-01 9.70456555e-01 -2.90250206e-03 -5.25283683e+00] [-1.37132264e-02 -4.18569127e-04 9.99905882e-01 -2.53728082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00654761499999 meters 0.07956882813339562 Centerline is valid? [True, True] Translation: X:48.21, Y:-5.27, Z:-2.54 [[ 9.70886902e-01 2.39114244e-01 1.42478898e-02 4.82141101e+01] [-2.39094543e-01 9.70991358e-01 -3.09550972e-03 -5.26568752e+00] [-1.45747584e-02 -4.01202874e-04 9.99893702e-01 -2.53552245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.03654761499999 meters 0.07897687116761719 Centerline is valid? [True, True] Translation: X:48.25, Y:-5.27, Z:-2.54 [[ 9.71082298e-01 2.38269796e-01 1.50557470e-02 4.82453532e+01] [-2.38247797e-01 9.71198914e-01 -3.26446289e-03 -5.27432392e+00] [-1.53999481e-02 -4.16936425e-04 9.99881327e-01 -2.53538202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06654761499999 meters 0.07903703757182996 Centerline is valid? [True, True] Translation: X:48.28, Y:-5.28, Z:-2.54 [[ 9.71284531e-01 2.37495802e-01 1.42163176e-02 4.82758923e+01] [-2.37476070e-01 9.71388491e-01 -3.08485667e-03 -5.28317447e+00] [-1.45422078e-02 -3.79761654e-04 9.99894184e-01 -2.53804064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09654761499999 meters 0.07824131716003241 Centerline is valid? [True, True] Translation: X:48.31, Y:-5.30, Z:-2.54 [[ 9.71803464e-01 2.35369167e-01 1.41202987e-02 4.83063670e+01] [-2.35349345e-01 9.71905984e-01 -3.07307765e-03 -5.29675239e+00] [-1.44469106e-02 -3.36775559e-04 9.99895581e-01 -2.53714353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12654761499999 meters 0.07837738594053653 Centerline is valid? [True, True] Translation: X:48.34, Y:-5.30, Z:-2.54 [[ 9.71900466e-01 2.34962091e-01 1.42232117e-02 4.83361740e+01] [-2.34941959e-01 9.72004477e-01 -3.09389920e-03 -5.30470690e+00] [-1.45519745e-02 -3.34667158e-04 9.99894058e-01 -2.54060423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.156547614999994 meters 0.07841606362684563 Centerline is valid? [True, True] Translation: X:48.37, Y:-5.32, Z:-2.54 [[ 9.71908082e-01 2.34955138e-01 1.38116883e-02 4.83672885e+01] [-2.34936136e-01 9.72006162e-01 -3.00557134e-03 -5.31515348e+00] [-1.41312206e-02 -3.23725618e-04 9.99900097e-01 -2.54293707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18654761499999 meters 0.07782038951222903 Centerline is valid? [True, True] Translation: X:48.40, Y:-5.32, Z:-2.54 [[ 9.71694046e-01 2.35794983e-01 1.45398504e-02 4.83981432e+01] [-2.35773929e-01 9.71802760e-01 -3.17010077e-03 -5.32340353e+00] [-1.48773606e-02 -3.47749608e-04 9.99889265e-01 -2.54214013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.21654761499999 meters 0.07878393732205677 Centerline is valid? [True, True] Translation: X:48.43, Y:-5.33, Z:-2.55 [[ 9.70891603e-01 2.38983948e-01 1.60052616e-02 4.84294031e+01] [-2.38958764e-01 9.71023423e-01 -3.49598920e-03 -5.32538578e+00] [-1.63769692e-02 -4.30370971e-04 9.99865796e-01 -2.54558212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24654761499999 meters 0.07937230698126875 Centerline is valid? [True, True] Translation: X:48.46, Y:-5.33, Z:-2.54 [[ 9.70053829e-01 2.42210455e-01 1.81566822e-02 4.84599000e+01] [-2.42178431e-01 9.70223584e-01 -3.97551238e-03 -5.33300026e+00] [-1.85789519e-02 -5.40695793e-04 9.99827250e-01 -2.54463730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.27654761499999 meters 0.07958893378679383 Centerline is valid? [True, True] Translation: X:48.49, Y:-5.34, Z:-2.54 [[ 9.69116655e-01 2.46025286e-01 1.68661883e-02 4.84897818e+01] [-2.45998135e-01 9.69263246e-01 -3.69838963e-03 -5.34467777e+00] [-1.72576738e-02 -5.64879871e-04 9.99850916e-01 -2.54150561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30654761499999 meters 0.07989658763506925 Centerline is valid? [True, True] Translation: X:48.52, Y:-5.35, Z:-2.55 [[ 9.68354299e-01 2.49108683e-01 1.53237142e-02 4.85203751e+01] [-2.49086651e-01 9.68475373e-01 -3.36049857e-03 -5.35044238e+00] [-1.56777692e-02 -5.62779406e-04 9.99876938e-01 -2.54558595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33654761499999 meters 0.08271786939578307 Centerline is valid? [True, True] Translation: X:48.55, Y:-5.35, Z:-2.55 [[ 9.66673592e-01 2.55444667e-01 1.70349313e-02 4.85514765e+01] [-2.55418393e-01 9.66823395e-01 -3.73729634e-03 -5.34918090e+00] [-1.74244425e-02 -7.38289092e-04 9.99847910e-01 -2.55124031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36654761499999 meters 0.08332723590270084 Centerline is valid? [True, True] Translation: X:48.58, Y:-5.36, Z:-2.55 [[ 9.65970999e-01 2.58012904e-01 1.81485895e-02 4.85825188e+01] [-2.57983672e-01 9.66141103e-01 -3.97416517e-03 -5.35812181e+00] [-1.85594841e-02 -8.43111455e-04 9.99827402e-01 -2.55116565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.39654761499999 meters 0.0825801272419786 Centerline is valid? [True, True] Translation: X:48.61, Y:-5.37, Z:-2.55 [[ 9.66189195e-01 2.57301657e-01 1.65619414e-02 4.86130527e+01] [-2.57277179e-01 9.66330837e-01 -3.62850284e-03 -5.37206609e+00] [-1.69379345e-02 -7.55189311e-04 9.99856258e-01 -2.55065248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42654761499999 meters 0.08158241858645345 Centerline is valid? [True, True] Translation: X:48.64, Y:-5.39, Z:-2.55 [[ 9.66837079e-01 2.54937842e-01 1.52564396e-02 4.86430345e+01] [-2.54916704e-01 9.66957223e-01 -3.34714555e-03 -5.38515879e+00] [-1.56056385e-02 -6.52976870e-04 9.99878011e-01 -2.55183281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.45654761499999 meters 0.08032709384480899 Centerline is valid? [True, True] Translation: X:48.67, Y:-5.40, Z:-2.55 [[ 9.68170041e-01 2.49900697e-01 1.40147639e-02 4.86711016e+01] [-2.49882176e-01 9.68271334e-01 -3.08562964e-03 -5.40289482e+00] [-1.43411952e-02 -5.14625530e-04 9.99897027e-01 -2.55458381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48654761499999 meters 0.08061213291635602 Centerline is valid? [True, True] Translation: X:48.70, Y:-5.41, Z:-2.56 [[ 9.68793560e-01 2.47364178e-01 1.58114524e-02 4.87000803e+01] [-2.47340295e-01 9.68922428e-01 -3.47947776e-03 -5.41159626e+00] [-1.61807690e-02 -5.39913639e-04 9.99868937e-01 -2.55908388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51654761499999 meters 0.08027789125803977 Centerline is valid? [True, True] Translation: X:48.73, Y:-5.42, Z:-2.56 [[ 9.68402500e-01 2.49086699e-01 1.23455926e-02 4.87290688e+01] [-2.49072264e-01 9.68481089e-01 -2.71795396e-03 -5.42447216e+00] [-1.26334792e-02 -4.42871294e-04 9.99920096e-01 -2.56046984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54654761499999 meters 0.0823120730602459 Centerline is valid? [True, True] Translation: X:48.76, Y:-5.43, Z:-2.57 [[ 9.67237448e-01 2.53714556e-01 8.98012174e-03 4.87600929e+01] [-2.53707101e-01 9.67279066e-01 -1.97880527e-03 -5.42819216e+00] [-9.18833547e-03 -3.64346090e-04 9.99957720e-01 -2.56580804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.57654761499999 meters 0.08335196343244482 Centerline is valid? [True, True] Translation: X:48.79, Y:-5.43, Z:-2.57 [[ 9.66055582e-01 2.58105103e-01 1.08796819e-02 4.87922706e+01] [-2.58094449e-01 9.66116718e-01 -2.39635823e-03 -5.43309353e+00] [-1.11295548e-02 -4.92970252e-04 9.99937943e-01 -2.56627311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60654761499999 meters 0.08636895354720903 Centerline is valid? [True, True] Translation: X:48.82, Y:-5.43, Z:-2.57 [[ 9.65217007e-01 2.61208577e-01 1.12342754e-02 4.88223953e+01] [-2.61197382e-01 9.65282231e-01 -2.47836134e-03 -5.43393769e+00] [-1.14916157e-02 -5.42206814e-04 9.99933822e-01 -2.57228259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.63654761499999 meters 0.08607132489146682 Centerline is valid? [True, True] Translation: X:48.85, Y:-5.45, Z:-2.57 [[ 9.64541980e-01 2.63687812e-01 1.12918611e-02 4.88521823e+01] [-2.63676778e-01 9.64607898e-01 -2.48177307e-03 -5.44578973e+00] [-1.15466317e-02 -5.83627246e-04 9.99933165e-01 -2.57086924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66654761499999 meters 0.08603462498808169 Centerline is valid? [True, True] Translation: X:48.88, Y:-5.46, Z:-2.57 [[ 9.64440297e-01 2.64065574e-01 1.11483789e-02 4.88831424e+01] [-2.64054841e-01 9.64504555e-01 -2.45059760e-03 -5.45707938e+00] [-1.13997807e-02 -5.80328350e-04 9.99934852e-01 -2.57164800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69654761499999 meters 0.08426161656182694 Centerline is valid? [True, True] Translation: X:48.91, Y:-5.48, Z:-2.57 [[ 9.64370322e-01 2.64234713e-01 1.30345082e-02 4.89119395e+01] [-2.64219958e-01 9.64458170e-01 -2.87255102e-03 -5.47793996e+00] [-1.33302656e-02 -6.73774262e-04 9.99910921e-01 -2.56778295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.726547614999994 meters 0.08373013905634034 Centerline is valid? [True, True] Translation: X:48.94, Y:-5.49, Z:-2.57 [[ 9.64543856e-01 2.63614656e-01 1.27460711e-02 4.89422952e+01] [-2.63600456e-01 9.64627852e-01 -2.81183257e-03 -5.48934211e+00] [-1.30364555e-02 -6.47734318e-04 9.99914812e-01 -2.57335428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.75654761499999 meters 0.08447695711959191 Centerline is valid? [True, True] Translation: X:48.97, Y:-5.50, Z:-2.58 [[ 9.64744840e-01 2.62770781e-01 1.47956262e-02 4.89716519e+01] [-2.62751332e-01 9.64858016e-01 -3.27816769e-03 -5.49941648e+00] [-1.51370852e-02 -7.24975128e-04 9.99885165e-01 -2.57709104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78654761499999 meters 0.08534354299614458 Centerline is valid? [True, True] Translation: X:49.00, Y:-5.51, Z:-2.58 [[ 9.64729319e-01 2.62752397e-01 1.60785212e-02 4.90001648e+01] [-2.62729475e-01 9.64862971e-01 -3.55942209e-03 -5.51360949e+00] [-1.64488164e-02 -7.90422585e-04 9.99864397e-01 -2.57510444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.81654761499999 meters 0.08534354299614458 Centerline is valid? [True, True] Translation: X:49.03, Y:-5.52, Z:-2.58 [[ 9.64658666e-01 2.63011640e-01 1.60790305e-02 4.90317449e+01] [-2.62988793e-01 9.64792331e-01 -3.55713237e-03 -5.52081665e+00] [-1.64484925e-02 -7.97186240e-04 9.99864397e-01 -2.57679825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84654761499999 meters 0.08350943597239732 Centerline is valid? [True, True] Translation: X:49.06, Y:-5.54, Z:-2.57 [[ 9.64261623e-01 2.64499051e-01 1.54846644e-02 4.90608030e+01] [-2.64477875e-01 9.64385629e-01 -3.43682859e-03 -5.54009776e+00] [-1.58422257e-02 -7.81349221e-04 9.99874199e-01 -2.57302201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87654761499999 meters 0.08524353935296654 Centerline is valid? [True, True] Translation: X:49.09, Y:-5.55, Z:-2.58 [[ 9.63705425e-01 2.66585264e-01 1.42881490e-02 4.90906934e+01] [-2.66567524e-01 9.63811042e-01 -3.16714775e-03 -5.54606749e+00] [-1.46153907e-02 -7.56559022e-04 9.99892903e-01 -2.58008305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.906547614999994 meters 0.0863566146216293 Centerline is valid? [True, True] Translation: X:49.12, Y:-5.55, Z:-2.59 [[ 9.63590510e-01 2.67021966e-01 1.38779718e-02 4.91199757e+01] [-2.67005195e-01 9.63690162e-01 -3.08183143e-03 -5.55414290e+00] [-1.41969816e-02 -7.35867055e-04 9.99898947e-01 -2.58667058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93654761499999 meters 0.08496818169499229 Centerline is valid? [True, True] Translation: X:49.15, Y:-5.57, Z:-2.59 [[ 9.64287008e-01 2.64474217e-01 1.42812592e-02 4.91477651e+01] [-2.64456101e-01 9.64392492e-01 -3.17666914e-03 -5.57371539e+00] [-1.46128862e-02 -7.13545341e-04 9.99892971e-01 -2.58769585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96654761499999 meters 0.08349867896459726 Centerline is valid? [True, True] Translation: X:49.18, Y:-5.59, Z:-2.59 [[ 9.64875734e-01 2.62213357e-01 1.60926190e-02 4.91757953e+01] [-2.62190031e-01 9.65009622e-01 -3.58017169e-03 -5.59397772e+00] [-1.64683010e-02 -7.64903470e-04 9.99864096e-01 -2.58574908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.99654761499999 meters 0.08489163177552342 Centerline is valid? [True, True] Translation: X:49.21, Y:-5.60, Z:-2.59 [[ 9.64408106e-01 2.63888891e-01 1.67229658e-02 4.92066498e+01] [-2.63863966e-01 9.64552732e-01 -3.71958666e-03 -5.60219613e+00] [-1.71117400e-02 -8.25388564e-04 9.99853243e-01 -2.58875775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02654761499999 meters 0.08878706091498863 Centerline is valid? [True, True] Translation: X:49.24, Y:-5.60, Z:-2.60 [[ 9.63112076e-01 2.68687721e-01 1.49009368e-02 4.92367450e+01] [-2.68668463e-01 9.63227001e-01 -3.31698482e-03 -5.60479097e+00] [-1.52442177e-02 -8.08783644e-04 9.99883473e-01 -2.59606859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05654761499999 meters 0.08661329336577744 Centerline is valid? [True, True] Translation: X:49.26, Y:-5.62, Z:-2.60 [[ 9.63856793e-01 2.66084609e-01 1.33814834e-02 4.92647882e+01] [-2.66068831e-01 9.63949431e-01 -2.97855838e-03 -5.62473481e+00] [-1.36916218e-02 -6.89491912e-04 9.99906028e-01 -2.59699964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08654761499999 meters 0.084479719948873 Centerline is valid? [True, True] Translation: X:49.29, Y:-5.64, Z:-2.60 [[ 9.64797887e-01 2.62757392e-01 1.11170833e-02 4.92937986e+01] [-2.62746375e-01 9.64861783e-01 -2.46635106e-03 -5.64004570e+00] [-1.13745008e-02 -5.41443048e-04 9.99935162e-01 -2.60012864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11654761499999 meters 0.08187066971675121 Centerline is valid? [True, True] Translation: X:49.32, Y:-5.66, Z:-2.60 [[ 9.65938910e-01 2.58479676e-01 1.22588767e-02 4.93227705e+01] [-2.58465822e-01 9.66016549e-01 -2.72862950e-03 -5.65632718e+00] [-1.25475731e-02 -5.32811256e-04 9.99921134e-01 -2.59973804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14654761499999 meters 0.08173533207348235 Centerline is valid? [True, True] Translation: X:49.35, Y:-5.67, Z:-2.61 [[ 9.67137193e-01 2.54041335e-01 1.04235501e-02 4.93510266e+01] [-2.54031012e-01 9.67193280e-01 -2.32476174e-03 -5.66758196e+00] [-1.06721731e-02 -3.99541424e-04 9.99942971e-01 -2.60508198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.17654761499999 meters 0.08154951716080854 Centerline is valid? [True, True] Translation: X:49.38, Y:-5.68, Z:-2.61 [[ 9.67555703e-01 2.52428422e-01 1.07635569e-02 4.93795776e+01] [-2.52417391e-01 9.67615487e-01 -2.39368287e-03 -5.68033586e+00] [-1.10192179e-02 -4.00887433e-04 9.99939206e-01 -2.60678925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20654761499999 meters 0.0808512963883057 Centerline is valid? [True, True] Translation: X:49.41, Y:-5.69, Z:-2.61 [[ 9.68070765e-01 2.50417445e-01 1.14060189e-02 4.94076352e+01] [-2.50404819e-01 9.68137877e-01 -2.54503479e-03 -5.69468498e+00] [-1.16799200e-02 -3.92348323e-04 9.99931710e-01 -2.60748674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23654761499999 meters 0.07940614133776987 Centerline is valid? [True, True] Translation: X:49.44, Y:-5.71, Z:-2.61 [[ 9.68922690e-01 2.46939319e-01 1.44842470e-02 4.94371665e+01] [-2.46918567e-01 9.69030843e-01 -3.23207394e-03 -5.70573931e+00] [-1.48338082e-02 -4.44799730e-04 9.99889874e-01 -2.60859231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26654761499999 meters 0.07869599512980309 Centerline is valid? [True, True] Translation: X:49.47, Y:-5.72, Z:-2.61 [[ 9.69686546e-01 2.43874374e-01 1.52739020e-02 4.94676033e+01] [-2.43850794e-01 9.69806744e-01 -3.41615988e-03 -5.71603910e+00] [-1.56458470e-02 -4.11948853e-04 9.99877511e-01 -2.60989833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29654761499999 meters 0.07729450829520591 Centerline is valid? [True, True] Translation: X:49.50, Y:-5.73, Z:-2.61 [[ 9.70462881e-01 2.40823418e-01 1.43484249e-02 4.94975699e+01] [-2.40802287e-01 9.70568887e-01 -3.20837334e-03 -5.73188332e+00] [-1.46987862e-02 -3.41526291e-04 9.99891909e-01 -2.60839733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32654761499999 meters 0.07791625700380297 Centerline is valid? [True, True] Translation: X:49.53, Y:-5.74, Z:-2.61 [[ 9.70718606e-01 2.39894062e-01 1.24991172e-02 4.95266603e+01] [-2.39877964e-01 9.70799030e-01 -2.79379812e-03 -5.74314710e+00] [-1.28043464e-02 -2.86270965e-04 9.99917980e-01 -2.61315276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.35654761499999 meters 0.07773415108841217 Centerline is valid? [True, True] Translation: X:49.56, Y:-5.75, Z:-2.61 [[ 9.70664926e-01 2.40088335e-01 1.29303252e-02 4.95584551e+01] [-2.40071085e-01 9.70751000e-01 -2.89311448e-03 -5.75043130e+00] [-1.32467291e-02 -2.95952446e-04 9.99912214e-01 -2.61360108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38654761499999 meters 0.07742444518127291 Centerline is valid? [True, True] Translation: X:49.59, Y:-5.76, Z:-2.61 [[ 9.70528998e-01 2.40460640e-01 1.58790838e-02 4.95878539e+01] [-2.40434591e-01 9.70658821e-01 -3.55807841e-03 -5.75754477e+00] [-1.62687505e-02 -3.64662732e-04 9.99867589e-01 -2.61269732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.41654761499999 meters 0.07773586529117203 Centerline is valid? [True, True] Translation: X:49.62, Y:-5.76, Z:-2.62 [[ 9.70595041e-01 2.40249493e-01 1.50149151e-02 4.96187607e+01] [-2.40226272e-01 9.70711111e-01 -3.35824527e-03 -5.76320866e+00] [-1.53819616e-02 -3.47480867e-04 9.99881630e-01 -2.61720694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44654761499999 meters 0.07806035239232567 Centerline is valid? [True, True] Translation: X:49.65, Y:-5.77, Z:-2.62 [[ 9.70686611e-01 2.39921192e-01 1.43291409e-02 4.96501065e+01] [-2.39899977e-01 9.70792314e-01 -3.20693725e-03 -5.76789697e+00] [-1.46800321e-02 -3.24629536e-04 9.99892190e-01 -2.62121678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47654761499999 meters 0.07814304108399917 Centerline is valid? [True, True] Translation: X:49.68, Y:-5.77, Z:-2.62 [[ 9.70372743e-01 2.41045499e-01 1.65471350e-02 4.96818097e+01] [-2.41017269e-01 9.70513738e-01 -3.70937905e-03 -5.77252196e+00] [-1.69533510e-02 -3.88664975e-04 9.99856206e-01 -2.62210652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50654761499999 meters 0.07842889277891932 Centerline is valid? [True, True] Translation: X:49.71, Y:-5.78, Z:-2.62 [[ 9.69732198e-01 2.43641717e-01 1.60679149e-02 4.97135036e+01] [-2.43615293e-01 9.69865220e-01 -3.61174726e-03 -5.77971890e+00] [-1.64636841e-02 -4.11962187e-04 9.99864380e-01 -2.62157330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.53654761499999 meters 0.07800209843246193 Centerline is valid? [True, True] Translation: X:49.74, Y:-5.79, Z:-2.62 [[ 9.69446682e-01 2.44711088e-01 1.70180460e-02 4.97449266e+01] [-2.44681691e-01 9.69595932e-01 -3.82079404e-03 -5.78863826e+00] [-1.74356189e-02 -4.59948165e-04 9.99847882e-01 -2.62015495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56654761499999 meters 0.07770601716093098 Centerline is valid? [True, True] Translation: X:49.78, Y:-5.80, Z:-2.62 [[ 9.69576315e-01 2.44176752e-01 1.73055628e-02 4.97761195e+01] [-2.44146187e-01 9.69730637e-01 -3.88992264e-03 -5.79598485e+00] [-1.77315631e-02 -4.53510317e-04 9.99842681e-01 -2.62250951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.59654761499999 meters 0.07777058888486733 Centerline is valid? [True, True] Translation: X:49.81, Y:-5.80, Z:-2.62 [[ 9.69315271e-01 2.45094682e-01 1.88812796e-02 4.98076882e+01] [-2.45058358e-01 9.69499015e-01 -4.24991073e-03 -5.80006184e+00] [-1.93470125e-02 -5.07511996e-04 9.99812700e-01 -2.62427647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62654761499999 meters 0.07817576316996126 Centerline is valid? [True, True] Translation: X:49.84, Y:-5.81, Z:-2.63 [[ 9.69167268e-01 2.45606203e-01 1.98090932e-02 4.98395116e+01] [-2.45566217e-01 9.69369539e-01 -4.46423572e-03 -5.80526974e+00] [-2.02987756e-02 -5.37852956e-04 9.99793814e-01 -2.62776117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.656547614999994 meters 0.07856985808224036 Centerline is valid? [True, True] Translation: X:49.87, Y:-5.81, Z:-2.63 [[ 9.68766028e-01 2.47265656e-01 1.87637259e-02 4.98708133e+01] [-2.47229908e-01 9.68947579e-01 -4.23814153e-03 -5.81295124e+00] [-1.92290137e-02 -5.33186701e-04 9.99814963e-01 -2.63051272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68654761499999 meters 0.07899612892818826 Centerline is valid? [True, True] Translation: X:49.90, Y:-5.82, Z:-2.63 [[ 9.68140281e-01 2.49583681e-01 2.03072102e-02 4.99027743e+01] [-2.49542294e-01 9.68353032e-01 -4.58791117e-03 -5.81667028e+00] [-2.08096163e-02 -6.25766202e-04 9.99783261e-01 -2.63066530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.71654761499999 meters 0.07942596598380641 Centerline is valid? [True, True] Translation: X:49.94, Y:-5.82, Z:-2.63 [[ 9.67621943e-01 2.51466881e-01 2.17297695e-02 4.99364808e+01] [-2.51420043e-01 9.67865639e-01 -4.90587786e-03 -5.81810537e+00] [-2.22651630e-02 -7.16264507e-04 9.99751844e-01 -2.63224811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74654761499999 meters 0.07995253215665453 Centerline is valid? [True, True] Translation: X:49.97, Y:-5.82, Z:-2.63 [[ 9.67207883e-01 2.53043453e-01 2.18614046e-02 4.99680309e+01] [-2.52996283e-01 9.67454623e-01 -4.94289846e-03 -5.82308077e+00] [-2.24006851e-02 -7.50043761e-04 9.99748792e-01 -2.63374040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.77654761499999 meters 0.08016987662636789 Centerline is valid? [True, True] Translation: X:50.00, Y:-5.83, Z:-2.64 [[ 9.67082895e-01 2.53704031e-01 1.96198412e-02 4.99991653e+01] [-2.53665992e-01 9.67281658e-01 -4.44514714e-03 -5.83069374e+00] [-2.01056643e-02 -6.78060724e-04 9.99797631e-01 -2.63540066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80654761499999 meters 0.0798685667058026 Centerline is valid? [True, True] Translation: X:50.03, Y:-5.84, Z:-2.64 [[ 9.67353776e-01 2.52773243e-01 1.82307095e-02 5.00291701e+01] [-2.52740336e-01 9.67525352e-01 -4.12506327e-03 -5.84046793e+00] [-1.86813793e-02 -6.17240119e-04 9.99825297e-01 -2.63736349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83654761499999 meters 0.07886465831120078 Centerline is valid? [True, True] Translation: X:50.06, Y:-5.85, Z:-2.64 [[ 9.67279654e-01 2.52789840e-01 2.16186798e-02 5.00598373e+01] [-2.52743235e-01 9.67520946e-01 -4.90666409e-03 -5.84792608e+00] [-2.21568804e-02 -7.17858747e-04 9.99754248e-01 -2.63628094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86654761499999 meters 0.07948960157955899 Centerline is valid? [True, True] Translation: X:50.09, Y:-5.85, Z:-2.64 [[ 9.67242405e-01 2.52782986e-01 2.33000255e-02 5.00911734e+01] [-2.52728958e-01 9.67522691e-01 -5.28367808e-03 -5.85141862e+00] [-2.38789273e-02 -7.77993676e-04 9.99714555e-01 -2.64028785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89654761499999 meters 0.07931205372921296 Centerline is valid? [True, True] Translation: X:50.12, Y:-5.86, Z:-2.64 [[ 9.66783783e-01 2.54548351e-01 2.31139313e-02 5.01222621e+01] [-2.54495555e-01 9.67059709e-01 -5.24702371e-03 -5.85911090e+00] [-2.36881729e-02 -8.09655339e-04 9.99719068e-01 -2.64001719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92654761499999 meters 0.08031254688806365 Centerline is valid? [True, True] Translation: X:50.15, Y:-5.86, Z:-2.64 [[ 9.66761513e-01 2.54686670e-01 2.25139482e-02 5.01529063e+01] [-2.54636480e-01 9.67023310e-01 -5.11672343e-03 -5.86362887e+00] [-2.30746740e-02 -7.86221263e-04 9.99733435e-01 -2.64343769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.95654761499999 meters 0.07882549067732085 Centerline is valid? [True, True] Translation: X:50.18, Y:-5.88, Z:-2.64 [[ 9.67050265e-01 2.53594203e-01 2.24447107e-02 5.01827606e+01] [-2.53543919e-01 9.67310402e-01 -5.10568281e-03 -5.87735321e+00] [-2.30057737e-02 -7.53267999e-04 9.99735048e-01 -2.64276407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98654761499999 meters 0.07872766356442162 Centerline is valid? [True, True] Translation: X:50.21, Y:-5.88, Z:-2.65 [[ 9.67131049e-01 2.53328882e-01 2.19547503e-02 5.02143423e+01] [-2.53280608e-01 9.67379941e-01 -4.99841004e-03 -5.88465538e+00] [-2.25048267e-02 -7.26594951e-04 9.99746470e-01 -2.64647043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01654761499999 meters 0.07897433928265059 Centerline is valid? [True, True] Translation: X:50.24, Y:-5.89, Z:-2.65 [[ 9.67614552e-01 2.51392346e-01 2.28903271e-02 5.02437074e+01] [-2.51339024e-01 9.67885014e-01 -5.22435690e-03 -5.88949350e+00] [-2.34685679e-02 -6.98068705e-04 9.99724332e-01 -2.65201074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04654761499999 meters 0.07834763279727601 Centerline is valid? [True, True] Translation: X:50.27, Y:-5.90, Z:-2.65 [[ 9.67327124e-01 2.52085277e-01 2.70416062e-02 5.02747610e+01] [-2.52011025e-01 9.67704658e-01 -6.17553042e-03 -5.89668205e+00] [-2.77250486e-02 -8.41024820e-04 9.99615233e-01 -2.64767841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.07654761499999 meters 0.07795766812550395 Centerline is valid? [True, True] Translation: X:50.31, Y:-5.90, Z:-2.65 [[ 9.66911159e-01 2.53432937e-01 2.92327985e-02 5.03060145e+01] [-2.53346854e-01 9.67352489e-01 -6.67341160e-03 -5.90243445e+00] [-2.99696826e-02 -9.53441369e-04 9.99550353e-01 -2.64564801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10654761499999 meters 0.078690966203761 Centerline is valid? [True, True] Translation: X:50.34, Y:-5.91, Z:-2.65 [[ 9.66530783e-01 2.55259835e-01 2.57033662e-02 5.03368406e+01] [-2.55193784e-01 9.66872090e-01 -5.87325486e-03 -5.90646714e+00] [-2.63510734e-02 -8.82657646e-04 9.99652360e-01 -2.65127163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.13654761499999 meters 0.08018044063764586 Centerline is valid? [True, True] Translation: X:50.37, Y:-5.91, Z:-2.66 [[ 9.66589546e-01 2.55198473e-01 2.40497252e-02 5.03675323e+01] [-2.55140521e-01 9.66888342e-01 -5.49979568e-03 -5.90845058e+00] [-2.46569384e-02 -8.20014411e-04 9.99695635e-01 -2.65918073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16654761499999 meters 0.07899939699061582 Centerline is valid? [True, True] Translation: X:50.40, Y:-5.92, Z:-2.66 [[ 9.66441101e-01 2.55548161e-01 2.62056546e-02 5.03982148e+01] [-2.55479293e-01 9.66795911e-01 -5.99977914e-03 -5.91906256e+00] [-2.68687522e-02 -8.96568934e-04 9.99638568e-01 -2.65516977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19654761499999 meters 0.07857107708143403 Centerline is valid? [True, True] Translation: X:50.43, Y:-5.93, Z:-2.65 [[ 9.66720170e-01 2.54184512e-01 2.90232143e-02 5.04271291e+01] [-2.54099014e-01 9.67155290e-01 -6.65857057e-03 -5.92887854e+00] [-2.97624607e-02 -9.37795655e-04 9.99556560e-01 -2.65348188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22654761499999 meters 0.07771028510148643 Centerline is valid? [True, True] Translation: X:50.46, Y:-5.94, Z:-2.66 [[ 9.67325607e-01 2.51740273e-01 3.01331107e-02 5.04571722e+01] [-2.51646912e-01 9.67794417e-01 -6.91361537e-03 -5.93712348e+00] [-3.09030918e-02 -8.95187070e-04 9.99521985e-01 -2.65642905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.25654761499999 meters 0.07756796178940958 Centerline is valid? [True, True] Translation: X:50.49, Y:-5.94, Z:-2.66 [[ 9.67597944e-01 2.50890863e-01 2.84252210e-02 5.04891509e+01] [-2.50807502e-01 9.68015031e-01 -6.51899774e-03 -5.94472005e+00] [-2.91515982e-02 -8.21489859e-04 9.99574664e-01 -2.65998890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28654761499999 meters 0.0783618446857259 Centerline is valid? [True, True] Translation: X:50.52, Y:-5.95, Z:-2.66 [[ 9.66879827e-01 2.53661154e-01 2.82739908e-02 5.05209371e+01] [-2.53579589e-01 9.67292730e-01 -6.49364046e-03 -5.94751904e+00] [-2.89964100e-02 -8.91136982e-04 9.99579118e-01 -2.66185730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.31654761499999 meters 0.07864565573982002 Centerline is valid? [True, True] Translation: X:50.55, Y:-5.95, Z:-2.66 [[ 9.66233242e-01 2.56055390e-01 2.87916484e-02 5.05522895e+01] [-2.55971680e-01 9.66661620e-01 -6.61898242e-03 -5.95346844e+00] [-2.95266077e-02 -9.74365778e-04 9.99563520e-01 -2.66020843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34654761499999 meters 0.07873794062937838 Centerline is valid? [True, True] Translation: X:50.58, Y:-5.96, Z:-2.66 [[ 9.65837499e-01 2.57413249e-01 2.99390169e-02 5.05832869e+01] [-2.57323142e-01 9.66300843e-01 -6.89067878e-03 -5.96355127e+00] [-3.07038493e-02 -1.04872593e-03 9.99527976e-01 -2.65892192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.37654761499999 meters 0.0781896017031967 Centerline is valid? [True, True] Translation: X:50.61, Y:-5.97, Z:-2.67 [[ 9.66295791e-01 2.55807210e-01 2.88983604e-02 5.06139714e+01] [-2.55722341e-01 9.66727344e-01 -6.65790348e-03 -5.97117980e+00] [-2.96399749e-02 -9.56452247e-04 9.99560182e-01 -2.66584854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.406547614999994 meters 0.07796247469738136 Centerline is valid? [True, True] Translation: X:50.65, Y:-5.97, Z:-2.67 [[ 9.66353696e-01 2.55115805e-01 3.28094549e-02 5.06457441e+01] [-2.55005553e-01 9.66909937e-01 -7.57245924e-03 -5.97434459e+00] [-3.36556420e-02 -1.04891920e-03 9.99432938e-01 -2.66962791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43654761499999 meters 0.07913203335299175 Centerline is valid? [True, True] Translation: X:50.68, Y:-5.98, Z:-2.67 [[ 9.65329333e-01 2.58801644e-01 3.40732696e-02 5.06773004e+01] [-2.58685058e-01 9.65929713e-01 -7.86315456e-03 -5.97745738e+00] [-3.49473809e-02 -1.22371199e-03 9.99388405e-01 -2.66733706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46654761499999 meters 0.07950589851887807 Centerline is valid? [True, True] Translation: X:50.71, Y:-5.98, Z:-2.66 [[ 9.64676589e-01 2.61153606e-01 3.46103143e-02 5.07087936e+01] [-2.61034446e-01 9.65296355e-01 -7.99773995e-03 -5.98363712e+00] [-3.54978489e-02 -1.31925176e-03 9.99368882e-01 -2.66495490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.49654761499999 meters 0.07993043725680306 Centerline is valid? [True, True] Translation: X:50.74, Y:-5.99, Z:-2.67 [[ 9.63946806e-01 2.64396201e-01 3.00200662e-02 5.07396901e+01] [-2.64308077e-01 9.64413343e-01 -6.93862570e-03 -5.99053757e+00] [-3.07862987e-02 -1.24607990e-03 9.99525213e-01 -2.66758363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52654761499999 meters 0.07976401882747741 Centerline is valid? [True, True] Translation: X:50.77, Y:-6.00, Z:-2.67 [[ 9.64099532e-01 2.64006024e-01 2.85116237e-02 5.07717057e+01] [-2.63926453e-01 9.64520316e-01 -6.58693632e-03 -5.99812361e+00] [-2.92390312e-02 -1.17450948e-03 9.99571758e-01 -2.67206357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.55654761499999 meters 0.07946776078882953 Centerline is valid? [True, True] Translation: X:50.80, Y:-6.00, Z:-2.67 [[ 9.64506317e-01 2.62303829e-01 3.04017349e-02 5.08017415e+01] [-2.62212088e-01 9.64984611e-01 -7.03719520e-03 -6.00261214e+00] [-3.11830895e-02 -1.18428314e-03 9.99512988e-01 -2.67451334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58654761499999 meters 0.07945795174243545 Centerline is valid? [True, True] Translation: X:50.83, Y:-6.01, Z:-2.68 [[ 9.64627892e-01 2.61852455e-01 3.04355479e-02 5.08327954e+01] [-2.61760272e-01 9.65107207e-01 -7.04545483e-03 -6.00992624e+00] [-3.12184363e-02 -1.17057504e-03 9.99511900e-01 -2.67600778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61654761499999 meters 0.08037289801761344 Centerline is valid? [True, True] Translation: X:50.86, Y:-6.01, Z:-2.68 [[ 9.64194786e-01 2.63475305e-01 3.01525737e-02 5.08642639e+01] [-2.63385376e-01 9.64665389e-01 -6.98784499e-03 -6.01231205e+00] [-3.09282688e-02 -1.20410325e-03 9.99520881e-01 -2.67786649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64654761499999 meters 0.08291448331291798 Centerline is valid? [True, True] Translation: X:50.89, Y:-6.02, Z:-2.68 [[ 9.63044277e-01 2.67903171e-01 2.78138710e-02 5.08936191e+01] [-2.67828246e-01 9.63445053e-01 -6.45453033e-03 -6.01903838e+00] [-2.85263255e-02 -1.23334177e-03 9.99592281e-01 -2.67557863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.67654761499999 meters 0.07996587683275908 Centerline is valid? [True, True] Translation: X:50.92, Y:-6.03, Z:-2.68 [[ 9.63598462e-01 2.65999044e-01 2.68795825e-02 5.09226871e+01] [-2.65928372e-01 9.63972620e-01 -6.23612119e-03 -6.03452439e+00] [-2.75699838e-02 -1.13892682e-03 9.99619227e-01 -2.67649206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70654761499999 meters 0.07996587683275908 Centerline is valid? [True, True] Translation: X:50.95, Y:-6.04, Z:-2.68 [[ 9.63523746e-01 2.66269697e-01 2.68782359e-02 5.09541467e+01] [-2.66198969e-01 9.63897893e-01 -6.24191742e-03 -6.04203647e+00] [-2.75699084e-02 -1.14072303e-03 9.99619227e-01 -2.67818725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73654761499999 meters 0.0816356157332447 Centerline is valid? [True, True] Translation: X:50.99, Y:-6.04, Z:-2.69 [[ 9.64246984e-01 2.63631209e-01 2.69506883e-02 5.09852097e+01] [-2.63558685e-01 9.64622970e-01 -6.27266756e-03 -6.04197168e+00] [-2.76509239e-02 -1.05468719e-03 9.99617084e-01 -2.68774695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76654761499999 meters 0.0804689376535047 Centerline is valid? [True, True] Translation: X:51.02, Y:-6.05, Z:-2.69 [[ 9.64796926e-01 2.61809154e-01 2.49571491e-02 5.10152760e+01] [-2.61746460e-01 9.65119214e-01 -5.80455138e-03 -6.05458025e+00] [-2.56063089e-02 -9.32232112e-04 9.99671670e-01 -2.69164219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79654761499999 meters 0.08011785305369251 Centerline is valid? [True, True] Translation: X:51.05, Y:-6.07, Z:-2.69 [[ 9.64930898e-01 2.61355792e-01 2.45257572e-02 5.10455435e+01] [-2.61294952e-01 9.65242116e-01 -5.71009790e-03 -6.06637501e+00] [-2.51656610e-02 -8.98606682e-04 9.99682891e-01 -2.69155757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82654761499999 meters 0.08251320639871668 Centerline is valid? [True, True] Translation: X:51.08, Y:-6.07, Z:-2.69 [[ 9.64309270e-01 2.63649848e-01 2.44210673e-02 5.10761169e+01] [-2.63590030e-01 9.64617988e-01 -5.69493895e-03 -6.06999023e+00] [-2.50584706e-02 -9.45467455e-04 9.99685540e-01 -2.69425276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.85654761499999 meters 0.07966893726825863 Centerline is valid? [True, True] Translation: X:51.11, Y:-6.08, Z:-2.69 [[ 9.64574573e-01 2.62564879e-01 2.56042561e-02 5.11062882e+01] [-2.62498734e-01 9.64913861e-01 -5.97114862e-03 -6.08374391e+00] [-2.62737155e-02 -9.61466681e-04 9.99654324e-01 -2.69114818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88654761499999 meters 0.07984355748107513 Centerline is valid? [True, True] Translation: X:51.14, Y:-6.09, Z:-2.70 [[ 9.64745078e-01 2.61972913e-01 2.52413709e-02 5.11370474e+01] [-2.61908258e-01 9.65074783e-01 -5.89306238e-03 -6.08886766e+00] [-2.59036332e-02 -9.25620545e-04 9.99664016e-01 -2.69648901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91654761499999 meters 0.08160695323146638 Centerline is valid? [True, True] Translation: X:51.17, Y:-6.09, Z:-2.70 [[ 9.65123330e-01 2.60618828e-01 2.47948300e-02 5.11687637e+01] [-2.60555866e-01 9.65441387e-01 -5.79384593e-03 -6.09004832e+00] [-2.54479404e-02 -8.68662534e-04 9.99675771e-01 -2.70461691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94654761499999 meters 0.07987317643592333 Centerline is valid? [True, True] Translation: X:51.20, Y:-6.10, Z:-2.70 [[ 9.64693705e-01 2.62125080e-01 2.56222290e-02 5.11998721e+01] [-2.62058197e-01 9.65033457e-01 -5.99398743e-03 -6.10032622e+00] [-2.62974827e-02 -9.32153215e-04 9.99653727e-01 -2.70015342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97654761499999 meters 0.08077538454040056 Centerline is valid? [True, True] Translation: X:51.23, Y:-6.11, Z:-2.70 [[ 9.64532171e-01 2.62990234e-01 2.26677977e-02 5.12312531e+01] [-2.62937914e-01 9.64798133e-01 -5.31192217e-03 -6.10608143e+00] [-2.32668325e-02 -8.36703613e-04 9.99728940e-01 -2.70309832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00654761499999 meters 0.08082212508740567 Centerline is valid? [True, True] Translation: X:51.26, Y:-6.11, Z:-2.70 [[ 9.64004334e-01 2.64759187e-01 2.44584703e-02 5.12635481e+01] [-2.64698938e-01 9.64314091e-01 -5.72771387e-03 -6.11166132e+00] [-2.51021124e-02 -9.52590111e-04 9.99684438e-01 -2.70308305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.03654761499999 meters 0.08606330992120233 Centerline is valid? [True, True] Translation: X:51.30, Y:-6.10, Z:-2.71 [[ 9.63429062e-01 2.66688652e-01 2.61075593e-02 5.12970027e+01] [-2.66620462e-01 9.63782152e-01 -6.12318550e-03 -6.10277925e+00] [-2.67949837e-02 -1.06155465e-03 9.99640386e-01 -2.71276762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06654761499999 meters 0.08740020674770191 Centerline is valid? [True, True] Translation: X:51.33, Y:-6.10, Z:-2.71 [[ 9.62355194e-01 2.70123984e-01 3.00917664e-02 5.13298935e+01] [-2.70034761e-01 9.62824636e-01 -7.06745419e-03 -6.10323869e+00] [-3.08821829e-02 -1.32442170e-03 9.99522154e-01 -2.71038033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09654761499999 meters 0.08444052782556087 Centerline is valid? [True, True] Translation: X:51.36, Y:-6.12, Z:-2.70 [[ 9.61778795e-01 2.71794471e-01 3.33063926e-02 5.13597152e+01] [-2.71685793e-01 9.62354129e-01 -7.83324113e-03 -6.11785722e+00] [-3.41815761e-02 -1.51502847e-03 9.99414491e-01 -2.70203832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12654761499999 meters 0.08443973689759048 Centerline is valid? [True, True] Translation: X:51.39, Y:-6.13, Z:-2.71 [[ 9.61923802e-01 2.71588533e-01 3.06963691e-02 5.13888817e+01] [-2.71496111e-01 9.62412458e-01 -7.21961380e-03 -6.12671232e+00] [-3.15033323e-02 -1.38922648e-03 9.99502681e-01 -2.70535732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15654761499999 meters 0.08205463847516947 Centerline is valid? [True, True] Translation: X:51.42, Y:-6.14, Z:-2.71 [[ 9.62054723e-01 2.71365777e-01 2.84837716e-02 5.14185765e+01] [-2.71286009e-01 9.62475443e-01 -6.70242368e-03 -6.13885705e+00] [-2.92337391e-02 -1.27915035e-03 9.99571784e-01 -2.70714216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18654761499999 meters 0.08459783031314626 Centerline is valid? [True, True] Translation: X:51.45, Y:-6.14, Z:-2.72 [[ 9.62755416e-01 2.69307034e-01 2.39943613e-02 5.14485285e+01] [-2.69249679e-01 9.63053830e-01 -5.65066099e-03 -6.14448067e+00] [-2.46296243e-02 -1.02026959e-03 9.99696124e-01 -2.71904260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.21654761499999 meters 0.0816759747632086 Centerline is valid? [True, True] Translation: X:51.48, Y:-6.16, Z:-2.72 [[ 9.62827680e-01 2.68948153e-01 2.50948290e-02 5.14779830e+01] [-2.68885140e-01 9.63154082e-01 -5.91577671e-03 -6.15848714e+00] [-2.57612242e-02 -1.05175305e-03 9.99667571e-01 -2.71621389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24654761499999 meters 0.0841569840441329 Centerline is valid? [True, True] Translation: X:51.51, Y:-6.16, Z:-2.72 [[ 9.62640089e-01 2.69244716e-01 2.88329997e-02 5.15087346e+01] [-2.69161307e-01 9.63071040e-01 -6.80901200e-03 -6.15909915e+00] [-2.96015175e-02 -1.20609997e-03 9.99561051e-01 -2.71632393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.27654761499999 meters 0.08486332042247839 Centerline is valid? [True, True] Translation: X:51.54, Y:-6.17, Z:-2.72 [[ 9.62547392e-01 2.69844582e-01 2.61996230e-02 5.15392227e+01] [-2.69775842e-01 9.62903251e-01 -6.19063921e-03 -6.16944877e+00] [-2.68982127e-02 -1.10924175e-03 9.99637562e-01 -2.71876853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30654761499999 meters 0.08189342948887833 Centerline is valid? [True, True] Translation: X:51.57, Y:-6.18, Z:-2.72 [[ 9.62570494e-01 2.69749918e-01 2.63253935e-02 5.15687334e+01] [-2.69680554e-01 9.62929769e-01 -6.21767352e-03 -6.18255281e+00] [-2.70267220e-02 -1.11449763e-03 9.99634090e-01 -2.71681145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33654761499999 meters 0.08067338152632078 Centerline is valid? [True, True] Translation: X:51.60, Y:-6.19, Z:-2.72 [[ 9.62865796e-01 2.68559415e-01 2.76640339e-02 5.15979365e+01] [-2.68482075e-01 9.63262461e-01 -6.54264457e-03 -6.19421964e+00] [-2.84048142e-02 -1.12760856e-03 9.99595866e-01 -2.71701275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36654761499999 meters 0.08389135279232658 Centerline is valid? [True, True] Translation: X:51.63, Y:-6.19, Z:-2.72 [[ 9.62903777e-01 2.68233957e-01 2.94425041e-02 5.16299566e+01] [-2.68145994e-01 9.63353073e-01 -6.97007382e-03 -6.19343827e+00] [-3.02331373e-02 -1.18337913e-03 9.99542174e-01 -2.72125965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.39654761499999 meters 0.0800300703120657 Centerline is valid? [True, True] Translation: X:51.66, Y:-6.21, Z:-2.71 [[ 9.62511329e-01 2.69384710e-01 3.16831189e-02 5.16600237e+01] [-2.69283371e-01 9.63031756e-01 -7.50351845e-03 -6.20932485e+00] [-3.25331828e-02 -1.30951555e-03 9.99469798e-01 -2.71416538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42654761499999 meters 0.08028073174017247 Centerline is valid? [True, True] Translation: X:51.69, Y:-6.22, Z:-2.72 [[ 9.62460465e-01 2.69671334e-01 3.07770262e-02 5.16910546e+01] [-2.69575622e-01 9.62951581e-01 -7.29632036e-03 -6.21705789e+00] [-3.16043944e-02 -1.27431609e-03 9.99499644e-01 -2.71614751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.45654761499999 meters 0.08048295834320661 Centerline is valid? [True, True] Translation: X:51.72, Y:-6.22, Z:-2.72 [[ 9.62981218e-01 2.68249350e-01 2.66356967e-02 5.17224319e+01] [-2.68176987e-01 9.63348934e-01 -6.31947516e-03 -6.22338469e+00] [-2.73546652e-02 -1.05754502e-03 9.99625232e-01 -2.72289807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48654761499999 meters 0.07990896874903132 Centerline is valid? [True, True] Translation: X:51.75, Y:-6.23, Z:-2.73 [[ 9.63564822e-01 2.66276690e-01 2.52894910e-02 5.17533497e+01] [-2.66210630e-01 9.63896172e-01 -6.00578762e-03 -6.22999568e+00] [-2.59756449e-02 -9.45365667e-04 9.99662129e-01 -2.72656197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51654761499999 meters 0.07923557962700975 Centerline is valid? [True, True] Translation: X:51.78, Y:-6.24, Z:-2.72 [[ 9.63864378e-01 2.64808208e-01 2.90185114e-02 5.17838420e+01] [-2.64720157e-01 9.64300555e-01 -6.90496344e-03 -6.23948879e+00] [-2.98110577e-02 -1.02633662e-03 9.99555025e-01 -2.72321813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54654761499999 meters 0.07897822955140844 Centerline is valid? [True, True] Translation: X:51.82, Y:-6.25, Z:-2.72 [[ 9.63632923e-01 2.65774529e-01 2.78476120e-02 5.18152832e+01] [-2.65693935e-01 9.64034681e-01 -6.62317775e-03 -6.24763739e+00] [-2.86063357e-02 -1.01662948e-03 9.99590238e-01 -2.72170952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.57654761499999 meters 0.07913365910778797 Centerline is valid? [True, True] Translation: X:51.85, Y:-6.25, Z:-2.73 [[ 9.64225887e-01 2.63970236e-01 2.42518751e-02 5.18461997e+01] [-2.63908419e-01 9.64530466e-01 -5.77299460e-03 -6.25156903e+00] [-2.49155711e-02 -8.33803167e-04 9.99689211e-01 -2.72985401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60654761499999 meters 0.07827256915695478 Centerline is valid? [True, True] Translation: X:51.88, Y:-6.26, Z:-2.74 [[ 9.65571724e-01 2.59097641e-01 2.32305292e-02 5.18764151e+01] [-2.59039273e-01 9.65850902e-01 -5.53982410e-03 -6.26152630e+00] [-2.38725830e-02 -6.68521894e-04 9.99714786e-01 -2.73537389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.63654761499999 meters 0.07632940962624722 Centerline is valid? [True, True] Translation: X:51.91, Y:-6.27, Z:-2.73 [[ 9.67258915e-01 2.52458991e-01 2.59739909e-02 5.19060017e+01] [-2.52383686e-01 9.67607429e-01 -6.19176837e-03 -6.27439792e+00] [-2.66957942e-02 -5.66368411e-04 9.99643443e-01 -2.73409381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66654761499999 meters 0.07481553426669804 Centerline is valid? [True, True] Translation: X:51.94, Y:-6.29, Z:-2.73 [[ 9.68538144e-01 2.47275585e-01 2.80828973e-02 5.19353231e+01] [-2.47185065e-01 9.68945089e-01 -6.70513780e-03 -6.28913157e+00] [-2.88688023e-02 -4.47491081e-04 9.99583109e-01 -2.72931141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69654761499999 meters 0.07398905387343288 Centerline is valid? [True, True] Translation: X:51.96, Y:-6.30, Z:-2.72 [[ 9.69101851e-01 2.44754548e-01 3.06074228e-02 5.19645330e+01] [-2.44645783e-01 9.69584986e-01 -7.30719970e-03 -6.29986446e+00] [-3.14649680e-02 -4.06556158e-04 9.99504773e-01 -2.72402650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72654761499999 meters 0.07377710202516238 Centerline is valid? [True, True] Translation: X:52.00, Y:-6.30, Z:-2.72 [[ 9.69014873e-01 2.45228577e-01 2.95486074e-02 5.19959542e+01] [-2.45127304e-01 9.69465204e-01 -7.05851246e-03 -6.30433451e+00] [-3.03772957e-02 -4.03366907e-04 9.99538422e-01 -2.72344447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.75654761499999 meters 0.07468271570476147 Centerline is valid? [True, True] Translation: X:52.03, Y:-6.31, Z:-2.73 [[ 9.69069084e-01 2.45435371e-01 2.58183732e-02 5.20267711e+01] [-2.45357937e-01 9.69412892e-01 -6.17475074e-03 -6.30551320e+00] [-2.65441661e-02 -3.50982729e-04 9.99647580e-01 -2.73385656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78654761499999 meters 0.0755338909018212 Centerline is valid? [True, True] Translation: X:52.06, Y:-6.30, Z:-2.74 [[ 9.69003109e-01 2.45888131e-01 2.39165544e-02 5.20582641e+01] [-2.45821829e-01 9.69298155e-01 -5.71968687e-03 -6.30485483e+00] [-2.45886752e-02 -3.36816776e-04 9.99697596e-01 -2.74227918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.81654761499999 meters 0.07447731814873736 Centerline is valid? [True, True] Translation: X:52.09, Y:-6.31, Z:-2.74 [[ 9.69177734e-01 2.44710631e-01 2.84820336e-02 5.20885679e+01] [-2.44615735e-01 9.69596092e-01 -6.82351413e-03 -6.31327739e+00] [-2.92858549e-02 -3.53955599e-04 9.99571015e-01 -2.73521149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84654761499999 meters 0.07395062187648511 Centerline is valid? [True, True] Translation: X:52.12, Y:-6.32, Z:-2.73 [[ 9.68661345e-01 2.46514906e-01 3.04236676e-02 5.21185735e+01] [-2.46407526e-01 9.69138902e-01 -7.28839107e-03 -6.32151655e+00] [-3.12814569e-02 -4.36637969e-04 9.99510520e-01 -2.73087859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.87654761499999 meters 0.07492026063470841 Centerline is valid? [True, True] Translation: X:52.15, Y:-6.32, Z:-2.73 [[ 9.67383308e-01 2.51809437e-01 2.75960855e-02 5.21508058e+01] [-2.51723074e-01 9.67776684e-01 -6.61695809e-03 -6.31950267e+00] [-2.83730606e-02 -5.45436655e-04 9.99597255e-01 -2.73444318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90654761499999 meters 0.07692340182297032 Centerline is valid? [True, True] Translation: X:52.18, Y:-6.31, Z:-2.74 [[ 9.65773171e-01 2.58072928e-01 2.60872842e-02 5.21836455e+01] [-2.57997774e-01 9.66125200e-01 -6.26475406e-03 -6.31052926e+00] [-2.68203461e-02 -6.80129876e-04 9.99640038e-01 -2.74327229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93654761499999 meters 0.07801773827877308 Centerline is valid? [True, True] Translation: X:52.22, Y:-6.31, Z:-2.75 [[ 9.64932069e-01 2.61413885e-01 2.38512612e-02 5.22152078e+01] [-2.61352105e-01 9.65226543e-01 -5.72684848e-03 -6.31277607e+00] [-2.45189481e-02 -7.07557570e-04 9.99699115e-01 -2.74727637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96654761499999 meters 0.07818437213057948 Centerline is valid? [True, True] Translation: X:52.25, Y:-6.32, Z:-2.75 [[ 9.64842142e-01 2.61858140e-01 2.25822123e-02 5.22455459e+01] [-2.61802978e-01 9.65106132e-01 -5.41798463e-03 -6.32375941e+00] [-2.32129749e-02 -6.84590538e-04 9.99730308e-01 -2.74911480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.99654761499999 meters 0.07770852850087119 Centerline is valid? [True, True] Translation: X:52.28, Y:-6.33, Z:-2.75 [[ 9.64436275e-01 2.63015398e-01 2.61834262e-02 5.22769530e+01] [-2.62941433e-01 9.64791289e-01 -6.29057750e-03 -6.33066753e+00] [-2.69160602e-02 -8.17846462e-04 9.99637363e-01 -2.74712237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02654761499999 meters 0.0774293562396646 Centerline is valid? [True, True] Translation: X:52.31, Y:-6.33, Z:-2.75 [[ 9.64147667e-01 2.63718356e-01 2.95280548e-02 5.23096567e+01] [-2.63624337e-01 9.64599271e-01 -7.10322239e-03 -6.33254217e+00] [-3.03559902e-02 -9.35758564e-04 9.99538713e-01 -2.74730513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.05654761499999 meters 0.07716096569603804 Centerline is valid? [True, True] Translation: X:52.34, Y:-6.34, Z:-2.75 [[ 9.64358119e-01 2.63148516e-01 2.76817085e-02 5.23405425e+01] [-2.63065405e-01 9.64754960e-01 -6.66781387e-03 -6.34261692e+00] [-2.84606909e-02 -8.51939428e-04 9.99594549e-01 -2.75020861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08654761499999 meters 0.07710137990925642 Centerline is valid? [True, True] Translation: X:52.37, Y:-6.35, Z:-2.75 [[ 9.64654146e-01 2.62395600e-01 2.43089960e-02 5.23697522e+01] [-2.62331205e-01 9.64960114e-01 -5.85805162e-03 -6.35419946e+00] [-2.49943385e-02 -7.26014414e-04 9.99687329e-01 -2.75278881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11654761499999 meters 0.07649382459730449 Centerline is valid? [True, True] Translation: X:52.40, Y:-6.36, Z:-2.76 [[ 9.65339394e-01 2.59901321e-01 2.38989088e-02 5.24004004e+01] [-2.59838321e-01 9.65634962e-01 -5.75905288e-03 -6.36451453e+00] [-2.45744074e-02 -6.50411712e-04 9.99697792e-01 -2.75516479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14654761499999 meters 0.07643344807000883 Centerline is valid? [True, True] Translation: X:52.43, Y:-6.37, Z:-2.76 [[ 9.65419221e-01 2.59536653e-01 2.46262770e-02 5.24308270e+01] [-2.59469461e-01 9.65733037e-01 -5.94143122e-03 -6.36943852e+00] [-2.53244284e-02 -6.53794917e-04 9.99679071e-01 -2.75774911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.17654761499999 meters 0.07546714924942396 Centerline is valid? [True, True] Translation: X:52.46, Y:-6.38, Z:-2.76 [[ 9.66032040e-01 2.57072419e-01 2.63793124e-02 5.24608822e+01] [-2.56994095e-01 9.66391942e-01 -6.37561606e-03 -6.38124568e+00] [-2.71317500e-02 -6.20278136e-04 9.99631674e-01 -2.75625578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20654761499999 meters 0.07548533571637706 Centerline is valid? [True, True] Translation: X:52.49, Y:-6.39, Z:-2.76 [[ 9.65971736e-01 2.57331979e-01 2.60548851e-02 5.24929561e+01] [-2.57255780e-01 9.66322857e-01 -6.29290046e-03 -6.38859754e+00] [-2.67967956e-02 -6.24005819e-04 9.99640707e-01 -2.75813667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23654761499999 meters 0.07675544064255671 Centerline is valid? [True, True] Translation: X:52.53, Y:-6.38, Z:-2.76 [[ 9.64939656e-01 2.61257162e-01 2.52221238e-02 5.25264198e+01] [-2.61186884e-01 9.65268980e-01 -6.09986223e-03 -6.38461164e+00] [-2.59397664e-02 -7.01688969e-04 9.99663261e-01 -2.76166614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26654761499999 meters 0.0774529043985043 Centerline is valid? [True, True] Translation: X:52.56, Y:-6.39, Z:-2.76 [[ 9.64231871e-01 2.63929208e-01 2.44596092e-02 5.25590197e+01] [-2.63863737e-01 9.64541769e-01 -5.92489153e-03 -6.38751083e+00] [-2.51560667e-02 -7.41034651e-04 9.99683261e-01 -2.76251512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29654761499999 meters 0.07741358335670995 Centerline is valid? [True, True] Translation: X:52.59, Y:-6.40, Z:-2.76 [[ 9.63917702e-01 2.65038387e-01 2.48458894e-02 5.25896495e+01] [-2.64971271e-01 9.64237542e-01 -6.01566413e-03 -6.39644973e+00] [-2.55517213e-02 -7.84841751e-04 9.99673193e-01 -2.76231604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32654761499999 meters 0.07706092345438526 Centerline is valid? [True, True] Translation: X:52.62, Y:-6.41, Z:-2.76 [[ 9.63838264e-01 2.65186836e-01 2.63010002e-02 5.26207048e+01] [-2.65111482e-01 9.64196690e-01 -6.37535999e-03 -6.40623828e+00] [-2.70499989e-02 -8.27881241e-04 9.99633739e-01 -2.76082325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.35654761499999 meters 0.07567979868459866 Centerline is valid? [True, True] Translation: X:52.65, Y:-6.41, Z:-2.76 [[ 9.64649593e-01 2.61882302e-01 2.94758050e-02 5.26520829e+01] [-2.61785723e-01 9.65099477e-01 -7.15777074e-03 -6.41200951e+00] [-3.03215775e-02 -8.11604314e-04 9.99539866e-01 -2.76155676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38654761499999 meters 0.07598268091489511 Centerline is valid? [True, True] Translation: X:52.69, Y:-6.41, Z:-2.77 [[ 9.64963664e-01 2.60898623e-01 2.78753553e-02 5.26851455e+01] [-2.60811932e-01 9.65365920e-01 -6.76588344e-03 -6.41368654e+00] [-2.86751277e-02 -7.41393596e-04 9.99588509e-01 -2.76675065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41654761499999 meters 0.07641877137935757 Centerline is valid? [True, True] Translation: X:52.71, Y:-6.42, Z:-2.77 [[ 9.65234015e-01 2.60134667e-01 2.55587623e-02 5.27143823e+01] [-2.60061321e-01 9.65572126e-01 -6.21119700e-03 -6.42363920e+00] [-2.62945761e-02 -6.51586862e-04 9.99654026e-01 -2.76887524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44654761499999 meters 0.07576540929848014 Centerline is valid? [True, True] Translation: X:52.75, Y:-6.43, Z:-2.77 [[ 9.65601494e-01 2.58901416e-01 2.41622104e-02 5.27455182e+01] [-2.58835390e-01 9.65903577e-01 -5.87546345e-03 -6.43454195e+00] [-2.48595313e-02 -5.80678881e-04 9.99690785e-01 -2.76976528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47654761499999 meters 0.07525704846729585 Centerline is valid? [True, True] Translation: X:52.78, Y:-6.44, Z:-2.77 [[ 9.66019026e-01 2.57154630e-01 2.60526074e-02 5.27769684e+01] [-2.57076866e-01 9.66370104e-01 -6.34882557e-03 -6.43996762e+00] [-2.68090908e-02 -5.64436352e-04 9.99640412e-01 -2.77198537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50654761499999 meters 0.07495465801030893 Centerline is valid? [True, True] Translation: X:52.81, Y:-6.45, Z:-2.77 [[ 9.65792997e-01 2.57568745e-01 3.00371342e-02 5.28081225e+01] [-2.57465473e-01 9.66259750e-01 -7.32295325e-03 -6.44643760e+00] [-3.09098377e-02 -6.61068013e-04 9.99521958e-01 -2.77031323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.53654761499999 meters 0.07511655621233684 Centerline is valid? [True, True] Translation: X:52.84, Y:-6.45, Z:-2.77 [[ 9.65423931e-01 2.59031602e-01 2.93131672e-02 5.28387166e+01] [-2.58933922e-01 9.65868600e-01 -7.14646218e-03 -6.45013302e+00] [-3.01638273e-02 -6.90807737e-04 9.99544730e-01 -2.77249474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56654761499999 meters 0.07635846530155634 Centerline is valid? [True, True] Translation: X:52.87, Y:-6.45, Z:-2.78 [[ 9.65019163e-01 2.61159006e-01 2.31081868e-02 5.28697935e+01] [-2.61098829e-01 9.65295614e-01 -5.63736591e-03 -6.45482639e+00] [-2.37784802e-02 -5.93354380e-04 9.99717076e-01 -2.77907999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59654761499999 meters 0.07672818667509443 Centerline is valid? [True, True] Translation: X:52.90, Y:-6.46, Z:-2.78 [[ 9.64211421e-01 2.64290178e-01 2.11432520e-02 5.29007591e+01] [-2.64240535e-01 9.64443014e-01 -5.15881847e-03 -6.46192623e+00] [-2.17548867e-02 -6.12712535e-04 9.99763147e-01 -2.78018442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62654761499999 meters 0.07672818667509443 Centerline is valid? [True, True] Translation: X:52.93, Y:-6.47, Z:-2.78 [[ 9.64136651e-01 2.64562695e-01 2.11447127e-02 5.29321380e+01] [-2.64513248e-01 9.64368285e-01 -5.15283987e-03 -6.46978579e+00] [-2.17545396e-02 -6.25014879e-04 9.99763147e-01 -2.78187349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65654761499999 meters 0.07727934724871854 Centerline is valid? [True, True] Translation: X:52.96, Y:-6.47, Z:-2.78 [[ 9.63244285e-01 2.67344210e-01 2.62206086e-02 5.29645388e+01] [-2.67268850e-01 9.63600730e-01 -6.40274354e-03 -6.46893188e+00] [-2.69779340e-02 -8.40545787e-04 9.99635676e-01 -2.78430714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68654761499999 meters 0.07697518016357548 Centerline is valid? [True, True] Translation: X:53.00, Y:-6.48, Z:-2.78 [[ 9.63040744e-01 2.67879147e-01 2.81653491e-02 5.29963518e+01] [-2.67792207e-01 9.63452091e-01 -6.88498389e-03 -6.47519206e+00] [-2.89803081e-02 -9.11940997e-04 9.99579567e-01 -2.78384050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.71654761499999 meters 0.07732135680835829 Centerline is valid? [True, True] Translation: X:53.03, Y:-6.48, Z:-2.79 [[ 9.62600850e-01 2.69598333e-01 2.67645776e-02 5.30267687e+01] [-2.69520231e-01 9.62972438e-01 -6.55197398e-03 -6.48343631e+00] [-2.75399518e-02 -9.06659427e-04 9.99620292e-01 -2.78534373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74654761499999 meters 0.07761544286893633 Centerline is valid? [True, True] Translation: X:53.06, Y:-6.49, Z:-2.78 [[ 9.61888918e-01 2.72031338e-01 2.77247175e-02 5.30581353e+01] [-2.71948521e-01 9.62287862e-01 -6.78765361e-03 -6.49138957e+00] [-2.85256137e-02 -1.01072714e-03 9.99592551e-01 -2.78483123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.77654761499999 meters 0.07861616489400938 Centerline is valid? [True, True] Translation: X:53.09, Y:-6.50, Z:-2.78 [[ 9.60959517e-01 2.75140825e-01 2.92289655e-02 5.30888151e+01] [-2.75049857e-01 9.61403245e-01 -7.16770768e-03 -6.49511826e+00] [-3.00729513e-02 -1.15154586e-03 9.99547043e-01 -2.78494692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80654761499999 meters 0.0798765823605085 Centerline is valid? [True, True] Translation: X:53.12, Y:-6.50, Z:-2.79 [[ 9.59604104e-01 2.79961654e-01 2.79541710e-02 5.31202992e+01] [-2.79880483e-01 9.60010375e-01 -6.85521959e-03 -6.49856504e+00] [-2.87554928e-02 -1.24553005e-03 9.99585699e-01 -2.78780467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83654761499999 meters 0.08125914043617453 Centerline is valid? [True, True] Translation: X:53.15, Y:-6.50, Z:-2.79 [[ 9.58652099e-01 2.83110674e-01 2.88876888e-02 5.31514623e+01] [-2.83025154e-01 9.59086259e-01 -7.09296180e-03 -6.50421145e+00] [-2.97138786e-02 -1.37625984e-03 9.99557498e-01 -2.79083854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86654761499999 meters 0.08113180686722048 Centerline is valid? [True, True] Translation: X:53.18, Y:-6.51, Z:-2.79 [[ 9.58227389e-01 2.84201518e-01 3.20899975e-02 5.31819156e+01] [-2.84096643e-01 9.58763286e-01 -7.87773272e-03 -6.51349742e+00] [-3.30055750e-02 -1.56800130e-03 9.99453938e-01 -2.79173907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.89654761499999 meters 0.08050857888475535 Centerline is valid? [True, True] Translation: X:53.21, Y:-6.52, Z:-2.80 [[ 9.58126235e-01 2.84711925e-01 3.05489369e-02 5.32116294e+01] [-2.84616918e-01 9.58611945e-01 -7.50650988e-03 -6.52468277e+00] [-3.14217687e-02 -1.50256022e-03 9.99505085e-01 -2.79508930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92654761499999 meters 0.08247399972597648 Centerline is valid? [True, True] Translation: X:53.24, Y:-6.53, Z:-2.80 [[ 9.57541247e-01 2.87042702e-01 2.68560517e-02 5.32415084e+01] [-2.86970020e-01 9.57916790e-01 -6.60535701e-03 -6.53116389e+00] [-2.76218824e-02 -1.38197989e-03 9.99617488e-01 -2.80142090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.95654761499999 meters 0.08403171518326648 Centerline is valid? [True, True] Translation: X:53.27, Y:-6.54, Z:-2.80 [[ 9.56633420e-01 2.90135088e-01 2.59640390e-02 5.32716441e+01] [-2.90068031e-01 9.56984657e-01 -6.39555882e-03 -6.53983888e+00] [-2.67027630e-02 -1.41313238e-03 9.99642419e-01 -2.80341811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98654761499999 meters 0.0842548876778917 Centerline is valid? [True, True] Translation: X:53.30, Y:-6.55, Z:-2.81 [[ 9.56220763e-01 2.91429221e-01 2.66619718e-02 5.33027385e+01] [-2.91359089e-01 9.56591232e-01 -6.56468693e-03 -6.54903710e+00] [-2.74177500e-02 -1.49091786e-03 9.99622951e-01 -2.80552105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01654761499999 meters 0.08507132584764195 Centerline is valid? [True, True] Translation: X:53.33, Y:-6.56, Z:-2.81 [[ 9.56076954e-01 2.91705198e-01 2.87216886e-02 5.33331439e+01] [-2.91623610e-01 9.56506928e-01 -7.08279099e-03 -6.55522466e+00] [-2.95385811e-02 -1.60422929e-03 9.99562354e-01 -2.80790970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04654761499999 meters 0.08390384243979557 Centerline is valid? [True, True] Translation: X:53.36, Y:-6.57, Z:-2.81 [[ 9.56500803e-01 2.89881327e-01 3.27876643e-02 5.33623905e+01] [-2.89773708e-01 9.57060978e-01 -8.09210834e-03 -6.56735010e+00] [-3.37255452e-02 -1.76089496e-03 9.99429581e-01 -2.80609999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.07654761499999 meters 0.08196631785118853 Centerline is valid? [True, True] Translation: X:53.39, Y:-6.59, Z:-2.81 [[ 9.57436214e-01 2.87062353e-01 3.01844668e-02 5.33901004e+01] [-2.86969684e-01 9.57910681e-01 -7.45172553e-03 -6.58513448e+00] [-3.10531330e-02 -1.52747502e-03 9.99516568e-01 -2.80855255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10654761499999 meters 0.08079511080693405 Centerline is valid? [True, True] Translation: X:53.42, Y:-6.60, Z:-2.81 [[ 9.58047620e-01 2.85169124e-01 2.86936877e-02 5.34191543e+01] [-2.85084488e-01 9.58476204e-01 -7.08531486e-03 -6.60153347e+00] [-2.95227299e-02 -1.39205625e-03 9.99563140e-01 -2.81031362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.13654761499999 meters 0.07987789073320135 Centerline is valid? [True, True] Translation: X:53.45, Y:-6.62, Z:-2.81 [[ 9.58382438e-01 2.83883606e-01 3.02192020e-02 5.34479925e+01] [-2.83788698e-01 9.58857708e-01 -7.47469638e-03 -6.61696278e+00] [-3.10978586e-02 -1.41225027e-03 9.99515347e-01 -2.80913534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16654761499999 meters 0.08244032873609393 Centerline is valid? [True, True] Translation: X:53.48, Y:-6.62, Z:-2.81 [[ 9.57365801e-01 2.87229864e-01 3.08176616e-02 5.34777866e+01] [-2.87132831e-01 9.57860431e-01 -7.62447405e-03 -6.62184249e+00] [-3.17089952e-02 -1.54935171e-03 9.99495943e-01 -2.81345797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19654761499999 meters 0.0835379958706748 Centerline is valid? [True, True] Translation: X:53.51, Y:-6.63, Z:-2.82 [[ 9.56957684e-01 2.88728942e-01 2.94548569e-02 5.35091488e+01] [-2.88640887e-01 9.57409669e-01 -7.29135315e-03 -6.62749975e+00] [-3.03055895e-02 -1.52435961e-03 9.99539518e-01 -2.81836722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22654761499999 meters 0.08500217387131172 Centerline is valid? [True, True] Translation: X:53.54, Y:-6.64, Z:-2.82 [[ 9.55698882e-01 2.93047655e-01 2.76173775e-02 5.35383553e+01] [-2.92972088e-01 9.56096565e-01 -6.83479919e-03 -6.63666453e+00] [-2.84078016e-02 -1.55911081e-03 9.99595201e-01 -2.82477748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.25654761499999 meters 0.08544789763271853 Centerline is valid? [True, True] Translation: X:53.57, Y:-6.65, Z:-2.83 [[ 9.54814406e-01 2.96087317e-01 2.57245276e-02 5.35675238e+01] [-2.96022729e-01 9.55159648e-01 -6.37100963e-03 -6.64764295e+00] [-2.64574059e-02 -1.53191309e-03 9.99648768e-01 -2.82682563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28654761499999 meters 0.08436532573250764 Centerline is valid? [True, True] Translation: X:53.60, Y:-6.66, Z:-2.83 [[ 9.55110795e-01 2.95337013e-01 2.32253758e-02 5.35980737e+01] [-2.95284095e-01 9.55392167e-01 -5.75413006e-03 -6.65987324e+00] [-2.38887497e-02 -1.36225234e-03 9.99713695e-01 -2.82930105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.31654761499999 meters 0.08606684402486107 Centerline is valid? [True, True] Translation: X:53.63, Y:-6.66, Z:-2.83 [[ 9.55446364e-01 2.94037186e-01 2.57755442e-02 5.36284264e+01] [-2.93971146e-01 9.55792863e-01 -6.40070036e-03 -6.66396392e+00] [-2.65181251e-02 -1.46174036e-03 9.99647264e-01 -2.83340368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34654761499999 meters 0.08323718456376657 Centerline is valid? [True, True] Translation: X:53.66, Y:-6.68, Z:-2.83 [[ 9.56532680e-01 2.90500963e-01 2.55816925e-02 5.36568659e+01] [-2.90434555e-01 9.56873747e-01 -6.35618129e-03 -6.68044389e+00] [-2.63249267e-02 -1.34991236e-03 9.99652528e-01 -2.83395130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37654761499999 meters 0.08242246373963176 Centerline is valid? [True, True] Translation: X:53.69, Y:-6.69, Z:-2.83 [[ 9.57158979e-01 2.88388074e-01 2.60577636e-02 5.36863046e+01] [-2.88318366e-01 9.57512710e-01 -6.47534900e-03 -6.69247450e+00] [-2.68180532e-02 -1.31499337e-03 9.99639466e-01 -2.83400688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40654761499999 meters 0.08158741544417371 Centerline is valid? [True, True] Translation: X:53.72, Y:-6.70, Z:-2.83 [[ 9.57341455e-01 2.87721716e-01 2.67124217e-02 5.37168714e+01] [-2.87648282e-01 9.57713131e-01 -6.63513821e-03 -6.70153332e+00] [-2.74919104e-02 -1.33168937e-03 9.99621139e-01 -2.83427878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43654761499999 meters 0.08108690655192549 Centerline is valid? [True, True] Translation: X:53.75, Y:-6.71, Z:-2.83 [[ 9.57634899e-01 2.86430425e-01 2.98832918e-02 5.37462366e+01] [-2.86337511e-01 9.58099968e-01 -7.43519552e-03 -6.70858837e+00] [-3.07608471e-02 -1.43650467e-03 9.99525741e-01 -2.83203722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46654761499999 meters 0.08178373902908673 Centerline is valid? [True, True] Translation: X:53.78, Y:-6.72, Z:-2.84 [[ 9.57914062e-01 2.85919048e-01 2.55136787e-02 5.37763461e+01] [-2.85851169e-01 9.58253007e-01 -6.34691493e-03 -6.71503206e+00] [-2.62632632e-02 -1.21331582e-03 9.99654325e-01 -2.83924010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.49654761499999 meters 0.08169619020689485 Centerline is valid? [True, True] Translation: X:53.81, Y:-6.73, Z:-2.84 [[ 9.57790186e-01 2.86718683e-01 2.07450201e-02 5.38057205e+01] [-2.86673937e-01 9.58014297e-01 -5.16340009e-03 -6.72508972e+00] [-2.13544691e-02 -1.00160263e-03 9.99771466e-01 -2.84282009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52654761499999 meters 0.08168508556866423 Centerline is valid? [True, True] Translation: X:53.83, Y:-6.74, Z:-2.84 [[ 9.58117355e-01 2.85417523e-01 2.34088157e-02 5.38345009e+01] [-2.85359871e-01 9.58402660e-01 -5.83833815e-03 -6.73583138e+00] [-2.41014352e-02 -1.08612351e-03 9.99708928e-01 -2.84123537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.55654761499999 meters 0.08131352322162368 Centerline is valid? [True, True] Translation: X:53.86, Y:-6.74, Z:-2.84 [[ 9.58899046e-01 2.82680006e-01 2.45892998e-02 5.38633717e+01] [-2.82615508e-01 9.59213673e-01 -6.13216226e-03 -6.74480695e+00] [-2.53198323e-02 -1.06919292e-03 9.99678830e-01 -2.84357214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.586547614999986 meters 0.07960573817748749 Centerline is valid? [True, True] Translation: X:53.89, Y:-6.75, Z:-2.85 [[ 9.59824579e-01 2.79412869e-01 2.57919823e-02 5.38939295e+01] [-2.79340615e-01 9.60170502e-01 -6.43639152e-03 -6.75324984e+00] [-2.65631113e-02 -1.02694142e-03 9.99646611e-01 -2.84694887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61654761499999 meters 0.07842762784591824 Centerline is valid? [True, True] Translation: X:53.92, Y:-6.76, Z:-2.84 [[ 9.60466226e-01 2.76822043e-01 2.95666415e-02 5.39246518e+01] [-2.76725808e-01 9.60920580e-01 -7.38013437e-03 -6.76208604e+00] [-3.04541781e-02 -1.09348293e-03 9.99535566e-01 -2.84241926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64654761499999 meters 0.0759335718644551 Centerline is valid? [True, True] Translation: X:53.95, Y:-6.78, Z:-2.84 [[ 9.62049543e-01 2.71655476e-01 2.57678031e-02 5.39516898e+01] [-2.71580621e-01 9.62394223e-01 -6.42851154e-03 -6.78361861e+00] [-2.65451252e-02 -8.13489394e-04 9.99647285e-01 -2.83986520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.67654761499999 meters 0.07403110964278256 Centerline is valid? [True, True] Translation: X:53.98, Y:-6.80, Z:-2.84 [[ 9.64438093e-01 2.63352901e-01 2.24591555e-02 5.39796695e+01] [-2.63293600e-01 9.64699434e-01 -5.61092803e-03 -6.80295410e+00] [-2.31439888e-02 -5.01959175e-04 9.99732016e-01 -2.84155301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70654761499999 meters 0.07286251272130302 Centerline is valid? [True, True] Translation: X:54.01, Y:-6.81, Z:-2.85 [[ 9.67044146e-01 2.53316655e-01 2.56182063e-02 5.40086574e+01] [-2.53235980e-01 9.67383369e-01 -6.39961286e-03 -6.81261228e+00] [-2.64037552e-02 -2.98743432e-04 9.99651315e-01 -2.84775938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.73654761499999 meters 0.07246752115423045 Centerline is valid? [True, True] Translation: X:54.03, Y:-6.83, Z:-2.85 [[ 9.70485063e-01 2.39595983e-01 2.74318766e-02 5.40346216e+01] [-2.39497779e-01 9.70872678e-01 -6.85977302e-03 -6.83289048e+00] [-2.82764336e-02 8.74337237e-05 9.99600138e-01 -2.84766356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76654761499999 meters 0.07280950865239712 Centerline is valid? [True, True] Translation: X:54.06, Y:-6.86, Z:-2.84 [[ 9.73381913e-01 2.27600972e-01 2.69341644e-02 5.40616034e+01] [-2.27501796e-01 9.73754393e-01 -6.73171605e-03 -6.85507457e+00] [-2.77594060e-02 4.24959890e-04 9.99614543e-01 -2.84223378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79654761499999 meters 0.07451064178864021 Centerline is valid? [True, True] Translation: X:54.09, Y:-6.87, Z:-2.85 [[ 9.75140045e-01 2.20155633e-01 2.51672445e-02 5.40884229e+01] [-2.20066425e-01 9.75464575e-01 -6.29536878e-03 -6.87369245e+00] [-2.59357164e-02 6.00400649e-04 9.99663432e-01 -2.84585614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82654761499999 meters 0.07546769630425355 Centerline is valid? [True, True] Translation: X:54.12, Y:-6.88, Z:-2.85 [[ 9.75976634e-01 2.15997614e-01 2.85419220e-02 5.41181001e+01] [-2.15880855e-01 9.76393552e-01 -7.14763523e-03 -6.88208484e+00] [-2.94120208e-02 8.14270438e-04 9.99567041e-01 -2.84829945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.85654761499999 meters 0.07432179924635184 Centerline is valid? [True, True] Translation: X:54.15, Y:-6.88, Z:-2.85 [[ 9.75596591e-01 2.17364338e-01 3.10489207e-02 5.41509561e+01] [-2.17226573e-01 9.76090171e-01 -7.78418369e-03 -6.88068732e+00] [-3.19985503e-02 8.49572453e-04 9.99487554e-01 -2.84632187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88654761499999 meters 0.07393489179682164 Centerline is valid? [True, True] Translation: X:54.18, Y:-6.88, Z:-2.85 [[ 9.74692726e-01 2.21577322e-01 2.96239939e-02 5.41847409e+01] [-2.21453750e-01 9.75142567e-01 -7.43043191e-03 -6.87748631e+00] [-3.05340326e-02 6.82043412e-04 9.99533495e-01 -2.85005666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91654761499999 meters 0.07391649581180615 Centerline is valid? [True, True] Translation: X:54.22, Y:-6.88, Z:-2.86 [[ 9.74124723e-01 2.24528077e-01 2.58489102e-02 5.42179786e+01] [-2.24434909e-01 9.74467482e-01 -6.48832697e-03 -6.87650164e+00] [-2.66457340e-02 5.19041901e-04 9.99644805e-01 -2.85608172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94654761499999 meters 0.07323843130990489 Centerline is valid? [True, True] Translation: X:54.25, Y:-6.88, Z:-2.86 [[ 9.73523251e-01 2.27098574e-01 2.60522049e-02 5.42515141e+01] [-2.27004580e-01 9.73871667e-01 -6.54955641e-03 -6.87691225e+00] [-2.68588991e-02 4.62175627e-04 9.99639128e-01 -2.85546984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97654761499999 meters 0.07160248930338661 Centerline is valid? [True, True] Translation: X:54.29, Y:-6.87, Z:-2.85 [[ 9.72439485e-01 2.30867956e-01 3.25796745e-02 5.42852329e+01] [-2.30722892e-01 9.72984986e-01 -8.19542586e-03 -6.87416489e+00] [-3.35915953e-02 4.52678973e-04 9.99435541e-01 -2.84903056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00654761499999 meters 0.07148056698801615 Centerline is valid? [True, True] Translation: X:54.32, Y:-6.87, Z:-2.85 [[ 9.71542032e-01 2.34282801e-01 3.48948174e-02 5.43175789e+01] [-2.34118628e-01 9.72168422e-01 -8.77648143e-03 -6.87182133e+00] [-3.59798182e-02 3.57193832e-04 9.99352453e-01 -2.85341713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.03654761499999 meters 0.07214294701491308 Centerline is valid? [True, True] Translation: X:54.35, Y:-6.87, Z:-2.86 [[ 9.71713489e-01 2.34382122e-01 2.89467980e-02 5.43480923e+01] [-2.34268916e-01 9.72144500e-01 -7.29009560e-03 -6.87280010e+00] [-2.98491386e-02 3.02549241e-04 9.99554369e-01 -2.86324932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06654761499999 meters 0.07230747346042084 Centerline is valid? [True, True] Translation: X:54.38, Y:-6.88, Z:-2.87 [[ 9.71659579e-01 2.34671077e-01 2.84103423e-02 5.43797425e+01] [-2.34562271e-01 9.72074794e-01 -7.15096407e-03 -6.87654345e+00] [-2.92951021e-02 2.84308329e-04 9.99570766e-01 -2.86702831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.09654761499999 meters 0.07239622729961925 Centerline is valid? [True, True] Translation: X:54.41, Y:-6.88, Z:-2.87 [[ 9.71289177e-01 2.36210646e-01 2.83172199e-02 5.44117886e+01] [-2.36102964e-01 9.71701843e-01 -7.13581293e-03 -6.87597111e+00] [-2.92014497e-02 2.45158340e-04 9.99573517e-01 -2.86995627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12654761499999 meters 0.07226183807416135 Centerline is valid? [True, True] Translation: X:54.44, Y:-6.87, Z:-2.87 [[ 9.70458567e-01 2.39653809e-01 2.78607656e-02 5.44439338e+01] [-2.39550942e-01 9.70858400e-01 -7.02239134e-03 -6.87499510e+00] [-2.87318011e-02 1.40867182e-04 9.99587147e-01 -2.87031318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15654761499999 meters 0.07160219549963702 Centerline is valid? [True, True] Translation: X:54.48, Y:-6.87, Z:-2.86 [[ 9.68995998e-01 2.45528131e-01 2.76168914e-02 5.44794557e+01] [-2.45429346e-01 9.69389466e-01 -6.96419752e-03 -6.86983877e+00] [-2.84814300e-02 -2.97160701e-05 9.99594321e-01 -2.86244883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18654761499999 meters 0.07133424385051147 Centerline is valid? [True, True] Translation: X:54.51, Y:-6.86, Z:-2.86 [[ 9.67857033e-01 2.49623018e-01 3.06775669e-02 5.45128169e+01] [-2.49502798e-01 9.68343082e-01 -7.74785381e-03 -6.86378233e+00] [-3.16404523e-02 -1.55323968e-04 9.99499303e-01 -2.86332670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.21654761499999 meters 0.07176456684721616 Centerline is valid? [True, True] Translation: X:54.54, Y:-6.86, Z:-2.87 [[ 9.68043357e-01 2.49234558e-01 2.78243450e-02 5.45448772e+01] [-2.49135341e-01 9.68443142e-01 -7.03291432e-03 -6.86427786e+00] [-2.86991414e-02 -1.23861706e-04 9.99588087e-01 -2.86920537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24654761499999 meters 0.07193057185821307 Centerline is valid? [True, True] Translation: X:54.58, Y:-6.87, Z:-2.87 [[ 9.68511863e-01 2.47912419e-01 2.28954780e-02 5.45754257e+01] [-2.47844682e-01 9.68782447e-01 -5.79526769e-03 -6.87183887e+00] [-2.36174560e-02 -6.17369537e-05 9.99721067e-01 -2.87230899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.27654761499999 meters 0.0719555205060433 Centerline is valid? [True, True] Translation: X:54.61, Y:-6.88, Z:-2.88 [[ 9.68302354e-01 2.48834711e-01 2.17218118e-02 5.46075854e+01] [-2.48774081e-01 9.68545961e-01 -5.49337695e-03 -6.87550407e+00] [-2.24055159e-02 -8.45739345e-05 9.99748961e-01 -2.87639629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30654761499999 meters 0.07177088968368844 Centerline is valid? [True, True] Translation: X:54.64, Y:-6.87, Z:-2.88 [[ 9.68171252e-01 2.49172814e-01 2.36079502e-02 5.46401905e+01] [-2.49101112e-01 9.68459034e-01 -5.97795725e-03 -6.87311093e+00] [-2.43528770e-02 -9.30802880e-05 9.99703420e-01 -2.88027323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.336547614999986 meters 0.07083860361760687 Centerline is valid? [True, True] Translation: X:54.67, Y:-6.87, Z:-2.87 [[ 9.67575278e-01 2.51003032e-01 2.82056827e-02 5.46732286e+01] [-2.50901079e-01 9.67986288e-01 -7.15500799e-03 -6.87376916e+00] [-2.90986428e-02 -1.53827393e-04 9.99576533e-01 -2.87344716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36654761499999 meters 0.07094335270374184 Centerline is valid? [True, True] Translation: X:54.71, Y:-6.88, Z:-2.87 [[ 9.66522927e-01 2.55057363e-01 2.79136620e-02 5.47052863e+01] [-2.54959290e-01 9.66925884e-01 -7.07776733e-03 -6.87693982e+00] [-2.87956790e-02 -2.76023055e-04 9.99585280e-01 -2.87148905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39654761499999 meters 0.07153602009570073 Centerline is valid? [True, True] Translation: X:54.74, Y:-6.87, Z:-2.88 [[ 9.65528713e-01 2.58818148e-01 2.77032469e-02 5.47386183e+01] [-2.58722879e-01 9.65925993e-01 -7.03194111e-03 -6.87167976e+00] [-2.85792803e-02 -3.77922755e-04 9.99591458e-01 -2.87764667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42654761499999 meters 0.07176513776733896 Centerline is valid? [True, True] Translation: X:54.77, Y:-6.87, Z:-2.88 [[ 9.64642808e-01 2.61968199e-01 2.89294836e-02 5.47725492e+01] [-2.61865518e-01 9.65076384e-01 -7.35006290e-03 -6.86766789e+00] [-2.98446442e-02 -4.85448898e-04 9.99554432e-01 -2.87643002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.45654761499999 meters 0.07333648611493351 Centerline is valid? [True, True] Translation: X:54.81, Y:-6.87, Z:-2.88 [[ 9.63487322e-01 2.66121424e-01 2.95223383e-02 5.48051217e+01] [-2.66016178e-01 9.63939316e-01 -7.50919260e-03 -6.86508598e+00] [-3.04560996e-02 -6.18407724e-04 9.99535914e-01 -2.88018330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48654761499999 meters 0.07522838348813078 Centerline is valid? [True, True] Translation: X:54.84, Y:-6.87, Z:-2.88 [[ 9.62315565e-01 2.70673839e-01 2.61615388e-02 5.48356052e+01] [-2.70592631e-01 9.62670883e-01 -6.66330392e-03 -6.86747786e+00] [-2.69885337e-02 -6.66918551e-04 9.99635521e-01 -2.87960922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51654761499999 meters 0.07522838348813078 Centerline is valid? [True, True] Translation: X:54.87, Y:-6.88, Z:-2.88 [[ 9.62246386e-01 2.70919607e-01 2.61621622e-02 5.48669272e+01] [-2.70838557e-01 9.62601739e-01 -6.66086126e-03 -6.87567292e+00] [-2.69883007e-02 -6.76332587e-04 9.99635521e-01 -2.88130023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54654761499999 meters 0.07657564993070562 Centerline is valid? [True, True] Translation: X:54.90, Y:-6.88, Z:-2.88 [[ 9.61128331e-01 2.75030415e-01 2.43023166e-02 5.48988378e+01] [-2.74961494e-01 9.61435254e-01 -6.19918329e-03 -6.87777671e+00] [-2.50700679e-02 -7.23990615e-04 9.99685434e-01 -2.88351319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.57654761499999 meters 0.08053039047536444 Centerline is valid? [True, True] Translation: X:54.93, Y:-6.87, Z:-2.89 [[ 9.58581736e-01 2.83935441e-01 2.23991055e-02 5.49330416e+01] [-2.83879286e-01 9.58842996e-01 -5.71495904e-03 -6.86723326e+00] [-2.30999049e-02 -8.80386731e-04 9.99732774e-01 -2.89011570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60654761499999 meters 0.08839972828279795 Centerline is valid? [True, True] Translation: X:54.97, Y:-6.85, Z:-2.90 [[ 9.54909637e-01 2.96119972e-01 2.14603745e-02 5.49669489e+01] [-2.96071465e-01 9.55150092e-01 -5.47627816e-03 -6.85290061e+00] [-2.21195140e-02 -1.12445372e-03 9.99754701e-01 -2.90008503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.63654761499999 meters 0.09093992426914689 Centerline is valid? [True, True] Translation: X:55.00, Y:-6.86, Z:-2.90 [[ 9.53510272e-01 3.00656330e-01 2.05896253e-02 5.49972375e+01] [-3.00612760e-01 9.53731816e-01 -5.25278287e-03 -6.85874484e+00] [-2.12162631e-02 -1.18092165e-03 9.99774212e-01 -2.90099797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66654761499999 meters 0.08486163114452519 Centerline is valid? [True, True] Translation: X:55.02, Y:-6.88, Z:-2.89 [[ 9.52884445e-01 3.02806626e-01 1.78712561e-02 5.50241737e+01] [-3.02774175e-01 9.53051421e-01 -4.55946344e-03 -6.88161527e+00] [-1.84128618e-02 -1.06631302e-03 9.99829900e-01 -2.89495442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69654761499999 meters 0.0851882366280651 Centerline is valid? [True, True] Translation: X:55.05, Y:-6.89, Z:-2.89 [[ 9.52597995e-01 3.03706986e-01 1.78641356e-02 5.50548530e+01] [-3.03674841e-01 9.52764861e-01 -4.55097634e-03 -6.89006436e+00] [-1.84024840e-02 -1.08963761e-03 9.99830066e-01 -2.89435686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72654761499999 meters 0.08633748787609916 Centerline is valid? [True, True] Translation: X:55.09, Y:-6.90, Z:-2.89 [[ 9.52295932e-01 3.04445058e-01 2.11107514e-02 5.50853586e+01] [-3.04400168e-01 9.52529015e-01 -5.38633617e-03 -6.89823937e+00] [-2.17484467e-02 -1.29673025e-03 9.99762634e-01 -2.89346520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.75654761499999 meters 0.0875451930881479 Centerline is valid? [True, True] Translation: X:55.12, Y:-6.91, Z:-2.89 [[ 9.51713547e-01 3.06031790e-01 2.42047262e-02 5.51162415e+01] [-3.05973085e-01 9.52020079e-01 -6.18390470e-03 -6.90801746e+00] [-2.49358568e-02 -1.52068885e-03 9.99687897e-01 -2.89118523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78654761499999 meters 0.08736155009261395 Centerline is valid? [True, True] Translation: X:55.15, Y:-6.92, Z:-2.90 [[ 9.52130648e-01 3.04838160e-01 2.28238051e-02 5.51452695e+01] [-3.04785461e-01 9.52403141e-01 -5.83787912e-03 -6.91788241e+00] [-2.35170720e-02 -1.39794033e-03 9.99722458e-01 -2.89610690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.81654761499999 meters 0.08643918515113383 Centerline is valid? [True, True] Translation: X:55.17, Y:-6.93, Z:-2.90 [[ 9.52304025e-01 3.04357898e-01 2.19844047e-02 5.51748532e+01] [-3.04308781e-01 9.52556822e-01 -5.62739725e-03 -6.93035121e+00] [-2.26541375e-02 -1.33105435e-03 9.99742476e-01 -2.89931645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84654761499999 meters 0.08914639982853065 Centerline is valid? [True, True] Translation: X:55.20, Y:-6.94, Z:-2.90 [[ 9.52241202e-01 3.04802134e-01 1.82305067e-02 5.52026096e+01] [-3.04768289e-01 9.52415056e-01 -4.67453279e-03 -6.94187569e+00] [-1.87878166e-02 -1.10479761e-03 9.99822883e-01 -2.90348539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.87654761499999 meters 0.08857420074434254 Centerline is valid? [True, True] Translation: X:55.23, Y:-6.96, Z:-2.91 [[ 9.52105819e-01 3.05513268e-01 1.24960901e-02 5.52303484e+01] [-3.05497401e-01 9.52187512e-01 -3.20623532e-03 -6.96028524e+00] [-1.28781684e-02 -7.64847733e-04 9.99916780e-01 -2.90630520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90654761499999 meters 0.09152862616104666 Centerline is valid? [True, True] Translation: X:55.26, Y:-6.97, Z:-2.91 [[ 9.51374746e-01 3.07813072e-01 1.17134902e-02 5.52591669e+01] [-3.07799328e-01 9.51446558e-01 -3.00341466e-03 -6.96583882e+00] [-1.20692503e-02 -7.48031573e-04 9.99926884e-01 -2.91220792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93654761499999 meters 0.08822615533055689 Centerline is valid? [True, True] Translation: X:55.29, Y:-6.99, Z:-2.91 [[ 9.50805981e-01 3.09465212e-01 1.41162408e-02 5.52880410e+01] [-3.09445517e-01 9.50910308e-01 -3.61370864e-03 -6.98586397e+00] [-1.45415960e-02 -9.32271651e-04 9.99893831e-01 -2.90820785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96654761499999 meters 0.09039981671230186 Centerline is valid? [True, True] Translation: X:55.32, Y:-7.00, Z:-2.91 [[ 9.49954685e-01 3.11902695e-01 1.74013235e-02 5.53173726e+01] [-3.11872975e-01 9.50113312e-01 -4.46563778e-03 -6.99769837e+00] [-1.79260736e-02 -1.18484902e-03 9.99838613e-01 -2.90922243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.99654761499999 meters 0.09130321400449493 Centerline is valid? [True, True] Translation: X:55.35, Y:-7.01, Z:-2.91 [[ 9.49770050e-01 3.12556614e-01 1.56593411e-02 5.53453184e+01] [-3.12532524e-01 9.49898530e-01 -4.02552663e-03 -7.01407693e+00] [-1.61329901e-02 -1.07072879e-03 9.99869282e-01 -2.91176048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02654761499999 meters 0.09206734148162278 Centerline is valid? [True, True] Translation: X:55.37, Y:-7.02, Z:-2.92 [[ 9.49680731e-01 3.12800730e-01 1.61929582e-02 5.53745000e+01] [-3.12775034e-01 9.49818122e-01 -4.16097681e-03 -7.02479289e+00] [-1.66819218e-02 -1.11315355e-03 9.99860227e-01 -2.91573020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05654761499999 meters 0.09335234570707013 Centerline is valid? [True, True] Translation: X:55.40, Y:-7.04, Z:-2.91 [[ 9.49205736e-01 3.14096311e-01 1.87610978e-02 5.54030108e+01] [-3.14061945e-01 9.49390221e-01 -4.82739172e-03 -7.03858855e+00] [-1.93278687e-02 -1.30995894e-03 9.99812341e-01 -2.91429169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.086547614999986 meters 0.09235241333788612 Centerline is valid? [True, True] Translation: X:55.43, Y:-7.06, Z:-2.91 [[ 9.48736006e-01 3.15448588e-01 1.98035071e-02 5.54312543e+01] [-3.15410492e-01 9.48941625e-01 -5.10035728e-03 -7.05952824e+00] [-2.04012727e-02 -1.40734132e-03 9.99790882e-01 -2.90969186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11654761499999 meters 0.09279667489559404 Centerline is valid? [True, True] Translation: X:55.46, Y:-7.07, Z:-2.91 [[ 9.48191700e-01 3.16917642e-01 2.22644977e-02 5.54622847e+01] [-3.16869723e-01 9.48451693e-01 -5.74154885e-03 -7.06802661e+00] [-2.29363987e-02 -1.61085625e-03 9.99735628e-01 -2.91353924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14654761499999 meters 0.09246407885753742 Centerline is valid? [True, True] Translation: X:55.49, Y:-7.08, Z:-2.92 [[ 9.48729174e-01 3.15456859e-01 1.99980995e-02 5.54912339e+01] [-3.15417797e-01 9.48938869e-01 -5.16094639e-03 -7.08336431e+00] [-2.06050299e-02 -1.41141608e-03 9.99786698e-01 -2.91995618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.17654761499999 meters 0.09055869889341597 Centerline is valid? [True, True] Translation: X:55.52, Y:-7.10, Z:-2.92 [[ 9.49018173e-01 3.14704893e-01 1.80371168e-02 5.55202735e+01] [-3.14672945e-01 9.49188734e-01 -4.65679989e-03 -7.10103026e+00] [-1.85861457e-02 -1.25640492e-03 9.99826473e-01 -2.92084684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20654761499999 meters 0.0893882014138584 Centerline is valid? [True, True] Translation: X:55.55, Y:-7.12, Z:-2.92 [[ 9.50019012e-01 3.11713884e-01 1.72722947e-02 5.55481855e+01] [-3.11683878e-01 9.50175334e-01 -4.47152509e-03 -7.11911506e+00] [-1.78055449e-02 -1.13546196e-03 9.99840824e-01 -2.92354105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23654761499999 meters 0.08995058365211933 Centerline is valid? [True, True] Translation: X:55.58, Y:-7.13, Z:-2.93 [[ 9.50118885e-01 3.11414354e-01 1.71814877e-02 5.55782260e+01] [-3.11384704e-01 9.50273553e-01 -4.44297361e-03 -7.12804183e+00] [-1.77107191e-02 -1.12869933e-03 9.99842516e-01 -2.92810592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.266547614999986 meters 0.09177574620667207 Centerline is valid? [True, True] Translation: X:55.61, Y:-7.14, Z:-2.92 [[ 9.49717096e-01 3.12411880e-01 2.08866955e-02 5.56069204e+01] [-3.12368123e-01 9.49945732e-01 -5.40947853e-03 -7.14243858e+00] [-2.15312126e-02 -1.38686362e-03 9.99767215e-01 -2.92377277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29654761499999 meters 0.09093977124082332 Centerline is valid? [True, True] Translation: X:55.64, Y:-7.16, Z:-2.93 [[ 9.49790668e-01 3.12108910e-01 2.20389397e-02 5.56365790e+01] [-3.12059961e-01 9.50045223e-01 -5.71442822e-03 -7.15654797e+00] [-2.27215133e-02 -1.44996005e-03 9.99740782e-01 -2.92531425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32654761499999 meters 0.09107861963642197 Centerline is valid? [True, True] Translation: X:55.67, Y:-7.17, Z:-2.94 [[ 9.50351414e-01 3.10657655e-01 1.80003323e-02 5.56650947e+01] [-3.10624689e-01 9.50521169e-01 -4.67018328e-03 -7.16647930e+00] [-1.85605251e-02 -1.15303235e-03 9.99827074e-01 -2.93629923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.35654761499999 meters 0.0879007335898497 Centerline is valid? [True, True] Translation: X:55.69, Y:-7.19, Z:-2.94 [[ 9.52355458e-01 3.04577557e-01 1.58616824e-02 5.56916913e+01] [-3.04551071e-01 9.52487105e-01 -4.11819167e-03 -7.18572124e+00] [-1.63623567e-02 -9.08710037e-04 9.99865715e-01 -2.94268383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38654761499999 meters 0.08619783571426658 Centerline is valid? [True, True] Translation: X:55.72, Y:-7.20, Z:-2.94 [[ 9.53234791e-01 3.01691723e-01 1.80426421e-02 5.57198385e+01] [-3.01656833e-01 9.53405034e-01 -4.68993925e-03 -7.20409849e+00] [-1.86168617e-02 -9.72073031e-04 9.99826219e-01 -2.93790410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41654761499999 meters 0.08534170886030865 Centerline is valid? [True, True] Translation: X:55.75, Y:-7.22, Z:-2.93 [[ 9.52859599e-01 3.02734909e-01 2.02524088e-02 5.57505904e+01] [-3.02691007e-01 9.53074158e-01 -5.27281137e-03 -7.21616651e+00] [-2.08983115e-02 -1.10597309e-03 9.99780995e-01 -2.93231688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44654761499999 meters 0.08789938115339554 Centerline is valid? [True, True] Translation: X:55.78, Y:-7.22, Z:-2.93 [[ 9.52373626e-01 3.03983524e-01 2.40519003e-02 5.57825526e+01] [-3.03921960e-01 9.52676340e-01 -6.26363101e-03 -7.21861702e+00] [-2.48177170e-02 -1.34458370e-03 9.99691089e-01 -2.93447166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47654761499999 meters 0.08550724780985713 Centerline is valid? [True, True] Translation: X:55.81, Y:-7.23, Z:-2.93 [[ 9.53687228e-01 2.99607850e-01 2.67545741e-02 5.58097583e+01] [-2.99529615e-01 9.54061473e-01 -6.97968935e-03 -7.23463982e+00] [-2.76166781e-02 -1.35734669e-03 9.99617665e-01 -2.93359888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50654761499999 meters 0.08189418916385034 Centerline is valid? [True, True] Translation: X:55.84, Y:-7.25, Z:-2.94 [[ 9.54962376e-01 2.95666336e-01 2.50654643e-02 5.58378465e+01] [-2.95596208e-01 9.55290568e-01 -6.54307039e-03 -7.25220237e+00] [-2.58793673e-02 -1.16087015e-03 9.99664399e-01 -2.93665545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.53654761499999 meters 0.08136050178947188 Centerline is valid? [True, True] Translation: X:55.87, Y:-7.27, Z:-2.94 [[ 9.55207358e-01 2.95016155e-01 2.33317685e-02 5.58687726e+01] [-2.94955330e-01 9.55491667e-01 -6.08506734e-03 -7.26551459e+00] [-2.40885035e-02 -1.06932838e-03 9.99709258e-01 -2.93866087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56654761499999 meters 0.08266940144087455 Centerline is valid? [True, True] Translation: X:55.90, Y:-7.27, Z:-2.94 [[ 9.54941700e-01 2.95961980e-01 2.22003419e-02 5.58990107e+01] [-2.95906923e-01 9.55199165e-01 -5.80062998e-03 -7.27289569e+00] [-2.29225140e-02 -1.02997141e-03 9.99736714e-01 -2.94239908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59654761499999 meters 0.0835358611257328 Centerline is valid? [True, True] Translation: X:55.93, Y:-7.28, Z:-2.95 [[ 9.54336116e-01 2.97970626e-01 2.13561421e-02 5.59312460e+01] [-2.97920081e-01 9.54574481e-01 -5.58446741e-03 -7.27662389e+00] [-2.20500355e-02 -1.03296464e-03 9.99756335e-01 -2.94559367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62654761499999 meters 0.08447674594152164 Centerline is valid? [True, True] Translation: X:55.96, Y:-7.28, Z:-2.95 [[ 9.53987043e-01 2.99318322e-01 1.78119237e-02 5.59618500e+01] [-2.99283380e-01 9.54152900e-01 -4.65857640e-03 -7.28449496e+00] [-1.83896959e-02 -8.86591226e-04 9.99830502e-01 -2.95096970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65654761499999 meters 0.08478176782392503 Centerline is valid? [True, True] Translation: X:55.99, Y:-7.29, Z:-2.96 [[ 9.53821420e-01 2.99985087e-01 1.52855221e-02 5.59926150e+01] [-2.99959530e-01 9.53943575e-01 -3.99207134e-03 -7.29149267e+00] [-1.57790875e-02 -7.77314878e-04 9.99875200e-01 -2.95551978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68654761499999 meters 0.08675011451834035 Centerline is valid? [True, True] Translation: X:56.03, Y:-7.29, Z:-2.96 [[ 9.54039379e-01 2.98924164e-01 2.12886752e-02 5.60251064e+01] [-2.98874037e-01 9.54276297e-01 -5.57309511e-03 -7.28895607e+00] [-2.19812110e-02 -1.04568011e-03 9.99757837e-01 -2.95696893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.71654761499999 meters 0.08666694799462517 Centerline is valid? [True, True] Translation: X:56.06, Y:-7.30, Z:-2.96 [[ 9.53930565e-01 2.99152443e-01 2.28974312e-02 5.60554730e+01] [-2.99094527e-01 9.54204662e-01 -5.99390052e-03 -7.29913589e+00] [-2.36419256e-02 -1.13073144e-03 9.99719851e-01 -2.95539994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74654761499999 meters 0.08605737439035048 Centerline is valid? [True, True] Translation: X:56.08, Y:-7.31, Z:-2.95 [[ 9.54157160e-01 2.98241651e-01 2.52196692e-02 5.60838479e+01] [-2.98170768e-01 9.54489631e-01 -6.61346277e-03 -7.31307242e+00] [-2.60443228e-02 -1.20948529e-03 9.99660057e-01 -2.94919487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.77654761499999 meters 0.08731906734966444 Centerline is valid? [True, True] Translation: X:56.12, Y:-7.31, Z:-2.95 [[ 9.54033967e-01 2.98582037e-01 2.58448838e-02 5.61161137e+01] [-2.98507791e-01 9.54383152e-01 -6.77476253e-03 -7.31230955e+00] [-2.66887440e-02 -1.25154560e-03 9.99643009e-01 -2.95470105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80654761499999 meters 0.08789254430881538 Centerline is valid? [True, True] Translation: X:56.15, Y:-7.32, Z:-2.96 [[ 9.53896876e-01 2.99124758e-01 2.45993881e-02 5.61474673e+01] [-2.99057546e-01 9.54213256e-01 -6.45344335e-03 -7.31812995e+00] [-2.54034469e-02 -1.20071319e-03 9.99676559e-01 -2.95888851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.836547614999986 meters 0.08371531463946727 Centerline is valid? [True, True] Translation: X:56.17, Y:-7.34, Z:-2.96 [[ 9.54589368e-01 2.97352289e-01 1.84595336e-02 5.61749759e+01] [-2.97313989e-01 9.54767447e-01 -4.84914743e-03 -7.33769402e+00] [-1.90664669e-02 -8.59332996e-04 9.99817849e-01 -2.96014988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86654761499999 meters 0.0837405650576719 Centerline is valid? [True, True] Translation: X:56.21, Y:-7.35, Z:-2.96 [[ 9.54625294e-01 2.97316244e-01 1.71347181e-02 5.62050217e+01] [-2.97283331e-01 9.54778722e-01 -4.49593773e-03 -7.34784869e+00] [-1.76965796e-02 -8.01930199e-04 9.99843082e-01 -2.96305488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89654761499999 meters 0.08339854818325453 Centerline is valid? [True, True] Translation: X:56.24, Y:-7.35, Z:-2.96 [[ 9.54368137e-01 2.97927106e-01 2.05158242e-02 5.62360021e+01] [-2.97879849e-01 9.54588136e-01 -5.39312980e-03 -7.35436918e+00] [-2.11909219e-02 -9.64219373e-04 9.99774982e-01 -2.95929907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92654761499999 meters 0.08413343153224426 Centerline is valid? [True, True] Translation: X:56.27, Y:-7.35, Z:-2.96 [[ 9.53031938e-01 3.02090107e-01 2.17184719e-02 5.62689178e+01] [-3.02038147e-01 9.53278723e-01 -5.71265999e-03 -7.35310059e+00] [-2.24294952e-02 -1.11545958e-03 9.99747805e-01 -2.96274049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.95654761499999 meters 0.08423133621633634 Centerline is valid? [True, True] Translation: X:56.30, Y:-7.36, Z:-2.97 [[ 9.52478301e-01 3.03886029e-01 2.09372246e-02 5.63010533e+01] [-3.03837976e-01 9.52707749e-01 -5.51628503e-03 -7.35797385e+00] [-2.16233780e-02 -1.10738214e-03 9.99765574e-01 -2.96519677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98654761499999 meters 0.08356234584524314 Centerline is valid? [True, True] Translation: X:56.33, Y:-7.37, Z:-2.96 [[ 9.52544208e-01 3.03672697e-01 2.10339144e-02 5.63308543e+01] [-3.03624233e-01 9.52775765e-01 -5.53779911e-03 -7.36913183e+00] [-2.17222823e-02 -1.11140767e-03 9.99763426e-01 -2.96455912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.016547614999986 meters 0.08264616187316497 Centerline is valid? [True, True] Translation: X:56.36, Y:-7.38, Z:-2.97 [[ 9.52610956e-01 3.03490088e-01 2.06429832e-02 5.63609804e+01] [-3.03443254e-01 9.52833982e-01 -5.44015554e-03 -7.38073000e+00] [-2.13203692e-02 -1.08162223e-03 9.99772110e-01 -2.96533519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04654761499999 meters 0.08344556431561741 Centerline is valid? [True, True] Translation: X:56.39, Y:-7.38, Z:-2.97 [[ 9.52218663e-01 3.04530878e-01 2.32500046e-02 5.63929246e+01] [-3.04471583e-01 9.52501661e-01 -6.13519283e-03 -7.38310942e+00] [-2.40140237e-02 -1.23692061e-03 9.99710857e-01 -2.96801848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.07654761499999 meters 0.08413362941247017 Centerline is valid? [True, True] Translation: X:56.43, Y:-7.39, Z:-2.96 [[ 9.51068047e-01 3.07810372e-01 2.68764841e-02 5.64257495e+01] [-3.07732057e-01 9.51446524e-01 -7.10591402e-03 -7.38670857e+00] [-2.77588114e-02 -1.51254795e-03 9.99613506e-01 -2.96227269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10654761499999 meters 0.08349027672930145 Centerline is valid? [True, True] Translation: X:56.45, Y:-7.40, Z:-2.97 [[ 9.51795355e-01 3.05942460e-01 2.20184672e-02 5.64547431e+01] [-3.05889498e-01 9.52049250e-01 -5.81721470e-03 -7.40050522e+00] [-2.27423982e-02 -1.19841996e-03 9.99740640e-01 -2.96637414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.13654761499999 meters 0.08213872934535656 Centerline is valid? [True, True] Translation: X:56.48, Y:-7.41, Z:-2.97 [[ 9.52857771e-01 3.02824813e-01 1.89526079e-02 5.64849165e+01] [-3.02784899e-01 9.53045750e-01 -5.01021942e-03 -7.41184178e+00] [-1.95799212e-02 -9.64536960e-04 9.99807830e-01 -2.97171494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16654761499999 meters 0.08235461467315877 Centerline is valid? [True, True] Translation: X:56.52, Y:-7.42, Z:-2.98 [[ 9.53626957e-01 3.00333500e-01 1.98850561e-02 5.65150524e+01] [-3.00288800e-01 9.53833785e-01 -5.26750337e-03 -7.41673939e+00] [-2.05490461e-02 -9.48026427e-04 9.99788397e-01 -2.97651958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19654761499999 meters 0.08211780863211729 Centerline is valid? [True, True] Translation: X:56.54, Y:-7.43, Z:-2.98 [[ 9.54395941e-01 2.97845252e-01 2.04106376e-02 5.65440208e+01] [-2.97797525e-01 9.54613727e-01 -5.40975783e-03 -7.42624284e+00] [-2.10955455e-02 -9.15186448e-04 9.99777045e-01 -2.97840012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22654761499999 meters 0.08030904171409578 Centerline is valid? [True, True] Translation: X:56.57, Y:-7.44, Z:-2.97 [[ 9.55443427e-01 2.94374242e-01 2.17178368e-02 5.65727321e+01] [-2.94319242e-01 9.55689811e-01 -5.75927433e-03 -7.44149200e+00] [-2.24508973e-02 -8.89316454e-04 9.99747551e-01 -2.97483111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25654761499999 meters 0.0787308484944768 Centerline is valid? [True, True] Translation: X:56.60, Y:-7.45, Z:-2.97 [[ 9.56458893e-01 2.90834984e-01 2.45234188e-02 5.66022083e+01] [-2.90763655e-01 9.56772797e-01 -6.50472909e-03 -7.45285730e+00] [-2.53551428e-02 -9.09012887e-04 9.99678093e-01 -2.97396978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28654761499999 meters 0.07687652048844194 Centerline is valid? [True, True] Translation: X:56.63, Y:-7.46, Z:-2.98 [[ 9.57749391e-01 2.86606280e-01 2.39362470e-02 5.66317792e+01] [-2.86536985e-01 9.58048139e-01 -6.34978711e-03 -7.46471591e+00] [-2.47519658e-02 -7.77115320e-04 9.99693321e-01 -2.97588864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.31654761499999 meters 0.07608139450721267 Centerline is valid? [True, True] Translation: X:56.66, Y:-7.48, Z:-2.98 [[ 9.59281023e-01 2.81545782e-01 2.26250207e-02 5.66596384e+01] [-2.81482472e-01 9.59547601e-01 -6.00161167e-03 -7.47668535e+00] [-2.33995128e-02 -6.11314568e-04 9.99726007e-01 -2.98051998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34654761499999 meters 0.0757733274534704 Centerline is valid? [True, True] Translation: X:56.69, Y:-7.49, Z:-2.98 [[ 9.60141790e-01 2.78830562e-01 1.95258963e-02 5.66896744e+01] [-2.78782909e-01 9.60340197e-01 -5.17650925e-03 -7.48719156e+00] [-2.01948721e-02 -4.73303329e-04 9.99795951e-01 -2.98306053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37654761499999 meters 0.07518039216859859 Centerline is valid? [True, True] Translation: X:56.72, Y:-7.50, Z:-2.98 [[ 9.61144501e-01 2.75354267e-01 1.95262654e-02 5.67188508e+01] [-2.75305783e-01 9.61342744e-01 -5.18208990e-03 -7.49801564e+00] [-2.01983441e-02 -3.94956574e-04 9.99795915e-01 -2.98472177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40654761499999 meters 0.07463510231024684 Centerline is valid? [True, True] Translation: X:56.75, Y:-7.51, Z:-2.98 [[ 9.61720114e-01 2.73293767e-01 2.01230900e-02 5.67487522e+01] [-2.73241730e-01 9.61930553e-01 -5.34489654e-03 -7.50970981e+00] [-2.08177420e-02 -3.58173431e-04 9.99783223e-01 -2.98255489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43654761499999 meters 0.07463510231024684 Centerline is valid? [True, True] Translation: X:56.78, Y:-7.52, Z:-2.98 [[ 9.61647787e-01 2.73548230e-01 2.01221193e-02 5.67799506e+01] [-2.73496173e-01 9.61858220e-01 -5.34854689e-03 -7.51821595e+00] [-2.08177114e-02 -3.59904360e-04 9.99783223e-01 -2.98424925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46654761499999 meters 0.07379351824788158 Centerline is valid? [True, True] Translation: X:56.81, Y:-7.53, Z:-2.98 [[ 9.61409561e-01 2.74038518e-01 2.43833380e-02 5.68112893e+01] [-2.73961832e-01 9.61718619e-01 -6.49705508e-03 -7.52543101e+00] [-2.52303535e-02 -4.33773082e-04 9.99681570e-01 -2.98003850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.49654761499999 meters 0.07415164032809914 Centerline is valid? [True, True] Translation: X:56.84, Y:-7.53, Z:-2.98 [[ 9.61313823e-01 2.74269127e-01 2.55378258e-02 5.68427202e+01] [-2.74185178e-01 9.61652864e-01 -6.80129024e-03 -7.52956547e+00] [-2.64239073e-02 -4.63918994e-04 9.99650720e-01 -2.98366049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52654761499999 meters 0.07416142468551377 Centerline is valid? [True, True] Translation: X:56.87, Y:-7.54, Z:-2.98 [[ 9.60932552e-01 2.75696851e-01 2.44923815e-02 5.68731925e+01] [-2.75619875e-01 9.61244517e-01 -6.53170604e-03 -7.53783246e+00] [-2.53439382e-02 -4.74058172e-04 9.99678678e-01 -2.98459736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55654761499999 meters 0.07531537808659734 Centerline is valid? [True, True] Translation: X:56.90, Y:-7.54, Z:-2.99 [[ 9.59541074e-01 2.80716044e-01 2.18959039e-02 5.69037821e+01] [-2.80655842e-01 9.59790711e-01 -5.83868898e-03 -7.54399634e+00] [-2.26544988e-02 -5.42751435e-04 9.99743207e-01 -2.98670269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.586547614999986 meters 0.0777595995021043 Centerline is valid? [True, True] Translation: X:56.94, Y:-7.54, Z:-3.00 [[ 9.58717235e-01 2.83586102e-01 2.09806007e-02 5.69354289e+01] [-2.83531367e-01 9.58946603e-01 -5.60139939e-03 -7.54266840e+00] [-2.17077548e-02 -5.78500256e-04 9.99764192e-01 -2.99570216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61654761499999 meters 0.07834678202007093 Centerline is valid? [True, True] Translation: X:56.97, Y:-7.55, Z:-2.99 [[ 9.56721806e-01 2.90084521e-01 2.31161754e-02 5.69671736e+01] [-2.90019807e-01 9.57000701e-01 -6.17821682e-03 -7.54674928e+00] [-2.39144012e-02 -7.93313978e-04 9.99713695e-01 -2.99153061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64654761499999 meters 0.08353653598066554 Centerline is valid? [True, True] Translation: X:57.00, Y:-7.54, Z:-3.00 [[ 9.54463325e-01 2.97285731e-01 2.49189870e-02 5.70002564e+01] [-2.97212969e-01 9.54787983e-01 -6.66017804e-03 -7.54036686e+00] [-2.57723252e-02 -1.04935044e-03 9.99667288e-01 -2.99557931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.67654761499999 meters 0.08601722980996497 Centerline is valid? [True, True] Translation: X:57.03, Y:-7.55, Z:-3.00 [[ 9.53224296e-01 3.01380203e-01 2.30957862e-02 5.70309911e+01] [-3.01318919e-01 9.53503443e-01 -6.17199578e-03 -7.54504061e+00] [-2.38820290e-02 -1.07590101e-03 9.99714205e-01 -3.00093839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70654761499999 meters 0.08759323177836696 Centerline is valid? [True, True] Translation: X:57.06, Y:-7.55, Z:-3.00 [[ 9.52547984e-01 3.03557715e-01 2.24733788e-02 5.70609432e+01] [-3.03500111e-01 9.52812427e-01 -6.01349718e-03 -7.55202329e+00] [-2.32383581e-02 -1.09252836e-03 9.99729356e-01 -3.00429733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73654761499999 meters 0.08551291032974158 Centerline is valid? [True, True] Translation: X:57.09, Y:-7.57, Z:-3.00 [[ 9.50989985e-01 3.08258203e-01 2.43911654e-02 5.70901602e+01] [-3.08191847e-01 9.51301828e-01 -6.52825312e-03 -7.56712901e+00] [-2.52157478e-02 -1.30885500e-03 9.99681176e-01 -3.00179013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.766547614999986 meters 0.08523046442952882 Centerline is valid? [True, True] Translation: X:57.12, Y:-7.58, Z:-3.00 [[ 9.50572072e-01 3.09153882e-01 2.89242706e-02 5.71208419e+01] [-3.09060904e-01 9.51010719e-01 -7.74404471e-03 -7.57941461e+00] [-2.99013929e-02 -1.57808862e-03 9.99551608e-01 -2.99979018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79654761499999 meters 0.08376029257368599 Centerline is valid? [True, True] Translation: X:57.15, Y:-7.59, Z:-3.00 [[ 9.51605377e-01 3.05924027e-01 2.92864420e-02 5.71483775e+01] [-3.05827156e-01 9.52054755e-01 -7.84180479e-03 -7.59447920e+00] [-3.02812929e-02 -1.49428566e-03 9.99540300e-01 -2.99911715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82654761499999 meters 0.08314720316980098 Centerline is valid? [True, True] Translation: X:57.18, Y:-7.60, Z:-3.01 [[ 9.52020953e-01 3.05098033e-01 2.39017964e-02 5.71789621e+01] [-3.05033109e-01 9.52320203e-01 -6.40576023e-03 -7.60337355e+00] [-2.47165485e-02 -1.19242133e-03 9.99693788e-01 -3.00795794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.85654761499999 meters 0.08451262919104816 Centerline is valid? [True, True] Translation: X:57.21, Y:-7.61, Z:-3.02 [[ 9.52130219e-01 3.05102966e-01 1.89796205e-02 5.72079685e+01] [-3.05062113e-01 9.52318894e-01 -5.08241619e-03 -7.61267774e+00] [-1.96253115e-02 -9.50841103e-04 9.99806953e-01 -3.01565450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88654761499999 meters 0.08581028060149047 Centerline is valid? [True, True] Translation: X:57.24, Y:-7.62, Z:-3.02 [[ 9.51824481e-01 3.06121001e-01 1.78910597e-02 5.72367286e+01] [-3.06084763e-01 9.51992177e-01 -4.79723807e-03 -7.62287274e+00] [-1.85006842e-02 -9.10052126e-04 9.99828434e-01 -3.01873638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91654761499999 meters 0.08671635313707357 Centerline is valid? [True, True] Translation: X:57.27, Y:-7.63, Z:-3.02 [[ 9.51467074e-01 3.07181849e-01 1.87007613e-02 5.72668513e+01] [-3.07142460e-01 9.51650338e-01 -5.01436544e-03 -7.62985327e+00] [-1.93369079e-02 -9.72794235e-04 9.99812551e-01 -3.01925905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.946547614999986 meters 0.0838510631965207 Centerline is valid? [True, True] Translation: X:57.30, Y:-7.64, Z:-3.02 [[ 9.52033707e-01 3.05321916e-01 2.02570477e-02 5.72958920e+01] [-3.05275044e-01 9.52248667e-01 -5.44282744e-03 -7.64428308e+00] [-2.09515612e-02 -1.00221594e-03 9.99779990e-01 -3.01846633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97654761499999 meters 0.08280679576596932 Centerline is valid? [True, True] Translation: X:57.33, Y:-7.66, Z:-3.02 [[ 9.52611181e-01 3.03558092e-01 1.96066760e-02 5.73261052e+01] [-3.03513920e-01 9.52812471e-01 -5.26258368e-03 -7.65516224e+00] [-2.02789852e-02 -9.37703033e-04 9.99793921e-01 -3.02197201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00654761499999 meters 0.0817830329505596 Centerline is valid? [True, True] Translation: X:57.36, Y:-7.66, Z:-3.02 [[ 9.52820677e-01 3.02761011e-01 2.16455118e-02 5.73566572e+01] [-3.02706672e-01 9.53065980e-01 -5.82309730e-03 -7.66422172e+00] [-2.23926078e-02 -1.00387332e-03 9.99748750e-01 -3.02077246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.03654761499999 meters 0.08235798740208833 Centerline is valid? [True, True] Translation: X:57.39, Y:-7.67, Z:-3.02 [[ 9.52935877e-01 3.02017298e-01 2.64341892e-02 5.73852797e+01] [-3.01935949e-01 9.53301685e-01 -7.11200578e-03 -7.67437819e+00] [-2.73477059e-02 -1.20414655e-03 9.99625256e-01 -3.01680527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06654761499999 meters 0.0820595029361308 Centerline is valid? [True, True] Translation: X:57.41, Y:-7.69, Z:-3.02 [[ 9.53386907e-01 3.00734832e-01 2.47379404e-02 5.74136509e+01] [-3.00663069e-01 9.53707175e-01 -6.65911623e-03 -7.69061350e+00] [-2.55953795e-02 -1.08907087e-03 9.99671791e-01 -3.01753513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.09654761499999 meters 0.08241100373576811 Centerline is valid? [True, True] Translation: X:57.44, Y:-7.70, Z:-3.03 [[ 9.53649649e-01 3.00111963e-01 2.20262474e-02 5.74445035e+01] [-3.00054975e-01 9.53903503e-01 -5.92616943e-03 -7.69673638e+00] [-2.27894289e-02 -9.57595717e-04 9.99739829e-01 -3.02652941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12654761499999 meters 0.08113596593445126 Centerline is valid? [True, True] Translation: X:57.47, Y:-7.71, Z:-3.03 [[ 9.54041994e-01 2.98951713e-01 2.07784932e-02 5.74746695e+01] [-2.98900535e-01 9.54267844e-01 -5.59928014e-03 -7.70576027e+00] [-2.15021623e-02 -8.68754357e-04 9.99768424e-01 -3.03100518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15654761499999 meters 0.08331053209760347 Centerline is valid? [True, True] Translation: X:57.51, Y:-7.71, Z:-3.03 [[ 9.53916763e-01 2.99225332e-01 2.25168700e-02 5.75056987e+01] [-2.99165346e-01 9.54182005e-01 -6.06607103e-03 -7.71078325e+00] [-2.33003142e-02 -9.49740346e-04 9.99728060e-01 -3.03174686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18654761499999 meters 0.08236024280965679 Centerline is valid? [True, True] Translation: X:57.53, Y:-7.72, Z:-3.02 [[ 9.53676864e-01 2.99760736e-01 2.53759892e-02 5.75347689e+01] [-2.99684520e-01 9.54013805e-01 -6.84455722e-03 -7.72352942e+00] [-2.62607736e-02 -1.07729529e-03 9.99654546e-01 -3.02380047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.21654761499999 meters 0.08022214184689588 Centerline is valid? [True, True] Translation: X:57.56, Y:-7.74, Z:-3.02 [[ 9.53408736e-01 3.00696855e-01 2.43553583e-02 5.75644861e+01] [-3.00626846e-01 9.53719188e-01 -6.57347019e-03 -7.73551271e+00] [-2.52047944e-02 -1.05467066e-03 9.99681752e-01 -3.02471074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24654761499999 meters 0.08084005063804858 Centerline is valid? [True, True] Translation: X:57.60, Y:-7.74, Z:-3.03 [[ 9.52566114e-01 3.03120576e-01 2.71240481e-02 5.75969549e+01] [-3.03034489e-01 9.52951407e-01 -7.32906624e-03 -7.73694412e+00] [-2.80694905e-02 -1.23810189e-03 9.99605207e-01 -3.02657555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.27654761499999 meters 0.08230140504750752 Centerline is valid? [True, True] Translation: X:57.63, Y:-7.74, Z:-3.02 [[ 9.51953052e-01 3.04731167e-01 3.04023507e-02 5.76280413e+01] [-3.04623458e-01 9.52437332e-01 -8.22664587e-03 -7.74122869e+00] [-3.14632492e-02 -1.42988856e-03 9.99503887e-01 -3.02357169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30654761499999 meters 0.08087860289712227 Centerline is valid? [True, True] Translation: X:57.66, Y:-7.75, Z:-3.02 [[ 9.52022424e-01 3.04462535e-01 3.09171447e-02 5.76581054e+01] [-3.04350928e-01 9.52523219e-01 -8.36836637e-03 -7.75455337e+00] [-3.19971523e-02 -1.44278926e-03 9.99486919e-01 -3.02202211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.336547614999986 meters 0.08325828584664091 Centerline is valid? [True, True] Translation: X:57.69, Y:-7.76, Z:-3.03 [[ 9.51534267e-01 3.06250060e-01 2.81680401e-02 5.76893541e+01] [-3.06158001e-01 9.51950127e-01 -7.63114618e-03 -7.75672192e+00] [-2.91516083e-02 -1.36257376e-03 9.99574073e-01 -3.02799499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36654761499999 meters 0.08434117413218913 Centerline is valid? [True, True] Translation: X:57.72, Y:-7.76, Z:-3.04 [[ 9.52003992e-01 3.05356774e-01 2.11101984e-02 5.77196895e+01] [-3.05304805e-01 9.52237493e-01 -5.72121859e-03 -7.76081109e+00] [-2.18489352e-02 -9.98422063e-04 9.99760785e-01 -3.04314354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39654761499999 meters 0.08292963720627688 Centerline is valid? [True, True] Translation: X:57.75, Y:-7.77, Z:-3.04 [[ 9.52474602e-01 3.03942989e-01 2.02679992e-02 5.77495380e+01] [-3.03894704e-01 9.52689773e-01 -5.49588294e-03 -7.77423824e+00] [-2.09795507e-02 -9.24648715e-04 9.99779477e-01 -3.04293638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42654761499999 meters 0.0825418500173672 Centerline is valid? [True, True] Translation: X:57.78, Y:-7.78, Z:-3.04 [[ 9.52196906e-01 3.04672625e-01 2.22630451e-02 5.77805249e+01] [-3.04614299e-01 9.52456585e-01 -6.04836822e-03 -7.78402023e+00] [-2.30473562e-02 -1.02240438e-03 9.99733852e-01 -3.04010419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.45654761499999 meters 0.08387369858567013 Centerline is valid? [True, True] Translation: X:57.81, Y:-7.79, Z:-3.04 [[ 9.51329684e-01 3.07071448e-01 2.60568405e-02 5.78125816e+01] [-3.06992478e-01 9.51685622e-01 -7.07777922e-03 -7.78747678e+00] [-2.69713043e-02 -1.26595256e-03 9.99635407e-01 -3.03751462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48654761499999 meters 0.08322955836810027 Centerline is valid? [True, True] Translation: X:57.84, Y:-7.79, Z:-3.04 [[ 9.51180324e-01 3.07388142e-01 2.77222277e-02 5.78439736e+01] [-3.07298627e-01 9.51583267e-01 -7.53922814e-03 -7.79497283e+00] [-2.86974773e-02 -1.34783705e-03 9.99587234e-01 -3.03685807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.516547614999986 meters 0.08280936308124268 Centerline is valid? [True, True] Translation: X:57.87, Y:-7.80, Z:-3.04 [[ 9.51310805e-01 3.07371607e-01 2.30314276e-02 5.78744580e+01] [-3.07309722e-01 9.51588909e-01 -6.26764292e-03 -7.80251670e+00] [-2.38429466e-02 -1.11530519e-03 9.99715094e-01 -3.04373300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54654761499999 meters 0.0847877024160327 Centerline is valid? [True, True] Translation: X:57.90, Y:-7.81, Z:-3.05 [[ 9.51500051e-01 3.06960234e-01 2.05686006e-02 5.79044800e+01] [-3.06910636e-01 9.51721836e-01 -5.60426531e-03 -7.80808850e+00] [-2.12958729e-02 -9.80263554e-04 9.99772737e-01 -3.05206829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.57654761499999 meters 0.08332767704388049 Centerline is valid? [True, True] Translation: X:57.93, Y:-7.82, Z:-3.05 [[ 9.51927547e-01 3.05560602e-01 2.16023985e-02 5.79339549e+01] [-3.05505423e-01 9.52172114e-01 -5.89082247e-03 -7.82214881e+00] [-2.23692047e-02 -9.92013713e-04 9.99749286e-01 -3.04926731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60654761499999 meters 0.08245919188336283 Centerline is valid? [True, True] Translation: X:57.96, Y:-7.83, Z:-3.05 [[ 9.52187461e-01 3.04471705e-01 2.52194253e-02 5.79634962e+01] [-3.04396070e-01 9.52520715e-01 -6.87902572e-03 -7.83276046e+00] [-2.61164937e-02 -1.12657191e-03 9.99658271e-01 -3.04527899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.63654761499999 meters 0.08149452155249642 Centerline is valid? [True, True] Translation: X:57.99, Y:-7.84, Z:-3.04 [[ 9.52575264e-01 3.02898279e-01 2.92061466e-02 5.79931291e+01] [-3.02795957e-01 9.53022072e-01 -7.97114395e-03 -7.83906222e+00] [-3.02485481e-02 -1.25038854e-03 9.99541626e-01 -3.04449544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66654761499999 meters 0.08024942212060397 Centerline is valid? [True, True] Translation: X:58.02, Y:-7.85, Z:-3.05 [[ 9.53510048e-01 3.00093345e-01 2.76147323e-02 5.80221750e+01] [-3.00000654e-01 9.53909210e-01 -7.53827410e-03 -7.85266567e+00] [-2.86041333e-02 -1.09661765e-03 9.99590217e-01 -3.04755557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.696547614999986 meters 0.07992302308394103 Centerline is valid? [True, True] Translation: X:58.05, Y:-7.86, Z:-3.06 [[ 9.54451281e-01 2.97606186e-01 2.12910889e-02 5.80507876e+01] [-2.97550500e-01 9.54688397e-01 -5.81070993e-03 -7.86487350e+00] [-2.20556587e-02 -7.89134599e-04 9.99756433e-01 -3.05763119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72654761499999 meters 0.08056028496999831 Centerline is valid? [True, True] Translation: X:58.08, Y:-7.87, Z:-3.07 [[ 9.54701156e-01 2.96998011e-01 1.83816089e-02 5.80813347e+01] [-2.96956430e-01 9.54877862e-01 -5.01470503e-03 -7.87014563e+00] [-1.90415489e-02 -6.70992270e-04 9.99818468e-01 -3.06546155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.75654761499999 meters 0.0792774709854298 Centerline is valid? [True, True] Translation: X:58.11, Y:-7.88, Z:-3.06 [[ 9.55316639e-01 2.94810102e-01 2.13804268e-02 5.81109988e+01] [-2.94753044e-01 9.55555591e-01 -5.84431979e-03 -7.88322649e+00] [-2.21531509e-02 -7.18769940e-04 9.99754330e-01 -3.06188437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78654761499999 meters 0.0771824589855642 Centerline is valid? [True, True] Translation: X:58.14, Y:-7.90, Z:-3.06 [[ 9.56343018e-01 2.91489514e-01 2.10212808e-02 5.81386749e+01] [-2.91433546e-01 9.56573816e-01 -5.74655714e-03 -7.90058679e+00] [-2.17834680e-02 -6.30626616e-04 9.99762513e-01 -3.05783414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.81654761499999 meters 0.07536473914058608 Centerline is valid? [True, True] Translation: X:58.17, Y:-7.91, Z:-3.06 [[ 9.57396665e-01 2.88038557e-01 2.06255914e-02 5.81678436e+01] [-2.87983951e-01 9.57618657e-01 -5.63481670e-03 -7.91211058e+00] [-2.13744956e-02 -5.45084571e-04 9.99771391e-01 -3.05824133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84654761499999 meters 0.07531920730081418 Centerline is valid? [True, True] Translation: X:58.20, Y:-7.92, Z:-3.06 [[ 9.57957761e-01 2.86033915e-01 2.23948053e-02 5.81972029e+01] [-2.85968794e-01 9.58219345e-01 -6.12664938e-03 -7.91880508e+00] [-2.32115652e-02 -5.35144160e-04 9.99730432e-01 -3.05965571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87654761499999 meters 0.07406563608062222 Centerline is valid? [True, True] Translation: X:58.23, Y:-7.93, Z:-3.06 [[ 9.58350017e-01 2.84565952e-01 2.42376362e-02 5.82255427e+01] [-2.84489183e-01 9.58656313e-01 -6.63154970e-03 -7.93369548e+00] [-2.51226762e-02 -5.39999565e-04 9.99684230e-01 -3.05508143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90654761499999 meters 0.07372919337501906 Centerline is valid? [True, True] Translation: X:58.25, Y:-7.94, Z:-3.05 [[ 9.58692226e-01 2.83134787e-01 2.72746687e-02 5.82549106e+01] [-2.83036767e-01 9.59079966e-01 -7.47041821e-03 -7.94237352e+00] [-2.82737236e-02 -5.57902205e-04 9.99600063e-01 -3.05371598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93654761499999 meters 0.07426243456587721 Centerline is valid? [True, True] Translation: X:58.29, Y:-7.94, Z:-3.06 [[ 9.58356323e-01 2.84159964e-01 2.83949286e-02 5.82871741e+01] [-2.84054030e-01 9.58776692e-01 -7.78218081e-03 -7.94021273e+00] [-2.94357799e-02 -6.07591705e-04 9.99566489e-01 -3.05895349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96654761499999 meters 0.07416550381775161 Centerline is valid? [True, True] Translation: X:58.32, Y:-7.95, Z:-3.06 [[ 9.58063629e-01 2.85217110e-01 2.76637414e-02 5.83176821e+01] [-2.85116853e-01 9.58462737e-01 -7.58702010e-03 -7.95052001e+00] [-2.86786132e-02 -6.18550875e-04 9.99588493e-01 -3.05789203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.99654761499999 meters 0.07406477642363878 Centerline is valid? [True, True] Translation: X:58.35, Y:-7.96, Z:-3.06 [[ 9.58133903e-01 2.85073736e-01 2.66906010e-02 5.83482176e+01] [-2.84980181e-01 9.58505410e-01 -7.32637359e-03 -7.95998185e+00] [-2.76716421e-02 -5.86645348e-04 9.99616895e-01 -3.05940597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02654761499999 meters 0.07531946671178116 Centerline is valid? [True, True] Translation: X:58.38, Y:-7.96, Z:-3.06 [[ 9.57199195e-01 2.87839880e-01 3.02969464e-02 5.83811013e+01] [-2.87720403e-01 9.57678258e-01 -8.32613859e-03 -7.95835159e+00] [-3.14113216e-02 -7.47276469e-04 9.99506263e-01 -3.06016885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05654761499999 meters 0.07516197547997788 Centerline is valid? [True, True] Translation: X:58.41, Y:-7.97, Z:-3.06 [[ 9.56065672e-01 2.91502134e-01 3.10634456e-02 5.84120245e+01] [-2.91378213e-01 9.56569772e-01 -8.54453852e-03 -7.96567658e+00] [-3.22051043e-02 -8.82071312e-04 9.99480892e-01 -3.05540761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.086547614999986 meters 0.07520089596237904 Centerline is valid? [True, True] Translation: X:58.44, Y:-7.97, Z:-3.06 [[ 9.55256413e-01 2.94344464e-01 2.90950511e-02 5.84430095e+01] [-2.94236898e-01 9.55698963e-01 -8.00876733e-03 -7.97251458e+00] [-3.01634465e-02 -9.10411209e-04 9.99544565e-01 -3.05776887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11654761499999 meters 0.0808179878560846 Centerline is valid? [True, True] Translation: X:58.48, Y:-7.96, Z:-3.08 [[ 9.53791950e-01 2.99463204e-01 2.45500643e-02 5.84772424e+01] [-2.99388155e-01 9.54107427e-01 -6.76390021e-03 -7.95932783e+00] [-2.54489379e-02 -8.98644880e-04 9.99675719e-01 -3.07627694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14654761499999 meters 0.08217347549923625 Centerline is valid? [True, True] Translation: X:58.51, Y:-7.96, Z:-3.08 [[ 9.53185968e-01 3.01412713e-01 2.42257417e-02 5.85076451e+01] [-3.01340130e-01 9.53493317e-01 -6.67984070e-03 -7.96400293e+00] [-2.51124717e-02 -9.33057703e-04 9.99684197e-01 -3.08031917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.17654761499999 meters 0.07830923738422332 Centerline is valid? [True, True] Translation: X:58.54, Y:-7.98, Z:-3.07 [[ 9.52496021e-01 3.03327824e-01 2.72682964e-02 5.85361855e+01] [-3.03236668e-01 9.52885619e-01 -7.51797313e-03 -7.98172856e+00] [-2.82639780e-02 -1.10790784e-03 9.99599880e-01 -3.06933080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20654761499999 meters 0.07837875299313576 Centerline is valid? [True, True] Translation: X:58.57, Y:-7.99, Z:-3.07 [[ 9.52369822e-01 3.03376471e-01 3.08940035e-02 5.85661397e+01] [-3.03259129e-01 9.52869961e-01 -8.52862948e-03 -7.98920005e+00] [-3.20253534e-02 -1.24647924e-03 9.99486280e-01 -3.06766587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23654761499999 meters 0.0782830875312925 Centerline is valid? [True, True] Translation: X:58.60, Y:-8.00, Z:-3.07 [[ 9.52014349e-01 3.04817523e-01 2.74765025e-02 5.85965237e+01] [-3.04725218e-01 9.52410079e-01 -7.58831939e-03 -7.99713682e+00] [-2.84819506e-02 -1.14859427e-03 9.99593647e-01 -3.07200269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.266547614999986 meters 0.08124702596810136 Centerline is valid? [True, True] Translation: X:58.63, Y:-8.00, Z:-3.08 [[ 9.51129126e-01 3.07824890e-01 2.44381200e-02 5.86283081e+01] [-3.07752673e-01 9.51442399e-01 -6.75672209e-03 -7.99521150e+00] [-2.53313508e-02 -1.09438157e-03 9.99678511e-01 -3.08179025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29654761499999 meters 0.08070498470570613 Centerline is valid? [True, True] Translation: X:58.66, Y:-8.00, Z:-3.08 [[ 9.50310387e-01 3.10218733e-01 2.59712674e-02 5.86592643e+01] [-3.10138081e-01 9.50664410e-01 -7.17984658e-03 -8.00416679e+00] [-2.69172826e-02 -1.23159626e-03 9.99636906e-01 -3.08118016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32654761499999 meters 0.08070498470570613 Centerline is valid? [True, True] Translation: X:58.69, Y:-8.01, Z:-3.08 [[ 9.50225156e-01 3.10479828e-01 2.59697822e-02 5.86904019e+01] [-3.10399126e-01 9.50579168e-01 -7.18521287e-03 -8.01298635e+00] [-2.69171976e-02 -1.23342769e-03 9.99636906e-01 -3.08287572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.35654761499999 meters 0.08112287525283969 Centerline is valid? [True, True] Translation: X:58.72, Y:-8.02, Z:-3.08 [[ 9.49519113e-01 3.12439683e-01 2.81939486e-02 5.87212793e+01] [-3.12345120e-01 9.49936584e-01 -7.81104703e-03 -8.02342092e+00] [-2.92229443e-02 -1.38950380e-03 9.99571953e-01 -3.07896362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38654761499999 meters 0.0830741133392349 Centerline is valid? [True, True] Translation: X:58.75, Y:-8.03, Z:-3.08 [[ 9.48515483e-01 3.15526232e-01 2.75966523e-02 5.87510334e+01] [-3.15436645e-01 9.48915757e-01 -7.65568479e-03 -8.02921171e+00] [-2.86024676e-02 -1.44345987e-03 9.99589824e-01 -3.08017723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41654761499999 meters 0.08408388286550018 Centerline is valid? [True, True] Translation: X:58.78, Y:-8.04, Z:-3.09 [[ 9.47468510e-01 3.18958450e-01 2.38522478e-02 5.87814905e+01] [-3.18892636e-01 9.47767755e-01 -6.61584072e-03 -8.03625329e+00] [-2.47165697e-02 -1.33800543e-03 9.99693604e-01 -3.08576259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.446547614999986 meters 0.08620930204676476 Centerline is valid? [True, True] Translation: X:58.81, Y:-8.04, Z:-3.09 [[ 9.46555656e-01 3.21564749e-01 2.50699631e-02 5.88122780e+01] [-3.21492799e-01 9.46886448e-01 -6.95956769e-03 -8.04067021e+00] [-2.59763599e-02 -1.47219444e-03 9.99661473e-01 -3.08929731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47654761499999 meters 0.08333345270226034 Centerline is valid? [True, True] Translation: X:58.84, Y:-8.06, Z:-3.09 [[ 9.47174920e-01 3.19738716e-01 2.50364700e-02 5.88401594e+01] [-3.19666051e-01 9.47504704e-01 -6.96069137e-03 -8.05906719e+00] [-2.59477756e-02 -1.41031719e-03 9.99662305e-01 -3.08839236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50654761499999 meters 0.08616738609186168 Centerline is valid? [True, True] Translation: X:58.87, Y:-8.06, Z:-3.09 [[ 9.46959017e-01 3.20421507e-01 2.44678939e-02 5.88713755e+01] [-3.20352421e-01 9.47274035e-01 -6.79912912e-03 -8.06299144e+00] [-2.53563877e-02 -1.39985240e-03 9.99677495e-01 -3.09173844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.53654761499999 meters 0.08398616475908473 Centerline is valid? [True, True] Translation: X:58.90, Y:-8.08, Z:-3.09 [[ 9.47085159e-01 3.20148570e-01 2.31213098e-02 5.89007570e+01] [-3.20086702e-01 9.47366440e-01 -6.42892928e-03 -8.07847570e+00] [-2.39625654e-02 -1.31208028e-03 9.99711995e-01 -3.09084135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56654761499999 meters 0.08429992311853504 Centerline is valid? [True, True] Translation: X:58.93, Y:-8.09, Z:-3.09 [[ 9.47336413e-01 3.19394910e-01 2.32510555e-02 5.89302324e+01] [-3.19331936e-01 9.47620820e-01 -6.47264671e-03 -8.08691537e+00] [-2.41005147e-02 -1.29303067e-03 9.99708704e-01 -3.09378425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59654761499999 meters 0.08224237308078539 Centerline is valid? [True, True] Translation: X:58.96, Y:-8.10, Z:-3.09 [[ 9.48109676e-01 3.16897240e-01 2.57717171e-02 5.89594719e+01] [-3.16818650e-01 9.48458914e-01 -7.18554383e-03 -8.09841934e+00] [-2.67204938e-02 -1.35227698e-03 9.99642029e-01 -3.09409232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.626547614999986 meters 0.08052131245144457 Centerline is valid? [True, True] Translation: X:58.99, Y:-8.11, Z:-3.09 [[ 9.48929455e-01 3.14037074e-01 3.02258994e-02 5.89885688e+01] [-3.13927500e-01 9.49409550e-01 -8.42803060e-03 -8.11236916e+00] [-3.13434716e-02 -1.49113454e-03 9.99507560e-01 -3.09111195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65654761499999 meters 0.0793471823766968 Centerline is valid? [True, True] Translation: X:59.02, Y:-8.13, Z:-3.09 [[ 9.49451928e-01 3.12540220e-01 2.93197256e-02 5.90174879e+01] [-3.12436224e-01 9.49903506e-01 -8.18138800e-03 -8.12805520e+00] [-3.04079229e-02 -1.39270973e-03 9.99536602e-01 -3.09051226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68654761499999 meters 0.08237109492586621 Centerline is valid? [True, True] Translation: X:59.05, Y:-8.13, Z:-3.10 [[ 9.48286846e-01 3.16319131e-01 2.63489225e-02 5.90492434e+01] [-3.16236379e-01 9.48651874e-01 -7.36037223e-03 -8.12712460e+00] [-2.73241813e-02 -1.35274369e-03 9.99625710e-01 -3.09966900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.71654761499999 meters 0.08510927857859937 Centerline is valid? [True, True] Translation: X:59.08, Y:-8.13, Z:-3.11 [[ 9.46725321e-01 3.21105353e-01 2.45462693e-02 5.90818298e+01] [-3.21035046e-01 9.47042466e-01 -6.86045767e-03 -8.12554934e+00] [-2.54492891e-02 -1.38524371e-03 9.99675155e-01 -3.10580857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74654761499999 meters 0.08344663882418099 Centerline is valid? [True, True] Translation: X:59.11, Y:-8.14, Z:-3.11 [[ 9.47868431e-01 3.17963697e-01 2.10837659e-02 5.91116646e+01] [-3.17911048e-01 9.48102231e-01 -5.89285913e-03 -8.13690629e+00] [-2.18632807e-02 -1.11710697e-03 9.99760346e-01 -3.10864845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.77654761499999 meters 0.07891330850242113 Centerline is valid? [True, True] Translation: X:59.14, Y:-8.16, Z:-3.10 [[ 9.50373073e-01 3.10404429e-01 2.09788530e-02 5.91390520e+01] [-3.10350224e-01 9.50604139e-01 -5.87442885e-03 -8.15867137e+00] [-2.17660333e-02 -9.27892738e-04 9.99762661e-01 -3.10330261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80654761499999 meters 0.07810070638554652 Centerline is valid? [True, True] Translation: X:59.17, Y:-8.17, Z:-3.10 [[ 9.50680270e-01 3.09437447e-01 2.13422508e-02 5.91698761e+01] [-3.09381178e-01 9.50919351e-01 -5.97287696e-03 -8.16764176e+00] [-2.21429911e-02 -9.24594421e-04 9.99754386e-01 -3.10450969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.836547614999986 meters 0.07871408075187278 Centerline is valid? [True, True] Translation: X:59.20, Y:-8.17, Z:-3.11 [[ 9.51020663e-01 3.08360098e-01 2.17657771e-02 5.92018047e+01] [-3.08301155e-01 9.51269267e-01 -6.09745355e-03 -8.16957923e+00] [-2.25853262e-02 -9.11609890e-04 9.99744503e-01 -3.11049309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86654761499999 meters 0.0774424672582517 Centerline is valid? [True, True] Translation: X:59.23, Y:-8.18, Z:-3.11 [[ 9.51191183e-01 3.07924058e-01 2.04477031e-02 5.92314451e+01] [-3.07871844e-01 9.51410566e-01 -5.73260439e-03 -8.18255099e+00] [-2.12193676e-02 -8.42469300e-04 9.99774489e-01 -3.11048378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89654761499999 meters 0.07691510795778805 Centerline is valid? [True, True] Translation: X:59.26, Y:-8.19, Z:-3.11 [[ 9.51311632e-01 3.07453312e-01 2.18778490e-02 5.92619596e+01] [-3.07393259e-01 9.51562757e-01 -6.14037083e-03 -8.19258652e+00] [-2.27060237e-02 -8.83697112e-04 9.99741794e-01 -3.10934709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92654761499999 meters 0.07704058475343666 Centerline is valid? [True, True] Translation: X:59.29, Y:-8.20, Z:-3.11 [[ 9.50700115e-01 3.09109382e-01 2.49134647e-02 5.92937737e+01] [-3.09031855e-01 9.51025920e-01 -7.00079399e-03 -8.19796900e+00] [-2.58573618e-02 -1.04339855e-03 9.99665098e-01 -3.10840189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.95654761499999 meters 0.08059265270814617 Centerline is valid? [True, True] Translation: X:59.33, Y:-8.19, Z:-3.11 [[ 9.49375437e-01 3.13076499e-01 2.58724891e-02 5.93267356e+01] [-3.12994060e-01 9.49727172e-01 -7.28131792e-03 -8.19176381e+00] [-2.68514154e-02 -1.18523101e-03 9.99638733e-01 -3.11175162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98654761499999 meters 0.07917737717753168 Centerline is valid? [True, True] Translation: X:59.36, Y:-8.20, Z:-3.11 [[ 9.49170150e-01 3.13654641e-01 2.63968343e-02 5.93576012e+01] [-3.13569083e-01 9.49536340e-01 -7.42764902e-03 -8.20372703e+00] [-2.73944700e-02 -1.22712839e-03 9.99623948e-01 -3.11149116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.016547614999986 meters 0.07796099260142983 Centerline is valid? [True, True] Translation: X:59.39, Y:-8.21, Z:-3.12 [[ 9.50043592e-01 3.11145715e-01 2.46072460e-02 5.93882468e+01] [-3.11070342e-01 9.50361615e-01 -6.93127010e-03 -8.21320669e+00] [-2.55424170e-02 -1.06957567e-03 9.99673167e-01 -3.11609641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04654761499999 meters 0.07888698007068658 Centerline is valid? [True, True] Translation: X:59.42, Y:-8.22, Z:-3.12 [[ 9.49959467e-01 3.11426260e-01 2.43042149e-02 5.94207762e+01] [-3.11352675e-01 9.50269733e-01 -6.85177613e-03 -8.21657520e+00] [-2.52293828e-02 -1.05827274e-03 9.99681128e-01 -3.11894501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.07654761499999 meters 0.07910116277955954 Centerline is valid? [True, True] Translation: X:59.45, Y:-8.22, Z:-3.12 [[ 9.49460475e-01 3.12848151e-01 2.55115816e-02 5.94522002e+01] [-3.12767360e-01 9.49802469e-01 -7.20061200e-03 -8.22446153e+00] [-2.64836613e-02 -1.14249355e-03 9.99648593e-01 -3.11756311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10654761499999 meters 0.08051948519718506 Centerline is valid? [True, True] Translation: X:59.48, Y:-8.23, Z:-3.12 [[ 9.48998549e-01 3.14521639e-01 2.18607718e-02 5.94815300e+01] [-3.14462584e-01 9.49249764e-01 -6.17801697e-03 -8.23179275e+00] [-2.26944525e-02 -1.01146566e-03 9.99741936e-01 -3.12028696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.13654761499999 meters 0.0816504424480086 Centerline is valid? [True, True] Translation: X:59.51, Y:-8.24, Z:-3.13 [[ 9.48705465e-01 3.15445601e-01 2.12605943e-02 5.95118785e+01] [-3.15390002e-01 9.48943128e-01 -6.00719381e-03 -8.23675720e+00] [-2.20700378e-02 -1.00632130e-03 9.99755921e-01 -3.12559591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16654761499999 meters 0.08184450523490885 Centerline is valid? [True, True] Translation: X:59.54, Y:-8.24, Z:-3.12 [[ 9.47968001e-01 3.17380534e-01 2.50253176e-02 5.95431148e+01] [-3.17303976e-01 9.48297465e-01 -7.07842642e-03 -8.24353609e+00] [-2.59780000e-02 -1.23051104e-03 9.99661757e-01 -3.12219450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.196547614999986 meters 0.08087528016896278 Centerline is valid? [True, True] Translation: X:59.57, Y:-8.25, Z:-3.12 [[ 9.46878340e-01 3.20527586e-01 2.61433607e-02 5.95737440e+01] [-3.20444917e-01 9.47238198e-01 -7.40615805e-03 -8.25324554e+00] [-2.71378679e-02 -1.36477640e-03 9.99630769e-01 -3.11972737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22654761499999 meters 0.08399054186008395 Centerline is valid? [True, True] Translation: X:59.60, Y:-8.26, Z:-3.13 [[ 9.46048203e-01 3.23245636e-01 2.24734599e-02 5.96043011e+01] [-3.23185331e-01 9.46314281e-01 -6.36573328e-03 -8.25574858e+00] [-2.33246516e-02 -1.24080207e-03 9.99727173e-01 -3.12695248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.25654761499999 meters 0.08571303129598609 Centerline is valid? [True, True] Translation: X:59.63, Y:-8.26, Z:-3.13 [[ 9.45561741e-01 3.24828637e-01 1.99837821e-02 5.96334836e+01] [-3.24781257e-01 9.45772207e-01 -5.66290713e-03 -8.26425225e+00] [-2.07395801e-02 -1.13572953e-03 9.99784267e-01 -3.13082472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28654761499999 meters 0.0836328336757115 Centerline is valid? [True, True] Translation: X:59.66, Y:-8.28, Z:-3.13 [[ 9.45188907e-01 3.25484309e-01 2.60363995e-02 5.96628365e+01] [-3.25403986e-01 9.45546262e-01 -7.38325152e-03 -8.27573165e+00] [-2.70217527e-02 -1.49378074e-03 9.99633730e-01 -3.12564814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.31654761499999 meters 0.08384978730783482 Centerline is valid? [True, True] Translation: X:59.69, Y:-8.28, Z:-3.13 [[ 9.44157899e-01 3.28282109e-01 2.82262143e-02 5.96942357e+01] [-3.28188853e-01 9.44578190e-01 -8.00752718e-03 -8.28210247e+00] [-2.92905943e-02 -1.70315886e-03 9.99569487e-01 -3.12571677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34654761499999 meters 0.08632465670197784 Centerline is valid? [True, True] Translation: X:59.72, Y:-8.29, Z:-3.13 [[ 9.43807726e-01 3.29616178e-01 2.40863400e-02 5.97239784e+01] [-3.29548697e-01 9.44113849e-01 -6.83339852e-03 -8.28681730e+00] [-2.49926459e-02 -1.48820765e-03 9.99686527e-01 -3.13383013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.376547614999986 meters 0.10065679748137533 Centerline is valid? [True, False] Translation: X:59.67, Y:-8.27, Z:-3.14 [[ 9.46511599e-01 3.19635373e-01 4.41477138e-02 5.96706059e+01] [-3.19409404e-01 9.47537359e-01 -1.22713492e-02 -8.26969867e+00] [-4.57539654e-02 -2.48622054e-03 9.98949645e-01 -3.14394907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40654761499999 meters 0.08348142935974978 Centerline is valid? [False, True] Translation: X:59.53, Y:-8.23, Z:-3.14 [[ 9.49744310e-01 3.07500608e-01 5.85587081e-02 5.95302447e+01] [-3.06796421e-01 9.51546052e-01 -2.08822008e-02 -8.22963487e+00] [-6.21425970e-02 1.86714936e-03 9.98065535e-01 -3.14029364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43654761499999 meters 0.0848395174376199 Centerline is valid? [True, True] Translation: X:59.56, Y:-8.24, Z:-3.14 [[ 9.50388820e-01 3.05299096e-01 5.96116833e-02 5.95590687e+01] [-3.04915413e-01 9.52250793e-01 -1.56530816e-02 -8.23864549e+00] [-6.15441444e-02 -3.30000725e-03 9.98098907e-01 -3.14187770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46654761499999 meters 0.08330447913925101 Centerline is valid? [True, True] Translation: X:59.59, Y:-8.25, Z:-3.15 [[ 9.50597117e-01 3.04722454e-01 5.92397450e-02 5.95878275e+01] [-3.04342062e-01 9.52435694e-01 -1.55614251e-02 -8.25373194e+00] [-6.11639633e-02 -3.23650033e-03 9.98122485e-01 -3.14567086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.49654761499999 meters 0.084291549695401 Centerline is valid? [True, True] Translation: X:59.62, Y:-8.26, Z:-3.15 [[ 9.50784490e-01 3.04269655e-01 5.85562147e-02 5.96166154e+01] [-3.03896206e-01 9.52580716e-01 -1.53972746e-02 -8.26265422e+00] [-6.04644443e-02 -3.15552164e-03 9.98165364e-01 -3.15280020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52654761499999 meters 0.08559063620713978 Centerline is valid? [True, True] Translation: X:59.65, Y:-8.27, Z:-3.16 [[ 9.50404028e-01 3.05106475e-01 6.03508233e-02 5.96468201e+01] [-3.04710513e-01 9.52312551e-01 -1.58842391e-02 -8.26784206e+00] [-6.23192307e-02 -3.29308547e-03 9.98050835e-01 -3.15644663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55654761499999 meters 0.08562974570259897 Centerline is valid? [True, True] Translation: X:59.68, Y:-8.28, Z:-3.15 [[ 9.50124229e-01 3.05583211e-01 6.23125164e-02 5.96776445e+01] [-3.05161133e-01 9.52159238e-01 -1.64154926e-02 -8.27883507e+00] [-6.43477371e-02 -3.41860085e-03 9.97921681e-01 -3.15486664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.586547614999986 meters 0.08524575475361168 Centerline is valid? [True, True] Translation: X:59.71, Y:-8.29, Z:-3.16 [[ 9.50791374e-01 3.03851048e-01 6.05830292e-02 5.97062398e+01] [-3.03447489e-01 9.52714200e-01 -1.59773076e-02 -8.29286466e+00] [-6.25730339e-02 -3.19268187e-03 9.98035281e-01 -3.15713712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61654761499999 meters 0.08321348794220769 Centerline is valid? [True, True] Translation: X:59.73, Y:-8.31, Z:-3.16 [[ 9.51811765e-01 3.00316991e-01 6.21616393e-02 5.97344735e+01] [-2.99884134e-01 9.53834639e-01 -1.64008249e-02 -8.30716757e+00] [-6.42173712e-02 -3.03079130e-03 9.97931332e-01 -3.15988732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64654761499999 meters 0.07841354323790868 Centerline is valid? [True, True] Translation: X:59.76, Y:-8.33, Z:-3.16 [[ 9.54273024e-01 2.92388687e-01 6.22242074e-02 5.97619636e+01] [-2.91936936e-01 9.56296344e-01 -1.64355664e-02 -8.32822456e+00] [-6.43103557e-02 -2.48152673e-03 9.97926861e-01 -3.16225339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.67654761499999 meters 0.07838556470166587 Centerline is valid? [True, True] Translation: X:59.79, Y:-8.34, Z:-3.17 [[ 9.54516814e-01 2.91414580e-01 6.30491425e-02 5.97933415e+01] [-2.90948430e-01 9.56593730e-01 -1.66567236e-02 -8.33596427e+00] [-6.51664265e-02 -2.44492625e-03 9.97871414e-01 -3.16693555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70654761499999 meters 0.07965281639296963 Centerline is valid? [True, True] Translation: X:59.82, Y:-8.34, Z:-3.17 [[ 9.53704673e-01 2.94335756e-01 6.17564531e-02 5.98246973e+01] [-2.93894249e-01 9.55698585e-01 -1.63213262e-02 -8.34089012e+00] [-6.38245047e-02 -2.58414136e-03 9.97957792e-01 -3.16883292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73654761499999 meters 0.07964378930852288 Centerline is valid? [True, True] Translation: X:59.86, Y:-8.35, Z:-3.17 [[ 9.52863519e-01 2.97050790e-01 6.17409326e-02 5.98557241e+01] [-2.96614930e-01 9.54857687e-01 -1.63211732e-02 -8.34940263e+00] [-6.38020215e-02 -2.76143191e-03 9.97958755e-01 -3.16835256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.766547614999986 meters 0.08091423241397472 Centerline is valid? [True, True] Translation: X:59.89, Y:-8.35, Z:-3.17 [[ 9.52015240e-01 2.99777641e-01 6.16469737e-02 5.98881983e+01] [-2.99348492e-01 9.54004587e-01 -1.63011670e-02 -8.35105706e+00] [-6.36982211e-02 -2.93496921e-03 9.97964890e-01 -3.17447287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79654761499999 meters 0.0818796331509037 Centerline is valid? [True, True] Translation: X:59.92, Y:-8.35, Z:-3.18 [[ 9.51637366e-01 3.00505427e-01 6.38968790e-02 5.99195345e+01] [-3.00045794e-01 9.53775099e-01 -1.68991744e-02 -8.35422201e+00] [-6.60215457e-02 -3.09010395e-03 9.97813413e-01 -3.17732876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82654761499999 meters 0.08523070846642893 Centerline is valid? [True, True] Translation: X:59.95, Y:-8.35, Z:-3.18 [[ 9.50852705e-01 3.01838630e-01 6.90838256e-02 5.99528700e+01] [-3.01304096e-01 9.53352850e-01 -1.82807472e-02 -8.35135032e+00] [-7.13790977e-02 -3.43294172e-03 9.97443351e-01 -3.18028281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.85654761499999 meters 0.08047515046033635 Centerline is valid? [True, True] Translation: X:59.98, Y:-8.37, Z:-3.18 [[ 9.50559417e-01 3.02317499e-01 7.09994625e-02 5.99815274e+01] [-3.01752818e-01 9.53200685e-01 -1.88066827e-02 -8.37148998e+00] [-7.33623256e-02 -3.54741852e-03 9.97299045e-01 -3.17564306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88654761499999 meters 0.08201320449924474 Centerline is valid? [True, True] Translation: X:60.01, Y:-8.38, Z:-3.18 [[ 9.49953075e-01 3.04423989e-01 7.01084220e-02 6.00116118e+01] [-3.03877628e-01 9.52529663e-01 -1.85910922e-02 -8.37660671e+00] [-7.24399260e-02 -3.64371579e-03 9.97366122e-01 -3.17839318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91654761499999 meters 0.08367216024806987 Centerline is valid? [True, True] Translation: X:60.04, Y:-8.38, Z:-3.19 [[ 9.50366373e-01 3.03829927e-01 6.70159062e-02 6.00425726e+01] [-3.03328856e-01 9.52720099e-01 -1.77768822e-02 -8.37851769e+00] [-6.92485497e-02 -3.43330705e-03 9.97593530e-01 -3.18654225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.946547614999986 meters 0.08764885550846578 Centerline is valid? [True, True] Translation: X:60.07, Y:-8.37, Z:-3.20 [[ 9.50699857e-01 3.03305476e-01 6.46186564e-02 6.00742843e+01] [-3.02837274e-01 9.52887812e-01 -1.71581857e-02 -8.37461082e+00] [-6.67785018e-02 -3.25665306e-03 9.97762510e-01 -3.19830981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97654761499999 meters 0.08782618747436087 Centerline is valid? [True, True] Translation: X:60.10, Y:-8.38, Z:-3.21 [[ 9.50890736e-01 3.02848896e-01 6.39480622e-02 6.01040741e+01] [-3.02388836e-01 9.53033268e-01 -1.69876979e-02 -8.38028217e+00] [-6.60893362e-02 -3.18373554e-03 9.97808631e-01 -3.20503607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00654761499999 meters 0.08801583691655074 Centerline is valid? [True, True] Translation: X:60.13, Y:-8.39, Z:-3.21 [[ 9.51109008e-01 3.02493777e-01 6.23632127e-02 6.01343781e+01] [-3.02055139e-01 9.53146399e-01 -1.65721159e-02 -8.39098249e+00] [-6.44542336e-02 -3.07524021e-03 9.97915926e-01 -3.20859513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.03654761499999 meters 0.08076746516268231 Centerline is valid? [True, True] Translation: X:60.16, Y:-8.42, Z:-3.20 [[ 9.51598892e-01 3.00781979e-01 6.31644659e-02 6.01612692e+01] [-3.00327030e-01 9.53688273e-01 -1.68033905e-02 -8.41581617e+00] [-6.52933674e-02 -2.97990869e-03 9.97861662e-01 -3.20188125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06654761499999 meters 0.07927041115414984 Centerline is valid? [True, True] Translation: X:60.19, Y:-8.43, Z:-3.20 [[ 9.52463181e-01 2.96947978e-01 6.80866125e-02 6.01902511e+01] [-2.96409411e-01 9.54889169e-01 -1.81145412e-02 -8.42722189e+00] [-7.03942452e-02 -2.92807914e-03 9.97514951e-01 -3.20114736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09654761499999 meters 0.07933792290524082 Centerline is valid? [True, True] Translation: X:60.22, Y:-8.44, Z:-3.20 [[ 9.52825482e-01 2.95682367e-01 6.85239952e-02 6.02194526e+01] [-2.95132762e-01 9.55282085e-01 -1.82425383e-02 -8.43743371e+00] [-7.08537419e-02 -2.84172061e-03 9.97482667e-01 -3.20445657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.126547614999986 meters 0.07880483950784505 Centerline is valid? [True, True] Translation: X:60.25, Y:-8.45, Z:-3.21 [[ 9.53398876e-01 2.94014009e-01 6.77225623e-02 6.02488163e+01] [-2.93471916e-01 9.55797378e-01 -1.80445599e-02 -8.44852061e+00] [-7.00344009e-02 -2.67100700e-03 9.97541001e-01 -3.20787764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15654761499999 meters 0.07743235301478132 Centerline is valid? [True, True] Translation: X:60.28, Y:-8.46, Z:-3.21 [[ 9.53784550e-01 2.92909285e-01 6.70759474e-02 6.02786838e+01] [-2.92373530e-01 9.56136841e-01 -1.78902105e-02 -8.46298773e+00] [-6.93739933e-02 -2.54782519e-03 9.97587469e-01 -3.20935480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18654761499999 meters 0.07975960896322065 Centerline is valid? [True, True] Translation: X:60.31, Y:-8.46, Z:-3.22 [[ 9.52810151e-01 2.96355873e-01 6.57724301e-02 6.03094022e+01] [-2.95848645e-01 9.55073656e-01 -1.75467929e-02 -8.46278436e+00] [-6.80176105e-02 -2.73992192e-03 9.97680358e-01 -3.21810514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.21654761499999 meters 0.08093348997730866 Centerline is valid? [True, True] Translation: X:60.34, Y:-8.47, Z:-3.22 [[ 9.51865909e-01 2.99867041e-01 6.34905380e-02 6.03392383e+01] [-2.99401618e-01 9.53976664e-01 -1.69468671e-02 -8.47130298e+00] [-6.56502985e-02 -2.87802479e-03 9.97838542e-01 -3.22193481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24654761499999 meters 0.08093348997730866 Centerline is valid? [True, True] Translation: X:60.37, Y:-8.48, Z:-3.22 [[ 9.51782346e-01 3.00132874e-01 6.34871912e-02 6.03703591e+01] [-2.99667206e-01 9.53893047e-01 -1.69593945e-02 -8.47981852e+00] [-6.56500620e-02 -2.88337695e-03 9.97838542e-01 -3.22486740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.27654761499999 meters 0.08030606428273353 Centerline is valid? [True, True] Translation: X:60.40, Y:-8.50, Z:-3.23 [[ 9.52554286e-01 2.97851098e-01 6.26502620e-02 6.03988235e+01] [-2.97391172e-01 9.54608616e-01 -1.67595407e-02 -8.49605330e+00] [-6.47983274e-02 -2.66726244e-03 9.97894815e-01 -3.22685540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30654761499999 meters 0.07894173147503676 Centerline is valid? [True, True] Translation: X:60.43, Y:-8.50, Z:-3.23 [[ 9.52946203e-01 2.95275896e-01 6.85979545e-02 6.04292729e+01] [-2.94717533e-01 9.55408138e-01 -1.83538974e-02 -8.50350826e+00] [-7.09585075e-02 -2.72674305e-03 9.97475541e-01 -3.22857552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.336547614999986 meters 0.07905473966122488 Centerline is valid? [True, True] Translation: X:60.46, Y:-8.51, Z:-3.23 [[ 9.53860512e-01 2.92040434e-01 6.97316921e-02 6.04585136e+01] [-2.91453514e-01 9.56402679e-01 -1.86752245e-02 -8.51175490e+00] [-7.21454978e-02 -2.50998755e-03 9.97390960e-01 -3.23179935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36654761499999 meters 0.0774570523759441 Centerline is valid? [True, True] Translation: X:60.49, Y:-8.53, Z:-3.24 [[ 9.54974702e-01 2.89294183e-01 6.58194106e-02 6.04858945e+01] [-2.88764076e-01 9.57237797e-01 -1.76382547e-02 -8.53368861e+00] [-6.81074721e-02 -2.16219425e-03 9.97675647e-01 -3.23576892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39654761499999 meters 0.0770930125155234 Centerline is valid? [True, True] Translation: X:60.51, Y:-8.55, Z:-3.24 [[ 9.55847141e-01 2.86384872e-01 6.58782878e-02 6.05141357e+01] [-2.85845553e-01 9.58112703e-01 -1.76739378e-02 -8.54530114e+00] [-6.81803728e-02 -1.93743275e-03 9.97671130e-01 -3.23908842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42654761499999 meters 0.07647842441865894 Centerline is valid? [True, True] Translation: X:60.54, Y:-8.55, Z:-3.24 [[ 9.55287497e-01 2.87003857e-01 7.10956023e-02 6.05447918e+01] [-2.86376693e-01 9.57927057e-01 -1.90825572e-02 -8.55352545e+00] [-7.35811686e-02 -2.13079515e-03 9.97286955e-01 -3.23671888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.45654761499999 meters 0.07733849553620113 Centerline is valid? [True, True] Translation: X:60.58, Y:-8.56, Z:-3.24 [[ 9.54952159e-01 2.87973318e-01 7.16780432e-02 6.05757258e+01] [-2.87338168e-01 9.57635863e-01 -1.92440137e-02 -8.55717947e+00] [-7.41832272e-02 -2.21872513e-03 9.97242160e-01 -3.24090815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48654761499999 meters 0.07660695927082167 Centerline is valid? [True, True] Translation: X:60.60, Y:-8.57, Z:-3.25 [[ 9.56012990e-01 2.85678408e-01 6.65357859e-02 6.06046973e+01] [-2.85125226e-01 9.58323685e-01 -1.78695480e-02 -8.57120026e+00] [-6.88677635e-02 -1.88751097e-03 9.97624012e-01 -3.24930855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.516547614999986 meters 0.07720029992515783 Centerline is valid? [True, True] Translation: X:60.63, Y:-8.58, Z:-3.26 [[ 9.56698417e-01 2.84090213e-01 6.34104894e-02 6.06339990e+01] [-2.83583303e-01 9.58796093e-01 -1.70459142e-02 -8.57831110e+00] [-6.56403068e-02 -1.67435684e-03 9.97841945e-01 -3.25836832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54654761499999 meters 0.07643681716167734 Centerline is valid? [True, True] Translation: X:60.66, Y:-8.59, Z:-3.26 [[ 9.56975735e-01 2.82881860e-01 6.46165306e-02 6.06638930e+01] [-2.82351696e-01 9.59153413e-01 -1.73853362e-02 -8.59080504e+00] [-6.68951621e-02 -1.60724213e-03 9.97758715e-01 -3.25787428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.57654761499999 meters 0.0757560381451829 Centerline is valid? [True, True] Translation: X:60.69, Y:-8.60, Z:-3.26 [[ 9.57537988e-01 2.80624087e-01 6.61144765e-02 6.06918185e+01] [-2.80062304e-01 9.59816638e-01 -1.78080838e-02 -8.60361499e+00] [-6.84551518e-02 -1.46425585e-03 9.97653120e-01 -3.25806914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60654761499999 meters 0.07555718220400356 Centerline is valid? [True, True] Translation: X:60.72, Y:-8.61, Z:-3.26 [[ 9.57802968e-01 2.79281803e-01 6.79348852e-02 6.07224260e+01] [-2.78684600e-01 9.60208166e-01 -1.83076929e-02 -8.61164152e+00] [-7.03446370e-02 -1.39724370e-03 9.97521769e-01 -3.26051950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.63654761499999 meters 0.07538368243064987 Centerline is valid? [True, True] Translation: X:60.75, Y:-8.62, Z:-3.26 [[ 9.57760297e-01 2.79158983e-01 6.90324250e-02 6.07528677e+01] [-2.78540698e-01 9.60243886e-01 -1.86214679e-02 -8.62051224e+00] [-7.14863141e-02 -1.39343723e-03 9.97440607e-01 -3.26238150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66654761499999 meters 0.07695892612149395 Centerline is valid? [True, True] Translation: X:60.78, Y:-8.62, Z:-3.27 [[ 9.57405217e-01 2.81426920e-01 6.46075774e-02 6.07839274e+01] [-2.80889493e-01 9.59581573e-01 -1.74441057e-02 -8.62196892e+00] [-6.69054818e-02 -1.44651179e-03 9.97758269e-01 -3.27165108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.696547614999986 meters 0.07638396153141627 Centerline is valid? [True, True] Translation: X:60.82, Y:-8.63, Z:-3.27 [[ 9.57067213e-01 2.82297392e-01 6.58067874e-02 6.08155316e+01] [-2.81740552e-01 9.59325743e-01 -1.77870737e-02 -8.63064020e+00] [-6.81513897e-02 -1.51701563e-03 9.97673838e-01 -3.27145325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72654761499999 meters 0.07580625421798573 Centerline is valid? [True, True] Translation: X:60.85, Y:-8.64, Z:-3.27 [[ 9.57243445e-01 2.81356156e-01 6.72584542e-02 6.08457730e+01] [-2.80771916e-01 9.59602275e-01 -1.81825611e-02 -8.64229260e+00] [-6.96571411e-02 -1.47914766e-03 9.97569895e-01 -3.27189725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.75654761499999 meters 0.07549658887003059 Centerline is valid? [True, True] Translation: X:60.88, Y:-8.65, Z:-3.27 [[ 9.57233609e-01 2.81173404e-01 6.81566990e-02 6.08762018e+01] [-2.80571683e-01 9.59655856e-01 -1.84436608e-02 -8.65068863e+00] [-7.05928423e-02 -1.46794774e-03 9.97504133e-01 -3.27413829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78654761499999 meters 0.07604981822681425 Centerline is valid? [True, True] Translation: X:60.91, Y:-8.66, Z:-3.28 [[ 9.56971090e-01 2.82601915e-01 6.58975807e-02 6.09068116e+01] [-2.82041666e-01 9.59236099e-01 -1.78494889e-02 -8.65633160e+00] [-6.82556380e-02 -1.50441862e-03 9.97666730e-01 -3.27869697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.81654761499999 meters 0.07613360052961253 Centerline is valid? [True, True] Translation: X:60.94, Y:-8.67, Z:-3.28 [[ 9.56342864e-01 2.84507410e-01 6.68121304e-02 6.09364309e+01] [-2.83935012e-01 9.58672425e-01 -1.81132688e-02 -8.66592088e+00] [-6.92043063e-02 -1.64780763e-03 9.97601147e-01 -3.27948675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84654761499999 meters 0.0765410885577388 Centerline is valid? [True, True] Translation: X:60.97, Y:-8.67, Z:-3.28 [[ 9.55384902e-01 2.87842359e-01 6.62303915e-02 6.09682269e+01] [-2.87286614e-01 9.57676007e-01 -1.79740478e-02 -8.67131027e+00] [-6.86009492e-02 -1.85497104e-03 9.97642455e-01 -3.28280331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.876547614999986 meters 0.07818218707482383 Centerline is valid? [True, True] Translation: X:61.00, Y:-8.67, Z:-3.29 [[ 9.54605282e-01 2.90638522e-01 6.52533993e-02 6.09999347e+01] [-2.90105499e-01 9.56830786e-01 -1.77100913e-02 -8.67132892e+00] [-6.75836961e-02 -2.02422329e-03 9.97711555e-01 -3.29085092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90654761499999 meters 0.0787877463623379 Centerline is valid? [True, True] Translation: X:61.03, Y:-8.68, Z:-3.29 [[ 9.53707698e-01 2.93508244e-01 6.55327240e-02 6.10307317e+01] [-2.92976159e-01 9.55953965e-01 -1.78041157e-02 -8.67757664e+00] [-6.78719222e-02 -2.21960353e-03 9.97691573e-01 -3.29403547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93654761499999 meters 0.07883827484521591 Centerline is valid? [True, True] Translation: X:61.06, Y:-8.69, Z:-3.29 [[ 9.52892007e-01 2.95734680e-01 6.73633510e-02 6.10616796e+01] [-2.95177541e-01 9.55267005e-01 -1.83076165e-02 -8.68770838e+00] [-6.97641836e-02 -2.43896687e-03 9.97560530e-01 -3.29262699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96654761499999 meters 0.07941807286888011 Centerline is valid? [True, True] Translation: X:61.09, Y:-8.70, Z:-3.29 [[ 9.52146372e-01 2.97566165e-01 6.97973041e-02 6.10927200e+01] [-2.96971581e-01 9.54697523e-01 -1.89873758e-02 -8.69781676e+00] [-7.22853139e-02 -2.64905474e-03 9.97380477e-01 -3.29096781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.99654761499999 meters 0.07963573680039153 Centerline is valid? [True, True] Translation: X:61.12, Y:-8.71, Z:-3.29 [[ 9.52281042e-01 2.97391000e-01 6.86979634e-02 6.11220959e+01] [-2.96813119e-01 9.54752305e-01 -1.87085127e-02 -8.70862013e+00] [-7.11532822e-02 -2.57469476e-03 9.97462070e-01 -3.29476911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02654761499999 meters 0.07822081465407978 Centerline is valid? [True, True] Translation: X:61.15, Y:-8.72, Z:-3.30 [[ 9.53956915e-01 2.92389425e-01 6.68926662e-02 6.11501186e+01] [-2.91827954e-01 9.56296977e-01 -1.82356128e-02 -8.72135692e+00] [-6.93011548e-02 -2.12516101e-03 9.97593521e-01 -3.30278523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.056547614999985 meters 0.07765724517418277 Centerline is valid? [True, True] Translation: X:61.18, Y:-8.73, Z:-3.31 [[ 9.55314414e-01 2.88449427e-01 6.45855962e-02 6.11794496e+01] [-2.87916211e-01 9.57493508e-01 -1.76192264e-02 -8.73430185e+00] [-6.69225448e-02 -1.76333921e-03 9.97756615e-01 -3.31069461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.086547614999986 meters 0.07687583331057582 Centerline is valid? [True, True] Translation: X:61.21, Y:-8.75, Z:-3.31 [[ 9.55923460e-01 2.86339315e-01 6.49625629e-02 6.12081920e+01] [-2.85793874e-01 9.58126926e-01 -1.77385038e-02 -8.74967085e+00] [-6.73216117e-02 -1.60925063e-03 9.97730029e-01 -3.31154986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11654761499999 meters 0.07692939732881536 Centerline is valid? [True, True] Translation: X:61.24, Y:-8.76, Z:-3.31 [[ 9.56112800e-01 2.85933904e-01 6.39540196e-02 6.12376419e+01] [-2.85403370e-01 9.58248103e-01 -1.74782794e-02 -8.76309121e+00] [-6.62814506e-02 -1.54148606e-03 9.97799776e-01 -3.31373368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14654761499999 meters 0.076303571246447 Centerline is valid? [True, True] Translation: X:61.27, Y:-8.78, Z:-3.32 [[ 9.56576559e-01 2.84523969e-01 6.33040103e-02 6.12674804e+01] [-2.83999830e-01 9.58667889e-01 -1.73197954e-02 -8.77547847e+00] [-6.56154188e-02 -1.41061782e-03 9.97843989e-01 -3.31712090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.17654761499999 meters 0.07593433359037224 Centerline is valid? [True, True] Translation: X:61.30, Y:-8.78, Z:-3.32 [[ 9.57001837e-01 2.82951541e-01 6.39211102e-02 6.12988841e+01] [-2.82412292e-01 9.59133330e-01 -1.75086482e-02 -8.78372475e+00] [-6.62629663e-02 -1.29629874e-03 9.97801352e-01 -3.32106659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20654761499999 meters 0.0759743112924456 Centerline is valid? [True, True] Translation: X:61.33, Y:-8.79, Z:-3.32 [[ 9.57146309e-01 2.82323996e-01 6.45298718e-02 6.13293246e+01] [-2.81772839e-01 9.59318282e-01 -1.76776819e-02 -8.79210868e+00] [-6.68955196e-02 -1.26263722e-03 9.97759187e-01 -3.32460916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23654761499999 meters 0.07561985485292683 Centerline is valid? [True, True] Translation: X:61.36, Y:-8.80, Z:-3.33 [[ 9.57785443e-01 2.80295458e-01 6.38866334e-02 6.13587362e+01] [-2.79749656e-01 9.59913152e-01 -1.75177133e-02 -8.80455260e+00] [-6.62357551e-02 -1.09405299e-03 9.97803401e-01 -3.32867074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.266547614999986 meters 0.07556257245157479 Centerline is valid? [True, True] Translation: X:61.39, Y:-8.81, Z:-3.33 [[ 9.57028623e-01 2.82771942e-01 6.43136275e-02 6.13894257e+01] [-2.82223259e-01 9.59186346e-01 -1.76517576e-02 -8.81207216e+00] [-6.66801752e-02 -1.25756430e-03 9.97773608e-01 -3.33034052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29654761499999 meters 0.07530947601689862 Centerline is valid? [True, True] Translation: X:61.42, Y:-8.83, Z:-3.33 [[ 9.57493930e-01 2.81270372e-01 6.39714985e-02 6.14190288e+01] [-2.80722948e-01 9.59627898e-01 -1.75762269e-02 -8.82529578e+00] [-6.63325065e-02 -1.12913709e-03 9.97796935e-01 -3.33107720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32654761499999 meters 0.07467321790714428 Centerline is valid? [True, True] Translation: X:61.45, Y:-8.84, Z:-3.33 [[ 9.57991302e-01 2.79371174e-01 6.48414369e-02 6.14483435e+01] [-2.78804237e-01 9.60182654e-01 -1.78176404e-02 -8.83902153e+00] [-6.72373581e-02 -1.00892286e-03 9.97736498e-01 -3.33026793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.35654761499999 meters 0.07468710693710294 Centerline is valid? [True, True] Translation: X:61.48, Y:-8.85, Z:-3.34 [[ 9.58292160e-01 2.78236351e-01 6.52737941e-02 6.14782216e+01] [-2.77658021e-01 9.60512201e-01 -1.79536795e-02 -8.84659813e+00] [-6.76916419e-02 -9.18922152e-04 9.97705867e-01 -3.33500559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38654761499999 meters 0.07500187929376542 Centerline is valid? [True, True] Translation: X:61.51, Y:-8.85, Z:-3.34 [[ 9.59019295e-01 2.75390201e-01 6.66500541e-02 6.15098729e+01] [-2.74779241e-01 9.61332264e-01 -1.83479440e-02 -8.85024407e+00] [-6.91256914e-02 -7.18018990e-04 9.97607700e-01 -3.34382529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41654761499999 meters 0.07478345854669802 Centerline is valid? [True, True] Translation: X:61.54, Y:-8.86, Z:-3.35 [[ 9.58905559e-01 2.76134591e-01 6.51906247e-02 6.15392973e+01] [-2.75550754e-01 9.61118693e-01 -1.79622022e-02 -8.86292405e+00] [-6.76159133e-02 -7.39270289e-04 9.97711151e-01 -3.34505434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.446547614999986 meters 0.0743231638230805 Centerline is valid? [True, True] Translation: X:61.57, Y:-8.87, Z:-3.34 [[ 9.58136616e-01 2.78340714e-01 6.70870441e-02 6.15688945e+01] [-2.77726516e-01 9.60481978e-01 -1.85027626e-02 -8.87328657e+00] [-6.95859690e-02 -9.03676664e-04 9.97575549e-01 -3.34295998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47654761499999 meters 0.07419171590750347 Centerline is valid? [True, True] Translation: X:61.60, Y:-8.88, Z:-3.34 [[ 9.57367960e-01 2.80792188e-01 6.78405147e-02 6.16006416e+01] [-2.80169137e-01 9.59767984e-01 -1.87262286e-02 -8.87924134e+00] [-7.03693327e-02 -1.07892716e-03 9.97520422e-01 -3.34310243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50654761499999 meters 0.07511834582373819 Centerline is valid? [True, True] Translation: X:61.63, Y:-8.88, Z:-3.35 [[ 9.57657377e-01 2.80542351e-01 6.47173592e-02 6.16311873e+01] [-2.79973617e-01 9.59841133e-01 -1.78821916e-02 -8.88120765e+00] [-6.71350955e-02 -9.94140469e-04 9.97743399e-01 -3.35278672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.53654761499999 meters 0.07611535561464455 Centerline is valid? [True, True] Translation: X:61.66, Y:-8.89, Z:-3.36 [[ 9.57698262e-01 2.81091077e-01 6.16590998e-02 6.16605594e+01] [-2.80575588e-01 9.59680599e-01 -1.70437165e-02 -8.88672407e+00] [-6.39638785e-02 -9.77300454e-04 9.97951736e-01 -3.36265809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56654761499999 meters 0.07595547855418884 Centerline is valid? [True, True] Translation: X:61.69, Y:-8.90, Z:-3.36 [[ 9.57591045e-01 2.81842743e-01 5.98670158e-02 6.16906878e+01] [-2.81357471e-01 9.59460107e-01 -1.65612726e-02 -8.89915656e+00] [-6.21076880e-02 -9.85105853e-04 9.98068968e-01 -3.36321808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59654761499999 meters 0.07521904922634284 Centerline is valid? [True, True] Translation: X:61.72, Y:-8.91, Z:-3.36 [[ 9.57412296e-01 2.81480674e-01 6.42676098e-02 6.17197820e+01] [-2.80919248e-01 9.59566362e-01 -1.77981480e-02 -8.90921436e+00] [-6.66788712e-02 -1.01384287e-03 9.97773973e-01 -3.36152246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.626547614999986 meters 0.07562864979273747 Centerline is valid? [True, True] Translation: X:61.75, Y:-8.91, Z:-3.36 [[ 9.56868392e-01 2.83385794e-01 6.39950974e-02 6.17516787e+01] [-2.82832684e-01 9.59005324e-01 -1.77330650e-02 -8.91262167e+00] [-6.63969378e-02 -1.13169576e-03 9.97792647e-01 -3.36426152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65654761499999 meters 0.07628745246789256 Centerline is valid? [True, True] Translation: X:61.78, Y:-8.92, Z:-3.37 [[ 9.56572162e-01 2.85399075e-01 5.93048623e-02 6.17825016e+01] [-2.84926838e-01 9.58408067e-01 -1.64521887e-02 -8.91910725e+00] [-6.15336979e-02 -1.15984115e-03 9.98104333e-01 -3.36892921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68654761499999 meters 0.07614876061624197 Centerline is valid? [True, True] Translation: X:61.81, Y:-8.93, Z:-3.37 [[ 9.56563768e-01 2.85414515e-01 5.93659120e-02 6.18137774e+01] [-2.84941317e-01 9.58403467e-01 -1.64693904e-02 -8.92902392e+00] [-6.15970989e-02 -1.16177902e-03 9.98100420e-01 -3.37223537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.71654761499999 meters 0.0758318161363343 Centerline is valid? [True, True] Translation: X:61.84, Y:-8.94, Z:-3.37 [[ 9.56462164e-01 2.85407390e-01 6.10143443e-02 6.18428839e+01] [-2.84906180e-01 9.58405574e-01 -1.69476876e-02 -8.93911129e+00] [-6.33134830e-02 -1.17354183e-03 9.97992999e-01 -3.37325936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74654761499999 meters 0.07591682093942262 Centerline is valid? [True, True] Translation: X:61.87, Y:-8.95, Z:-3.38 [[ 9.56836004e-01 2.83820863e-01 6.25346212e-02 6.18728443e+01] [-2.83289911e-01 9.58876714e-01 -1.73860396e-02 -8.94551567e+00] [-6.48975129e-02 -1.07983863e-03 9.97891350e-01 -3.38120525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.77654761499999 meters 0.0754473766460369 Centerline is valid? [True, True] Translation: X:61.90, Y:-8.96, Z:-3.38 [[ 9.57431616e-01 2.81537550e-01 6.37284013e-02 6.19036641e+01] [-2.80979783e-01 9.59549766e-01 -1.77371912e-02 -8.95631329e+00] [-6.61442580e-02 -9.24244734e-04 9.97809643e-01 -3.38405749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.806547614999985 meters 0.07428847106059862 Centerline is valid? [True, True] Translation: X:61.93, Y:-8.97, Z:-3.38 [[ 9.58301391e-01 2.78187479e-01 6.53465424e-02 6.19315763e+01] [-2.77592998e-01 9.60526536e-01 -1.81906953e-02 -8.97240836e+00] [-6.78275117e-02 -7.07574003e-04 9.97696812e-01 -3.38062758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.836547614999986 meters 0.07365562582804319 Centerline is valid? [True, True] Translation: X:61.96, Y:-8.99, Z:-3.38 [[ 9.59650888e-01 2.73572659e-01 6.50244053e-02 6.19596320e+01] [-2.72972362e-01 9.61851271e-01 -1.81168933e-02 -8.98678894e+00] [-6.75000936e-02 -3.63972768e-04 9.97719201e-01 -3.38205815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86654761499999 meters 0.07344722235760737 Centerline is valid? [True, True] Translation: X:61.99, Y:-9.00, Z:-3.38 [[ 9.61496444e-01 2.67187071e-01 6.43090692e-02 6.19890210e+01] [-2.66584737e-01 9.63644675e-01 -1.79309300e-02 -9.00399551e+00] [-6.67620048e-02 9.67090664e-05 9.97768924e-01 -3.38361968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89654761499999 meters 0.07358150624417262 Centerline is valid? [True, True] Translation: X:62.02, Y:-9.02, Z:-3.38 [[ 9.63805859e-01 2.58605606e-01 6.48182523e-02 6.20177256e+01] [-2.57972959e-01 9.65982726e-01 -1.80921114e-02 -9.02040137e+00] [-6.72920335e-02 7.15926657e-04 9.97733065e-01 -3.38464282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92654761499999 meters 0.07536654822027458 Centerline is valid? [True, True] Translation: X:62.05, Y:-9.04, Z:-3.39 [[ 9.66501263e-01 2.47358266e-01 6.84777058e-02 6.20450016e+01] [-2.46622344e-01 9.68922759e-01 -1.91339020e-02 -9.03502868e+00] [-7.10825364e-02 1.60480817e-03 9.97469146e-01 -3.38755231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.95654761499999 meters 0.07787457892537898 Centerline is valid? [True, True] Translation: X:62.07, Y:-9.05, Z:-3.39 [[ 9.68340511e-01 2.39645423e-01 6.99051215e-02 6.20727070e+01] [-2.38857412e-01 9.70857920e-01 -1.95457517e-02 -9.04950199e+00] [-7.25519907e-02 2.22958683e-03 9.97362140e-01 -3.39092463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98654761499999 meters 0.07717010498415268 Centerline is valid? [True, True] Translation: X:62.10, Y:-9.05, Z:-3.39 [[ 9.68758426e-01 2.37502814e-01 7.14109628e-02 6.21046291e+01] [-2.36674118e-01 9.71383765e-01 -1.99735655e-02 -9.05379300e+00] [-7.41112279e-02 2.44843329e-03 9.97246976e-01 -3.38777279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.016547615 meters 0.0764988911979089 Centerline is valid? [True, True] Translation: X:62.14, Y:-9.05, Z:-3.39 [[ 9.68070539e-01 2.40541085e-01 7.05649979e-02 6.21385437e+01] [-2.39738818e-01 9.70636453e-01 -1.97528401e-02 -9.05001120e+00] [-7.32443289e-02 2.20497343e-03 9.97311589e-01 -3.38986258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.046547615 meters 0.07549419274799421 Centerline is valid? [True, True] Translation: X:62.17, Y:-9.05, Z:-3.39 [[ 9.66831579e-01 2.45706704e-01 6.97489233e-02 6.21724464e+01] [-2.44934981e-01 9.69342528e-01 -1.95427211e-02 -9.04507559e+00] [-7.24123752e-02 1.81056877e-03 9.97373135e-01 -3.39220351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.076547615 meters 0.0740480602727846 Centerline is valid? [True, True] Translation: X:62.21, Y:-9.04, Z:-3.39 [[ 9.65043800e-01 2.52557562e-01 7.00367221e-02 6.22075917e+01] [-2.51796289e-01 9.67580974e-01 -1.96389060e-02 -9.03808423e+00] [-7.27261541e-02 1.31741772e-03 9.97351077e-01 -3.39439027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10654761499998 meters 0.07442740081383385 Centerline is valid? [True, True] Translation: X:62.25, Y:-9.02, Z:-3.41 [[ 9.62897310e-01 2.62006165e-01 6.46648275e-02 6.22461254e+01] [-2.61378654e-01 9.65066039e-01 -1.81311708e-02 -9.01643825e+00] [-6.71563075e-02 5.56450064e-04 9.97742312e-01 -3.40663175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.13654761499998 meters 0.07442740081383385 Centerline is valid? [True, True] Translation: X:62.28, Y:-9.03, Z:-3.41 [[ 9.62826045e-01 2.62268940e-01 6.46607269e-02 6.22771117e+01] [-2.61641040e-01 9.64994662e-01 -1.81457810e-02 -9.02532061e+00] [-6.71563310e-02 5.53330718e-04 9.97742312e-01 -3.40956283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16654761499998 meters 0.07432409887570024 Centerline is valid? [True, True] Translation: X:62.31, Y:-9.03, Z:-3.41 [[ 9.61787620e-01 2.66148791e-01 6.42603712e-02 6.23089393e+01] [-2.65535952e-01 9.63931912e-01 -1.80534590e-02 -9.02710299e+00] [-6.67475288e-02 3.00154548e-04 9.97769852e-01 -3.41220174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19654761499999 meters 0.07360149882837569 Centerline is valid? [True, True] Translation: X:62.35, Y:-9.01, Z:-3.40 [[ 9.57805187e-01 2.79077125e-01 6.87399660e-02 6.23471446e+01] [-2.78407415e-01 9.60268490e-01 -1.93323271e-02 -9.01481511e+00] [-7.14040336e-02 -6.21113012e-04 9.97447281e-01 -3.40360961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22654761499999 meters 0.07380189985808494 Centerline is valid? [True, True] Translation: X:62.38, Y:-9.01, Z:-3.40 [[ 9.55994286e-01 2.84839571e-01 7.02946981e-02 6.23813764e+01] [-2.84154295e-01 9.58574606e-01 -1.97752808e-02 -9.01098551e+00] [-7.30154950e-02 -1.06948491e-03 9.97330233e-01 -3.40229096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25654761499999 meters 0.07562476170928009 Centerline is valid? [True, True] Translation: X:62.41, Y:-9.00, Z:-3.41 [[ 9.54520292e-01 2.90519806e-01 6.70018966e-02 6.24144808e+01] [-2.89910750e-01 9.56867916e-01 -1.88559930e-02 -9.00427292e+00] [-6.95900046e-02 -1.42614216e-03 9.97574658e-01 -3.41428086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28654761499999 meters 0.07616927619291593 Centerline is valid? [True, True] Translation: X:62.45, Y:-9.00, Z:-3.42 [[ 9.53025175e-01 2.95525668e-01 6.63897156e-02 6.24475497e+01] [-2.94938772e-01 9.55333177e-01 -1.86986915e-02 -9.00261339e+00] [-6.89502412e-02 -1.76057747e-03 9.97618547e-01 -3.41793778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31654761499999 meters 0.0773542069564121 Centerline is valid? [True, True] Translation: X:62.48, Y:-9.00, Z:-3.42 [[ 9.51658871e-01 3.00037121e-01 6.57504394e-02 6.24796671e+01] [-2.99471135e-01 9.53925320e-01 -1.85343888e-02 -9.00191017e+00] [-6.82820136e-02 -2.05194316e-03 9.97663950e-01 -3.42179426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34654761499999 meters 0.07807807520312919 Centerline is valid? [True, True] Translation: X:62.51, Y:-9.01, Z:-3.42 [[ 9.50371778e-01 3.04548231e-01 6.35913403e-02 6.25112777e+01] [-3.04027971e-01 9.52494177e-01 -1.79397516e-02 -9.00680518e+00] [-6.60339010e-02 -2.28411250e-03 9.97814766e-01 -3.42207257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37654761499999 meters 0.08003602046387742 Centerline is valid? [True, True] Translation: X:62.54, Y:-9.01, Z:-3.42 [[ 9.48731402e-01 3.10033423e-01 6.15467558e-02 6.25423918e+01] [-3.09556577e-01 9.50722200e-01 -1.73788648e-02 -9.00999230e+00] [-6.39018960e-02 -2.56432827e-03 9.97952891e-01 -3.42329104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.406547615 meters 0.08102354379969331 Centerline is valid? [True, True] Translation: X:62.57, Y:-9.01, Z:-3.43 [[ 9.47678186e-01 3.13575661e-01 5.98026801e-02 6.25741516e+01] [-3.13131782e-01 9.49559344e-01 -1.68979026e-02 -9.01320154e+00] [-6.20849647e-02 -2.71234608e-03 9.98067182e-01 -3.42918563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.436547615 meters 0.08203250832711917 Centerline is valid? [True, True] Translation: X:62.61, Y:-9.01, Z:-3.44 [[ 9.47300796e-01 3.14513752e-01 6.08465521e-02 6.26068004e+01] [-3.14056130e-01 9.49248722e-01 -1.71933296e-02 -9.01338272e+00] [-6.31660504e-02 -2.82197785e-03 9.97999041e-01 -3.43749904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46654761499998 meters 0.08226669171502816 Centerline is valid? [True, True] Translation: X:62.64, Y:-9.02, Z:-3.44 [[ 9.47386263e-01 3.14538951e-01 5.93676450e-02 6.26374078e+01] [-3.14102812e-01 9.49240595e-01 -1.67844183e-02 -9.02173032e+00] [-6.16335320e-02 -2.74621689e-03 9.98095069e-01 -3.44182205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.49654761499998 meters 0.08177268064335763 Centerline is valid? [True, True] Translation: X:62.67, Y:-9.04, Z:-3.44 [[ 9.47227216e-01 3.15140618e-01 5.87110821e-02 6.26670918e+01] [-3.14714312e-01 9.49041033e-01 -1.66138344e-02 -9.03580916e+00] [-6.09549201e-02 -2.74014170e-03 9.98136759e-01 -3.44235583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52654761499998 meters 0.08172154473839625 Centerline is valid? [True, True] Translation: X:62.70, Y:-9.05, Z:-3.44 [[ 9.47117119e-01 3.15914894e-01 5.62755867e-02 6.26974985e+01] [-3.15523438e-01 9.48783817e-01 -1.59445525e-02 -9.04762006e+00] [-5.84304876e-02 -2.65490803e-03 9.98287949e-01 -3.44300897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55654761499999 meters 0.08394071967782962 Centerline is valid? [True, True] Translation: X:62.73, Y:-9.05, Z:-3.45 [[ 9.45774636e-01 3.19713993e-01 5.73872902e-02 6.27285542e+01] [-3.19313875e-01 9.47509514e-01 -1.62594654e-02 -9.05092531e+00] [-5.95733820e-02 -2.94676803e-03 9.98219579e-01 -3.44627559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58654761499999 meters 0.08682293507891828 Centerline is valid? [True, True] Translation: X:62.76, Y:-9.05, Z:-3.45 [[ 9.43564285e-01 3.25574839e-01 6.07244986e-02 6.27601396e+01] [-3.25137667e-01 9.45509826e-01 -1.72239985e-02 -9.04968303e+00] [-6.30233106e-02 -3.49187194e-03 9.98005946e-01 -3.44809287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61654761499999 meters 0.08791981263154851 Centerline is valid? [True, True] Translation: X:62.79, Y:-9.06, Z:-3.45 [[ 9.42002130e-01 3.30208598e-01 5.99522253e-02 6.27892203e+01] [-3.29791524e-01 9.43900539e-01 -1.70094794e-02 -9.05898500e+00] [-6.22056142e-02 -3.74876992e-03 9.98056315e-01 -3.45390018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64654761499999 meters 0.09111127627218835 Centerline is valid? [True, True] Translation: X:62.82, Y:-9.06, Z:-3.46 [[ 9.41863818e-01 3.31145994e-01 5.68760061e-02 6.28191562e+01] [-3.30771967e-01 9.43572631e-01 -1.61429911e-02 -9.06303086e+00] [-5.90123295e-02 -3.60848917e-03 9.98250732e-01 -3.46494641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67654761499999 meters 0.09261020094042022 Centerline is valid? [True, True] Translation: X:62.85, Y:-9.07, Z:-3.47 [[ 9.41627944e-01 3.31657839e-01 5.77918122e-02 6.28488944e+01] [-3.31271839e-01 9.43392539e-01 -1.64160057e-02 -9.07342100e+00] [-5.99648615e-02 -3.68703022e-03 9.98193679e-01 -3.46782870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70654761499999 meters 0.09295554429843132 Centerline is valid? [True, True] Translation: X:62.88, Y:-9.09, Z:-3.46 [[ 9.40843771e-01 3.33204862e-01 6.15428221e-02 6.28783561e+01] [-3.32769296e-01 9.42845900e-01 -1.74986990e-02 -9.08893290e+00] [-6.38560491e-02 -4.01601959e-03 9.97951039e-01 -3.46230935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73654761499999 meters 0.08945596837588697 Centerline is valid? [True, True] Translation: X:62.91, Y:-9.11, Z:-3.46 [[ 9.40046625e-01 3.34926555e-01 6.43159827e-02 6.29058431e+01] [-3.34453730e-01 9.42234406e-01 -1.83037538e-02 -9.11124712e+00] [-6.67311450e-02 -4.30433830e-03 9.97761709e-01 -3.45728517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.766547615 meters 0.09472557400285178 Centerline is valid? [True, True] Translation: X:62.94, Y:-9.11, Z:-3.47 [[ 9.39623996e-01 3.35574038e-01 6.70582651e-02 6.29379403e+01] [-3.35060317e-01 9.42002997e-01 -1.91033252e-02 -9.10875063e+00] [-6.95796667e-02 -4.51862077e-03 9.97566164e-01 -3.46643188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.796547615 meters 0.09039851582789787 Centerline is valid? [True, True] Translation: X:62.97, Y:-9.13, Z:-3.47 [[ 9.39787289e-01 3.35243176e-01 6.64218713e-02 6.29658039e+01] [-3.34737261e-01 9.42121187e-01 -1.89376659e-02 -9.12860423e+00] [-6.89261755e-02 -4.43649756e-03 9.97611898e-01 -3.46939798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.826547615 meters 0.08886094642155834 Centerline is valid? [True, True] Translation: X:62.99, Y:-9.15, Z:-3.47 [[ 9.40993467e-01 3.32101236e-01 6.51157763e-02 6.29930406e+01] [-3.31606094e-01 9.43234825e-01 -1.85866298e-02 -9.14662859e+00] [-6.75921106e-02 -4.10289100e-03 9.97704602e-01 -3.47408109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85654761499998 meters 0.08848034537151761 Centerline is valid? [True, True] Translation: X:63.02, Y:-9.16, Z:-3.47 [[ 9.41383884e-01 3.30968077e-01 6.52419692e-02 6.30202569e+01] [-3.30468318e-01 9.43633348e-01 -1.86224514e-02 -9.16430275e+00] [-6.77279348e-02 -4.02952816e-03 9.97695690e-01 -3.47354386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88654761499998 meters 0.08741215918836648 Centerline is valid? [True, True] Translation: X:63.05, Y:-9.18, Z:-3.47 [[ 9.41287087e-01 3.31038046e-01 6.62754172e-02 6.30487577e+01] [-3.30521491e-01 9.43608565e-01 -1.89319703e-02 -9.18115887e+00] [-6.88052538e-02 -4.08503051e-03 9.97621747e-01 -3.47225218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91654761499998 meters 0.08877906659594607 Centerline is valid? [True, True] Translation: X:63.08, Y:-9.19, Z:-3.48 [[ 9.40556889e-01 3.33174063e-01 6.59377158e-02 6.30778795e+01] [-3.32666588e-01 9.42855981e-01 -1.88557783e-02 -9.18786641e+00] [-6.84520260e-02 -4.20034279e-03 9.97645567e-01 -3.47832155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94654761499999 meters 0.09052161172286283 Centerline is valid? [True, True] Translation: X:63.11, Y:-9.19, Z:-3.49 [[ 9.40065215e-01 3.34351213e-01 6.69825124e-02 6.31086344e+01] [-3.33830060e-01 9.42438516e-01 -1.91607337e-02 -9.19252378e+00] [-6.95333141e-02 -4.34843688e-03 9.97570153e-01 -3.48565707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97654761499999 meters 0.08758667099013201 Centerline is valid? [True, True] Translation: X:63.13, Y:-9.22, Z:-3.49 [[ 9.41186644e-01 3.31508087e-01 6.53459167e-02 6.31332910e+01] [-3.31004179e-01 9.43443807e-01 -1.87087208e-02 -9.21906199e+00] [-6.78522927e-02 -4.02137339e-03 9.97687273e-01 -3.48810714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00654761499999 meters 0.08933992104009066 Centerline is valid? [True, True] Translation: X:63.16, Y:-9.23, Z:-3.49 [[ 9.41458981e-01 3.31069746e-01 6.36223975e-02 6.31623175e+01] [-3.30590391e-01 9.43598333e-01 -1.82257883e-02 -9.23117764e+00] [-6.60679954e-02 -3.87412112e-03 9.97807602e-01 -3.49276225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03654761499999 meters 0.09141958176027183 Centerline is valid? [True, True] Translation: X:63.19, Y:-9.24, Z:-3.50 [[ 9.40564451e-01 3.33647536e-01 6.33863970e-02 6.31927287e+01] [-3.33176295e-01 9.42689315e-01 -1.81772131e-02 -9.23837210e+00] [-6.58184615e-02 -4.02200448e-03 9.97823508e-01 -3.50003897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06654761499999 meters 0.09811117618805192 Centerline is valid? [True, True] Translation: X:63.23, Y:-9.23, Z:-3.51 [[ 9.40143764e-01 3.34650687e-01 6.43321170e-02 6.32251246e+01] [-3.34166596e-01 9.42333160e-01 -1.84635186e-02 -9.23425529e+00] [-6.68011163e-02 -4.13928276e-03 9.97757725e-01 -3.50962109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09654761499999 meters 0.09039768784626674 Centerline is valid? [True, True] Translation: X:63.25, Y:-9.26, Z:-3.51 [[ 9.41268071e-01 3.31027935e-01 6.65952282e-02 6.32509569e+01] [-3.30498773e-01 9.43612474e-01 -1.91326962e-02 -9.25994263e+00] [-6.91735449e-02 -4.00064518e-03 9.97596620e-01 -3.50831310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12654761499999 meters 0.0876218215473427 Centerline is valid? [True, True] Translation: X:63.28, Y:-9.28, Z:-3.51 [[ 9.42521786e-01 3.27591488e-01 6.58521130e-02 6.32776811e+01] [-3.27065369e-01 9.44812212e-01 -1.89242639e-02 -9.28136675e+00] [-6.84173084e-02 -3.70141461e-03 9.97649924e-01 -3.50795451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.156547615 meters 0.08668403370933844 Centerline is valid? [True, True] Translation: X:63.31, Y:-9.30, Z:-3.51 [[ 9.42991961e-01 3.26331048e-01 6.53774388e-02 6.33069434e+01] [-3.25809143e-01 9.45248770e-01 -1.87927005e-02 -9.29791122e+00] [-6.79305852e-02 -3.57920186e-03 9.97683630e-01 -3.50848594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.186547615 meters 0.0828320992076304 Centerline is valid? [True, True] Translation: X:63.34, Y:-9.31, Z:-3.51 [[ 9.42804394e-01 3.26537389e-01 6.70313984e-02 6.33361837e+01] [-3.25989063e-01 9.45177110e-01 -1.92707341e-02 -9.31378420e+00] [-6.96491586e-02 -3.68297003e-03 9.97564750e-01 -3.50827582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21654761499998 meters 0.08262238073395141 Centerline is valid? [True, True] Translation: X:63.36, Y:-9.32, Z:-3.51 [[ 9.44152277e-01 3.22662843e-01 6.68219083e-02 6.33647589e+01] [-3.22106863e-01 9.46507978e-01 -1.92306282e-02 -9.32279601e+00] [-6.94524784e-02 -3.36715389e-03 9.97579579e-01 -3.51294827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24654761499998 meters 0.08235943891824328 Centerline is valid? [True, True] Translation: X:63.39, Y:-9.33, Z:-3.52 [[ 9.45159862e-01 3.19448237e-01 6.80121944e-02 6.33929229e+01] [-3.18863071e-01 9.47598408e-01 -1.95856733e-02 -9.33425190e+00] [-7.07048560e-02 -3.17498488e-03 9.97492227e-01 -3.51518871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27654761499998 meters 0.08192978662378611 Centerline is valid? [True, True] Translation: X:63.42, Y:-9.35, Z:-3.52 [[ 9.45405807e-01 3.18979841e-01 6.67811476e-02 6.34227897e+01] [-3.18413897e-01 9.47756514e-01 -1.92400726e-02 -9.34738243e+00] [-6.94294629e-02 -3.07436912e-03 9.97582126e-01 -3.51755805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30654761499999 meters 0.08452271352977599 Centerline is valid? [True, True] Translation: X:63.45, Y:-9.35, Z:-3.52 [[ 9.44549075e-01 3.21773663e-01 6.54885861e-02 6.34529730e+01] [-3.21234647e-01 9.46811227e-01 -1.88892232e-02 -9.35109490e+00] [-6.80833831e-02 -3.19540455e-03 9.97674517e-01 -3.52164283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33654761499999 meters 0.0826093144400025 Centerline is valid? [True, True] Translation: X:63.48, Y:-9.36, Z:-3.52 [[ 9.44284529e-01 3.22593009e-01 6.52723504e-02 6.34821656e+01] [-3.22058886e-01 9.46532242e-01 -1.88358458e-02 -9.36457412e+00] [-6.78586963e-02 -3.23514276e-03 9.97689697e-01 -3.52253001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36654761499999 meters 0.08239502750879316 Centerline is valid? [True, True] Translation: X:63.51, Y:-9.38, Z:-3.53 [[ 9.44834204e-01 3.20860584e-01 6.58544862e-02 6.35104712e+01] [-3.20311361e-01 9.47121296e-01 -1.90231954e-02 -9.37544915e+00] [-6.84759799e-02 -3.12017445e-03 9.97647886e-01 -3.52558798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39654761499999 meters 0.08118017972700531 Centerline is valid? [True, True] Translation: X:63.54, Y:-9.39, Z:-3.53 [[ 9.46076462e-01 3.17383175e-01 6.48633005e-02 6.35380605e+01] [-3.16841503e-01 9.48293202e-01 -1.87474186e-02 -9.38942534e+00] [-6.74595422e-02 -2.81489412e-03 9.97718040e-01 -3.52938379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42654761499999 meters 0.07984463090263144 Centerline is valid? [True, True] Translation: X:63.57, Y:-9.40, Z:-3.53 [[ 9.47184977e-01 3.13937710e-01 6.54502374e-02 6.35671642e+01] [-3.13376963e-01 9.49440080e-01 -1.89318348e-02 -9.39981955e+00] [-6.80844955e-02 -2.57864709e-03 9.97676226e-01 -3.53346211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45654761499999 meters 0.07917089448945397 Centerline is valid? [True, True] Translation: X:63.60, Y:-9.41, Z:-3.54 [[ 9.47306668e-01 3.13939082e-01 6.36579123e-02 6.35981160e+01] [-3.13407823e-01 9.49439847e-01 -1.84258932e-02 -9.40813286e+00] [-6.62239665e-02 -2.49591619e-03 9.97801662e-01 -3.53664385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48654761499999 meters 0.08072595673606346 Centerline is valid? [True, True] Translation: X:63.63, Y:-9.41, Z:-3.54 [[ 9.47274121e-01 3.14065064e-01 6.35206643e-02 6.36291426e+01] [-3.13535270e-01 9.49398214e-01 -1.84028892e-02 -9.41492295e+00] [-6.60861098e-02 -2.48338793e-03 9.97810833e-01 -3.54049110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.516547615 meters 0.07854726094097045 Centerline is valid? [True, True] Translation: X:63.66, Y:-9.43, Z:-3.53 [[ 9.47298160e-01 3.13096710e-01 6.77985751e-02 6.36572441e+01] [-3.12489038e-01 9.49717803e-01 -1.96645574e-02 -9.43276262e+00] [-7.05464221e-02 -2.55811249e-03 9.97505217e-01 -3.53116010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.546547615 meters 0.07879345030552676 Centerline is valid? [True, True] Translation: X:63.69, Y:-9.43, Z:-3.54 [[ 9.47175264e-01 3.12824177e-01 7.07110534e-02 6.36883942e+01] [-3.12161190e-01 9.49807404e-01 -2.05252472e-02 -9.43488477e+00] [-7.35826757e-02 -2.63224015e-03 9.97285647e-01 -3.53839542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57654761499998 meters 0.07901423289725387 Centerline is valid? [True, True] Translation: X:63.72, Y:-9.44, Z:-3.55 [[ 9.47130801e-01 3.13576574e-01 6.79189034e-02 6.37186783e+01] [-3.12965598e-01 9.49559448e-01 -1.97329493e-02 -9.44366798e+00] [-7.06808270e-02 -2.56659616e-03 9.97495681e-01 -3.54567339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60654761499998 meters 0.08046935435620624 Centerline is valid? [True, True] Translation: X:63.75, Y:-9.45, Z:-3.55 [[ 9.46466122e-01 3.16199398e-01 6.49601408e-02 6.37485558e+01] [-3.15645891e-01 9.48689107e-01 -1.88851631e-02 -9.45045178e+00] [-6.75984552e-02 -2.63023440e-03 9.97709141e-01 -3.55153155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63654761499998 meters 0.08077198361600109 Centerline is valid? [True, True] Translation: X:63.78, Y:-9.46, Z:-3.55 [[ 9.45301543e-01 3.19215627e-01 6.71295529e-02 6.37806492e+01] [-3.18631710e-01 9.47677562e-01 -1.95210686e-02 -9.45709723e+00] [-6.98486012e-02 -2.93630794e-03 9.97553282e-01 -3.54930165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66654761499998 meters 0.08191760777844734 Centerline is valid? [True, True] Translation: X:63.81, Y:-9.46, Z:-3.55 [[ 9.44310516e-01 3.22109962e-01 6.72519227e-02 6.38124142e+01] [-3.21530247e-01 9.46697045e-01 -1.95705245e-02 -9.46352818e+00] [-6.99710574e-02 -3.14287517e-03 9.97544071e-01 -3.55060076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69654761499999 meters 0.08216334167720611 Centerline is valid? [True, True] Translation: X:63.84, Y:-9.47, Z:-3.56 [[ 9.44876280e-01 3.21283497e-01 6.31326374e-02 6.38418123e+01] [-3.20770830e-01 9.46978643e-01 -1.83718166e-02 -9.47256426e+00] [-6.56878208e-02 -2.89201474e-03 9.97836032e-01 -3.55953402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72654761499999 meters 0.08230508404944788 Centerline is valid? [True, True] Translation: X:63.87, Y:-9.48, Z:-3.57 [[ 9.45824716e-01 3.19576855e-01 5.73257398e-02 6.38710787e+01] [-3.19150363e-01 9.47557046e-01 -1.66940539e-02 -9.48146665e+00] [-5.96544419e-02 -2.50588190e-03 9.98215943e-01 -3.57071814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75654761499999 meters 0.08075537258488125 Centerline is valid? [True, True] Translation: X:63.90, Y:-9.50, Z:-3.57 [[ 9.45894434e-01 3.18867730e-01 6.00590538e-02 6.39003266e+01] [-3.18396885e-01 9.47795768e-01 -1.75101546e-02 -9.49534737e+00] [-6.25071403e-02 -2.55985786e-03 9.98041234e-01 -3.56952201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78654761499999 meters 0.08004058108428991 Centerline is valid? [True, True] Translation: X:63.93, Y:-9.51, Z:-3.57 [[ 9.45855535e-01 3.18757503e-01 6.12450943e-02 6.39300693e+01] [-3.18267745e-01 9.47832722e-01 -1.78542197e-02 -9.50648045e+00] [-6.37412709e-02 -2.60482558e-03 9.97963058e-01 -3.57082290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81654761499999 meters 0.08064357866186181 Centerline is valid? [True, True] Translation: X:63.96, Y:-9.51, Z:-3.57 [[ 9.45557564e-01 3.19388498e-01 6.25450275e-02 6.39607938e+01] [-3.18877798e-01 9.47620060e-01 -1.82529875e-02 -9.51087273e+00] [-6.50987170e-02 -2.68497032e-03 9.97875217e-01 -3.57479389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84654761499999 meters 0.08065030959761307 Centerline is valid? [True, True] Translation: X:63.99, Y:-9.52, Z:-3.58 [[ 9.45028834e-01 3.20810541e-01 6.32542482e-02 6.39923040e+01] [-3.20290900e-01 9.47139225e-01 -1.84669215e-02 -9.51588595e+00] [-6.58349627e-02 -2.80798681e-03 9.97826575e-01 -3.57804002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87654761499999 meters 0.08105501194819431 Centerline is valid? [True, True] Translation: X:64.02, Y:-9.52, Z:-3.58 [[ 9.44656028e-01 3.21549057e-01 6.50476110e-02 6.40223657e+01] [-3.21000028e-01 9.46888407e-01 -1.90085824e-02 -9.52465448e+00] [-6.77050206e-02 -2.92371307e-03 9.97701099e-01 -3.57855590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.906547615 meters 0.08242446767212953 Centerline is valid? [True, True] Translation: X:64.05, Y:-9.53, Z:-3.58 [[ 9.43909968e-01 3.23339275e-01 6.69752534e-02 6.40524653e+01] [-3.22760472e-01 9.46277939e-01 -1.95892643e-02 -9.53168660e+00] [-6.97111833e-02 -3.12646261e-03 9.97562317e-01 -3.57730175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.936547615 meters 0.08221382747636488 Centerline is valid? [True, True] Translation: X:64.08, Y:-9.54, Z:-3.58 [[ 9.43621960e-01 3.24327829e-01 6.62499448e-02 6.40825064e+01] [-3.23763110e-01 9.45939488e-01 -1.93889874e-02 -9.54228659e+00] [-6.89568271e-02 -3.15341386e-03 9.97614661e-01 -3.58069560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96654761499998 meters 0.08135755988877395 Centerline is valid? [True, True] Translation: X:64.11, Y:-9.55, Z:-3.59 [[ 9.44610259e-01 3.21850195e-01 6.42176863e-02 6.41129790e+01] [-3.21312629e-01 9.46786278e-01 -1.88132380e-02 -9.55180210e+00] [-6.68554685e-02 -2.86277597e-03 9.97758563e-01 -3.58870539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99654761499998 meters 0.08056958891947519 Centerline is valid? [True, True] Translation: X:64.14, Y:-9.56, Z:-3.59 [[ 9.45416114e-01 3.19416200e-01 6.45109504e-02 6.41435241e+01] [-3.18867645e-01 9.47610688e-01 -1.89052423e-02 -9.55912362e+00] [-6.71699068e-02 -2.69713412e-03 9.97737906e-01 -3.59431615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02654761499998 meters 0.08152699086821229 Centerline is valid? [True, True] Translation: X:64.17, Y:-9.57, Z:-3.60 [[ 9.45518471e-01 3.19754233e-01 6.12539941e-02 6.41729046e+01] [-3.19260284e-01 9.47497001e-01 -1.79528022e-02 -9.56714298e+00] [-6.37784603e-02 -2.58126151e-03 9.97960743e-01 -3.59881276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05654761499999 meters 0.08152699086821229 Centerline is valid? [True, True] Translation: X:64.20, Y:-9.58, Z:-3.60 [[ 9.45435620e-01 3.19999519e-01 6.12519127e-02 6.42038149e+01] [-3.19505625e-01 9.47414164e-01 -1.79599014e-02 -9.57642046e+00] [-6.37780894e-02 -2.59040014e-03 9.97960743e-01 -3.60174285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08654761499999 meters 0.08278513776627276 Centerline is valid? [True, True] Translation: X:64.23, Y:-9.58, Z:-3.60 [[ 9.44612837e-01 3.22781759e-01 5.93171562e-02 6.42347165e+01] [-3.22322968e-01 9.46469645e-01 -1.74102038e-02 -9.58197615e+00] [-6.17615840e-02 -2.67337983e-03 9.98087351e-01 -3.60341553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11654761499999 meters 0.0813623960549136 Centerline is valid? [True, True] Translation: X:64.26, Y:-9.60, Z:-3.60 [[ 9.44105672e-01 3.24621077e-01 5.73204630e-02 6.42638975e+01] [-3.24195353e-01 9.45840330e-01 -1.68357849e-02 -9.59512830e+00] [-5.96812563e-02 -2.68826769e-03 9.98213865e-01 -3.60184942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14654761499999 meters 0.08458751714926763 Centerline is valid? [True, True] Translation: X:64.29, Y:-9.60, Z:-3.61 [[ 9.44301693e-01 3.24169447e-01 5.66434690e-02 6.42942984e+01] [-3.23752145e-01 9.45995416e-01 -1.66499741e-02 -9.59833049e+00] [-5.89818749e-02 -2.61584592e-03 9.98255626e-01 -3.60970685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17654761499999 meters 0.08134658131129154 Centerline is valid? [True, True] Translation: X:64.32, Y:-9.61, Z:-3.61 [[ 9.44289619e-01 3.23601364e-01 5.99939392e-02 6.43231416e+01] [-3.23130990e-01 9.46189607e-01 -1.76519286e-02 -9.61025929e+00] [-6.24778300e-02 -2.71736800e-03 9.98042653e-01 -3.61045816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20654761499999 meters 0.08065579465168263 Centerline is valid? [True, True] Translation: X:64.35, Y:-9.62, Z:-3.61 [[ 9.44530996e-01 3.22277279e-01 6.32341124e-02 6.43535147e+01] [-3.21750648e-01 9.46641302e-01 -1.86216437e-02 -9.61973506e+00] [-6.58613551e-02 -2.75689697e-03 9.97824975e-01 -3.61156542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23654761499999 meters 0.08341503278830338 Centerline is valid? [True, True] Translation: X:64.38, Y:-9.63, Z:-3.62 [[ 9.44726995e-01 3.21541378e-01 6.40472281e-02 6.43839914e+01] [-3.20999479e-01 9.46891560e-01 -1.88602028e-02 -9.62606207e+00] [-6.67101153e-02 -2.74138419e-03 9.97768633e-01 -3.61523209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.266547615 meters 0.08135318294670306 Centerline is valid? [True, True] Translation: X:64.41, Y:-9.64, Z:-3.61 [[ 9.44715451e-01 3.21574311e-01 6.40521645e-02 6.44136958e+01] [-3.21031287e-01 9.46880415e-01 -1.88783597e-02 -9.64029247e+00] [-6.67205356e-02 -2.72807069e-03 9.97767973e-01 -3.61423578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.296547615 meters 0.07994101419912022 Centerline is valid? [True, True] Translation: X:64.44, Y:-9.65, Z:-3.62 [[ 9.44494655e-01 3.22636628e-01 6.19310400e-02 6.44435196e+01] [-3.22130049e-01 9.46519075e-01 -1.82721534e-02 -9.65129999e+00] [-6.45141767e-02 -2.69189774e-03 9.97913160e-01 -3.61901009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32654761499998 meters 0.08188794591860211 Centerline is valid? [True, True] Translation: X:64.47, Y:-9.65, Z:-3.63 [[ 9.45034505e-01 3.21431325e-01 5.99306947e-02 6.44749214e+01] [-3.20954458e-01 9.46929530e-01 -1.76833623e-02 -9.65447829e+00] [-6.24341312e-02 -2.52363610e-03 9.98045896e-01 -3.63036047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35654761499998 meters 0.08173589540274813 Centerline is valid? [True, True] Translation: X:64.50, Y:-9.67, Z:-3.63 [[ 9.45509338e-01 3.20352313e-01 5.81935278e-02 6.45038997e+01] [-3.19900156e-01 9.47295500e-01 -1.71792139e-02 -9.66650002e+00] [-6.06298679e-02 -2.37301149e-03 9.98157497e-01 -3.63482126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38654761499998 meters 0.08005212899464346 Centerline is valid? [True, True] Translation: X:64.53, Y:-9.68, Z:-3.63 [[ 9.45140834e-01 3.21173518e-01 5.96353502e-02 6.45328761e+01] [-3.20699241e-01 9.47017144e-01 -1.76217615e-02 -9.68273074e+00] [-6.21353421e-02 -2.46996514e-03 9.98064677e-01 -3.63258269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41654761499998 meters 0.0852791101596069 Centerline is valid? [True, True] Translation: X:64.57, Y:-9.67, Z:-3.64 [[ 9.44737451e-01 3.21910249e-01 6.20075808e-02 6.45673891e+01] [-3.21397864e-01 9.46766615e-01 -1.83409358e-02 -9.67372271e+00] [-6.46108426e-02 -2.60173509e-03 9.97907145e-01 -3.64388303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44654761499999 meters 0.0814407834912477 Centerline is valid? [True, True] Translation: X:64.60, Y:-9.69, Z:-3.64 [[ 9.44198233e-01 3.23234235e-01 6.33192461e-02 6.45957103e+01] [-3.22701847e-01 9.46315039e-01 -1.87447512e-02 -9.69212506e+00] [-6.59789001e-02 -2.73447675e-03 9.97817272e-01 -3.63954091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47654761499999 meters 0.08050911492937926 Centerline is valid? [True, True] Translation: X:64.62, Y:-9.71, Z:-3.64 [[ 9.44016629e-01 3.23881618e-01 6.27160366e-02 6.46238813e+01] [-3.23359687e-01 9.46093654e-01 -1.85825302e-02 -9.71035234e+00] [-6.53537842e-02 -2.73762043e-03 9.97858401e-01 -3.63575040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50654761499999 meters 0.0802249483699785 Centerline is valid? [True, True] Translation: X:64.65, Y:-9.72, Z:-3.64 [[ 9.44090804e-01 3.23217568e-01 6.49842936e-02 6.46535498e+01] [-3.22654147e-01 9.46320631e-01 -1.92760398e-02 -9.71841058e+00] [-6.77263324e-02 -2.76911988e-03 9.97700093e-01 -3.63852882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53654761499999 meters 0.07902690928039552 Centerline is valid? [True, True] Translation: X:64.68, Y:-9.73, Z:-3.64 [[ 9.44811771e-01 3.20436691e-01 6.81985679e-02 6.46829138e+01] [-3.19808309e-01 9.47266114e-01 -2.02374336e-02 -9.72761064e+00] [-7.10870086e-02 -2.68990323e-03 9.97466491e-01 -3.64176224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56654761499999 meters 0.07916918596055564 Centerline is valid? [True, True] Translation: X:64.71, Y:-9.74, Z:-3.65 [[ 9.45328930e-01 3.19079711e-01 6.73895478e-02 6.47125742e+01] [-3.18461695e-01 9.47724470e-01 -2.00119526e-02 -9.73747839e+00] [-7.02521315e-02 -2.54311185e-03 9.97526025e-01 -3.64601085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59654761499999 meters 0.07825761355224739 Centerline is valid? [True, True] Translation: X:64.74, Y:-9.75, Z:-3.65 [[ 9.45837982e-01 3.18049152e-01 6.50787954e-02 6.47423841e+01] [-3.17469382e-01 9.48071270e-01 -1.93406131e-02 -9.75290418e+00] [-6.78506018e-02 -2.36743845e-03 9.97692684e-01 -3.65040520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62654761499999 meters 0.07832135526278936 Centerline is valid? [True, True] Translation: X:64.77, Y:-9.76, Z:-3.65 [[ 9.45456364e-01 3.18863972e-01 6.66185481e-02 6.47729442e+01] [-3.18257020e-01 9.47797286e-01 -1.98185413e-02 -9.76100511e+00] [-6.94602978e-02 -2.46425463e-03 9.97581673e-01 -3.65415354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.656547615 meters 0.07867151605203254 Centerline is valid? [True, True] Translation: X:64.80, Y:-9.77, Z:-3.65 [[ 9.44909349e-01 3.20344311e-01 6.72743955e-02 6.48041947e+01] [-3.19727872e-01 9.47297659e-01 -2.00308102e-02 -9.76902661e+00] [-7.01456334e-02 -2.58219949e-03 9.97533419e-01 -3.65421186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.686547615 meters 0.07926476382247107 Centerline is valid? [True, True] Translation: X:64.83, Y:-9.78, Z:-3.66 [[ 9.45380665e-01 3.19367059e-01 6.52692822e-02 6.48338734e+01] [-3.18783469e-01 9.47628000e-01 -1.94492667e-02 -9.78120788e+00] [-6.80624544e-02 -2.41980747e-03 9.97678128e-01 -3.65721428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71654761499998 meters 0.07823567790306299 Centerline is valid? [True, True] Translation: X:64.86, Y:-9.79, Z:-3.66 [[ 9.46090345e-01 3.17829932e-01 6.24275073e-02 6.48648330e+01] [-3.17291758e-01 9.48145201e-01 -1.86176775e-02 -9.79160731e+00] [-6.51075966e-02 -2.19372868e-03 9.97875838e-01 -3.66392227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74654761499998 meters 0.07886035793625304 Centerline is valid? [True, True] Translation: X:64.90, Y:-9.80, Z:-3.67 [[ 9.46332608e-01 3.17272862e-01 6.15834946e-02 6.48964135e+01] [-3.16746835e-01 9.48331947e-01 -1.83836967e-02 -9.79774218e+00] [-6.42342434e-02 -2.10928533e-03 9.97932619e-01 -3.67210826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77654761499998 meters 0.07938994070585194 Centerline is valid? [True, True] Translation: X:64.93, Y:-9.81, Z:-3.68 [[ 9.46339661e-01 3.17799957e-01 5.86892969e-02 6.49258215e+01] [-3.17321993e-01 9.48155625e-01 -1.75403283e-02 -9.80764659e+00] [-6.12209026e-02 -2.02429637e-03 9.98122189e-01 -3.67582074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80654761499999 meters 0.08004547015973268 Centerline is valid? [True, True] Translation: X:64.96, Y:-9.81, Z:-3.68 [[ 9.45942653e-01 3.19228741e-01 5.73193594e-02 6.49567524e+01] [-3.18775259e-01 9.47675446e-01 -1.71342681e-02 -9.81431156e+00] [-5.97899003e-02 -2.06395862e-03 9.98208850e-01 -3.67893726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83654761499999 meters 0.07899535459525406 Centerline is valid? [True, True] Translation: X:64.99, Y:-9.83, Z:-3.68 [[ 9.45593396e-01 3.19648247e-01 6.06475659e-02 6.49870477e+01] [-3.19140218e-01 9.47533736e-01 -1.81477253e-02 -9.82670378e+00] [-6.32665033e-02 -2.19470816e-03 9.97994255e-01 -3.67551510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86654761499999 meters 0.07935463136967498 Centerline is valid? [True, True] Translation: X:65.02, Y:-9.83, Z:-3.68 [[ 9.45596006e-01 3.19232441e-01 6.27602020e-02 6.50173398e+01] [-3.18687086e-01 9.47673806e-01 -1.87855749e-02 -9.83384057e+00] [-6.54731644e-02 -2.23730131e-03 9.97851822e-01 -3.67705928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89654761499999 meters 0.07820421492144944 Centerline is valid? [True, True] Translation: X:65.05, Y:-9.85, Z:-3.68 [[ 9.45789058e-01 3.18463868e-01 6.37481235e-02 6.50469297e+01] [-3.17898991e-01 9.47932419e-01 -1.90882100e-02 -9.84594595e+00] [-6.65078181e-02 -2.21204394e-03 9.97783452e-01 -3.67724110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92654761499999 meters 0.07868611240659681 Centerline is valid? [True, True] Translation: X:65.08, Y:-9.85, Z:-3.68 [[ 9.45973298e-01 3.17506985e-01 6.57558648e-02 6.50766125e+01] [-3.16902229e-01 9.48253396e-01 -1.97097325e-02 -9.85367205e+00] [-6.86111999e-02 -2.19329952e-03 9.97641064e-01 -3.68024291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95654761499999 meters 0.07807824719618685 Centerline is valid? [True, True] Translation: X:65.11, Y:-9.86, Z:-3.68 [[ 9.46479165e-01 3.15834488e-01 6.65264246e-02 6.51068881e+01] [-3.15210891e-01 9.48811997e-01 -1.99471277e-02 -9.86330631e+00] [-6.94210607e-02 -2.09031275e-03 9.97585258e-01 -3.68114251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98654761499999 meters 0.07668555602829634 Centerline is valid? [True, True] Translation: X:65.14, Y:-9.88, Z:-3.68 [[ 9.47875276e-01 3.11605738e-01 6.65907246e-02 6.51357644e+01] [-3.10969080e-01 9.50209849e-01 -1.99868433e-02 -9.87703950e+00] [-6.95031774e-02 -1.76262177e-03 9.97580173e-01 -3.68160607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.016547615 meters 0.07721097888221468 Centerline is valid? [True, True] Translation: X:65.17, Y:-9.89, Z:-3.69 [[ 9.48378422e-01 3.10929600e-01 6.24592056e-02 6.51661209e+01] [-3.10367924e-01 9.50431592e-01 -1.87494063e-02 -9.88688759e+00] [-6.51929477e-02 -1.60380164e-03 9.97871388e-01 -3.68942440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.046547615 meters 0.07836352280642411 Centerline is valid? [True, True] Translation: X:65.20, Y:-9.89, Z:-3.70 [[ 9.47121920e-01 3.14788264e-01 6.21966012e-02 6.51991778e+01] [-3.14239348e-01 9.49160101e-01 -1.86744345e-02 -9.88600793e+00] [-6.49130251e-02 -1.85765314e-03 9.97889196e-01 -3.69735538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07654761499998 meters 0.07903732064639114 Centerline is valid? [True, True] Translation: X:65.23, Y:-9.89, Z:-3.70 [[ 9.46335099e-01 3.16861034e-01 6.36314814e-02 6.52295111e+01] [-3.16290970e-01 9.48469772e-01 -1.91079295e-02 -9.89314012e+00] [-6.64070950e-02 -2.04355857e-03 9.97790520e-01 -3.69931976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10654761499998 meters 0.07912109696316474 Centerline is valid? [True, True] Translation: X:65.26, Y:-9.90, Z:-3.70 [[ 9.44707324e-01 3.21402087e-01 6.50289990e-02 6.52602092e+01] [-3.20816052e-01 9.46939786e-01 -1.95474313e-02 -9.90451607e+00] [-6.78611316e-02 -2.39574515e-03 9.97691900e-01 -3.69666874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13654761499998 meters 0.08070033731900608 Centerline is valid? [True, True] Translation: X:65.29, Y:-9.90, Z:-3.70 [[ 9.43512746e-01 3.24658727e-01 6.61846623e-02 6.52918558e+01] [-3.24059383e-01 9.45827450e-01 -1.98985371e-02 -9.90447991e+00] [-6.90595041e-02 -2.67323747e-03 9.97608961e-01 -3.70240154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16654761499998 meters 0.08073877934878296 Centerline is valid? [True, True] Translation: X:65.32, Y:-9.91, Z:-3.70 [[ 9.42709659e-01 3.26376364e-01 6.91156073e-02 6.53239716e+01] [-3.25726843e-01 9.45235398e-01 -2.07862064e-02 -9.91303530e+00] [-7.21146450e-02 -2.91745097e-03 9.97392083e-01 -3.70260243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19654761499999 meters 0.08302861839730397 Centerline is valid? [True, True] Translation: X:65.35, Y:-9.92, Z:-3.71 [[ 9.42996608e-01 3.25728531e-01 6.82519023e-02 6.53546289e+01] [-3.25091989e-01 9.45459156e-01 -2.05471024e-02 -9.91696226e+00] [-7.12221634e-02 -2.81229881e-03 9.97456513e-01 -3.70951806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22654761499999 meters 0.08124224592153664 Centerline is valid? [True, True] Translation: X:65.38, Y:-9.93, Z:-3.71 [[ 9.43101606e-01 3.25428605e-01 6.82318338e-02 6.53831740e+01] [-3.24790526e-01 9.45562546e-01 -2.05568753e-02 -9.93216296e+00] [-7.12072618e-02 -2.77383108e-03 9.97457684e-01 -3.71030878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25654761499999 meters 0.07977483956243422 Centerline is valid? [True, True] Translation: X:65.41, Y:-9.94, Z:-3.71 [[ 9.42585543e-01 3.26380601e-01 7.07686263e-02 6.54129175e+01] [-3.25695469e-01 9.45233881e-01 -2.13394160e-02 -9.94380605e+00] [-7.38576747e-02 -2.93479596e-03 9.97264474e-01 -3.70970896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28654761499999 meters 0.08211090442055899 Centerline is valid? [True, True] Translation: X:65.45, Y:-9.94, Z:-3.72 [[ 9.41940794e-01 3.28084290e-01 7.14719424e-02 6.54450595e+01] [-3.27388874e-01 9.44643430e-01 -2.15711615e-02 -9.94298052e+00] [-7.45926601e-02 -3.08036172e-03 9.97209329e-01 -3.71532519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31654761499999 meters 0.08221871207455365 Centerline is valid? [True, True] Translation: X:65.48, Y:-9.96, Z:-3.72 [[ 9.41804189e-01 3.28486331e-01 7.14254841e-02 6.54753374e+01] [-3.27791696e-01 9.44503657e-01 -2.15742007e-02 -9.95583864e+00] [-7.45484609e-02 -3.09400803e-03 9.97212592e-01 -3.71600090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34654761499999 meters 0.08216695917526379 Centerline is valid? [True, True] Translation: X:65.51, Y:-9.96, Z:-3.72 [[ 9.42278886e-01 3.27030010e-01 7.18461818e-02 6.55067507e+01] [-3.26321184e-01 9.45009273e-01 -2.17246069e-02 -9.96354646e+00] [-7.49999064e-02 -2.97429272e-03 9.97179105e-01 -3.72123645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37654761499999 meters 0.08279476158676674 Centerline is valid? [True, True] Translation: X:65.54, Y:-9.97, Z:-3.73 [[ 9.42245482e-01 3.26988763e-01 7.24693123e-02 6.55377513e+01] [-3.26267017e-01 9.45023492e-01 -2.19187865e-02 -9.96847441e+00] [-7.56523994e-02 -2.99146879e-03 9.97129764e-01 -3.72629415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.406547615 meters 0.08280565214530884 Centerline is valid? [True, True] Translation: X:65.57, Y:-9.98, Z:-3.73 [[ 9.41740610e-01 3.28373395e-01 7.27704457e-02 6.55681991e+01] [-3.27648916e-01 9.44542890e-01 -2.20208295e-02 -9.97866291e+00] [-7.59658616e-02 -3.10524822e-03 9.97105584e-01 -3.72722427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.436547615 meters 0.08159297426498233 Centerline is valid? [True, True] Translation: X:65.60, Y:-9.99, Z:-3.72 [[ 9.41072993e-01 3.30452066e-01 7.19934299e-02 6.55966498e+01] [-3.29748736e-01 9.43817235e-01 -2.17898351e-02 -9.99495186e+00] [-7.51491360e-02 -3.23391717e-03 9.97167062e-01 -3.72358306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46654761499998 meters 0.08162022452301093 Centerline is valid? [True, True] Translation: X:65.63, Y:-10.01, Z:-3.73 [[ 9.40433912e-01 3.32115113e-01 7.26884404e-02 6.56267171e+01] [-3.31401718e-01 9.43232797e-01 -2.20179908e-02 -1.00054628e+01] [-7.58746285e-02 -3.38260879e-03 9.97111628e-01 -3.72525534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49654761499998 meters 0.08288980860093006 Centerline is valid? [True, True] Translation: X:65.66, Y:-10.01, Z:-3.74 [[ 9.40742865e-01 3.31943733e-01 6.93989964e-02 6.56572540e+01] [-3.31291760e-01 9.43293764e-01 -2.10391273e-02 -1.00091022e+01] [-7.24474470e-02 -3.19890684e-03 9.97367101e-01 -3.73742528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52654761499998 meters 0.08238361792548211 Centerline is valid? [True, True] Translation: X:65.69, Y:-10.02, Z:-3.74 [[ 9.41813376e-01 3.28861251e-01 6.95545973e-02 6.56862980e+01] [-3.28196541e-01 9.44373642e-01 -2.11057981e-02 -1.00216611e+01] [-7.26264075e-02 -2.94985529e-03 9.97354853e-01 -3.74376949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55654761499999 meters 0.08128700632929503 Centerline is valid? [True, True] Translation: X:65.71, Y:-10.04, Z:-3.75 [[ 9.42077492e-01 3.28076681e-01 6.96827802e-02 6.57149307e+01] [-3.27407138e-01 9.44646669e-01 -2.11479575e-02 -1.00367114e+01] [-7.27637579e-02 -2.89162484e-03 9.97345013e-01 -3.74546823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58654761499999 meters 0.08123375013378684 Centerline is valid? [True, True] Translation: X:65.75, Y:-10.05, Z:-3.75 [[ 9.41665780e-01 3.28398164e-01 7.36220374e-02 6.57460053e+01] [-3.27650096e-01 9.44534417e-01 -2.23640249e-02 -1.00451201e+01] [-7.68828529e-02 -3.06283067e-03 9.97035429e-01 -3.74502799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61654761499999 meters 0.08281803134019251 Centerline is valid? [True, True] Translation: X:65.78, Y:-10.05, Z:-3.75 [[ 9.40926706e-01 3.30250942e-01 7.47746519e-02 6.57772815e+01] [-3.29483507e-01 9.43887588e-01 -2.27340956e-02 -1.00480897e+01] [-7.80868223e-02 -3.24589681e-03 9.96941278e-01 -3.74720911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64654761499999 meters 0.08188931000077815 Centerline is valid? [True, True] Translation: X:65.81, Y:-10.06, Z:-3.75 [[ 9.40769398e-01 3.31817592e-01 6.96421290e-02 6.58053297e+01] [-3.31155158e-01 9.43338379e-01 -2.11887717e-02 -1.00640910e+01] [-7.27269002e-02 -3.12860223e-03 9.97346986e-01 -3.75206962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67654761499999 meters 0.08356514245043005 Centerline is valid? [True, True] Translation: X:65.84, Y:-10.07, Z:-3.76 [[ 9.40875992e-01 3.32293933e-01 6.58263584e-02 6.58353838e+01] [-3.31702285e-01 9.43171183e-01 -2.00428085e-02 -1.00694316e+01] [-6.87456280e-02 -2.97695617e-03 9.97629779e-01 -3.76225976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70654761499999 meters 0.08434795410814061 Centerline is valid? [True, True] Translation: X:65.87, Y:-10.07, Z:-3.77 [[ 9.40766038e-01 3.32283254e-01 6.74321874e-02 6.58665533e+01] [-3.31661122e-01 9.43174767e-01 -2.05489459e-02 -1.00716537e+01] [-7.04284082e-02 -3.03288456e-03 9.97512226e-01 -3.76776583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73654761499999 meters 0.08387708239494732 Centerline is valid? [True, True] Translation: X:65.90, Y:-10.08, Z:-3.77 [[ 9.40632734e-01 3.32514599e-01 6.81476407e-02 6.58964958e+01] [-3.31878635e-01 9.43093120e-01 -2.07831520e-02 -1.00829676e+01] [-7.11802725e-02 -3.06743286e-03 9.97458751e-01 -3.77048490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.766547615 meters 0.08287765056942563 Centerline is valid? [True, True] Translation: X:65.93, Y:-10.10, Z:-3.77 [[ 9.41258034e-01 3.30661912e-01 6.85274572e-02 6.59254881e+01] [-3.30012620e-01 9.43744741e-01 -2.09173224e-02 -1.00960920e+01] [-7.15889892e-02 -2.92632792e-03 9.97429924e-01 -3.77185915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.796547615 meters 0.08192841498555553 Centerline is valid? [True, True] Translation: X:65.96, Y:-10.11, Z:-3.78 [[ 9.42054948e-01 3.28646651e-01 6.72595970e-02 6.59554183e+01] [-3.28015051e-01 9.44449070e-01 -2.05446045e-02 -1.01080041e+01] [-7.02751793e-02 -2.70801387e-03 9.97523968e-01 -3.77563100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82654761499998 meters 0.0818856186360012 Centerline is valid? [True, True] Translation: X:65.99, Y:-10.12, Z:-3.78 [[ 9.42471489e-01 3.27593318e-01 6.65590793e-02 6.59852220e+01] [-3.26970998e-01 9.44815290e-01 -2.03478272e-02 -1.01180810e+01] [-6.95518481e-02 -2.58564160e-03 9.97574987e-01 -3.78049115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85654761499998 meters 0.08093770805765584 Centerline is valid? [True, True] Translation: X:66.02, Y:-10.13, Z:-3.78 [[ 9.43081623e-01 3.25573111e-01 6.78174142e-02 6.60151261e+01] [-3.24920249e-01 9.45513663e-01 -2.07543791e-02 -1.01293102e+01] [-7.08793595e-02 -2.46217758e-03 9.97481857e-01 -3.78253270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88654761499998 meters 0.08083374450874445 Centerline is valid? [True, True] Translation: X:66.04, Y:-10.14, Z:-3.78 [[ 9.42948109e-01 3.25568461e-01 6.96709442e-02 6.60446096e+01] [-3.24879324e-01 9.45515088e-01 -2.13223487e-02 -1.01408507e+01] [-7.28168132e-02 -2.52878092e-03 9.97342126e-01 -3.78358383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91654761499998 meters 0.08059308487354909 Centerline is valid? [True, True] Translation: X:66.07, Y:-10.15, Z:-3.79 [[ 9.42817478e-01 3.25626279e-01 7.11528633e-02 6.60742384e+01] [-3.24906205e-01 9.45495069e-01 -2.17952324e-02 -1.01503706e+01] [-7.43717819e-02 -2.56908071e-03 9.97227275e-01 -3.78513343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94654761499999 meters 0.08059308487354909 Centerline is valid? [True, True] Translation: X:66.11, Y:-10.16, Z:-3.79 [[ 9.42730424e-01 3.25879207e-01 7.11483594e-02 6.61050158e+01] [-3.25158744e-01 9.45407911e-01 -2.18099239e-02 -1.01600114e+01] [-7.43716226e-02 -2.57363235e-03 9.97227275e-01 -3.78806489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97654761499999 meters 0.0801062965683029 Centerline is valid? [True, True] Translation: X:66.13, Y:-10.17, Z:-3.79 [[ 9.42610825e-01 3.26412984e-01 7.02808452e-02 6.61344461e+01] [-3.25709955e-01 9.45223778e-01 -2.15646909e-02 -1.01713625e+01] [-7.34701211e-02 -2.56405977e-03 9.97294123e-01 -3.79182246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00654761499999 meters 0.08033354309857327 Centerline is valid? [True, True] Translation: X:66.16, Y:-10.18, Z:-3.79 [[ 9.42598774e-01 3.26243440e-01 7.12233809e-02 6.61647091e+01] [-3.25519475e-01 9.45282301e-01 -2.18733267e-02 -1.01786386e+01] [-7.44622308e-02 -2.56682663e-03 9.97220531e-01 -3.79439406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03654761499999 meters 0.08126435879852255 Centerline is valid? [True, True] Translation: X:66.20, Y:-10.18, Z:-3.80 [[ 9.41989540e-01 3.27986809e-01 7.12766378e-02 6.61950834e+01] [-3.27265166e-01 9.44678482e-01 -2.19106519e-02 -1.01831940e+01] [-7.45199108e-02 -2.68675587e-03 9.97215907e-01 -3.79799993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06654761499999 meters 0.08041583038846851 Centerline is valid? [True, True] Translation: X:66.22, Y:-10.20, Z:-3.80 [[ 9.41262559e-01 3.29528240e-01 7.37287873e-02 6.62247022e+01] [-3.28760090e-01 9.44141272e-01 -2.26729349e-02 -1.01955691e+01] [-7.70817634e-02 -2.89789801e-03 9.97020563e-01 -3.79572961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09654761499999 meters 0.0807108145174165 Centerline is valid? [True, True] Translation: X:66.26, Y:-10.20, Z:-3.80 [[ 9.40818647e-01 3.30504232e-01 7.50148350e-02 6.62570478e+01] [-3.29710500e-01 9.43799708e-01 -2.30889059e-02 -1.02020690e+01] [-7.84299604e-02 -3.01070555e-03 9.96915080e-01 -3.79854301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12654761499999 meters 0.08235140925870338 Centerline is valid? [True, True] Translation: X:66.29, Y:-10.20, Z:-3.80 [[ 9.40289645e-01 3.32316077e-01 7.36302206e-02 6.62884771e+01] [-3.31555076e-01 9.43163049e-01 -2.26868705e-02 -1.02049793e+01] [-7.69845152e-02 -3.08024401e-03 9.97027530e-01 -3.80375681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.156547615 meters 0.08214232930506972 Centerline is valid? [True, True] Translation: X:66.32, Y:-10.22, Z:-3.80 [[ 9.39123378e-01 3.35681242e-01 7.32487836e-02 6.63182169e+01] [-3.34937707e-01 9.41969749e-01 -2.25770876e-02 -1.02153713e+01] [-7.65768431e-02 -3.33110883e-03 9.97058118e-01 -3.80315866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.186547615 meters 0.0840384728771958 Centerline is valid? [True, True] Translation: X:66.35, Y:-10.22, Z:-3.81 [[ 9.38701709e-01 3.36965879e-01 7.27536772e-02 6.63485079e+01] [-3.36234844e-01 9.41510736e-01 -2.24424349e-02 -1.02214532e+01] [-7.60607030e-02 -3.39556930e-03 9.97097407e-01 -3.80527724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21654761499998 meters 0.08604764150860204 Centerline is valid? [True, True] Translation: X:66.38, Y:-10.22, Z:-3.81 [[ 9.39063093e-01 3.35713442e-01 7.38714629e-02 6.63803389e+01] [-3.34954282e-01 9.41958293e-01 -2.28079463e-02 -1.02228360e+01] [-7.72407713e-02 -3.32546229e-03 9.97006923e-01 -3.81441061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24654761499998 meters 0.08289419982808872 Centerline is valid? [True, True] Translation: X:66.41, Y:-10.24, Z:-3.82 [[ 9.39074129e-01 3.35623496e-01 7.41393945e-02 6.64092023e+01] [-3.34858193e-01 9.41990343e-01 -2.28950630e-02 -1.02384305e+01] [-7.75227147e-02 -3.32602238e-03 9.96985038e-01 -3.81665469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27654761499998 meters 0.08372454716002159 Centerline is valid? [True, True] Translation: X:66.44, Y:-10.25, Z:-3.82 [[ 9.38692756e-01 3.36569193e-01 7.46799021e-02 6.64393245e+01] [-3.35794051e-01 9.41652565e-01 -2.30825220e-02 -1.02466794e+01] [-7.80913871e-02 -3.40967072e-03 9.96940374e-01 -3.81528431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30654761499999 meters 0.08474843585922354 Centerline is valid? [True, True] Translation: X:66.47, Y:-10.26, Z:-3.82 [[ 9.38641178e-01 3.37545315e-01 7.08230129e-02 6.64678202e+01] [-3.36849712e-01 9.41303520e-01 -2.19078886e-02 -1.02582950e+01] [-7.40608564e-02 -3.29306510e-03 9.97248287e-01 -3.81692291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33654761499999 meters 0.08513396725434935 Centerline is valid? [True, True] Translation: X:66.50, Y:-10.26, Z:-3.83 [[ 9.38876579e-01 3.37813014e-01 6.62807490e-02 6.64995054e+01] [-3.37203600e-01 9.41208176e-01 -2.05158939e-02 -1.02610640e+01] [-6.93145189e-02 -3.08821491e-03 9.97590076e-01 -3.82976664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36654761499999 meters 0.08618444238857395 Centerline is valid? [True, True] Translation: X:66.53, Y:-10.26, Z:-3.84 [[ 9.38498982e-01 3.38772949e-01 6.67274349e-02 6.65316105e+01] [-3.38157602e-01 9.40862786e-01 -2.06555972e-02 -1.02643989e+01] [-6.97789179e-02 -3.17913250e-03 9.97557415e-01 -3.83552631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39654761499999 meters 0.08575487954978639 Centerline is valid? [True, True] Translation: X:66.56, Y:-10.28, Z:-3.84 [[ 9.38397583e-01 3.38924557e-01 6.73804238e-02 6.65615879e+01] [-3.38296205e-01 9.40808097e-01 -2.08758849e-02 -1.02773989e+01] [-7.04673983e-02 -3.20466168e-03 9.97508935e-01 -3.83537506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42654761499999 meters 0.08548526304805061 Centerline is valid? [True, True] Translation: X:66.59, Y:-10.29, Z:-3.84 [[ 9.38331545e-01 3.39138189e-01 6.72250046e-02 6.65916871e+01] [-3.38512070e-01 9.40731135e-01 -2.08449167e-02 -1.02898372e+01] [-7.03099622e-02 -3.19703254e-03 9.97520069e-01 -3.83627150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45654761499999 meters 0.08528790082379711 Centerline is valid? [True, True] Translation: X:66.62, Y:-10.30, Z:-3.84 [[ 9.37980644e-01 3.40206055e-01 6.67244379e-02 6.66225116e+01] [-3.39590455e-01 9.40345356e-01 -2.07107099e-02 -1.02992568e+01] [-6.97899242e-02 -3.23273724e-03 9.97556473e-01 -3.83851756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48654761499999 meters 0.08575565198864801 Centerline is valid? [True, True] Translation: X:66.65, Y:-10.31, Z:-3.85 [[ 9.38298784e-01 3.39924332e-01 6.36147763e-02 6.66524626e+01] [-3.39362912e-01 9.40447864e-01 -1.97643340e-02 -1.03051055e+01] [-6.65447585e-02 -3.04364516e-03 9.97778799e-01 -3.84897140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.516547615 meters 0.0865699465042923 Centerline is valid? [True, True] Translation: X:66.68, Y:-10.31, Z:-3.86 [[ 9.38754492e-01 3.38703592e-01 6.34025312e-02 6.66823879e+01] [-3.38142747e-01 9.40888529e-01 -1.97042894e-02 -1.03130660e+01] [-6.63286278e-02 -2.94161593e-03 9.97793496e-01 -3.85676743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.546547615 meters 0.08404684166105768 Centerline is valid? [True, True] Translation: X:66.71, Y:-10.33, Z:-3.85 [[ 9.38619302e-01 3.38166826e-01 6.80955454e-02 6.67111920e+01] [-3.37516778e-01 9.41081080e-01 -2.11855124e-02 -1.03296350e+01] [-7.12476669e-02 -3.09825821e-03 9.97453844e-01 -3.85162699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57654761499998 meters 0.08330757725933376 Centerline is valid? [True, True] Translation: X:66.74, Y:-10.34, Z:-3.85 [[ 9.38023769e-01 3.39254190e-01 7.08378703e-02 6.67411514e+01] [-3.38553692e-01 9.40688922e-01 -2.20397332e-02 -1.03423729e+01] [-7.41134716e-02 -3.30862889e-03 9.97244326e-01 -3.84679576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60654761499998 meters 0.08428374663282316 Centerline is valid? [True, True] Translation: X:66.77, Y:-10.35, Z:-3.85 [[ 9.37128971e-01 3.41781951e-01 7.05293473e-02 6.67725081e+01] [-3.41093092e-01 9.39772864e-01 -2.19651131e-02 -1.03499310e+01] [-7.37888460e-02 -3.47292932e-03 9.97267840e-01 -3.84775780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.63654761499998 meters 0.08387753789051179 Centerline is valid? [True, True] Translation: X:66.80, Y:-10.36, Z:-3.86 [[ 9.37385875e-01 3.42134171e-01 6.52068309e-02 6.68021499e+01] [-3.41546190e-01 9.39645545e-01 -2.03088542e-02 -1.03609154e+01] [-6.82196612e-02 -3.23391156e-03 9.97665084e-01 -3.85642859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66654761499998 meters 0.08495416966949751 Centerline is valid? [True, True] Translation: X:66.83, Y:-10.37, Z:-3.87 [[ 9.37935149e-01 3.41343282e-01 6.13385699e-02 6.68316350e+01] [-3.40820517e-01 9.39933994e-01 -1.91170524e-02 -1.03665073e+01] [-6.41796844e-02 -2.97488775e-03 9.97933925e-01 -3.86951012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69654761499999 meters 0.08453189642118487 Centerline is valid? [True, True] Translation: X:66.86, Y:-10.38, Z:-3.87 [[ 9.38191168e-01 3.40229848e-01 6.35687243e-02 6.68617177e+01] [-3.39665048e-01 9.40337539e-01 -1.98234321e-02 -1.03766542e+01] [-6.65205810e-02 -2.99390485e-03 9.97780561e-01 -3.87279783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72654761499999 meters 0.08360569449261572 Centerline is valid? [True, True] Translation: X:66.89, Y:-10.39, Z:-3.87 [[ 9.38055840e-01 3.39780460e-01 6.78268439e-02 6.68905476e+01] [-3.39136145e-01 9.40499469e-01 -2.11524153e-02 -1.03904455e+01] [-7.09782881e-02 -3.16038764e-03 9.97472854e-01 -3.86868675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75654761499999 meters 0.08281604967975094 Centerline is valid? [True, True] Translation: X:66.92, Y:-10.41, Z:-3.86 [[ 9.37708228e-01 3.40452641e-01 6.92479531e-02 6.69198239e+01] [-3.39781755e-01 9.40255997e-01 -2.16106056e-02 -1.04075544e+01] [-7.24681909e-02 -3.26474834e-03 9.97365381e-01 -3.86343895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78654761499999 meters 0.08349439660110734 Centerline is valid? [True, True] Translation: X:66.95, Y:-10.42, Z:-3.87 [[ 9.36493319e-01 3.43941330e-01 6.84443128e-02 6.69507114e+01] [-3.43293435e-01 9.38984728e-01 -2.13845176e-02 -1.04163042e+01] [-7.16231839e-02 -3.47002539e-03 9.97425726e-01 -3.86502013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81654761499999 meters 0.08703581009342135 Centerline is valid? [True, True] Translation: X:66.98, Y:-10.42, Z:-3.88 [[ 9.36185094e-01 3.45255329e-01 6.60017217e-02 6.69819854e+01] [-3.44655987e-01 9.38502488e-01 -2.06235253e-02 -1.04154259e+01] [-6.90631621e-02 -3.44045161e-03 9.97606357e-01 -3.87657648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84654761499999 meters 0.08528953750572299 Centerline is valid? [True, True] Translation: X:67.01, Y:-10.43, Z:-3.88 [[ 9.36572004e-01 3.44481147e-01 6.45416192e-02 6.70099337e+01] [-3.43905413e-01 9.38787446e-01 -2.01791431e-02 -1.04318133e+01] [-6.75421963e-02 -3.29699166e-03 9.97710971e-01 -3.88222721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87654761499999 meters 0.08381099925596985 Centerline is valid? [True, True] Translation: X:67.04, Y:-10.45, Z:-3.88 [[ 9.37579267e-01 3.41828915e-01 6.40164946e-02 6.70372516e+01] [-3.41254887e-01 9.39757219e-01 -2.00367794e-02 -1.04505533e+01] [-6.70091135e-02 -3.05987265e-03 9.97747671e-01 -3.88351626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.906547615 meters 0.08371275372026467 Centerline is valid? [True, True] Translation: X:67.07, Y:-10.46, Z:-3.88 [[ 9.37550629e-01 3.41850317e-01 6.43209127e-02 6.70663928e+01] [-3.41270919e-01 9.39749378e-01 -2.01312043e-02 -1.04636464e+01] [-6.73273963e-02 -3.07683381e-03 9.97726192e-01 -3.88380586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93654761499998 meters 0.08483636965334715 Centerline is valid? [True, True] Translation: X:67.10, Y:-10.47, Z:-3.89 [[ 9.37064486e-01 3.42825704e-01 6.61867472e-02 6.70970635e+01] [-3.42213187e-01 9.39393513e-01 -2.07355413e-02 -1.04715014e+01] [-6.92840775e-02 -3.21943833e-03 9.97591776e-01 -3.88585473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96654761499998 meters 0.08326841638574511 Centerline is valid? [True, True] Translation: X:67.13, Y:-10.49, Z:-3.88 [[ 9.38167936e-01 3.39642121e-01 6.69638156e-02 6.71258061e+01] [-3.39005961e-01 9.40549945e-01 -2.09942537e-02 -1.04874197e+01] [-7.01133460e-02 -3.00499696e-03 9.97534505e-01 -3.88491185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99654761499998 meters 0.08279150114900304 Centerline is valid? [True, True] Translation: X:67.16, Y:-10.50, Z:-3.89 [[ 9.39225137e-01 3.37011226e-01 6.54184634e-02 6.71557866e+01] [-3.36397366e-01 9.41496647e-01 -2.05152692e-02 -1.04984378e+01] [-6.85051400e-02 -2.73814227e-03 9.97647006e-01 -3.89056362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02654761499998 meters 0.08352380829846627 Centerline is valid? [True, True] Translation: X:67.19, Y:-10.51, Z:-3.90 [[ 9.40019101e-01 3.35372886e-01 6.23627897e-02 6.71857596e+01] [-3.34811303e-01 9.42082168e-01 -1.95596710e-02 -1.05059695e+01] [-6.53106554e-02 -2.49330254e-03 9.97861865e-01 -3.90053148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05654761499999 meters 0.0822710693404625 Centerline is valid? [True, True] Translation: X:67.21, Y:-10.52, Z:-3.90 [[ 9.40785599e-01 3.33305314e-01 6.18871978e-02 6.72143429e+01] [-3.32746637e-01 9.42816106e-01 -1.94284704e-02 -1.05223811e+01] [-6.48238592e-02 -2.31473178e-03 9.97894037e-01 -3.90281670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08654761499999 meters 0.08265936051757783 Centerline is valid? [True, True] Translation: X:67.24, Y:-10.53, Z:-3.91 [[ 9.40204927e-01 3.35002639e-01 6.15461337e-02 6.72444318e+01] [-3.34452678e-01 9.42214126e-01 -1.93377342e-02 -1.05336674e+01] [-6.44678285e-02 -2.40283624e-03 9.97916893e-01 -3.90505830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11654761499999 meters 0.08287948136812394 Centerline is valid? [True, True] Translation: X:67.27, Y:-10.54, Z:-3.91 [[ 9.39953707e-01 3.35571000e-01 6.22826797e-02 6.72743025e+01] [-3.35007956e-01 9.42011716e-01 -1.95856030e-02 -1.05436067e+01] [-6.52433743e-02 -2.45563305e-03 9.97866360e-01 -3.90876640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14654761499999 meters 0.0822707595272013 Centerline is valid? [True, True] Translation: X:67.30, Y:-10.56, Z:-3.91 [[ 9.39612824e-01 3.36322401e-01 6.33639055e-02 6.73041299e+01] [-3.35740133e-01 9.41743499e-01 -1.99435331e-02 -1.05572829e+01] [-6.63800030e-02 -2.53460663e-03 9.97791196e-01 -3.90831433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17654761499999 meters 0.08163774212584292 Centerline is valid? [True, True] Translation: X:67.33, Y:-10.57, Z:-3.91 [[ 9.40129506e-01 3.34622737e-01 6.46848989e-02 6.73336301e+01] [-3.34010168e-01 9.42349015e-01 -2.03848567e-02 -1.05695668e+01] [-6.77769873e-02 -2.44100870e-03 9.97697510e-01 -3.91033128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20654761499999 meters 0.08061185435973471 Centerline is valid? [True, True] Translation: X:67.36, Y:-10.59, Z:-3.91 [[ 9.40953788e-01 3.32427883e-01 6.40130654e-02 6.73618482e+01] [-3.31822962e-01 9.43125971e-01 -2.01723900e-02 -1.05850156e+01] [-6.70782493e-02 -2.25971817e-03 9.97745159e-01 -3.91312333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23654761499999 meters 0.0801541534635496 Centerline is valid? [True, True] Translation: X:67.39, Y:-10.60, Z:-3.92 [[ 9.41705346e-01 3.30462561e-01 6.31311036e-02 6.73914996e+01] [-3.29868427e-01 9.43816830e-01 -1.99151522e-02 -1.05983315e+01] [-6.61654102e-02 -2.07075253e-03 9.97806520e-01 -3.91842770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.266547615 meters 0.07997197007184532 Centerline is valid? [True, True] Translation: X:67.42, Y:-10.61, Z:-3.93 [[ 9.42717568e-01 3.27812842e-01 6.18249737e-02 6.74196385e+01] [-3.27237230e-01 9.44740886e-01 -1.95052124e-02 -1.06091809e+01] [-6.48026396e-02 -1.84352676e-03 9.97896397e-01 -3.92606856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.296547615 meters 0.08036705775035463 Centerline is valid? [True, True] Translation: X:67.45, Y:-10.62, Z:-3.93 [[ 9.42812846e-01 3.27616882e-01 6.14094138e-02 6.74487977e+01] [-3.27047658e-01 9.44808935e-01 -1.93882976e-02 -1.06201743e+01] [-6.43720965e-02 -1.80426898e-03 9.97924335e-01 -3.93054651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32654761499998 meters 0.07934596520377475 Centerline is valid? [True, True] Translation: X:67.48, Y:-10.64, Z:-3.93 [[ 9.42732206e-01 3.27842209e-01 6.14448930e-02 6.74776425e+01] [-3.27271723e-01 9.44730771e-01 -1.94162493e-02 -1.06370143e+01] [-6.44143472e-02 -1.80485250e-03 9.97921607e-01 -3.92948262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35654761499998 meters 0.07961829599408543 Centerline is valid? [True, True] Translation: X:67.51, Y:-10.64, Z:-3.93 [[ 9.42541105e-01 3.27907349e-01 6.39768393e-02 6.75084011e+01] [-3.27287484e-01 9.44708050e-01 -2.02386484e-02 -1.06424304e+01] [-6.70758366e-02 -1.86306078e-03 9.97746141e-01 -3.93495522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38654761499998 meters 0.07891536163176854 Centerline is valid? [True, True] Translation: X:67.54, Y:-10.65, Z:-3.94 [[ 9.42890328e-01 3.26967810e-01 6.36386748e-02 6.75388558e+01] [-3.26351317e-01 9.45033815e-01 -2.01471294e-02 -1.06522152e+01] [-6.67281624e-02 -1.77203183e-03 9.97769619e-01 -3.93804966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41654761499998 meters 0.07984963294517247 Centerline is valid? [True, True] Translation: X:67.57, Y:-10.66, Z:-3.94 [[ 9.42464327e-01 3.28569224e-01 6.16705511e-02 6.75706158e+01] [-3.27992632e-01 9.44478155e-01 -1.95409186e-02 -1.06572573e+01] [-6.46670328e-02 -1.81086769e-03 9.97905254e-01 -3.94366825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44654761499999 meters 0.08147746379368663 Centerline is valid? [True, True] Translation: X:67.60, Y:-10.66, Z:-3.95 [[ 9.41291579e-01 3.31807524e-01 6.22409121e-02 6.76026639e+01] [-3.31226404e-01 9.43344903e-01 -1.97348029e-02 -1.06596332e+01] [-6.52628033e-02 -2.03962973e-03 9.97866026e-01 -3.94595739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47654761499999 meters 0.08059119743718365 Centerline is valid? [True, True] Translation: X:67.63, Y:-10.67, Z:-3.94 [[ 9.40875145e-01 3.33097543e-01 6.16440399e-02 6.76322543e+01] [-3.32529379e-01 9.42890045e-01 -1.95595494e-02 -1.06731491e+01] [-6.46387894e-02 -2.09536038e-03 9.97906527e-01 -3.94320423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50654761499999 meters 0.08090639437242757 Centerline is valid? [True, True] Translation: X:67.66, Y:-10.68, Z:-3.95 [[ 9.41022525e-01 3.32580730e-01 6.21825247e-02 6.76640435e+01] [-3.32000396e-01 9.43072534e-01 -1.97467184e-02 -1.06775886e+01] [-6.52100092e-02 -2.06251606e-03 9.97869431e-01 -3.94771256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53654761499999 meters 0.08076109686072745 Centerline is valid? [True, True] Translation: X:67.69, Y:-10.69, Z:-3.95 [[ 9.41052784e-01 3.32164178e-01 6.39266516e-02 6.76949460e+01] [-3.31548698e-01 9.43219303e-01 -2.03176450e-02 -1.06851453e+01] [-6.70456456e-02 -2.07482175e-03 9.97747752e-01 -3.94999097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56654761499999 meters 0.08028105167441842 Centerline is valid? [True, True] Translation: X:67.72, Y:-10.70, Z:-3.94 [[ 9.40947065e-01 3.31707750e-01 6.77391307e-02 6.77245263e+01] [-3.31013852e-01 9.43379760e-01 -2.15512849e-02 -1.06980509e+01] [-7.10524531e-02 -2.14397229e-03 9.97470276e-01 -3.94400557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59654761499999 meters 0.08023208822826149 Centerline is valid? [True, True] Translation: X:67.75, Y:-10.71, Z:-3.94 [[ 9.41142340e-01 3.31663124e-01 6.51971481e-02 6.77541849e+01] [-3.31020129e-01 9.43395642e-01 -2.07445827e-02 -1.07119025e+01] [-6.83869185e-02 -2.05796324e-03 9.97656752e-01 -3.94496803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62654761499999 meters 0.07993070280473585 Centerline is valid? [True, True] Translation: X:67.79, Y:-10.72, Z:-3.95 [[ 9.40944501e-01 3.32179184e-01 6.54250400e-02 6.77856066e+01] [-3.31531811e-01 9.43213990e-01 -2.08333035e-02 -1.07218998e+01] [-6.86302029e-02 -2.08749960e-03 9.97639984e-01 -3.94791182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.656547615 meters 0.08098870153674033 Centerline is valid? [True, True] Translation: X:67.82, Y:-10.72, Z:-3.95 [[ 9.40360712e-01 3.33805883e-01 6.55390261e-02 6.78173488e+01] [-3.33158723e-01 9.42639293e-01 -2.08908690e-02 -1.07223691e+01] [-6.87531562e-02 -2.18994578e-03 9.97631298e-01 -3.95478716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68654761499998 meters 0.08178497807648263 Centerline is valid? [True, True] Translation: X:67.85, Y:-10.73, Z:-3.96 [[ 9.40810529e-01 3.32810394e-01 6.41310389e-02 6.78468792e+01] [-3.32187471e-01 9.42991520e-01 -2.04567023e-02 -1.07316563e+01] [-6.72832291e-02 -2.05764671e-03 9.97731794e-01 -3.96310507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71654761499998 meters 0.08021215366801752 Centerline is valid? [True, True] Translation: X:67.88, Y:-10.75, Z:-3.96 [[ 9.41243481e-01 3.31495576e-01 6.45863161e-02 6.78758396e+01] [-3.30859425e-01 9.43454737e-01 -2.06203805e-02 -1.07484415e+01] [-6.77698308e-02 -1.96019266e-03 9.97699057e-01 -3.96105543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74654761499998 meters 0.08099163710544222 Centerline is valid? [True, True] Translation: X:67.91, Y:-10.75, Z:-3.96 [[ 9.40429448e-01 3.33802508e-01 6.45626759e-02 6.79068154e+01] [-3.33170917e-01 9.42640677e-01 -2.06323664e-02 -1.07514616e+01] [-6.77465402e-02 -2.10712096e-03 9.97700339e-01 -3.96470165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77654761499998 meters 0.08171519665031934 Centerline is valid? [True, True] Translation: X:67.94, Y:-10.76, Z:-3.97 [[ 9.39807895e-01 3.35868692e-01 6.28756118e-02 6.79382360e+01] [-3.35273901e-01 9.41906270e-01 -2.00994945e-02 -1.07587096e+01] [-6.59737239e-02 -2.19088806e-03 9.97818955e-01 -3.96858462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80654761499999 meters 0.0799406646230451 Centerline is valid? [True, True] Translation: X:67.97, Y:-10.78, Z:-3.97 [[ 9.41750215e-01 3.30298217e-01 6.33215639e-02 6.79655023e+01] [-3.29681565e-01 9.43874908e-01 -2.02539821e-02 -1.07756916e+01] [-6.64574895e-02 -1.80176026e-03 9.97787631e-01 -3.96939074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83654761499999 meters 0.07931513701319808 Centerline is valid? [True, True] Translation: X:68.00, Y:-10.78, Z:-3.97 [[ 9.42182416e-01 3.28469874e-01 6.63312651e-02 6.79961097e+01] [-3.27787545e-01 9.44512849e-01 -2.12321455e-02 -1.07813018e+01] [-6.96248523e-02 -1.73800833e-03 9.97571731e-01 -3.97356183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86654761499999 meters 0.07931513701319808 Centerline is valid? [True, True] Translation: X:68.03, Y:-10.79, Z:-3.98 [[ 9.42092599e-01 3.28728181e-01 6.63273594e-02 6.80267492e+01] [-3.28045633e-01 9.44422967e-01 -2.12443385e-02 -1.07913233e+01] [-6.96246943e-02 -1.74426659e-03 9.97571731e-01 -3.97649157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89654761499999 meters 0.08038046657548804 Centerline is valid? [True, True] Translation: X:68.06, Y:-10.79, Z:-3.98 [[ 9.40433039e-01 3.33218130e-01 6.74638960e-02 6.80601241e+01] [-3.32521701e-01 9.42847451e-01 -2.16333597e-02 -1.07922664e+01] [-7.08167901e-02 -2.08848326e-03 9.97487153e-01 -3.97867222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92654761499999 meters 0.08369142083958722 Centerline is valid? [True, True] Translation: X:68.09, Y:-10.79, Z:-3.98 [[ 9.37318791e-01 3.42306757e-01 6.52653676e-02 6.80922513e+01] [-3.41676634e-01 9.39584433e-01 -2.09325555e-02 -1.07911236e+01] [-6.84876786e-02 -2.67917348e-03 9.97648365e-01 -3.98147615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95654761499999 meters 0.08400281287229515 Centerline is valid? [True, True] Translation: X:68.12, Y:-10.80, Z:-3.98 [[ 9.36756257e-01 3.44385101e-01 6.23427372e-02 6.81226368e+01] [-3.43814606e-01 9.38824587e-01 -1.99977810e-02 -1.07998195e+01] [-6.54158323e-02 -2.70129716e-03 9.97854434e-01 -3.98337372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98654761499999 meters 0.08543755628488528 Centerline is valid? [True, True] Translation: X:68.15, Y:-10.80, Z:-3.99 [[ 9.36973662e-01 3.43689477e-01 6.29118415e-02 6.81542595e+01] [-3.43105754e-01 9.39079585e-01 -2.01983736e-02 -1.08004565e+01] [-6.60211945e-02 -2.66007075e-03 9.97814675e-01 -3.98999993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.016547615 meters 0.08499566257528626 Centerline is valid? [True, True] Translation: X:68.18, Y:-10.81, Z:-4.00 [[ 9.37829302e-01 3.41124098e-01 6.41135672e-02 6.81837945e+01] [-3.40511109e-01 9.40014903e-01 -2.05953273e-02 -1.08065024e+01] [-6.72932710e-02 -2.51648043e-03 9.97730065e-01 -3.99507319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.046547615 meters 0.08445979819602321 Centerline is valid? [True, True] Translation: X:68.21, Y:-10.82, Z:-4.00 [[ 9.37305427e-01 3.42597286e-01 6.39189863e-02 6.82139197e+01] [-3.41991196e-01 9.39478729e-01 -2.05362951e-02 -1.08169461e+01] [-6.70862070e-02 -2.61094980e-03 9.97743767e-01 -3.99659096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07654761499998 meters 0.08566645712012483 Centerline is valid? [True, True] Translation: X:68.25, Y:-10.82, Z:-4.00 [[ 9.36222292e-01 3.45700368e-01 6.30799124e-02 6.82458985e+01] [-3.45115798e-01 9.38340846e-01 -2.02865233e-02 -1.08194561e+01] [-6.62035169e-02 -2.77717904e-03 9.97802276e-01 -3.99863867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10654761499998 meters 0.08436829192574584 Centerline is valid? [True, True] Translation: X:68.28, Y:-10.83, Z:-4.00 [[ 9.35884549e-01 3.46702024e-01 6.25924682e-02 6.82764083e+01] [-3.46128550e-01 9.37971072e-01 -2.01319314e-02 -1.08308873e+01] [-6.56897058e-02 -2.82387673e-03 9.97836103e-01 -3.99756671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13654761499998 meters 0.08475580141990295 Centerline is valid? [True, True] Translation: X:68.31, Y:-10.84, Z:-4.00 [[ 9.36560169e-01 3.44916007e-01 6.23538163e-02 6.83068544e+01] [-3.44341818e-01 9.38629750e-01 -2.00724641e-02 -1.08370763e+01] [-6.54504612e-02 -2.67195609e-03 9.97852242e-01 -4.00304422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16654761499998 meters 0.08431809230178683 Centerline is valid? [True, True] Translation: X:68.34, Y:-10.84, Z:-4.01 [[ 9.37047389e-01 3.43370648e-01 6.35514732e-02 6.83373705e+01] [-3.42769508e-01 9.39196385e-01 -2.04747283e-02 -1.08433126e+01] [-6.67177346e-02 -2.59771652e-03 9.97768508e-01 -4.00511438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19654761499999 meters 0.08427249855764007 Centerline is valid? [True, True] Translation: X:68.37, Y:-10.85, Z:-4.01 [[ 9.37242149e-01 3.42733571e-01 6.41159388e-02 6.83673937e+01] [-3.42119330e-01 9.39429152e-01 -2.06696207e-02 -1.08524359e+01] [-6.73165549e-02 -2.56286236e-03 9.97728376e-01 -4.00697580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22654761499999 meters 0.08286125680774187 Centerline is valid? [True, True] Translation: X:68.40, Y:-10.87, Z:-4.01 [[ 9.36924989e-01 3.43718217e-01 6.34771773e-02 6.83968032e+01] [-3.43118003e-01 9.39069231e-01 -2.04698787e-02 -1.08660598e+01] [-6.66453342e-02 -2.60142141e-03 9.97773337e-01 -4.00659989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25654761499999 meters 0.08485368282329653 Centerline is valid? [True, True] Translation: X:68.43, Y:-10.87, Z:-4.02 [[ 9.36590590e-01 3.45482418e-01 5.86512252e-02 6.84273902e+01] [-3.44972424e-01 9.38421887e-01 -1.89311806e-02 -1.08677188e+01] [-6.15799835e-02 -2.50228970e-03 9.98099015e-01 -4.01669284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28654761499999 meters 0.08477449054727879 Centerline is valid? [True, True] Translation: X:68.46, Y:-10.88, Z:-4.02 [[ 9.36275723e-01 3.46535215e-01 5.74553328e-02 6.84586819e+01] [-3.46047305e-01 9.38033602e-01 -1.85532793e-02 -1.08754848e+01] [-6.03243975e-02 -2.51127805e-03 9.98175666e-01 -4.02026908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31654761499999 meters 0.08880533387653995 Centerline is valid? [True, True] Translation: X:68.49, Y:-10.87, Z:-4.03 [[ 9.35216214e-01 3.49013675e-01 5.96664633e-02 6.84920189e+01] [-3.48492460e-01 9.37113526e-01 -1.92677106e-02 -1.08717564e+01] [-6.26389443e-02 -2.77383723e-03 9.98032399e-01 -4.02585322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34654761499999 meters 0.08531162332096232 Centerline is valid? [True, True] Translation: X:68.52, Y:-10.89, Z:-4.01 [[ 9.34550541e-01 3.50022222e-01 6.40291313e-02 6.85197008e+01] [-3.49423166e-01 9.36736482e-01 -2.06933293e-02 -1.08944981e+01] [-6.72215484e-02 -3.03429964e-03 9.97733460e-01 -4.01371093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37654761499999 meters 0.08897313165545156 Centerline is valid? [True, True] Translation: X:68.55, Y:-10.89, Z:-4.02 [[ 9.34681605e-01 3.49601786e-01 6.44118666e-02 6.85518698e+01] [-3.48993392e-01 9.36893566e-01 -2.08340626e-02 -1.08939929e+01] [-6.76306889e-02 -3.00610072e-03 9.97705895e-01 -4.02131933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.406547615 meters 0.08909941754065762 Centerline is valid? [True, True] Translation: X:68.58, Y:-10.90, Z:-4.03 [[ 9.34703650e-01 3.49811797e-01 6.29348360e-02 6.85830795e+01] [-3.49230394e-01 9.36815395e-01 -2.03727025e-02 -1.09014527e+01] [-6.60849349e-02 -2.93631816e-03 9.97809681e-01 -4.02803312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43654761499998 meters 0.08682286723689427 Centerline is valid? [True, True] Translation: X:68.61, Y:-10.92, Z:-4.03 [[ 9.34961036e-01 3.49911823e-01 5.83915886e-02 6.86115603e+01] [-3.49410528e-01 9.36778709e-01 -1.89191080e-02 -1.09161206e+01] [-6.13200166e-02 -2.71400701e-03 9.98114467e-01 -4.03441166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46654761499998 meters 0.0919917977365881 Centerline is valid? [True, True] Translation: X:68.64, Y:-10.92, Z:-4.05 [[ 9.34616673e-01 3.51180742e-01 5.62473227e-02 6.86430882e+01] [-3.50717978e-01 9.36303808e-01 -1.82230194e-02 -1.09160645e+01] [-5.90641559e-02 -2.69540959e-03 9.98250550e-01 -4.04696078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.49654761499998 meters 0.08755272614412764 Centerline is valid? [True, True] Translation: X:68.67, Y:-10.94, Z:-4.03 [[ 9.33562266e-01 3.53150985e-01 6.12035790e-02 6.86707164e+01] [-3.52605961e-01 9.35561368e-01 -1.98484869e-02 -1.09413733e+01] [-6.42692168e-02 -3.05094837e-03 9.97927933e-01 -4.03229618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52654761499998 meters 0.08693284280313945 Centerline is valid? [True, True] Translation: X:68.70, Y:-10.95, Z:-4.03 [[ 9.33291670e-01 3.53528101e-01 6.31232104e-02 6.87002557e+01] [-3.52949035e-01 9.35418528e-01 -2.04733143e-02 -1.09535212e+01] [-6.62845125e-02 -3.17170247e-03 9.97795722e-01 -4.03141844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55654761499999 meters 0.08787963888940413 Centerline is valid? [True, True] Translation: X:68.73, Y:-10.96, Z:-4.04 [[ 9.32380194e-01 3.55538307e-01 6.52662665e-02 6.87303100e+01] [-3.54922879e-01 9.34655488e-01 -2.11865354e-02 -1.09605049e+01] [-6.85340991e-02 -3.41058521e-03 9.97642945e-01 -4.03506816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58654761499999 meters 0.0897946394900831 Centerline is valid? [True, True] Translation: X:68.76, Y:-10.97, Z:-4.05 [[ 9.31970797e-01 3.57494208e-01 6.02355744e-02 6.87613640e+01] [-3.56973027e-01 9.33909655e-01 -1.95707614e-02 -1.09651767e+01] [-6.32510184e-02 -3.26309720e-03 9.97992315e-01 -4.04778133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61654761499999 meters 0.09027893348380102 Centerline is valid? [True, True] Translation: X:68.79, Y:-10.97, Z:-4.06 [[ 9.31411661e-01 3.59476281e-01 5.70010532e-02 6.87903853e+01] [-3.59013387e-01 9.33148681e-01 -1.85182984e-02 -1.09749641e+01] [-5.98473466e-02 -3.21598210e-03 9.98202361e-01 -4.05689532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64654761499999 meters 0.09037122655554268 Centerline is valid? [True, True] Translation: X:68.82, Y:-10.99, Z:-4.06 [[ 9.30934272e-01 3.61082374e-01 5.45976171e-02 6.88177880e+01] [-3.60659461e-01 9.32528561e-01 -1.77548644e-02 -1.09946003e+01] [-5.73248059e-02 -3.16253537e-03 9.98350572e-01 -4.05651965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67654761499999 meters 0.0936130177271788 Centerline is valid? [True, True] Translation: X:68.85, Y:-11.00, Z:-4.06 [[ 9.30228589e-01 3.62828126e-01 5.50501900e-02 6.88480700e+01] [-3.62401090e-01 9.31850252e-01 -1.79041491e-02 -1.10012467e+01] [-5.77946623e-02 -3.29529751e-03 9.98323053e-01 -4.05964819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70654761499999 meters 0.09125483173550895 Centerline is valid? [True, True] Translation: X:68.88, Y:-11.01, Z:-4.06 [[ 9.29334912e-01 3.64721194e-01 5.75766573e-02 6.88780454e+01] [-3.64257418e-01 9.31109945e-01 -1.87297412e-02 -1.10134967e+01] [-6.04413318e-02 -3.56652216e-03 9.98165380e-01 -4.05846828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73654761499999 meters 0.09025058872381474 Centerline is valid? [True, True] Translation: X:68.91, Y:-11.02, Z:-4.06 [[ 9.29164640e-01 3.65021272e-01 5.84169772e-02 6.89083447e+01] [-3.64543473e-01 9.30992126e-01 -1.90188834e-02 -1.10241132e+01] [-6.13280428e-02 -3.62385384e-03 9.98111085e-01 -4.06044180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.766547615 meters 0.08978558787610276 Centerline is valid? [True, True] Translation: X:68.94, Y:-11.04, Z:-4.06 [[ 9.29547672e-01 3.64187423e-01 5.75208438e-02 6.89371989e+01] [-3.63721659e-01 9.31319104e-01 -1.87424818e-02 -1.10385298e+01] [-6.03960369e-02 -3.49954646e-03 9.98168358e-01 -4.06396989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.796547615 meters 0.09447833485518338 Centerline is valid? [True, True] Translation: X:68.97, Y:-11.04, Z:-4.07 [[ 9.30375171e-01 3.62147847e-01 5.70173411e-02 6.89680333e+01] [-3.61685385e-01 9.32114747e-01 -1.85951714e-02 -1.10410050e+01] [-5.98809058e-02 -3.32185318e-03 9.98200001e-01 -4.07290440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82654761499998 meters 0.08811703153803033 Centerline is valid? [True, True] Translation: X:68.99, Y:-11.07, Z:-4.06 [[ 9.30859322e-01 3.60517310e-01 5.93985823e-02 6.89938388e+01] [-3.60011110e-01 9.32746553e-01 -1.93873397e-02 -1.10674748e+01] [-6.23932945e-02 -3.33726369e-03 9.98046061e-01 -4.06365382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85654761499998 meters 0.09235093891914008 Centerline is valid? [True, True] Translation: X:69.03, Y:-11.07, Z:-4.07 [[ 9.31772340e-01 3.58165425e-01 5.93113413e-02 6.90250767e+01] [-3.57655257e-01 9.33652781e-01 -1.93701429e-02 -1.10678872e+01] [-6.23139141e-02 -3.16444965e-03 9.98051583e-01 -4.07266061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88654761499998 meters 0.0867079816457194 Centerline is valid? [True, True] Translation: X:69.05, Y:-11.09, Z:-4.08 [[ 9.33655620e-01 3.53811494e-01 5.57190222e-02 6.90515512e+01] [-3.53352566e-01 9.35312903e-01 -1.82136519e-02 -1.10883340e+01] [-5.85589198e-02 -2.68318103e-03 9.98280348e-01 -4.07783696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91654761499998 meters 0.0846007465339542 Centerline is valid? [True, True] Translation: X:69.08, Y:-11.10, Z:-4.08 [[ 9.36161354e-01 3.47057945e-01 5.61489244e-02 6.90793783e+01] [-3.46579622e-01 9.37840927e-01 -1.83564824e-02 -1.11041990e+01] [-5.90295224e-02 -2.27544355e-03 9.98253644e-01 -4.08205511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94654761499999 meters 0.08182818965969084 Centerline is valid? [True, True] Translation: X:69.10, Y:-11.13, Z:-4.08 [[ 9.38851051e-01 3.39506124e-01 5.73959604e-02 6.91042892e+01] [-3.38992125e-01 9.40602046e-01 -1.87651215e-02 -1.11292889e+01] [-6.03576315e-02 -1.83912453e-03 9.98175122e-01 -4.07790017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97654761499999 meters 0.07841083604667375 Centerline is valid? [True, True] Translation: X:69.13, Y:-11.16, Z:-4.07 [[ 9.41876615e-01 3.30495413e-01 6.03425565e-02 6.91295286e+01] [-3.29907531e-01 9.43806692e-01 -1.97471460e-02 -1.11583969e+01] [-6.34780497e-02 -1.30808882e-03 9.97982378e-01 -4.06909084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00654761499999 meters 0.0774962091875901 Centerline is valid? [True, True] Translation: X:69.16, Y:-11.17, Z:-4.07 [[ 9.44309584e-01 3.23261117e-01 6.14952007e-02 6.91564754e+01] [-3.22634779e-01 9.46309442e-01 -2.01305666e-02 -1.11721330e+01] [-6.47009185e-02 -8.31003529e-04 9.97904354e-01 -4.07463654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03654761499999 meters 0.07737315470321202 Centerline is valid? [True, True] Translation: X:69.19, Y:-11.19, Z:-4.08 [[ 9.46713805e-01 3.16635399e-01 5.89490999e-02 6.91863005e+01] [-3.16046666e-01 9.48547256e-01 -1.93030429e-02 -1.11853359e+01] [-6.20280336e-02 -3.56209327e-04 9.98074344e-01 -4.08121171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06654761499999 meters 0.07805228697018692 Centerline is valid? [True, True] Translation: X:69.22, Y:-11.20, Z:-4.09 [[ 9.48569607e-01 3.11472805e-01 5.65720121e-02 6.92153206e+01] [-3.10920402e-01 9.50255067e-01 -1.85421612e-02 -1.11996816e+01] [-5.95332201e-02 -8.62145219e-07 9.98226325e-01 -4.08649007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09654761499999 meters 0.07780554896797769 Centerline is valid? [True, True] Translation: X:69.24, Y:-11.22, Z:-4.08 [[ 9.51282166e-01 3.02477545e-01 5.97459193e-02 6.92424017e+01] [-3.01842496e-01 9.53156315e-01 -1.95996459e-02 -1.12223383e+01] [-6.28756531e-02 6.10936236e-04 9.98021182e-01 -4.08041694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12654761499999 meters 0.077674199832499 Centerline is valid? [True, True] Translation: X:69.27, Y:-11.24, Z:-4.08 [[ 9.51929175e-01 3.00162111e-01 6.11028120e-02 6.92710812e+01] [-2.99492037e-01 9.53887872e-01 -2.00610885e-02 -1.12361669e+01] [-6.43068099e-02 7.96929802e-04 9.97929857e-01 -4.07984524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.156547615 meters 0.07772075139687014 Centerline is valid? [True, True] Translation: X:69.30, Y:-11.24, Z:-4.08 [[ 9.52422929e-01 2.98419972e-01 6.19361319e-02 6.93024677e+01] [-2.97726655e-01 9.54434193e-01 -2.03521384e-02 -1.12449260e+01] [-6.51874467e-02 9.43805858e-04 9.97872590e-01 -4.08423399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18654761499998 meters 0.07840211734676428 Centerline is valid? [True, True] Translation: X:69.34, Y:-11.24, Z:-4.10 [[ 9.52171212e-01 2.99881231e-01 5.86620084e-02 6.93358667e+01] [-2.99260846e-01 9.53976193e-01 -1.92968591e-02 -1.12417569e+01] [-6.17489253e-02 8.18671462e-04 9.98091379e-01 -4.09555000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21654761499998 meters 0.07868159343776507 Centerline is valid? [True, True] Translation: X:69.37, Y:-11.25, Z:-4.10 [[ 9.52062940e-01 3.00312896e-01 5.82092952e-02 6.93667302e+01] [-2.99702645e-01 9.53840418e-01 -1.91515394e-02 -1.12486172e+01] [-6.12738327e-02 7.87991215e-04 9.98120682e-01 -4.10022378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24654761499998 meters 0.07798518018838649 Centerline is valid? [True, True] Translation: X:69.40, Y:-11.25, Z:-4.10 [[ 9.51083500e-01 3.03394069e-01 5.82427305e-02 6.93990723e+01] [-3.02787847e-01 9.52864981e-01 -1.91793699e-02 -1.12516225e+01] [-6.13163654e-02 6.05991292e-04 9.98118197e-01 -4.10151743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27654761499998 meters 0.07761164214965222 Centerline is valid? [True, True] Translation: X:69.43, Y:-11.25, Z:-4.10 [[ 9.50677135e-01 3.04850130e-01 5.72658986e-02 6.94317508e+01] [-3.04265874e-01 9.52400195e-01 -1.88718563e-02 -1.12532046e+01] [-6.02931408e-02 5.16983605e-04 9.98180580e-01 -4.10358727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30654761499999 meters 0.0780261358416643 Centerline is valid? [True, True] Translation: X:69.46, Y:-11.26, Z:-4.11 [[ 9.50798828e-01 3.04425511e-01 5.75038909e-02 6.94646241e+01] [-3.03834781e-01 9.52535981e-01 -1.89639307e-02 -1.12565748e+01] [-6.05476294e-02 5.59201008e-04 9.98165153e-01 -4.10641779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33654761499999 meters 0.07823600490943684 Centerline is valid? [True, True] Translation: X:69.50, Y:-11.27, Z:-4.11 [[ 9.51771377e-01 3.01402353e-01 5.73399301e-02 6.94950025e+01] [-3.00808410e-01 9.53496740e-01 -1.89279231e-02 -1.12653242e+01] [-6.03783570e-02 7.66722211e-04 9.98175268e-01 -4.10807127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36654761499999 meters 0.07836794320989379 Centerline is valid? [True, True] Translation: X:69.53, Y:-11.27, Z:-4.11 [[ 9.52034087e-01 3.00682653e-01 5.67541959e-02 6.95271370e+01] [-3.00098755e-01 9.53723899e-01 -1.87472935e-02 -1.12697672e+01] [-5.97648190e-02 8.16198901e-04 9.98212152e-01 -4.11170833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39654761499999 meters 0.07829983767671331 Centerline is valid? [True, True] Translation: X:69.56, Y:-11.27, Z:-4.11 [[ 9.51682512e-01 3.01391284e-01 5.88531248e-02 6.95599781e+01] [-3.00763701e-01 9.53500198e-01 -1.94568194e-02 -1.12694079e+01] [-6.19805820e-02 8.15831150e-04 9.98077022e-01 -4.11488540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42654761499999 meters 0.07787235603741705 Centerline is valid? [True, True] Translation: X:69.59, Y:-11.27, Z:-4.12 [[ 9.50155950e-01 3.05902624e-01 6.02266944e-02 6.95933072e+01] [-3.05253457e-01 9.52062647e-01 -1.99259406e-02 -1.12664521e+01] [-6.34349836e-02 5.48344343e-04 9.97985823e-01 -4.11629676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45654761499999 meters 0.07754651554886231 Centerline is valid? [True, True] Translation: X:69.63, Y:-11.26, Z:-4.12 [[ 9.48580952e-01 3.10713721e-01 6.04248402e-02 6.96278948e+01] [-3.10069236e-01 9.50503512e-01 -2.00035591e-02 -1.12630620e+01] [-6.36494031e-02 2.39111085e-04 9.97972292e-01 -4.11614325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48654761499999 meters 0.0776904767323999 Centerline is valid? [True, True] Translation: X:69.66, Y:-11.26, Z:-4.12 [[ 9.46923676e-01 3.15900000e-01 5.95209339e-02 6.96626014e+01] [-3.15283955e-01 9.48792486e-01 -1.97191838e-02 -1.12557796e+01] [-6.27023050e-02 -9.34333832e-05 9.98032270e-01 -4.12067785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.516547615 meters 0.07779501372943527 Centerline is valid? [True, True] Translation: X:69.70, Y:-11.25, Z:-4.12 [[ 9.45467376e-01 3.20288728e-01 5.92163214e-02 6.96960496e+01] [-3.19686725e-01 9.47319901e-01 -1.96317003e-02 -1.12532042e+01] [-6.23846120e-02 -3.69539739e-04 9.98052115e-01 -4.12361057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.546547615 meters 0.07803311687867806 Centerline is valid? [True, True] Translation: X:69.73, Y:-11.26, Z:-4.13 [[ 9.44654335e-01 3.22957033e-01 5.76796522e-02 6.97281109e+01] [-3.22390123e-01 9.46413485e-01 -1.91343626e-02 -1.12586539e+01] [-6.07683776e-02 -5.19991580e-04 9.98151759e-01 -4.12676180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57654761499998 meters 0.078807521597654 Centerline is valid? [True, True] Translation: X:69.76, Y:-11.26, Z:-4.13 [[ 9.43402488e-01 3.26912624e-01 5.58558981e-02 6.97613028e+01] [-3.26387154e-01 9.45054280e-01 -1.85427450e-02 -1.12565158e+01] [-5.88487130e-02 -7.37375857e-04 9.98266640e-01 -4.13495711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60654761499998 meters 0.07943038612650627 Centerline is valid? [True, True] Translation: X:69.79, Y:-11.25, Z:-4.14 [[ 9.41893055e-01 3.30869805e-01 5.79883110e-02 6.97942805e+01] [-3.30310056e-01 9.43675873e-01 -1.92643093e-02 -1.12533189e+01] [-6.10961483e-02 -1.00920309e-03 9.98131375e-01 -4.13992099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63654761499998 meters 0.07909329791517945 Centerline is valid? [True, True] Translation: X:69.83, Y:-11.26, Z:-4.13 [[ 9.39414829e-01 3.37301041e-01 6.10556009e-02 6.98275697e+01] [-3.36693116e-01 9.41395659e-01 -2.02967472e-02 -1.12559874e+01] [-6.43235916e-02 -1.48993519e-03 9.97927981e-01 -4.13426908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66654761499998 meters 0.08188329503933739 Centerline is valid? [True, True] Translation: X:69.86, Y:-11.25, Z:-4.14 [[ 9.36359802e-01 3.45450474e-01 6.24042505e-02 6.98624530e+01] [-3.44832022e-01 9.38434689e-01 -2.07656365e-02 -1.12477788e+01] [-6.57358124e-02 -2.07487657e-03 9.97834905e-01 -4.13827413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69654761499999 meters 0.08190436966670386 Centerline is valid? [True, True] Translation: X:69.89, Y:-11.26, Z:-4.14 [[ 9.33668376e-01 3.53193741e-01 5.93089011e-02 6.98924074e+01] [-3.52650519e-01 9.35546899e-01 -1.97385507e-02 -1.12577973e+01] [-6.24577911e-02 -2.48605420e-03 9.98044510e-01 -4.13604206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72654761499999 meters 0.08322510417953101 Centerline is valid? [True, True] Translation: X:69.92, Y:-11.27, Z:-4.14 [[ 9.32251652e-01 3.57325081e-01 5.67947599e-02 6.99222019e+01] [-3.56833946e-01 9.33976362e-01 -1.89127180e-02 -1.12660033e+01] [-5.98029517e-02 -2.63488565e-03 9.98206724e-01 -4.14037890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75654761499999 meters 0.08322510417953101 Centerline is valid? [True, True] Translation: X:69.95, Y:-11.28, Z:-4.14 [[ 9.32148290e-01 3.57595186e-01 5.67912686e-02 6.99527881e+01] [-3.57103914e-01 9.33872961e-01 -1.89231948e-02 -1.12763795e+01] [-5.98026735e-02 -2.64116067e-03 9.98206724e-01 -4.14331219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78654761499999 meters 0.08453960297183997 Centerline is valid? [True, True] Translation: X:69.99, Y:-11.28, Z:-4.15 [[ 9.30581129e-01 3.61024473e-01 6.06637644e-02 6.99850022e+01] [-3.60469651e-01 9.32551400e-01 -2.02365046e-02 -1.12786090e+01] [-6.38779518e-02 -3.03573673e-03 9.97953101e-01 -4.14705653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81654761499999 meters 0.08924434752319972 Centerline is valid? [True, True] Translation: X:70.02, Y:-11.27, Z:-4.16 [[ 9.29228057e-01 3.64293349e-01 6.18512263e-02 7.00184905e+01] [-3.63722688e-01 9.31278373e-01 -2.06494075e-02 -1.12746368e+01] [-6.51231513e-02 -3.30868549e-03 9.97871749e-01 -4.15606629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84654761499999 meters 0.08737677904383252 Centerline is valid? [True, True] Translation: X:70.05, Y:-11.29, Z:-4.16 [[ 9.28454835e-01 3.66378976e-01 6.11397181e-02 7.00458025e+01] [-3.65824639e-01 9.30459513e-01 -2.04310606e-02 -1.12946420e+01] [-6.43735434e-02 -3.39709826e-03 9.97920090e-01 -4.15615434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87654761499999 meters 0.08861684169698267 Centerline is valid? [True, True] Translation: X:70.07, Y:-11.31, Z:-4.16 [[ 9.27710091e-01 3.67923513e-01 6.31369680e-02 7.00746279e+01] [-3.67335889e-01 9.29849015e-01 -2.10986586e-02 -1.13073314e+01] [-6.64705401e-02 -3.61903578e-03 9.97781825e-01 -4.15511568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.906547615 meters 0.08827445853843202 Centerline is valid? [True, True] Translation: X:70.10, Y:-11.32, Z:-4.16 [[ 9.26647145e-01 3.70472467e-01 6.38374511e-02 7.01040145e+01] [-3.69876641e-01 9.28835556e-01 -2.13490177e-02 -1.13190080e+01] [-6.72037176e-02 -3.82897564e-03 9.97731928e-01 -4.15607690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93654761499998 meters 0.09099003123488254 Centerline is valid? [True, True] Translation: X:70.13, Y:-11.32, Z:-4.16 [[ 9.25313473e-01 3.73561292e-01 6.51685314e-02 7.01339119e+01] [-3.72946599e-01 9.27596350e-01 -2.18138767e-02 -1.13246154e+01] [-6.85989119e-02 -4.11970815e-03 9.97635814e-01 -4.15890619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96654761499998 meters 0.09260694839107089 Centerline is valid? [True, True] Translation: X:70.16, Y:-11.33, Z:-4.16 [[ 9.24415002e-01 3.75743755e-01 6.53722757e-02 7.01627881e+01] [-3.75130251e-01 9.26713671e-01 -2.18876041e-02 -1.13347692e+01] [-6.88055121e-02 -4.28988862e-03 9.97620869e-01 -4.16327611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99654761499998 meters 0.09114865010988375 Centerline is valid? [True, True] Translation: X:70.19, Y:-11.35, Z:-4.17 [[ 9.24609422e-01 3.75484643e-01 6.40991476e-02 7.01920187e+01] [-3.74893306e-01 9.26819213e-01 -2.14745168e-02 -1.13513411e+01] [-6.74716728e-02 -4.17480082e-03 9.97712456e-01 -4.16835602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02654761499998 meters 0.09192176632161528 Centerline is valid? [True, True] Translation: X:70.22, Y:-11.36, Z:-4.17 [[ 9.25821779e-01 3.72415371e-01 6.45044536e-02 7.02195603e+01] [-3.71807533e-01 9.28057732e-01 -2.16334237e-02 -1.13637896e+01] [-6.79204763e-02 -3.95454697e-03 9.97682901e-01 -4.17368056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05654761499999 meters 0.08985654993565018 Centerline is valid? [True, True] Translation: X:70.25, Y:-11.38, Z:-4.18 [[ 9.27512423e-01 3.68445287e-01 6.29982281e-02 7.02452501e+01] [-3.67855648e-01 9.29642590e-01 -2.11394459e-02 -1.13846418e+01] [-6.63545652e-02 -3.56715531e-03 9.97789731e-01 -4.17582113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08654761499999 meters 0.08743917014408804 Centerline is valid? [True, True] Translation: X:70.27, Y:-11.41, Z:-4.18 [[ 9.29123433e-01 3.64345507e-01 6.31030788e-02 7.02709382e+01] [-3.63743782e-01 9.31258106e-01 -2.11849497e-02 -1.14063673e+01] [-6.64838949e-02 -3.26991933e-03 9.97782140e-01 -4.17770453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11654761499999 meters 0.08756394588941013 Centerline is valid? [True, True] Translation: X:70.30, Y:-11.42, Z:-4.18 [[ 9.29749249e-01 3.62734813e-01 6.31647759e-02 7.02983214e+01] [-3.62127997e-01 9.31887065e-01 -2.12087664e-02 -1.14187170e+01] [-6.65555955e-02 -3.15489916e-03 9.97777730e-01 -4.18185189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14654761499999 meters 0.08513244731586182 Centerline is valid? [True, True] Translation: X:70.33, Y:-11.44, Z:-4.18 [[ 9.28774525e-01 3.65254543e-01 6.29841245e-02 7.03259557e+01] [-3.64656216e-01 9.30901782e-01 -2.11593121e-02 -1.14379306e+01] [-6.63605686e-02 -3.31532243e-03 9.97790200e-01 -4.18281813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17654761499999 meters 0.09040518856213622 Centerline is valid? [True, True] Translation: X:70.36, Y:-11.44, Z:-4.19 [[ 9.27860995e-01 3.67750290e-01 6.19168693e-02 7.03570576e+01] [-3.67177400e-01 9.29918249e-01 -2.08039964e-02 -1.14399488e+01] [-6.52283024e-02 -3.43125834e-03 9.97864467e-01 -4.18989976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20654761499999 meters 0.09178580730180423 Centerline is valid? [True, True] Translation: X:70.39, Y:-11.45, Z:-4.19 [[ 9.27397557e-01 3.69156683e-01 6.04740782e-02 7.03851612e+01] [-3.68612663e-01 9.29360807e-01 -2.03272127e-02 -1.14517689e+01] [-6.37061645e-02 -3.44010361e-03 9.97962770e-01 -4.19365099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23654761499999 meters 0.09205823791847179 Centerline is valid? [True, True] Translation: X:70.41, Y:-11.47, Z:-4.20 [[ 9.27452679e-01 3.69300372e-01 5.87261754e-02 7.04127749e+01] [-3.68787460e-01 9.29304058e-01 -1.97427521e-02 -1.14684934e+01] [-6.18654789e-02 -3.34700872e-03 9.98078885e-01 -4.19819726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.266547615 meters 0.0876530184075993 Centerline is valid? [True, True] Translation: X:70.44, Y:-11.49, Z:-4.20 [[ 9.27528343e-01 3.68891084e-01 6.00877689e-02 7.04393091e+01] [-3.68352299e-01 9.29466472e-01 -2.02153802e-02 -1.14900081e+01] [-6.33068401e-02 -3.38312975e-03 9.97988376e-01 -4.19654360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.296547615 meters 0.08863514639261451 Centerline is valid? [True, True] Translation: X:70.47, Y:-11.50, Z:-4.20 [[ 9.27202771e-01 3.69185920e-01 6.32200772e-02 7.04683874e+01] [-3.68588887e-01 9.29348726e-01 -2.12879674e-02 -1.15006546e+01] [-6.66127160e-02 -3.56395552e-03 9.97772541e-01 -4.19871064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32654761499998 meters 0.08639707039650932 Centerline is valid? [True, True] Translation: X:70.50, Y:-11.52, Z:-4.20 [[ 9.26907179e-01 3.69568484e-01 6.52856651e-02 7.04951513e+01] [-3.68931578e-01 9.29196153e-01 -2.20000062e-02 -1.15235652e+01] [-6.87936977e-02 -3.69397981e-03 9.97624068e-01 -4.19507136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35654761499998 meters 0.08646248139256653 Centerline is valid? [True, True] Translation: X:70.52, Y:-11.54, Z:-4.20 [[ 9.27100117e-01 3.68386670e-01 6.91131942e-02 7.05236179e+01] [-3.67667992e-01 9.29664902e-01 -2.33113161e-02 -1.15363723e+01] [-7.28396890e-02 -3.79878540e-03 9.97336427e-01 -4.19539894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38654761499998 meters 0.08581767033901652 Centerline is valid? [True, True] Translation: X:70.55, Y:-11.55, Z:-4.20 [[ 9.27503707e-01 3.67412394e-01 6.88840000e-02 7.05527355e+01] [-3.66694842e-01 9.30050784e-01 -2.32471891e-02 -1.15484507e+01] [-7.26069237e-02 -3.69755341e-03 9.97353780e-01 -4.19993122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41654761499998 meters 0.08437183350841249 Centerline is valid? [True, True] Translation: X:70.58, Y:-11.57, Z:-4.21 [[ 9.28429469e-01 3.65627463e-01 6.58428373e-02 7.05802270e+01] [-3.64966296e-01 9.30755125e-01 -2.22373627e-02 -1.15658029e+01] [-6.94141488e-02 -3.38459355e-03 9.97582187e-01 -4.20651041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44654761499999 meters 0.08278390783768357 Centerline is valid? [True, True] Translation: X:70.61, Y:-11.59, Z:-4.21 [[ 9.29802254e-01 3.62182552e-01 6.55100612e-02 7.06065487e+01] [-3.61518066e-01 9.32102055e-01 -2.21460356e-02 -1.15864087e+01] [-6.90829704e-02 -3.09163684e-03 9.97606127e-01 -4.20922385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47654761499999 meters 0.08169157427833686 Centerline is valid? [True, True] Translation: X:70.63, Y:-11.60, Z:-4.21 [[ 9.30163671e-01 3.60722047e-01 6.83750695e-02 7.06325833e+01] [-3.59993620e-01 9.32668189e-01 -2.31223373e-02 -1.16048111e+01] [-7.21119891e-02 -3.10703059e-03 9.97391702e-01 -4.20789382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50654761499999 meters 0.08154601208027168 Centerline is valid? [True, True] Translation: X:70.66, Y:-11.62, Z:-4.21 [[ 9.30311220e-01 3.60196227e-01 6.91354664e-02 7.06624259e+01] [-3.59449264e-01 9.32871442e-01 -2.33901760e-02 -1.16153639e+01] [-7.29195553e-02 -3.09054931e-03 9.97333037e-01 -4.21155514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53654761499999 meters 0.08256630495168352 Centerline is valid? [True, True] Translation: X:70.69, Y:-11.62, Z:-4.22 [[ 9.30041031e-01 3.61049878e-01 6.83130081e-02 7.06921932e+01] [-3.60321527e-01 9.32541347e-01 -2.31308105e-02 -1.16231264e+01] [-7.20560809e-02 -3.10204450e-03 9.97395758e-01 -4.21934412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56654761499999 meters 0.08593884351773132 Centerline is valid? [True, True] Translation: X:70.72, Y:-11.63, Z:-4.23 [[ 9.29418922e-01 3.63404622e-01 6.41681195e-02 7.07215889e+01] [-3.62766561e-01 9.31626351e-01 -2.17431332e-02 -1.16294701e+01] [-6.76822662e-02 -3.06956865e-03 9.97702204e-01 -4.23185617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59654761499999 meters 0.08467555864434469 Centerline is valid? [True, True] Translation: X:70.75, Y:-11.65, Z:-4.23 [[ 9.28713417e-01 3.64978388e-01 6.54382526e-02 7.07497739e+01] [-3.64317754e-01 9.31010371e-01 -2.21869874e-02 -1.16474100e+01] [-6.90214627e-02 -3.23496430e-03 9.97609930e-01 -4.22878068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62654761499999 meters 0.08411974888955616 Centerline is valid? [True, True] Translation: X:70.78, Y:-11.66, Z:-4.23 [[ 9.28161229e-01 3.66117654e-01 6.68924208e-02 7.07785770e+01] [-3.65428971e-01 9.30562443e-01 -2.26981770e-02 -1.16625976e+01] [-7.05577778e-02 -3.37686062e-03 9.97501978e-01 -4.22856979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.656547615 meters 0.08400824049859192 Centerline is valid? [True, True] Translation: X:70.81, Y:-11.68, Z:-4.23 [[ 9.27525899e-01 3.67438408e-01 6.84450345e-02 7.08084093e+01] [-3.66719556e-01 9.30041118e-01 -2.32440710e-02 -1.16750109e+01] [-7.21974608e-02 -3.54065482e-03 9.97384074e-01 -4.23257375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68654761499998 meters 0.08487098808583625 Centerline is valid? [True, True] Translation: X:70.84, Y:-11.68, Z:-4.24 [[ 9.28536929e-01 3.65087798e-01 6.73058046e-02 7.08371112e+01] [-3.64385204e-01 9.30967300e-01 -2.28759378e-02 -1.16836086e+01] [-7.10112290e-02 -3.28408631e-03 9.97470110e-01 -4.24214029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71654761499998 meters 0.0836188343150582 Centerline is valid? [True, True] Translation: X:70.87, Y:-11.70, Z:-4.24 [[ 9.29067512e-01 3.63559328e-01 6.82508144e-02 7.08651526e+01] [-3.62831398e-01 9.31565569e-01 -2.32156560e-02 -1.16996358e+01] [-7.20203770e-02 -3.19462668e-03 9.97398045e-01 -4.24376413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74654761499998 meters 0.08244834089653466 Centerline is valid? [True, True] Translation: X:70.89, Y:-11.72, Z:-4.24 [[ 9.30278231e-01 3.60186522e-01 6.96281743e-02 7.08909995e+01] [-3.59419022e-01 9.32875525e-01 -2.36901084e-02 -1.17181419e+01] [-7.34872774e-02 -2.98729822e-03 9.97291681e-01 -4.24228459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77654761499998 meters 0.08034517159166672 Centerline is valid? [True, True] Translation: X:70.92, Y:-11.74, Z:-4.24 [[ 9.31673138e-01 3.55903125e-01 7.29255011e-02 7.09185163e+01] [-3.55046876e-01 9.34518775e-01 -2.48269201e-02 -1.17373919e+01] [-7.69862284e-02 -2.76139675e-03 9.97028332e-01 -4.23948070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80654761499999 meters 0.08002942076788812 Centerline is valid? [True, True] Translation: X:70.95, Y:-11.75, Z:-4.24 [[ 9.32716065e-01 3.53143637e-01 7.30089935e-02 7.09458809e+01] [-3.52276677e-01 9.35565688e-01 -2.48593162e-02 -1.17522393e+01] [-7.70836186e-02 -2.53268211e-03 9.97021415e-01 -4.24105269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83654761499999 meters 0.07811823375663193 Centerline is valid? [True, True] Translation: X:70.97, Y:-11.77, Z:-4.25 [[ 9.34316974e-01 3.49535821e-01 6.98319528e-02 7.09735906e+01] [-3.48731400e-01 9.36920601e-01 -2.37949131e-02 -1.17707769e+01] [-7.37441697e-02 -2.12060342e-03 9.97274937e-01 -4.24638771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86654761499999 meters 0.07867123476356377 Centerline is valid? [True, True] Translation: X:71.00, Y:-11.78, Z:-4.26 [[ 9.35550067e-01 3.46978708e-01 6.59685429e-02 7.10029926e+01] [-3.46254276e-01 9.37871263e-01 -2.24826578e-02 -1.17816984e+01] [-6.96710043e-02 -1.80823806e-03 9.97568384e-01 -4.25860174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89654761499999 meters 0.07855975356437032 Centerline is valid? [True, True] Translation: X:71.03, Y:-11.79, Z:-4.26 [[ 9.35658998e-01 3.46875205e-01 6.49602342e-02 7.10324715e+01] [-3.46171762e-01 9.37909636e-01 -2.21500675e-02 -1.17928160e+01] [-6.86101389e-02 -1.76248872e-03 9.97641991e-01 -4.26422959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92654761499999 meters 0.07779391754555068 Centerline is valid? [True, True] Translation: X:71.06, Y:-11.81, Z:-4.26 [[ 9.36183259e-01 3.45250504e-01 6.60529737e-02 7.10601330e+01] [-3.44517802e-01 9.38509114e-01 -2.25416888e-02 -1.18081083e+01] [-6.97738472e-02 -1.65327367e-03 9.97561465e-01 -4.26415077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95654761499999 meters 0.07756137737039925 Centerline is valid? [True, True] Translation: X:71.09, Y:-11.82, Z:-4.26 [[ 9.35974935e-01 3.45852388e-01 6.58562552e-02 7.10889257e+01] [-3.45124219e-01 9.38287439e-01 -2.24934223e-02 -1.18213411e+01] [-6.95715009e-02 -1.67530919e-03 9.97575561e-01 -4.26497588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98654761499999 meters 0.07761202875598633 Centerline is valid? [True, True] Translation: X:71.12, Y:-11.83, Z:-4.27 [[ 9.35436072e-01 3.47206266e-01 6.63864773e-02 7.11188382e+01] [-3.46469197e-01 9.37787091e-01 -2.26818750e-02 -1.18329500e+01] [-7.01316706e-02 -1.78342542e-03 9.97536149e-01 -4.26642854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.016547615 meters 0.07753412171836484 Centerline is valid? [True, True] Translation: X:71.15, Y:-11.84, Z:-4.27 [[ 9.34827529e-01 3.48480786e-01 6.82541779e-02 7.11499608e+01] [-3.47703669e-01 9.37313968e-01 -2.33384460e-02 -1.18408412e+01] [-7.21085944e-02 -1.91480629e-03 9.97394949e-01 -4.27029886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04654761499998 meters 0.07865347845578184 Centerline is valid? [True, True] Translation: X:71.18, Y:-11.85, Z:-4.28 [[ 9.34056810e-01 3.50182162e-01 7.00737384e-02 7.11818102e+01] [-3.49366387e-01 9.36679301e-01 -2.39794447e-02 -1.18451602e+01] [-7.40337941e-02 -2.08324520e-03 9.97253557e-01 -4.27686760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07654761499998 meters 0.07784074747534919 Centerline is valid? [True, True] Translation: X:71.21, Y:-11.86, Z:-4.28 [[ 9.33782689e-01 3.50924513e-01 7.00133911e-02 7.12112593e+01] [-3.50110762e-01 9.36401348e-01 -2.39785343e-02 -1.18589477e+01] [-7.39752893e-02 -2.12170144e-03 9.97257818e-01 -4.27852952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10654761499998 meters 0.0779909541185899 Centerline is valid? [True, True] Translation: X:71.24, Y:-11.87, Z:-4.28 [[ 9.33660134e-01 3.51328299e-01 6.96216906e-02 7.12415930e+01] [-3.50523447e-01 9.36249919e-01 -2.38621436e-02 -1.18697772e+01] [-7.35667485e-02 -2.12490279e-03 9.97288032e-01 -4.28043188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13654761499998 meters 0.07655295926513644 Centerline is valid? [True, True] Translation: X:71.27, Y:-11.89, Z:-4.28 [[ 9.34430414e-01 3.48899603e-01 7.14763431e-02 7.12687070e+01] [-3.48042387e-01 9.37158050e-01 -2.45211145e-02 -1.18867003e+01] [-7.55400375e-02 -1.96352187e-03 9.97140836e-01 -4.27926800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16654761499998 meters 0.0756704348717806 Centerline is valid? [True, True] Translation: X:71.30, Y:-11.90, Z:-4.28 [[ 9.36139341e-01 3.44404412e-01 7.09135729e-02 7.12960495e+01] [-3.43546565e-01 9.38820072e-01 -2.43439942e-02 -1.19003489e+01] [-7.49592646e-02 -1.57274371e-03 9.97185356e-01 -4.28410141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19654761499999 meters 0.07484895966967123 Centerline is valid? [True, True] Translation: X:71.33, Y:-11.91, Z:-4.29 [[ 9.37530401e-01 3.40659486e-01 7.06247937e-02 7.13261126e+01] [-3.39796697e-01 9.40185912e-01 -2.42622394e-02 -1.19118258e+01] [-7.46655980e-02 -1.25148459e-03 9.97207843e-01 -4.28913067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22654761499999 meters 0.07459049169803855 Centerline is valid? [True, True] Translation: X:71.36, Y:-11.92, Z:-4.29 [[ 9.37935866e-01 3.39409706e-01 7.12556159e-02 7.13555058e+01] [-3.38527484e-01 9.40637927e-01 -2.44833150e-02 -1.19230831e+01] [-7.53356096e-02 -1.15820508e-03 9.97157563e-01 -4.29081574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25654761499999 meters 0.07665460509765748 Centerline is valid? [True, True] Translation: X:71.39, Y:-11.93, Z:-4.30 [[ 9.38624718e-01 3.37177807e-01 7.27651340e-02 7.13866333e+01] [-3.36249586e-01 9.41440472e-01 -2.50210602e-02 -1.19264443e+01] [-7.69405883e-02 -9.81860623e-04 9.97035196e-01 -4.30243106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28654761499999 meters 0.07401509931222092 Centerline is valid? [True, True] Translation: X:71.41, Y:-11.95, Z:-4.30 [[ 9.39898747e-01 3.34986537e-01 6.61389795e-02 7.14129237e+01] [-3.34213228e-01 9.42222645e-01 -2.27597462e-02 -1.19488653e+01] [-6.99418527e-02 -7.12664936e-04 9.97550815e-01 -4.29738090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31654761499999 meters 0.0744487411997483 Centerline is valid? [True, True] Translation: X:71.44, Y:-11.96, Z:-4.30 [[ 9.40284043e-01 3.34358717e-01 6.37978679e-02 7.14428732e+01] [-3.33637483e-01 9.42445670e-01 -2.19587790e-02 -1.19579959e+01] [-6.74681335e-02 -6.37870624e-04 9.97721226e-01 -4.30362808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34654761499999 meters 0.07438931017169782 Centerline is valid? [True, True] Translation: X:71.47, Y:-11.97, Z:-4.31 [[ 9.40560207e-01 3.33442555e-01 6.45178982e-02 7.14720833e+01] [-3.32701610e-01 9.42770251e-01 -2.22236909e-02 -1.19711234e+01] [-6.82358793e-02 -5.62489345e-04 9.97669058e-01 -4.30625528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37654761499999 meters 0.07441033429727135 Centerline is valid? [True, True] Translation: X:71.50, Y:-11.98, Z:-4.31 [[ 9.40577474e-01 3.33226640e-01 6.53760002e-02 7.15009919e+01] [-3.32464084e-01 9.42846603e-01 -2.25369792e-02 -1.19834352e+01] [-6.91494616e-02 -5.37397042e-04 9.97606166e-01 -4.30731265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.406547615 meters 0.07424960421620427 Centerline is valid? [True, True] Translation: X:71.53, Y:-11.99, Z:-4.31 [[ 9.39097943e-01 3.36683936e-01 6.88402549e-02 7.15328455e+01] [-3.35846323e-01 9.41617363e-01 -2.37484401e-02 -1.19909057e+01] [-7.28168976e-02 -8.17635229e-04 9.97344991e-01 -4.30696990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43654761499998 meters 0.07522313435673046 Centerline is valid? [True, True] Translation: X:71.57, Y:-11.99, Z:-4.31 [[ 9.37218585e-01 3.42010449e-01 6.81921985e-02 7.15658370e+01] [-3.41201293e-01 9.39695380e-01 -2.35429506e-02 -1.19906629e+01] [-7.21318290e-02 -1.20237551e-03 9.97394382e-01 -4.31331880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46654761499998 meters 0.07760520738525908 Centerline is valid? [True, True] Translation: X:71.60, Y:-11.99, Z:-4.32 [[ 9.35053997e-01 3.48364769e-01 6.56963590e-02 7.15978485e+01] [-3.47628356e-01 9.37357658e-01 -2.26968410e-02 -1.19898563e+01] [-6.94877650e-02 -1.61514544e-03 9.97581496e-01 -4.32143945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49654761499998 meters 0.07826275319097821 Centerline is valid? [True, True] Translation: X:71.63, Y:-12.00, Z:-4.32 [[ 9.33182361e-01 3.53580466e-01 6.44324127e-02 7.16275079e+01] [-3.52883460e-01 9.35402081e-01 -2.22757850e-02 -1.20008846e+01] [-6.81464953e-02 -1.94976311e-03 9.97673420e-01 -4.31970193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52654761499998 meters 0.07881706065979163 Centerline is valid? [True, True] Translation: X:71.66, Y:-12.01, Z:-4.32 [[ 9.31753024e-01 3.56913354e-01 6.67020241e-02 7.16589773e+01] [-3.56173675e-01 9.34134771e-01 -2.30768821e-02 -1.20068541e+01] [-7.05451274e-02 -2.25555038e-03 9.97506039e-01 -4.32041252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55654761499999 meters 0.0780035571550199 Centerline is valid? [True, True] Translation: X:71.69, Y:-12.02, Z:-4.32 [[ 9.31690018e-01 3.56791430e-01 6.82172005e-02 7.16889435e+01] [-3.56016065e-01 9.34181286e-01 -2.36196090e-02 -1.20173765e+01] [-7.21545062e-02 -2.28026532e-03 9.97390860e-01 -4.32178635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58654761499999 meters 0.07727968409587531 Centerline is valid? [True, True] Translation: X:71.72, Y:-12.03, Z:-4.33 [[ 9.33465694e-01 3.52000821e-01 6.88274614e-02 7.17172198e+01] [-3.51197031e-01 9.35997746e-01 -2.38508700e-02 -1.20275212e+01] [-7.28178746e-02 -1.90803116e-03 9.97343430e-01 -4.32705085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61654761499999 meters 0.07701398029503381 Centerline is valid? [True, True] Translation: X:71.75, Y:-12.04, Z:-4.33 [[ 9.34112252e-01 3.50905197e-01 6.55731871e-02 7.17463524e+01] [-3.50172041e-01 9.36409405e-01 -2.27369320e-02 -1.20415403e+01] [-6.93818567e-02 -1.72305004e-03 9.97588687e-01 -4.33242468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64654761499999 meters 0.077032702689247 Centerline is valid? [True, True] Translation: X:71.78, Y:-12.05, Z:-4.34 [[ 9.33732769e-01 3.52432639e-01 6.27244027e-02 7.17763699e+01] [-3.51764147e-01 9.35835566e-01 -2.17664449e-02 -1.20520512e+01] [-6.63709326e-02 -1.74015311e-03 9.97793501e-01 -4.33540276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67654761499999 meters 0.077032702689247 Centerline is valid? [True, True] Translation: X:71.81, Y:-12.06, Z:-4.34 [[ 9.33631403e-01 3.52701752e-01 6.27206311e-02 7.18067525e+01] [-3.52033137e-01 9.35734161e-01 -2.17773071e-02 -1.20628158e+01] [-6.63707314e-02 -1.74776265e-03 9.97793501e-01 -4.33833202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70654761499999 meters 0.07878572686975083 Centerline is valid? [True, True] Translation: X:71.84, Y:-12.07, Z:-4.34 [[ 9.31640472e-01 3.57911794e-01 6.28106499e-02 7.18376929e+01] [-3.57251417e-01 9.33753042e-01 -2.18330515e-02 -1.20667841e+01] [-6.64639420e-02 -2.09863925e-03 9.97786621e-01 -4.34299640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73654761499999 meters 0.0803982152298225 Centerline is valid? [True, True] Translation: X:71.87, Y:-12.07, Z:-4.35 [[ 9.29771122e-01 3.62991208e-01 6.13436610e-02 7.18692733e+01] [-3.62371773e-01 9.31789486e-01 -2.13319692e-02 -1.20708823e+01] [-6.49026956e-02 -2.39536227e-03 9.97888722e-01 -4.34964207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.766547615 meters 0.08065399610763031 Centerline is valid? [True, True] Translation: X:71.90, Y:-12.08, Z:-4.35 [[ 9.29213860e-01 3.64229166e-01 6.24397039e-02 7.19009101e+01] [-3.63590031e-01 9.31305933e-01 -2.17151545e-02 -1.20793426e+01] [-6.60597594e-02 -2.52443134e-03 9.97812475e-01 -4.35257843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79654761499998 meters 0.08221258310333444 Centerline is valid? [True, True] Translation: X:71.93, Y:-12.09, Z:-4.36 [[ 9.28824840e-01 3.65093611e-01 6.31749255e-02 7.19319892e+01] [-3.64439907e-01 9.30967192e-01 -2.19918702e-02 -1.20857146e+01] [-6.68428742e-02 -2.59686869e-03 9.97760135e-01 -4.35608047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82654761499998 meters 0.08046151235041614 Centerline is valid? [True, True] Translation: X:71.96, Y:-12.10, Z:-4.35 [[ 9.28600635e-01 3.65747137e-01 6.26888539e-02 7.19600287e+01] [-3.65103671e-01 9.30710612e-01 -2.18418559e-02 -1.21038460e+01] [-6.63337778e-02 -2.60556941e-03 9.97794087e-01 -4.35464409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85654761499998 meters 0.0810099851022911 Centerline is valid? [True, True] Translation: X:71.99, Y:-12.11, Z:-4.36 [[ 9.28170305e-01 3.67265097e-01 6.01351348e-02 7.19894502e+01] [-3.66675209e-01 9.30112707e-01 -2.09676649e-02 -1.21140050e+01] [-6.36331445e-02 -2.58849916e-03 9.97970001e-01 -4.36144296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88654761499998 meters 0.0807112099672122 Centerline is valid? [True, True] Translation: X:72.02, Y:-12.13, Z:-4.36 [[ 9.27691156e-01 3.68068987e-01 6.25646854e-02 7.20189544e+01] [-3.67431208e-01 9.29794458e-01 -2.18305629e-02 -1.21265079e+01] [-6.62074509e-02 -2.73619775e-03 9.97802128e-01 -4.36098009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91654761499998 meters 0.07923927061670016 Centerline is valid? [True, True] Translation: X:72.05, Y:-12.14, Z:-4.36 [[ 9.28089903e-01 3.66538500e-01 6.55641727e-02 7.20470372e+01] [-3.65832883e-01 9.30398864e-01 -2.28966432e-02 -1.21410849e+01] [-6.93933330e-02 -2.73538692e-03 9.97585627e-01 -4.35968321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94654761499999 meters 0.07832364491153485 Centerline is valid? [True, True] Translation: X:72.08, Y:-12.15, Z:-4.36 [[ 9.29351709e-01 3.63294011e-01 6.57484868e-02 7.20751630e+01] [-3.62575233e-01 9.31671232e-01 -2.29764382e-02 -1.21535410e+01] [-6.96031760e-02 -2.48558085e-03 9.97571661e-01 -4.36262225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97654761499999 meters 0.0787303742536123 Centerline is valid? [True, True] Translation: X:72.11, Y:-12.16, Z:-4.37 [[ 9.29317711e-01 3.63873497e-01 6.29656321e-02 7.21057947e+01] [-3.63214766e-01 9.31445261e-01 -2.20172446e-02 -1.21597784e+01] [-6.66605314e-02 -2.40903199e-03 9.97772805e-01 -4.37086053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00654761499999 meters 0.08010084466631316 Centerline is valid? [True, True] Translation: X:72.14, Y:-12.17, Z:-4.38 [[ 9.28899956e-01 3.65331230e-01 6.06462274e-02 7.21361763e+01] [-3.64722327e-01 9.30874481e-01 -2.12208746e-02 -1.21662134e+01] [-6.42066737e-02 -2.40696371e-03 9.97933720e-01 -4.37657460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03654761499999 meters 0.0811663011598926 Centerline is valid? [True, True] Translation: X:72.17, Y:-12.18, Z:-4.38 [[ 9.28591613e-01 3.66077614e-01 6.08670445e-02 7.21654973e+01] [-3.65464894e-01 9.30581088e-01 -2.13131578e-02 -1.21778344e+01] [-6.44439905e-02 -2.45354840e-03 9.97918309e-01 -4.37749366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06654761499999 meters 0.08047991006121746 Centerline is valid? [True, True] Translation: X:72.20, Y:-12.19, Z:-4.38 [[ 9.27843908e-01 3.67800178e-01 6.18765750e-02 7.21964338e+01] [-3.67169664e-01 9.29901213e-01 -2.16834274e-02 -1.21865865e+01] [-6.55142707e-02 -2.60036522e-03 9.97848244e-01 -4.37868919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09654761499999 meters 0.08131889429164438 Centerline is valid? [True, True] Translation: X:72.23, Y:-12.19, Z:-4.38 [[ 9.26562627e-01 3.70463617e-01 6.51030512e-02 7.22290111e+01] [-3.69770809e-01 9.28842398e-01 -2.28330632e-02 -1.21900821e+01] [-6.89292933e-02 -2.91694494e-03 9.97617283e-01 -4.38096457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12654761499999 meters 0.08060082140139287 Centerline is valid? [True, True] Translation: X:72.26, Y:-12.21, Z:-4.38 [[ 9.26669422e-01 3.70521048e-01 6.32292342e-02 7.22576095e+01] [-3.69866602e-01 9.28819785e-01 -2.21924179e-02 -1.22052167e+01] [-6.69513217e-02 -2.82134700e-03 9.97752254e-01 -4.38151403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.156547615 meters 0.08157318575480695 Centerline is valid? [True, True] Translation: X:72.29, Y:-12.22, Z:-4.39 [[ 9.27531613e-01 3.68621244e-01 6.16724096e-02 7.22862559e+01] [-3.67993169e-01 9.29576044e-01 -2.16657754e-02 -1.22160441e+01] [-6.53156597e-02 -2.59933382e-03 9.97861267e-01 -4.38714134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18654761499998 meters 0.08144909364209837 Centerline is valid? [True, True] Translation: X:72.32, Y:-12.23, Z:-4.39 [[ 9.28503472e-01 3.66674282e-01 5.85770637e-02 7.23162160e+01] [-3.66103508e-01 9.30346455e-01 -2.05838316e-02 -1.22266535e+01] [-6.20445252e-02 -2.33310941e-03 9.98070656e-01 -4.39470295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21654761499998 meters 0.08099857504740818 Centerline is valid? [True, True] Translation: X:72.35, Y:-12.24, Z:-4.40 [[ 9.28538145e-01 3.66853889e-01 5.68782646e-02 7.23464667e+01] [-3.66315143e-01 9.30275823e-01 -2.00027191e-02 -1.22370672e+01] [-6.02505497e-02 -2.26208193e-03 9.98180722e-01 -4.39971073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24654761499998 meters 0.08242842576190453 Centerline is valid? [True, True] Translation: X:72.38, Y:-12.24, Z:-4.41 [[ 9.27986407e-01 3.68216370e-01 5.70783124e-02 7.23762624e+01] [-3.67675309e-01 9.29737177e-01 -2.00909978e-02 -1.22433529e+01] [-6.04656633e-02 -2.34211325e-03 9.98167530e-01 -4.40541744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.27654761499998 meters 0.07968053424832094 Centerline is valid? [True, True] Translation: X:72.40, Y:-12.26, Z:-4.40 [[ 9.28135643e-01 3.67185302e-01 6.11488486e-02 7.24041702e+01] [-3.66561032e-01 9.30144655e-01 -2.15390285e-02 -1.22611202e+01] [-6.47860894e-02 -2.42364495e-03 9.97896231e-01 -4.39911721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30654761499999 meters 0.07995589326384708 Centerline is valid? [True, True] Translation: X:72.44, Y:-12.27, Z:-4.40 [[ 9.27581216e-01 3.68391970e-01 6.22932094e-02 7.24373515e+01] [-3.67746734e-01 9.29667055e-01 -2.19432444e-02 -1.22662232e+01] [-6.59956596e-02 -2.55398296e-03 9.97816642e-01 -4.40399442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33654761499999 meters 0.08125248638146612 Centerline is valid? [True, True] Translation: X:72.47, Y:-12.27, Z:-4.41 [[ 9.26509836e-01 3.71462215e-01 5.99612009e-02 7.24680347e+01] [-3.70869584e-01 9.28444290e-01 -2.11412515e-02 -1.22723458e+01] [-6.35238107e-02 -2.65020813e-03 9.97976804e-01 -4.41071872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36654761499999 meters 0.0824502876821544 Centerline is valid? [True, True] Translation: X:72.50, Y:-12.28, Z:-4.41 [[ 9.25064401e-01 3.74848694e-01 6.11907815e-02 7.24980357e+01] [-3.74237730e-01 9.27081387e-01 -2.15922233e-02 -1.22784853e+01] [-6.48226513e-02 -2.92570204e-03 9.97892511e-01 -4.41299314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39654761499999 meters 0.08292488750410396 Centerline is valid? [True, True] Translation: X:72.53, Y:-12.29, Z:-4.41 [[ 9.23822430e-01 3.77372049e-01 6.43618971e-02 7.25287012e+01] [-3.76701184e-01 9.26056029e-01 -2.27255333e-02 -1.22868803e+01] [-6.81787039e-02 -3.25084537e-03 9.97667829e-01 -4.41244815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42654761499999 meters 0.08283626080101882 Centerline is valid? [True, True] Translation: X:72.56, Y:-12.30, Z:-4.42 [[ 9.22646169e-01 3.80340657e-01 6.37576007e-02 7.25586677e+01] [-3.79688104e-01 9.24840143e-01 -2.25311707e-02 -1.22959780e+01] [-6.75351089e-02 -3.41970421e-03 9.97711038e-01 -4.41543375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45654761499999 meters 0.08591061682015999 Centerline is valid? [True, True] Translation: X:72.59, Y:-12.30, Z:-4.42 [[ 9.22091691e-01 3.81713734e-01 6.35730961e-02 7.25909250e+01] [-3.81067899e-01 9.24273950e-01 -2.24704622e-02 -1.22955447e+01] [-6.73362407e-02 -3.50583971e-03 9.97724180e-01 -4.42331164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48654761499999 meters 0.08434442307912439 Centerline is valid? [True, True] Translation: X:72.62, Y:-12.31, Z:-4.42 [[ 9.22689398e-01 3.80393256e-01 6.28111882e-02 7.26196531e+01] [-3.79758742e-01 9.24818750e-01 -2.22165888e-02 -1.23105628e+01] [-6.65400051e-02 -3.35408685e-03 9.97778121e-01 -4.42445583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.516547615 meters 0.08077835444630664 Centerline is valid? [True, True] Translation: X:72.65, Y:-12.33, Z:-4.42 [[ 9.23713697e-01 3.77708472e-01 6.39477561e-02 7.26452533e+01] [-3.77043115e-01 9.25919037e-01 -2.26368360e-02 -1.23327366e+01] [-6.77605695e-02 -3.20110571e-03 9.97696476e-01 -4.42069302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54654761499998 meters 0.0810628877677891 Centerline is valid? [True, True] Translation: X:72.68, Y:-12.34, Z:-4.43 [[ 9.25055008e-01 3.74555631e-01 6.30976312e-02 7.26751991e+01] [-3.73899527e-01 9.27199857e-01 -2.23510513e-02 -1.23388078e+01] [-6.68758267e-02 -2.91622253e-03 9.97757044e-01 -4.42624234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57654761499998 meters 0.0792432785758451 Centerline is valid? [True, True] Translation: X:72.70, Y:-12.35, Z:-4.43 [[ 9.26525958e-01 3.70843012e-01 6.34437484e-02 7.27044103e+01] [-3.70169910e-01 9.28691795e-01 -2.24897235e-02 -1.23505477e+01] [-6.72598454e-02 -2.64765401e-03 9.97731980e-01 -4.43019332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60654761499998 meters 0.07851383959902207 Centerline is valid? [True, True] Translation: X:72.73, Y:-12.36, Z:-4.43 [[ 9.27619275e-01 3.67938451e-01 6.43721770e-02 7.27321741e+01] [-3.67237500e-01 9.29846896e-01 -2.28335198e-02 -1.23630361e+01] [-6.82575989e-02 -2.45906425e-03 9.97664700e-01 -4.43067406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.63654761499998 meters 0.0765771081743639 Centerline is valid? [True, True] Translation: X:72.76, Y:-12.38, Z:-4.43 [[ 9.28590882e-01 3.65047633e-01 6.67772398e-02 7.27613112e+01] [-3.64284839e-01 9.30985957e-01 -2.37002943e-02 -1.23775627e+01] [-7.08204088e-02 -2.31805883e-03 9.97486389e-01 -4.42807690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66654761499998 meters 0.07638171734113364 Centerline is valid? [True, True] Translation: X:72.79, Y:-12.39, Z:-4.43 [[ 9.29693161e-01 3.62170495e-01 6.71055783e-02 7.27903524e+01] [-3.61392451e-01 9.32109488e-01 -2.38201366e-02 -1.23872510e+01] [-7.11766969e-02 -2.10603135e-03 9.97461499e-01 -4.43263449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69654761499999 meters 0.07615848272847062 Centerline is valid? [True, True] Translation: X:72.82, Y:-12.40, Z:-4.44 [[ 9.29965990e-01 3.61871807e-01 6.49003281e-02 7.28201976e+01] [-3.61142434e-01 9.32225718e-01 -2.30511071e-02 -1.23968035e+01] [-6.88433008e-02 -2.00151679e-03 9.97625478e-01 -4.43710462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72654761499999 meters 0.07680915726791034 Centerline is valid? [True, True] Translation: X:72.85, Y:-12.40, Z:-4.44 [[ 9.29690949e-01 3.62764159e-01 6.38506346e-02 7.28509568e+01] [-3.62059310e-01 9.31878792e-01 -2.26930037e-02 -1.24042952e+01] [-6.77332607e-02 -2.02023651e-03 9.97701420e-01 -4.44134811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75654761499999 meters 0.07694251541311531 Centerline is valid? [True, True] Translation: X:72.88, Y:-12.41, Z:-4.44 [[ 9.29198121e-01 3.63920113e-01 6.44438030e-02 7.28812644e+01] [-3.63203717e-01 9.31427778e-01 -2.29206155e-02 -1.24143402e+01] [-6.83660212e-02 -2.10843588e-03 9.97658079e-01 -4.44201721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78654761499999 meters 0.07606599703232894 Centerline is valid? [True, True] Translation: X:72.91, Y:-12.43, Z:-4.44 [[ 9.28543895e-01 3.64948527e-01 6.79618069e-02 7.29114555e+01] [-3.64153089e-01 9.31024889e-01 -2.41905564e-02 -1.24265560e+01] [-7.21024416e-02 -2.28650846e-03 9.97394611e-01 -4.44026206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81654761499999 meters 0.07757354122748879 Centerline is valid? [True, True] Translation: X:72.94, Y:-12.43, Z:-4.45 [[ 9.27565586e-01 3.67719904e-01 6.63638168e-02 7.29424637e+01] [-3.66967113e-01 9.29933437e-01 -2.36419431e-02 -1.24290033e+01] [-7.04075453e-02 -2.42388543e-03 9.97515364e-01 -4.44637673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84654761499999 meters 0.07803209609816379 Centerline is valid? [True, True] Translation: X:72.97, Y:-12.44, Z:-4.45 [[ 9.25465620e-01 3.72998340e-01 6.62240515e-02 7.29739410e+01] [-3.72261709e-01 9.27827746e-01 -2.35986097e-02 -1.24356490e+01] [-7.02467547e-02 -2.81297666e-03 9.97525679e-01 -4.44815821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87654761499999 meters 0.08286691993135291 Centerline is valid? [True, True] Translation: X:73.01, Y:-12.43, Z:-4.45 [[ 9.22674327e-01 3.79804976e-01 6.64850816e-02 7.30078559e+01] [-3.79078814e-01 9.25060599e-01 -2.37095033e-02 -1.24314295e+01] [-7.05077167e-02 -3.32693594e-03 9.97505686e-01 -4.45382583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.906547615 meters 0.08295148152941363 Centerline is valid? [True, True] Translation: X:73.04, Y:-12.44, Z:-4.45 [[ 9.21358360e-01 3.82766506e-01 6.77390231e-02 7.30379045e+01] [-3.82019183e-01 9.23838096e-01 -2.41767898e-02 -1.24429467e+01] [-7.18339555e-02 -3.60211882e-03 9.97410100e-01 -4.45354054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93654761499998 meters 0.08315928963365117 Centerline is valid? [True, True] Translation: X:73.07, Y:-12.45, Z:-4.46 [[ 9.20722760e-01 3.84708126e-01 6.53395556e-02 7.30679923e+01] [-3.84017416e-01 9.23031193e-01 -2.33246963e-02 -1.24534852e+01] [-6.92836481e-02 -3.61594855e-03 9.97590448e-01 -4.45922089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96654761499998 meters 0.08370106442462596 Centerline is valid? [True, True] Translation: X:73.10, Y:-12.46, Z:-4.47 [[ 9.20213402e-01 3.86040917e-01 6.46506393e-02 7.30981177e+01] [-3.85367718e-01 9.22474345e-01 -2.30825701e-02 -1.24617313e+01] [-6.85493726e-02 -3.67337898e-03 9.97640962e-01 -4.46561722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99654761499998 meters 0.08629435096334179 Centerline is valid? [True, True] Translation: X:73.13, Y:-12.47, Z:-4.47 [[ 9.18967503e-01 3.89305113e-01 6.27714754e-02 7.31275568e+01] [-3.88677668e-01 9.21101034e-01 -2.24177556e-02 -1.24686867e+01] [-6.65462178e-02 -3.79668178e-03 9.97776120e-01 -4.47039517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02654761499998 meters 0.08594523878753853 Centerline is valid? [True, True] Translation: X:73.15, Y:-12.49, Z:-4.47 [[ 9.18696983e-01 3.90220531e-01 6.10228661e-02 7.31541864e+01] [-3.89628781e-01 9.20713812e-01 -2.18057135e-02 -1.24880857e+01] [-6.46936328e-02 -3.74342172e-03 9.97898151e-01 -4.47047930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05654761499999 meters 0.08848432585986739 Centerline is valid? [True, True] Translation: X:73.18, Y:-12.50, Z:-4.48 [[ 9.18740094e-01 3.90396671e-01 5.92205891e-02 7.31838680e+01] [-3.89838825e-01 9.20639590e-01 -2.11762949e-02 -1.24956171e+01] [-6.27879739e-02 -3.63097370e-03 9.98020284e-01 -4.47952046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08654761499999 meters 0.08720197779926021 Centerline is valid? [True, True] Translation: X:73.21, Y:-12.51, Z:-4.49 [[ 9.18492885e-01 3.90878168e-01 5.98755171e-02 7.32137013e+01] [-3.90308035e-01 9.20435022e-01 -2.14244848e-02 -1.25071277e+01] [-6.34858863e-02 -3.69165852e-03 9.97975908e-01 -4.48723423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11654761499999 meters 0.0876972207673303 Centerline is valid? [True, True] Translation: X:73.24, Y:-12.52, Z:-4.49 [[ 9.17825130e-01 3.92286190e-01 6.08980736e-02 7.32430780e+01] [-3.91698133e-01 9.19835224e-01 -2.18113009e-02 -1.25199773e+01] [-6.45724653e-02 -3.83470160e-03 9.97905653e-01 -4.49041095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14654761499999 meters 0.08607743343441529 Centerline is valid? [True, True] Translation: X:73.27, Y:-12.54, Z:-4.49 [[ 9.19256973e-01 3.88886175e-01 6.11077817e-02 7.32683578e+01] [-3.88285385e-01 9.21278810e-01 -2.19046536e-02 -1.25423141e+01] [-6.48157213e-02 -3.59125301e-03 9.97890788e-01 -4.48967791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17654761499999 meters 0.08360177964758224 Centerline is valid? [True, True] Translation: X:73.29, Y:-12.56, Z:-4.49 [[ 9.20910767e-01 3.85246575e-01 5.92320483e-02 7.32939091e+01] [-3.84673744e-01 9.22808058e-01 -2.12461274e-02 -1.25637754e+01] [-6.28448093e-02 -3.21922631e-03 9.98018119e-01 -4.48871795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20654761499999 meters 0.0826747118889988 Centerline is valid? [True, True] Translation: X:73.32, Y:-12.57, Z:-4.50 [[ 9.22220123e-01 3.82275000e-01 5.81022339e-02 7.33221781e+01] [-3.81717102e-01 9.24043908e-01 -2.08544753e-02 -1.25747900e+01] [-6.16611599e-02 -2.94619957e-03 9.98092792e-01 -4.49524701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23654761499999 meters 0.08088009589053013 Centerline is valid? [True, True] Translation: X:73.35, Y:-12.59, Z:-4.50 [[ 9.24239030e-01 3.77715143e-01 5.57986158e-02 7.33496895e+01] [-3.77191595e-01 9.25918406e-01 -2.00400928e-02 -1.25891402e+01] [-5.92344119e-02 -2.52493296e-03 9.98240907e-01 -4.50207366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.266547615 meters 0.08089898748331532 Centerline is valid? [True, True] Translation: X:73.38, Y:-12.60, Z:-4.51 [[ 9.26237232e-01 3.72985023e-01 5.44679997e-02 7.33765346e+01] [-3.72477140e-01 9.27834860e-01 -1.95768602e-02 -1.26023536e+01] [-5.78391846e-02 -2.15526790e-03 9.98323587e-01 -4.50966326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29654761499998 meters 0.0792827077489658 Centerline is valid? [True, True] Translation: X:73.40, Y:-12.62, Z:-4.51 [[ 9.26951613e-01 3.70700918e-01 5.78060151e-02 7.34042158e+01] [-3.70123810e-01 9.28749860e-01 -2.07861207e-02 -1.26204878e+01] [-6.13927624e-02 -2.12765444e-03 9.98111418e-01 -4.50607251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32654761499998 meters 0.07857096249508158 Centerline is valid? [True, True] Translation: X:73.43, Y:-12.63, Z:-4.50 [[ 9.26150338e-01 3.71708630e-01 6.38611460e-02 7.34336418e+01] [-3.71005297e-01 9.28346323e-01 -2.29820347e-02 -1.26320720e+01] [-6.78278808e-02 -2.40800422e-03 9.97694132e-01 -4.49932505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35654761499998 meters 0.0780348186910785 Centerline is valid? [True, True] Translation: X:73.46, Y:-12.64, Z:-4.50 [[ 9.25807068e-01 3.72478271e-01 6.43522389e-02 7.34644301e+01] [-3.71765025e-01 9.28037624e-01 -2.31718582e-02 -1.26445361e+01] [-6.83523126e-02 -2.47124166e-03 9.97658185e-01 -4.50114949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38654761499998 meters 0.07870637288343532 Centerline is valid? [True, True] Translation: X:73.49, Y:-12.65, Z:-4.51 [[ 9.25426191e-01 3.73551250e-01 6.36068228e-02 7.34949450e+01] [-3.72855546e-01 9.27606170e-01 -2.29245368e-02 -1.26503884e+01] [-6.75655707e-02 -2.50118992e-03 9.97711701e-01 -4.50865447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41654761499998 meters 0.07812830388100671 Centerline is valid? [True, True] Translation: X:73.52, Y:-12.66, Z:-4.51 [[ 9.25571152e-01 3.72857216e-01 6.55403554e-02 7.35245531e+01] [-3.72115606e-01 9.27885337e-01 -2.36384694e-02 -1.26625806e+01] [-6.96277086e-02 -2.50950374e-03 9.97569890e-01 -4.50901441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44654761499999 meters 0.07675251444573906 Centerline is valid? [True, True] Translation: X:73.55, Y:-12.68, Z:-4.51 [[ 9.26412703e-01 3.70772035e-01 6.54797758e-02 7.35518346e+01] [-3.70025350e-01 9.28720976e-01 -2.36345036e-02 -1.26820061e+01] [-6.95754543e-02 -2.33387255e-03 9.97573962e-01 -4.50861128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47654761499999 meters 0.07433932312001082 Centerline is valid? [True, True] Translation: X:73.58, Y:-12.70, Z:-4.51 [[ 9.28050891e-01 3.66346256e-01 6.71711625e-02 7.35801237e+01] [-3.65547455e-01 9.30476372e-01 -2.42647869e-02 -1.26979895e+01] [-7.13904934e-02 -2.03529039e-03 9.97446367e-01 -4.50920815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50654761499999 meters 0.07373717493473436 Centerline is valid? [True, True] Translation: X:73.61, Y:-12.71, Z:-4.51 [[ 9.29536002e-01 3.62856552e-01 6.55587036e-02 7.36091583e+01] [-3.62085823e-01 9.31843444e-01 -2.36992213e-02 -1.27124297e+01] [-6.96898659e-02 -1.70859773e-03 9.97567242e-01 -4.51439353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53654761499999 meters 0.07254113955537916 Centerline is valid? [True, True] Translation: X:73.64, Y:-12.73, Z:-4.52 [[ 9.31466691e-01 3.57681162e-01 6.65882081e-02 7.36362449e+01] [-3.56872508e-01 9.33842811e-01 -2.40752474e-02 -1.27285004e+01] [-7.07941819e-02 -1.33820975e-03 9.97490047e-01 -4.51798810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56654761499999 meters 0.07254113955537916 Centerline is valid? [True, True] Translation: X:73.67, Y:-12.74, Z:-4.52 [[ 9.31372302e-01 3.57927772e-01 6.65833777e-02 7.36664918e+01] [-3.57118793e-01 9.33748311e-01 -2.40885982e-02 -1.27396517e+01] [-7.07940947e-02 -1.34272231e-03 9.97490047e-01 -4.52091845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59654761499999 meters 0.07109457663548269 Centerline is valid? [True, True] Translation: X:73.69, Y:-12.76, Z:-4.52 [[ 9.32981458e-01 3.53253397e-01 6.89756255e-02 7.36945046e+01] [-3.52370559e-01 9.35527144e-01 -2.49790310e-02 -1.27576567e+01] [-7.33524975e-02 -1.00000690e-03 9.97305576e-01 -4.51813237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62654761499999 meters 0.07073709735124213 Centerline is valid? [True, True] Translation: X:73.73, Y:-12.76, Z:-4.52 [[ 9.33462524e-01 3.51339558e-01 7.21680788e-02 7.37259104e+01] [-3.50366976e-01 9.36247687e-01 -2.61390690e-02 -1.27647065e+01] [-7.67508858e-02 -8.85470222e-04 9.97049907e-01 -4.51997872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.656547615 meters 0.07112505858921228 Centerline is valid? [True, True] Translation: X:73.76, Y:-12.77, Z:-4.52 [[ 9.33835180e-01 3.50364809e-01 7.20857663e-02 7.37576560e+01] [-3.49389867e-01 9.36612986e-01 -2.61311146e-02 -1.27722175e+01] [-7.66718878e-02 -7.83882165e-04 9.97056070e-01 -4.52399101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68654761499998 meters 0.0711043018768565 Centerline is valid? [True, True] Translation: X:73.79, Y:-12.79, Z:-4.53 [[ 9.34115899e-01 3.50218340e-01 6.90984972e-02 7.37852976e+01] [-3.49321936e-01 9.36667803e-01 -2.50521919e-02 -1.27866357e+01] [-7.34960746e-02 -7.35970069e-04 9.97295235e-01 -4.52611564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71654761499998 meters 0.0710042219671843 Centerline is valid? [True, True] Translation: X:73.82, Y:-12.80, Z:-4.53 [[ 9.34240499e-01 3.49833221e-01 6.93643056e-02 7.38156813e+01] [-3.48927580e-01 9.36811741e-01 -2.51655721e-02 -1.27982279e+01] [-7.37850490e-02 -6.92422687e-04 9.97273928e-01 -4.52541378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74654761499998 meters 0.0715206327680243 Centerline is valid? [True, True] Translation: X:73.85, Y:-12.80, Z:-4.53 [[ 9.32956743e-01 3.53283534e-01 6.91553356e-02 7.38483586e+01] [-3.52391414e-01 9.35515822e-01 -2.51085449e-02 -1.28004476e+01] [-7.35663461e-02 -9.44560237e-04 9.97289878e-01 -4.53187620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77654761499998 meters 0.07272570774563523 Centerline is valid? [True, True] Translation: X:73.88, Y:-12.80, Z:-4.54 [[ 9.30344845e-01 3.59859615e-01 7.04239121e-02 7.38808965e+01] [-3.58951621e-01 9.33005302e-01 -2.55898655e-02 -1.27999076e+01] [-7.49146425e-02 -1.47137793e-03 9.97188864e-01 -4.53671971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80654761499999 meters 0.07441344609456403 Centerline is valid? [True, True] Translation: X:73.91, Y:-12.80, Z:-4.54 [[ 9.27514525e-01 3.67320122e-01 6.92295673e-02 7.39138246e+01] [-3.66462333e-01 9.30092377e-01 -2.51700049e-02 -1.28020353e+01] [-7.36353420e-02 -2.02448354e-03 9.97283178e-01 -4.53976287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83654761499999 meters 0.078201932529619 Centerline is valid? [True, True] Translation: X:73.95, Y:-12.80, Z:-4.55 [[ 9.25173048e-01 3.73785220e-01 6.58744303e-02 7.39471067e+01] [-3.73023685e-01 9.27512188e-01 -2.39681438e-02 -1.27993211e+01] [-7.00582749e-02 -2.39804209e-03 9.97540018e-01 -4.54929718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86654761499999 meters 0.07770801498700491 Centerline is valid? [True, True] Translation: X:73.98, Y:-12.81, Z:-4.54 [[ 9.22311318e-01 3.79926801e-01 7.06926990e-02 7.39766871e+01] [-3.79066796e-01 9.25011478e-01 -2.57318785e-02 -1.28130535e+01] [-7.51677883e-02 -3.06445213e-03 9.97166191e-01 -4.54072548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89654761499999 meters 0.07993840811136191 Centerline is valid? [True, True] Translation: X:74.01, Y:-12.82, Z:-4.55 [[ 9.21033534e-01 3.83508461e-01 6.79594704e-02 7.40067258e+01] [-3.82723139e-01 9.23531741e-01 -2.47410939e-02 -1.28181416e+01] [-7.22511469e-02 -3.22228467e-03 9.97381265e-01 -4.54798032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92654761499999 meters 0.08302986420007571 Centerline is valid? [True, True] Translation: X:74.04, Y:-12.82, Z:-4.56 [[ 9.19515955e-01 3.87977919e-01 6.29566666e-02 7.40389888e+01] [-3.87314112e-01 9.21662746e-01 -2.29251201e-02 -1.28205214e+01] [-6.69192546e-02 -3.30399170e-03 9.97752924e-01 -4.56113062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95654761499999 meters 0.08461856829349093 Centerline is valid? [True, True] Translation: X:74.07, Y:-12.83, Z:-4.57 [[ 9.18700967e-01 3.89982912e-01 6.24648764e-02 7.40693758e+01] [-3.89332985e-01 9.20815787e-01 -2.27621151e-02 -1.28267479e+01] [-6.63954803e-02 -3.40805958e-03 9.97787565e-01 -4.56767039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98654761499999 meters 0.08656445893673007 Centerline is valid? [True, True] Translation: X:74.10, Y:-12.83, Z:-4.57 [[ 9.17798800e-01 3.91988284e-01 6.31707889e-02 7.40992180e+01] [-3.91326959e-01 9.19963263e-01 -2.30392359e-02 -1.28344659e+01] [-6.71459156e-02 -3.57504972e-03 9.97736761e-01 -4.57184985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.016547615 meters 0.0848027498813527 Centerline is valid? [True, True] Translation: X:74.13, Y:-12.86, Z:-4.57 [[ 9.17059645e-01 3.93206642e-01 6.62581638e-02 7.41255734e+01] [-3.92482085e-01 9.19442098e-01 -2.41669561e-02 -1.28568267e+01] [-7.04231528e-02 -3.84260206e-03 9.97509806e-01 -4.56675576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04654761499998 meters 0.08604692915832204 Centerline is valid? [True, True] Translation: X:74.16, Y:-12.87, Z:-4.57 [[ 9.16666365e-01 3.94177641e-01 6.59299777e-02 7.41552520e+01] [-3.93461436e-01 9.19026076e-01 -2.40659343e-02 -1.28660032e+01] [-7.00776220e-02 -3.88047115e-03 9.97533994e-01 -4.56935729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07654761499998 meters 0.08583736730695392 Centerline is valid? [True, True] Translation: X:74.18, Y:-12.88, Z:-4.58 [[ 9.16759974e-01 3.94608562e-01 6.19292524e-02 7.41838229e+01] [-3.93976715e-01 9.18842031e-01 -2.26201486e-02 -1.28774005e+01] [-6.58293044e-02 -3.66143656e-03 9.97824181e-01 -4.57937184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10654761499998 meters 0.0877564527938207 Centerline is valid? [True, True] Translation: X:74.21, Y:-12.89, Z:-4.59 [[ 9.17149814e-01 3.94151435e-01 5.89988567e-02 7.42121677e+01] [-3.93576163e-01 9.19039059e-01 -2.15641325e-02 -1.28878965e+01] [-6.27217875e-02 -3.44300356e-03 9.98025111e-01 -4.58822838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13654761499998 meters 0.08720880484358465 Centerline is valid? [True, True] Translation: X:74.24, Y:-12.90, Z:-4.59 [[ 9.17024570e-01 3.94266423e-01 6.01658167e-02 7.42411429e+01] [-3.93667203e-01 9.18989512e-01 -2.20093304e-02 -1.29042282e+01] [-6.39692945e-02 -3.50221207e-03 9.97945722e-01 -4.58725112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16654761499998 meters 0.08303933233182269 Centerline is valid? [True, True] Translation: X:74.27, Y:-12.93, Z:-4.58 [[ 9.18126376e-01 3.91304583e-01 6.26472773e-02 7.42669401e+01] [-3.90647538e-01 9.20254849e-01 -2.29240789e-02 -1.29293635e+01] [-6.66217579e-02 -3.42580320e-03 9.97772422e-01 -4.58040780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19654761499999 meters 0.08345937506341294 Centerline is valid? [True, True] Translation: X:74.30, Y:-12.94, Z:-4.58 [[ 9.18131314e-01 3.91056423e-01 6.41074475e-02 7.42964435e+01] [-3.90366558e-01 9.20360160e-01 -2.34760834e-02 -1.29402307e+01] [-6.81824138e-02 -3.47127636e-03 9.97666833e-01 -4.58198982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22654761499999 meters 0.08280772970969881 Centerline is valid? [True, True] Translation: X:74.33, Y:-12.95, Z:-4.59 [[ 9.19578602e-01 3.88495220e-01 5.87082537e-02 7.43269366e+01] [-3.87910669e-01 9.21445884e-01 -2.15126672e-02 -1.29507313e+01] [-6.24540472e-02 -2.99096957e-03 9.98043359e-01 -4.59476177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25654761499999 meters 0.08344701145336413 Centerline is valid? [True, True] Translation: X:74.36, Y:-12.96, Z:-4.60 [[ 9.20030302e-01 3.87760926e-01 5.64420777e-02 7.43556059e+01] [-3.87218173e-01 9.21755698e-01 -2.07006943e-02 -1.29605568e+01] [-6.00527271e-02 -2.81013216e-03 9.98191251e-01 -4.60274886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28654761499999 meters 0.08197245877217432 Centerline is valid? [True, True] Translation: X:74.38, Y:-12.98, Z:-4.60 [[ 9.20657326e-01 3.86498554e-01 5.48539461e-02 7.43825532e+01] [-3.85982981e-01 9.22286236e-01 -2.01305128e-02 -1.29803271e+01] [-5.83714535e-02 -2.63938553e-03 9.98291444e-01 -4.60384410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31654761499999 meters 0.08105599141603713 Centerline is valid? [True, True] Translation: X:74.41, Y:-13.00, Z:-4.60 [[ 9.20638541e-01 3.85618974e-01 6.10137953e-02 7.44098631e+01] [-3.84977776e-01 9.22653699e-01 -2.24112386e-02 -1.29966457e+01] [-6.49368028e-02 -2.85630526e-03 9.97885291e-01 -4.59814803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34654761499999 meters 0.08074406154952676 Centerline is valid? [True, True] Translation: X:74.44, Y:-13.01, Z:-4.60 [[ 9.20634795e-01 3.84982723e-01 6.49605790e-02 7.44382400e+01] [-3.84253060e-01 9.22918974e-01 -2.38779007e-02 -1.30088338e+01] [-6.91459302e-02 -2.97847506e-03 9.97602110e-01 -4.59614748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37654761499999 meters 0.07976861999590529 Centerline is valid? [True, True] Translation: X:74.47, Y:-13.02, Z:-4.60 [[ 9.20958538e-01 3.84330453e-01 6.42298600e-02 7.44680700e+01] [-3.83614615e-01 9.23191089e-01 -2.36228818e-02 -1.30185669e+01] [-6.83754273e-02 -2.88381834e-03 9.97655494e-01 -4.60219843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40654761499998 meters 0.08009379575369341 Centerline is valid? [True, True] Translation: X:74.50, Y:-13.03, Z:-4.61 [[ 9.21786403e-01 3.82532870e-01 6.30747997e-02 7.44980164e+01] [-3.81837212e-01 9.23937982e-01 -2.32152481e-02 -1.30272395e+01] [-6.71577986e-02 -2.68480568e-03 9.97738754e-01 -4.60849146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43654761499998 meters 0.07965520711708236 Centerline is valid? [True, True] Translation: X:74.53, Y:-13.04, Z:-4.61 [[ 9.22478111e-01 3.81323525e-01 6.02204554e-02 7.45259472e+01] [-3.80685902e-01 9.24438367e-01 -2.21799342e-02 -1.30441546e+01] [-6.41278301e-02 -2.46457455e-03 9.97938649e-01 -4.61019769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46654761499998 meters 0.08052506642377089 Centerline is valid? [True, True] Translation: X:74.55, Y:-13.06, Z:-4.61 [[ 9.23035780e-01 3.80101335e-01 5.93963238e-02 7.45533398e+01] [-3.79477525e-01 9.24941909e-01 -2.18922930e-02 -1.30586133e+01] [-6.32594390e-02 -2.33220022e-03 9.97994391e-01 -4.61193442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49654761499998 meters 0.07846148648233596 Centerline is valid? [True, True] Translation: X:74.58, Y:-13.08, Z:-4.61 [[ 9.23796152e-01 3.77864512e-01 6.17987019e-02 7.45805863e+01] [-3.77182736e-01 9.25858175e-01 -2.27996282e-02 -1.30775207e+01] [-6.58320038e-02 -2.24719469e-03 9.97828190e-01 -4.60845339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52654761499998 meters 0.07712597166391211 Centerline is valid? [True, True] Translation: X:74.61, Y:-13.09, Z:-4.61 [[ 9.24748889e-01 3.75130105e-01 6.41630471e-02 7.46086890e+01] [-3.74388334e-01 9.26969726e-01 -2.36749152e-02 -1.30914923e+01] [-6.83583756e-02 -2.12854481e-03 9.97658560e-01 -4.61169121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55654761499999 meters 0.07887582921674477 Centerline is valid? [True, True] Translation: X:74.64, Y:-13.10, Z:-4.63 [[ 9.25853124e-01 3.72762326e-01 6.20019426e-02 7.46389972e+01] [-3.72063428e-01 9.27924964e-01 -2.28925235e-02 -1.30951728e+01] [-6.60666206e-02 -1.87354087e-03 9.97813455e-01 -4.62570968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58654761499999 meters 0.07753410145136533 Centerline is valid? [True, True] Translation: X:74.67, Y:-13.11, Z:-4.63 [[ 9.26848091e-01 3.70614651e-01 5.99782983e-02 7.46664106e+01] [-3.69955240e-01 9.28785259e-01 -2.21599431e-02 -1.31135064e+01] [-6.39197589e-02 -1.65038477e-03 9.97953677e-01 -4.62770968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61654761499999 meters 0.07828631373486686 Centerline is valid? [True, True] Translation: X:74.69, Y:-13.13, Z:-4.63 [[ 9.26730290e-01 3.71163437e-01 5.83838433e-02 7.46943434e+01] [-3.70538753e-01 9.28566126e-01 -2.15866073e-02 -1.31260955e+01] [-6.22254186e-02 -1.62851369e-03 9.98060792e-01 -4.63147350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64654761499999 meters 0.07638759522275959 Centerline is valid? [True, True] Translation: X:74.72, Y:-13.14, Z:-4.63 [[ 9.26298333e-01 3.71760168e-01 6.13659109e-02 7.47249129e+01] [-3.71069983e-01 9.28327186e-01 -2.27090926e-02 -1.31386063e+01] [-6.54099795e-02 -1.73565287e-03 9.97856965e-01 -4.62814200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67654761499999 meters 0.07658699430629695 Centerline is valid? [True, True] Translation: X:74.76, Y:-13.14, Z:-4.63 [[ 9.26229185e-01 3.71662930e-01 6.29774828e-02 7.47563708e+01] [-3.70935579e-01 9.28366052e-01 -2.33081355e-02 -1.31440335e+01] [-6.71289270e-02 -1.77191368e-03 9.97742736e-01 -4.63328989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70654761499999 meters 0.07692622131589164 Centerline is valid? [True, True] Translation: X:74.78, Y:-13.15, Z:-4.64 [[ 9.26173018e-01 3.72110143e-01 6.11357743e-02 7.47848503e+01] [-3.71424597e-01 9.28186959e-01 -2.26437252e-02 -1.31545852e+01] [-6.51713882e-02 -1.73532305e-03 9.97872576e-01 -4.63916481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73654761499999 meters 0.07659045229943026 Centerline is valid? [True, True] Translation: X:74.81, Y:-13.17, Z:-4.64 [[ 9.25994983e-01 3.72531676e-01 6.12653415e-02 7.48147715e+01] [-3.71843163e-01 9.28017818e-01 -2.27066327e-02 -1.31698858e+01] [-6.53142685e-02 -1.75487038e-03 9.97863200e-01 -4.63839135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.766547615 meters 0.0766733028022022 Centerline is valid? [True, True] Translation: X:74.85, Y:-13.18, Z:-4.64 [[ 9.24746392e-01 3.75176202e-01 6.39290793e-02 7.48478975e+01] [-3.74431289e-01 9.26951343e-01 -2.37153553e-02 -1.31755195e+01] [-6.81565828e-02 -2.00635834e-03 9.97672619e-01 -4.64044443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79654761499998 meters 0.07649182555323242 Centerline is valid? [True, True] Translation: X:74.88, Y:-13.19, Z:-4.64 [[ 9.24755771e-01 3.75592327e-01 6.12957462e-02 7.48777662e+01] [-3.74907258e-01 9.26782962e-01 -2.27572001e-02 -1.31870885e+01] [-6.53552829e-02 -1.93536801e-03 9.97860181e-01 -4.64452783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82654761499998 meters 0.07761656010163027 Centerline is valid? [True, True] Translation: X:74.91, Y:-13.19, Z:-4.65 [[ 9.24691233e-01 3.75862547e-01 6.06091597e-02 7.49087666e+01] [-3.75192232e-01 9.26673444e-01 -2.25192583e-02 -1.31924828e+01] [-6.46290446e-02 -1.91672516e-03 9.97907517e-01 -4.65194805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85654761499998 meters 0.0778493254048015 Centerline is valid? [True, True] Translation: X:74.94, Y:-13.20, Z:-4.66 [[ 9.24690136e-01 3.75997502e-01 5.97831932e-02 7.49392678e+01] [-3.75344682e-01 9.26618757e-01 -2.22272054e-02 -1.32006167e+01] [-6.37536019e-02 -1.88602606e-03 9.97963888e-01 -4.65539204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88654761499998 meters 0.07683026152552577 Centerline is valid? [True, True] Translation: X:74.97, Y:-13.22, Z:-4.65 [[ 9.25165638e-01 3.74781263e-01 6.00628575e-02 7.49664660e+01] [-3.74118531e-01 9.27111531e-01 -2.23502682e-02 -1.32228508e+01] [-6.40614295e-02 -1.79292787e-03 9.97944346e-01 -4.64971855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91654761499998 meters 0.07670678506916932 Centerline is valid? [True, True] Translation: X:75.00, Y:-13.23, Z:-4.65 [[ 9.24864589e-01 3.75250218e-01 6.17475944e-02 7.49976364e+01] [-3.74550369e-01 9.26921665e-01 -2.29836409e-02 -1.32314196e+01] [-6.58597993e-02 -1.87082863e-03 9.97827133e-01 -4.65027684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94654761499999 meters 0.07841631521227374 Centerline is valid? [True, True] Translation: X:75.03, Y:-13.23, Z:-4.66 [[ 9.24339030e-01 3.76849435e-01 5.98486553e-02 7.50294223e+01] [-3.76194325e-01 9.26272563e-01 -2.22928143e-02 -1.32323853e+01] [-6.38372018e-02 -1.90860616e-03 9.97958501e-01 -4.66128252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97654761499999 meters 0.07976695637399295 Centerline is valid? [True, True] Translation: X:75.06, Y:-13.24, Z:-4.67 [[ 9.23203467e-01 3.79811159e-01 5.86416461e-02 7.50612980e+01] [-3.79187026e-01 9.25061764e-01 -2.18616568e-02 -1.32377522e+01] [-6.25504458e-02 -2.05339405e-03 9.98039691e-01 -4.66734552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00654761499999 meters 0.0804412730710668 Centerline is valid? [True, True] Translation: X:75.09, Y:-13.25, Z:-4.67 [[ 9.21884600e-01 3.83013233e-01 5.85631942e-02 7.50911711e+01] [-3.82397068e-01 9.23740078e-01 -2.18346201e-02 -1.32495204e+01] [-6.24601180e-02 -2.26539374e-03 9.98044890e-01 -4.66661248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03654761499999 meters 0.0808423227844161 Centerline is valid? [True, True] Translation: X:75.12, Y:-13.26, Z:-4.66 [[ 9.21238495e-01 3.84570011e-01 5.85281358e-02 7.51205416e+01] [-3.83956966e-01 9.23092815e-01 -2.18335344e-02 -1.32644852e+01] [-6.24234242e-02 -2.35839314e-03 9.98046970e-01 -4.66308864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06654761499999 meters 0.08069040064313408 Centerline is valid? [True, True] Translation: X:75.15, Y:-13.27, Z:-4.67 [[ 9.20949488e-01 3.85189858e-01 5.89984198e-02 7.51515375e+01] [-3.84567916e-01 9.22834187e-01 -2.20132121e-02 -1.32748148e+01] [-6.29250248e-02 -2.41584294e-03 9.98015333e-01 -4.66633711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09654761499999 meters 0.0801634862441465 Centerline is valid? [True, True] Translation: X:75.18, Y:-13.28, Z:-4.67 [[ 9.21273011e-01 3.84275933e-01 5.99002999e-02 7.51831526e+01] [-3.83631411e-01 9.23215251e-01 -2.23727849e-02 -1.32820292e+01] [-6.38981931e-02 -2.36819366e-03 9.97953612e-01 -4.67234376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12654761499999 meters 0.08091838977304688 Centerline is valid? [True, True] Translation: X:75.21, Y:-13.29, Z:-4.68 [[ 9.21662859e-01 3.83396221e-01 5.95391676e-02 7.52125437e+01] [-3.82757218e-01 9.23581131e-01 -2.22442382e-02 -1.32920784e+01] [-6.35176086e-02 -2.28735793e-03 9.97978097e-01 -4.67744304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15654761499998 meters 0.08035801881866815 Centerline is valid? [True, True] Translation: X:75.24, Y:-13.31, Z:-4.68 [[ 9.22137284e-01 3.82130450e-01 6.03253584e-02 7.52397132e+01] [-3.81470580e-01 9.24105743e-01 -2.25559921e-02 -1.33084577e+01] [-6.43663415e-02 -2.21262818e-03 9.97923884e-01 -4.67648372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18654761499998 meters 0.08011312898697057 Centerline is valid? [True, True] Translation: X:75.27, Y:-13.32, Z:-4.67 [[ 9.21935046e-01 3.82031240e-01 6.39367041e-02 7.52676105e+01] [-3.81289009e-01 9.24146475e-01 -2.39162049e-02 -1.33213474e+01] [-6.82236171e-02 -2.32917512e-03 9.97667336e-01 -4.67227223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21654761499998 meters 0.07901116638825102 Centerline is valid? [True, True] Translation: X:75.30, Y:-13.34, Z:-4.67 [[ 9.21563627e-01 3.82861984e-01 6.43209350e-02 7.52978152e+01] [-3.82112197e-01 9.23802444e-01 -2.40689179e-02 -1.33352203e+01] [-6.86349106e-02 -2.39677447e-03 9.97638965e-01 -4.67300432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24654761499998 meters 0.08114139032743 Centerline is valid? [True, True] Translation: X:75.33, Y:-13.34, Z:-4.68 [[ 9.20280508e-01 3.86292936e-01 6.21414141e-02 7.53289813e+01] [-3.85599511e-01 9.22372649e-01 -2.32747339e-02 -1.33367913e+01] [-6.63084060e-02 -2.54241494e-03 9.97795937e-01 -4.68233496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27654761499998 meters 0.08393131420269381 Centerline is valid? [True, True] Translation: X:75.36, Y:-13.34, Z:-4.69 [[ 9.19603540e-01 3.88523983e-01 5.81243801e-02 7.53589923e+01] [-3.87921136e-01 9.21435172e-01 -2.17811151e-02 -1.33410622e+01] [-6.20203338e-02 -2.51768497e-03 9.98071711e-01 -4.69390854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30654761499999 meters 0.08254028771393718 Centerline is valid? [True, True] Translation: X:75.39, Y:-13.36, Z:-4.69 [[ 9.20600059e-01 3.86015706e-01 5.90542593e-02 7.53862844e+01] [-3.85386957e-01 9.22489171e-01 -2.21500204e-02 -1.33584464e+01] [-6.30271704e-02 -2.36743123e-03 9.98009003e-01 -4.69477904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33654761499999 meters 0.08133214653102386 Centerline is valid? [True, True] Translation: X:75.41, Y:-13.37, Z:-4.70 [[ 9.21961443e-01 3.82691772e-01 5.94483496e-02 7.54138361e+01] [-3.82047748e-01 9.23873565e-01 -2.22969722e-02 -1.33737125e+01] [-6.34556264e-02 -2.15515940e-03 9.97982334e-01 -4.69846666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36654761499999 meters 0.07998287195643258 Centerline is valid? [True, True] Translation: X:75.44, Y:-13.39, Z:-4.70 [[ 9.23485107e-01 3.79045486e-01 5.91589122e-02 7.54398807e+01] [-3.78399274e-01 9.25376130e-01 -2.22037762e-02 -1.33908011e+01] [-6.31604864e-02 -1.88083272e-03 9.98001611e-01 -4.70010708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39654761499999 meters 0.07867535942622635 Centerline is valid? [True, True] Translation: X:75.47, Y:-13.40, Z:-4.70 [[ 9.24289778e-01 3.76480533e-01 6.28554958e-02 7.54681219e+01] [-3.75744298e-01 9.26422776e-01 -2.36021836e-02 -1.34047774e+01] [-6.71165256e-02 -1.80233705e-03 9.97743516e-01 -4.69941027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42654761499999 meters 0.07768151159104293 Centerline is valid? [True, True] Translation: X:75.50, Y:-13.42, Z:-4.70 [[ 9.24918986e-01 3.74692375e-01 6.42689078e-02 7.54966061e+01] [-3.73917301e-01 9.27147639e-01 -2.41476029e-02 -1.34199911e+01] [-6.86346888e-02 -1.69668007e-03 9.97640417e-01 -4.69748815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45654761499999 meters 0.07688274910714678 Centerline is valid? [True, True] Translation: X:75.52, Y:-13.44, Z:-4.70 [[ 9.26290874e-01 3.71886262e-01 6.07109983e-02 7.55241478e+01] [-3.71187732e-01 9.28277259e-01 -2.28253653e-02 -1.34382530e+01] [-6.48450789e-02 -1.39225024e-03 9.97894372e-01 -4.70160350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48654761499999 meters 0.07688274910714678 Centerline is valid? [True, True] Translation: X:75.55, Y:-13.45, Z:-4.70 [[ 9.26186137e-01 3.72147907e-01 6.07056359e-02 7.55542515e+01] [-3.71449005e-01 9.28172392e-01 -2.28396161e-02 -1.34497673e+01] [-6.48450106e-02 -1.39531223e-03 9.97894372e-01 -4.70453523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.516547615 meters 0.07759238674723117 Centerline is valid? [True, True] Translation: X:75.58, Y:-13.46, Z:-4.72 [[ 9.27829295e-01 3.68413484e-01 5.83464147e-02 7.55823479e+01] [-3.67759136e-01 9.29661423e-01 -2.19739943e-02 -1.34602695e+01] [-6.23379267e-02 -1.06931142e-03 9.98054527e-01 -4.71805534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54654761499998 meters 0.07638802333889559 Centerline is valid? [True, True] Translation: X:75.61, Y:-13.48, Z:-4.72 [[ 9.29220086e-01 3.64562593e-01 6.03667686e-02 7.56104894e+01] [-3.63853198e-01 9.31178517e-01 -2.27468668e-02 -1.34772919e+01] [-6.45048948e-02 -8.27796254e-04 9.97917047e-01 -4.71774568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57654761499998 meters 0.0760174944729573 Centerline is valid? [True, True] Translation: X:75.64, Y:-13.49, Z:-4.72 [[ 9.30361934e-01 3.61418435e-01 6.16715949e-02 7.56380527e+01] [-3.60670895e-01 9.32403523e-01 -2.32416708e-02 -1.34913354e+01] [-6.59027807e-02 -6.19983517e-04 9.97825856e-01 -4.71981622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60654761499998 meters 0.07590596871093659 Centerline is valid? [True, True] Translation: X:75.67, Y:-13.51, Z:-4.72 [[ 9.32432013e-01 3.56159334e-01 6.10005639e-02 7.56664131e+01] [-3.55416301e-01 9.34425209e-01 -2.29952560e-02 -1.35071406e+01] [-6.51904397e-02 -2.39081916e-04 9.97872812e-01 -4.72198543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63654761499998 meters 0.07588755781845763 Centerline is valid? [True, True] Translation: X:75.69, Y:-13.53, Z:-4.73 [[ 9.34087156e-01 3.51772790e-01 6.11317347e-02 7.56933881e+01] [-3.51016074e-01 9.36085411e-01 -2.30611796e-02 -1.35256581e+01] [-6.53368206e-02 8.29301615e-05 9.97863264e-01 -4.72554616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66654761499998 meters 0.07560414388412412 Centerline is valid? [True, True] Translation: X:75.72, Y:-13.54, Z:-4.72 [[ 9.33943244e-01 3.52137553e-01 6.12303876e-02 7.57246356e+01] [-3.51378016e-01 9.35948256e-01 -2.31160592e-02 -1.35366197e+01] [-6.54485070e-02 7.40752755e-05 9.97855945e-01 -4.72455977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69654761499999 meters 0.0754924504253384 Centerline is valid? [True, True] Translation: X:75.76, Y:-13.55, Z:-4.72 [[ 9.33828553e-01 3.52052057e-01 6.34317176e-02 7.57559127e+01] [-3.51235226e-01 9.35980416e-01 -2.39682542e-02 -1.35452135e+01] [-6.78089186e-02 1.02786403e-04 9.97698321e-01 -4.72493672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72654761499999 meters 0.07549381302979462 Centerline is valid? [True, True] Translation: X:75.79, Y:-13.56, Z:-4.73 [[ 9.34324851e-01 3.50294086e-01 6.58112864e-02 7.57854201e+01] [-3.49409081e-01 9.36639732e-01 -2.48858695e-02 -1.35569422e+01] [-7.03588385e-02 2.56425222e-04 9.97521713e-01 -4.72551357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75654761499999 meters 0.07578546879651427 Centerline is valid? [True, True] Translation: X:75.81, Y:-13.57, Z:-4.73 [[ 9.35658644e-01 3.46618478e-01 6.63214376e-02 7.58148993e+01] [-3.45709179e-01 9.38006036e-01 -2.50966037e-02 -1.35689494e+01] [-7.09088554e-02 5.53924444e-04 9.97482645e-01 -4.72781747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78654761499999 meters 0.07598722497253069 Centerline is valid? [True, True] Translation: X:75.84, Y:-13.58, Z:-4.73 [[ 9.37293772e-01 3.41798826e-01 6.82198524e-02 7.58447349e+01] [-3.40822497e-01 9.39772651e-01 -2.58339089e-02 -1.35822736e+01] [-7.29411513e-02 9.63101533e-04 9.97335781e-01 -4.72643929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81654761499999 meters 0.07576790600484941 Centerline is valid? [True, True] Translation: X:75.87, Y:-13.59, Z:-4.73 [[ 9.37135798e-01 3.41809592e-01 7.03043301e-02 7.58743346e+01] [-3.40771138e-01 9.39768685e-01 -2.66429981e-02 -1.35941879e+01] [-7.51766402e-02 1.01042070e-03 9.97169721e-01 -4.72541262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84654761499999 meters 0.07549398688796595 Centerline is valid? [True, True] Translation: X:75.91, Y:-13.60, Z:-4.73 [[ 9.37874566e-01 3.39316643e-01 7.24949187e-02 7.59064060e+01] [-3.38203349e-01 9.40671361e-01 -2.74933646e-02 -1.36023407e+01] [-7.75228500e-02 1.26730311e-03 9.96989770e-01 -4.72548918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87654761499999 meters 0.07571613910071325 Centerline is valid? [True, True] Translation: X:75.94, Y:-13.61, Z:-4.73 [[ 9.37441520e-01 3.41159539e-01 6.93798606e-02 7.59374464e+01] [-3.40143386e-01 9.40004780e-01 -2.63342118e-02 -1.36063129e+01] [-7.42015681e-02 1.08768282e-03 9.97242671e-01 -4.73391524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90654761499998 meters 0.07579697274323502 Centerline is valid? [True, True] Translation: X:75.97, Y:-13.61, Z:-4.74 [[ 9.35990011e-01 3.45552470e-01 6.72025958e-02 7.59698166e+01] [-3.44609121e-01 9.38399143e-01 -2.55264906e-02 -1.36071835e+01] [-7.18836001e-02 7.33912717e-04 9.97412758e-01 -4.74282740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93654761499998 meters 0.07556083811945682 Centerline is valid? [True, True] Translation: X:76.00, Y:-13.61, Z:-4.75 [[ 9.33840363e-01 3.51657405e-01 6.54159484e-02 7.60043318e+01] [-3.50778080e-01 9.36128730e-01 -2.48543547e-02 -1.36074117e+01] [-6.99779666e-02 2.63518824e-04 9.97548502e-01 -4.74529144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96654761499998 meters 0.07509247902473813 Centerline is valid? [True, True] Translation: X:76.04, Y:-13.61, Z:-4.74 [[ 9.31669885e-01 3.57058173e-01 6.70871497e-02 7.60367783e+01] [-3.56145611e-01 9.34082141e-01 -2.55119137e-02 -1.36117844e+01] [-7.17741457e-02 -1.24112256e-04 9.97420902e-01 -4.74201931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99654761499998 meters 0.07489029821442664 Centerline is valid? [True, True] Translation: X:76.07, Y:-13.61, Z:-4.74 [[ 9.29723520e-01 3.61817795e-01 6.85715663e-02 7.60701760e+01] [-3.60875831e-01 9.32248706e-01 -2.60956973e-02 -1.36130842e+01] [-7.33676415e-02 -4.84037385e-04 9.97304846e-01 -4.74247049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02654761499998 meters 0.07549562720591627 Centerline is valid? [True, True] Translation: X:76.10, Y:-13.61, Z:-4.75 [[ 9.29177189e-01 3.63545799e-01 6.68146900e-02 7.61022024e+01] [-3.62654693e-01 9.31576141e-01 -2.54453590e-02 -1.36139417e+01] [-7.14935245e-02 -5.87413811e-04 9.97440891e-01 -4.75159926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05654761499999 meters 0.07567849240073045 Centerline is valid? [True, True] Translation: X:76.13, Y:-13.62, Z:-4.76 [[ 9.29748687e-01 3.62360699e-01 6.52847773e-02 7.61330609e+01] [-3.61505962e-01 9.32037823e-01 -2.48784442e-02 -1.36220503e+01] [-6.98628521e-02 -4.70135356e-04 9.97556495e-01 -4.75721034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08654761499999 meters 0.07605154056490335 Centerline is valid? [True, True] Translation: X:76.16, Y:-13.63, Z:-4.76 [[ 9.31489370e-01 3.58448110e-01 6.19879446e-02 7.61609898e+01] [-3.57667672e-01 9.33549640e-01 -2.36412027e-02 -1.36342301e+01] [-6.63429678e-02 -1.49554838e-04 9.97796867e-01 -4.76353273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11654761499999 meters 0.07572851431149362 Centerline is valid? [True, True] Translation: X:76.19, Y:-13.65, Z:-4.76 [[ 9.32978308e-01 3.54319447e-01 6.33182934e-02 7.61895444e+01] [-3.53495148e-01 9.35124433e-01 -2.41552110e-02 -1.36498437e+01] [-6.77691443e-02 1.53578387e-04 9.97701017e-01 -4.76358726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14654761499999 meters 0.07513452106011159 Centerline is valid? [True, True] Translation: X:76.22, Y:-13.66, Z:-4.76 [[ 9.32597606e-01 3.54913942e-01 6.55576075e-02 7.62200929e+01] [-3.54030411e-01 9.34898966e-01 -2.50278084e-02 -1.36596048e+01] [-7.01724576e-02 1.31487464e-04 9.97534866e-01 -4.76161688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17654761499999 meters 0.07545847445645083 Centerline is valid? [True, True] Translation: X:76.25, Y:-13.66, Z:-4.77 [[ 9.30996766e-01 3.59688290e-01 6.22041530e-02 7.62514248e+01] [-3.58902344e-01 9.33072502e-01 -2.37657957e-02 -1.36618177e+01] [-6.65892631e-02 -1.99337377e-04 9.97780452e-01 -4.76818697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20654761499999 meters 0.07690506301586472 Centerline is valid? [True, True] Translation: X:76.26, Y:-13.73, Z:-4.78 [[ 9.23605616e-01 3.77257336e-01 6.80409347e-02 7.62590101e+01] [-3.76363042e-01 9.26107114e-01 -2.60091024e-02 -1.37264929e+01] [-7.28253183e-02 -1.58594015e-03 9.97343450e-01 -4.77697861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23654761499999 meters 0.07472629639955747 Centerline is valid? [True, True] Translation: X:76.46, Y:-13.31, Z:-4.75 [[ 9.39163527e-01 3.38844392e-01 5.61813865e-02 7.64550986e+01] [-3.38164317e-01 9.40841685e-01 -2.14899734e-02 -1.33056197e+01] [-6.01395473e-02 1.18405900e-03 9.98189277e-01 -4.75451951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.266547615 meters 0.07555886048429149 Centerline is valid? [True, True] Translation: X:76.49, Y:-13.31, Z:-4.76 [[ 9.40529210e-01 3.35152918e-01 5.54736539e-02 7.64856632e+01] [-3.34483792e-01 9.42162709e-01 -2.12137549e-02 -1.33137557e+01] [-5.93750599e-02 1.39711806e-03 9.98234767e-01 -4.75676301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29654761499998 meters 0.0748795910048554 Centerline is valid? [True, True] Translation: X:76.52, Y:-13.31, Z:-4.76 [[ 9.40046688e-01 3.36519126e-01 5.53814222e-02 7.65206644e+01] [-3.35853618e-01 9.41675700e-01 -2.11948716e-02 -1.33113623e+01] [-5.92838192e-02 1.32411781e-03 9.98240289e-01 -4.76009806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32654761499998 meters 0.07455302877544069 Centerline is valid? [True, True] Translation: X:76.56, Y:-13.31, Z:-4.77 [[ 9.37315391e-01 3.44480072e-01 5.26624852e-02 7.65552995e+01] [-3.43889876e-01 9.38793291e-01 -2.01719943e-02 -1.33053979e+01] [-5.63880379e-02 7.97425213e-04 9.98408610e-01 -4.76872672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35654761499998 meters 0.07366263047685477 Centerline is valid? [True, True] Translation: X:76.59, Y:-13.31, Z:-4.77 [[ 9.36036930e-01 3.48069843e-01 5.17904493e-02 7.65893946e+01] [-3.47503662e-01 9.37468421e-01 -1.98535697e-02 -1.33061399e+01] [-5.54623396e-02 5.86303654e-04 9.98460608e-01 -4.76893427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38654761499998 meters 0.07401990497225912 Centerline is valid? [True, True] Translation: X:76.62, Y:-13.31, Z:-4.77 [[ 9.36367674e-01 3.47623898e-01 4.87155578e-02 7.66213706e+01] [-3.47121207e-01 9.37633867e-01 -1.86975804e-02 -1.33120222e+01] [-5.21770826e-02 5.97606660e-04 9.98637669e-01 -4.77454486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41654761499998 meters 0.07473874560668099 Centerline is valid? [True, True] Translation: X:76.65, Y:-13.32, Z:-4.78 [[ 9.37889688e-01 3.43832094e-01 4.62863362e-02 7.66514936e+01] [-3.43373398e-01 9.39030826e-01 -1.77712372e-02 -1.33210042e+01] [-4.95746182e-02 7.73963548e-04 9.98770123e-01 -4.77790547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44654761499999 meters 0.07482079650740903 Centerline is valid? [True, True] Translation: X:76.68, Y:-13.33, Z:-4.78 [[ 9.37355659e-01 3.45156632e-01 4.72362994e-02 7.66815952e+01] [-3.44680971e-01 9.38544828e-01 -1.81282819e-02 -1.33279843e+01] [-5.05904812e-02 7.11194062e-04 9.98719229e-01 -4.78137788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47654761499999 meters 0.0751380712137826 Centerline is valid? [True, True] Translation: X:76.71, Y:-13.33, Z:-4.79 [[ 9.37587643e-01 3.44792776e-01 4.52476865e-02 7.67118630e+01] [-3.44354693e-01 9.38678549e-01 -1.73904342e-02 -1.33347567e+01] [-4.84691287e-02 7.23803046e-04 9.98824419e-01 -4.78505284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50654761499999 meters 0.07533385280478304 Centerline is valid? [True, True] Translation: X:76.74, Y:-13.35, Z:-4.79 [[ 9.38052120e-01 3.43442809e-01 4.58830910e-02 7.67401950e+01] [-3.42990609e-01 9.39173246e-01 -1.76367759e-02 -1.33452519e+01] [-4.91493953e-02 8.06745720e-04 9.98791112e-01 -4.78798504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53654761499999 meters 0.0740198137131466 Centerline is valid? [True, True] Translation: X:76.77, Y:-13.35, Z:-4.78 [[ 9.37212575e-01 3.44863468e-01 5.19786344e-02 7.67716587e+01] [-3.44285124e-01 9.38652490e-01 -1.99813840e-02 -1.33469871e+01] [-5.56807240e-02 8.31333713e-04 9.98448279e-01 -4.78432425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56654761499999 meters 0.07375988885662986 Centerline is valid? [True, True] Translation: X:76.80, Y:-13.35, Z:-4.79 [[ 9.35732491e-01 3.49108682e-01 5.02775597e-02 7.68008996e+01] [-3.48573750e-01 9.37082075e-01 -1.93268117e-02 -1.33502910e+01] [-5.38613578e-02 5.59288129e-04 9.98548267e-01 -4.78696730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59654761499999 meters 0.0739047181233056 Centerline is valid? [True, True] Translation: X:76.83, Y:-13.35, Z:-4.79 [[ 9.35261635e-01 3.50824294e-01 4.69892420e-02 7.68311628e+01] [-3.50359471e-01 9.36441207e-01 -1.80584607e-02 -1.33514945e+01] [-5.03380092e-02 4.26259537e-04 9.98732148e-01 -4.79203604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62654761499999 meters 0.0740148034452149 Centerline is valid? [True, True] Translation: X:76.86, Y:-13.36, Z:-4.80 [[ 9.34301256e-01 3.53278264e-01 4.77035729e-02 7.68589422e+01] [-3.52802559e-01 9.35518242e-01 -1.83295817e-02 -1.33555215e+01] [-5.11030055e-02 2.95408582e-04 9.98693344e-01 -4.79512100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65654761499998 meters 0.07348853618258265 Centerline is valid? [True, True] Translation: X:76.89, Y:-13.37, Z:-4.79 [[ 9.35426891e-01 3.49778891e-01 5.12957978e-02 7.68850191e+01] [-3.49223955e-01 9.36832141e-01 -1.97019824e-02 -1.33687530e+01] [-5.49468896e-02 5.16042758e-04 9.98489145e-01 -4.79274719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68654761499998 meters 0.07450450020333423 Centerline is valid? [True, True] Translation: X:76.91, Y:-13.38, Z:-4.80 [[ 9.37237532e-01 3.45274676e-01 4.86950356e-02 7.69128203e+01] [-3.44768857e-01 9.38501389e-01 -1.86969903e-02 -1.33781702e+01] [-5.21559558e-02 7.34989263e-04 9.98638681e-01 -4.79821572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71654761499998 meters 0.07436461081022652 Centerline is valid? [True, True] Translation: X:76.94, Y:-13.39, Z:-4.80 [[ 9.38077982e-01 3.42552136e-01 5.16501104e-02 7.69376965e+01] [-3.41978908e-01 9.39498350e-01 -1.98311902e-02 -1.33905036e+01] [-5.53184100e-02 9.39954516e-04 9.98468322e-01 -4.79729449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74654761499998 meters 0.07491981402878484 Centerline is valid? [True, True] Translation: X:76.97, Y:-13.39, Z:-4.80 [[ 9.38309855e-01 3.42288338e-01 4.91254565e-02 7.69685360e+01] [-3.41769830e-01 9.39594530e-01 -1.88547861e-02 -1.33910532e+01] [-5.26117836e-02 9.02032672e-04 9.98614634e-01 -4.80191635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77654761499998 meters 0.07514932592914954 Centerline is valid? [True, True] Translation: X:77.00, Y:-13.40, Z:-4.81 [[ 9.37501011e-01 3.44755525e-01 4.72808803e-02 7.69964824e+01] [-3.44278456e-01 9.38692223e-01 -1.81453719e-02 -1.33955237e+01] [-5.06379118e-02 7.33515990e-04 9.98716809e-01 -4.80547057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80654761499999 meters 0.07320174147056961 Centerline is valid? [True, True] Translation: X:77.03, Y:-13.39, Z:-4.80 [[ 9.36346289e-01 3.46879119e-01 5.41341300e-02 7.70319612e+01] [-3.46257748e-01 9.37909584e-01 -2.07649505e-02 -1.33879782e+01] [-5.79758471e-02 6.98822355e-04 9.98317741e-01 -4.80030079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83654761499999 meters 0.07401297385365883 Centerline is valid? [True, True] Translation: X:77.06, Y:-13.40, Z:-4.81 [[ 9.36968481e-01 3.45335994e-01 5.32270369e-02 7.70590646e+01] [-3.44732790e-01 9.38478791e-01 -2.04172127e-02 -1.33961097e+01] [-5.70032437e-02 7.81179890e-04 9.98373688e-01 -4.80571122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86654761499999 meters 0.07816782665906649 Centerline is valid? [True, True] Translation: X:77.08, Y:-13.41, Z:-4.82 [[ 9.40508148e-01 3.36681981e-01 4.57128887e-02 7.70834967e+01] [-3.36227275e-01 9.41617757e-01 -1.75276495e-02 -1.34104850e+01] [-4.89453115e-02 1.11497714e-03 9.98800838e-01 -4.81976446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89654761499999 meters 0.08039293627466994 Centerline is valid? [True, True] Translation: X:77.11, Y:-13.42, Z:-4.82 [[ 9.43719554e-01 3.27662764e-01 4.50612410e-02 7.71113889e+01] [-3.27210574e-01 9.44793455e-01 -1.72791185e-02 -1.34231913e+01] [-4.82352893e-02 1.56212750e-03 9.98834779e-01 -4.81905147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92654761499999 meters 0.08104819928782238 Centerline is valid? [True, True] Translation: X:77.14, Y:-13.43, Z:-4.82 [[ 9.44676007e-01 3.24243167e-01 4.95339314e-02 7.71396637e+01] [-3.23691731e-01 9.45971831e-01 -1.89989076e-02 -1.34285281e+01] [-5.30179697e-02 1.91408815e-03 9.98591724e-01 -4.81506632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95654761499999 meters 0.08061486804810979 Centerline is valid? [True, True] Translation: X:77.17, Y:-13.43, Z:-4.82 [[ 9.43997896e-01 3.26593824e-01 4.69515346e-02 7.71683298e+01] [-3.26101815e-01 9.45163294e-01 -1.79987097e-02 -1.34331625e+01] [-5.02551345e-02 1.67976345e-03 9.98735000e-01 -4.81970415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98654761499999 meters 0.07804242394324416 Centerline is valid? [True, True] Translation: X:77.20, Y:-13.43, Z:-4.82 [[ 9.41012787e-01 3.35417424e-01 4.46103898e-02 7.72021813e+01] [-3.34983415e-01 9.42068917e-01 -1.70958397e-02 -1.34256412e+01] [-4.77603041e-02 1.14366303e-03 9.98858171e-01 -4.82481878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.016547615 meters 0.07500702414563719 Centerline is valid? [True, True] Translation: X:77.24, Y:-13.41, Z:-4.82 [[ 9.37850266e-01 3.43969209e-01 4.60658424e-02 7.72392426e+01] [-3.43516776e-01 9.38980644e-01 -1.76514652e-02 -1.34121543e+01] [-4.93264949e-02 7.30041682e-04 9.98782441e-01 -4.82381261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04654761499998 meters 0.07511748067067801 Centerline is valid? [True, True] Translation: X:77.27, Y:-13.41, Z:-4.83 [[ 9.35436547e-01 3.51168220e-01 4.04888528e-02 7.72721981e+01] [-3.50825535e-01 9.36312334e-01 -1.55131277e-02 -1.34077452e+01] [-4.33579297e-02 3.07023227e-04 9.99059556e-01 -4.83253845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07654761499998 meters 0.07420369444435809 Centerline is valid? [True, True] Translation: X:77.30, Y:-13.41, Z:-4.83 [[ 9.34328181e-01 3.54095264e-01 4.05881058e-02 7.73034537e+01] [-3.53753177e-01 9.35209341e-01 -1.55620877e-02 -1.34077682e+01] [-4.34688372e-02 1.81925737e-04 9.99054767e-01 -4.82946731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10654761499998 meters 0.07500775329012163 Centerline is valid? [True, True] Translation: X:77.33, Y:-13.42, Z:-4.84 [[ 9.35023097e-01 3.51965350e-01 4.30372036e-02 7.73293528e+01] [-3.51579675e-01 9.36012990e-01 -1.64746454e-02 -1.34180116e+01] [-4.60818859e-02 2.73167909e-04 9.98937628e-01 -4.83714241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13654761499998 meters 0.07357054639780693 Centerline is valid? [True, True] Translation: X:77.36, Y:-13.43, Z:-4.83 [[ 9.37238706e-01 3.45656773e-01 4.58803225e-02 7.73564508e+01] [-3.45210610e-01 9.38360806e-01 -1.75679333e-02 -1.34295843e+01] [-4.91247715e-02 6.26972927e-04 9.98792453e-01 -4.83005850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16654761499998 meters 0.07514846431046478 Centerline is valid? [True, True] Translation: X:77.38, Y:-13.45, Z:-4.83 [[ 9.40291526e-01 3.37641377e-01 4.30133364e-02 7.73806236e+01] [-3.37242096e-01 9.41274342e-01 -1.64432703e-02 -1.34510671e+01] [-4.60392784e-02 9.55560041e-04 9.98939173e-01 -4.83271564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19654761499999 meters 0.0756601787881651 Centerline is valid? [True, True] Translation: X:77.41, Y:-13.46, Z:-4.84 [[ 9.41119333e-01 3.35534633e-01 4.13631577e-02 7.74080479e+01] [-3.35163378e-01 9.42027321e-01 -1.58125376e-02 -1.34622281e+01] [-4.42708787e-02 1.01806922e-03 9.99019045e-01 -4.83520793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22654761499999 meters 0.08277059246364789 Centerline is valid? [True, True] Translation: X:77.43, Y:-13.49, Z:-4.85 [[ 9.44405428e-01 3.25865959e-01 4.37008476e-02 7.74271600e+01] [-3.25441175e-01 9.45414702e-01 -1.67057759e-02 -1.34881453e+01] [-4.67592675e-02 1.55497022e-03 9.98904977e-01 -4.85058148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25654761499999 meters 0.08533694684412176 Centerline is valid? [True, True] Translation: X:77.45, Y:-13.50, Z:-4.85 [[ 9.46564683e-01 3.19254618e-01 4.57360943e-02 7.74543346e+01] [-3.18782030e-01 9.47666947e-01 -1.74749983e-02 -1.35034642e+01] [-4.89215588e-02 1.96137117e-03 9.98800698e-01 -4.84958629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28654761499999 meters 0.08904449239110089 Centerline is valid? [True, True] Translation: X:77.48, Y:-13.51, Z:-4.85 [[ 9.48690157e-01 3.12460425e-01 4.85331746e-02 7.74818885e+01] [-3.11919293e-01 9.49927607e-01 -1.85444415e-02 -1.35145058e+01] [-5.18974065e-02 2.45449556e-03 9.98649405e-01 -4.84813932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31654761499999 meters 0.07963869540351028 Centerline is valid? [True, True] Translation: X:77.52, Y:-13.50, Z:-4.84 [[ 9.46728755e-01 3.18984057e-01 4.42022209e-02 7.75207371e+01] [-3.18541802e-01 9.47758136e-01 -1.69007722e-02 -1.34959180e+01] [-4.72840914e-02 1.92019191e-03 9.98879636e-01 -4.84404484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34654761499999 meters 0.07902742496778244 Centerline is valid? [True, True] Translation: X:77.56, Y:-13.48, Z:-4.86 [[ 9.42141970e-01 3.31632818e-01 4.88690242e-02 7.75573682e+01] [-3.31110578e-01 9.43407508e-01 -1.86563503e-02 -1.34785975e+01] [-5.22904623e-02 1.39587980e-03 9.98630942e-01 -4.85697971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37654761499999 meters 0.07902742496778244 Centerline is valid? [True, True] Translation: X:77.58, Y:-13.49, Z:-4.86 [[ 9.42233614e-01 3.31372798e-01 4.88659933e-02 7.75830496e+01] [-3.30849798e-01 9.43498837e-01 -1.86642944e-02 -1.34880964e+01] [-5.22898473e-02 1.41882158e-03 9.98630942e-01 -4.85945871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40654761499998 meters 0.075468425211635 Centerline is valid? [True, True] Translation: X:77.62, Y:-13.49, Z:-4.85 [[ 9.43206145e-01 3.28710163e-01 4.80811435e-02 7.76171716e+01] [-3.28201647e-01 9.44429629e-01 -1.83399725e-02 -1.34859665e+01] [-5.14377919e-02 1.51806430e-03 9.98675047e-01 -4.84799951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43654761499998 meters 0.07799110489790582 Centerline is valid? [True, True] Translation: X:77.64, Y:-13.50, Z:-4.85 [[ 9.45455878e-01 3.22417707e-01 4.64758422e-02 7.76432041e+01] [-3.21935107e-01 9.46595793e-01 -1.77254572e-02 -1.34985206e+01] [-4.97088380e-02 1.79643251e-03 9.98762136e-01 -4.85317901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46654761499998 meters 0.08363211188354273 Centerline is valid? [True, True] Translation: X:77.67, Y:-13.51, Z:-4.87 [[ 9.45493602e-01 3.22105913e-01 4.78500723e-02 7.76687676e+01] [-3.21593819e-01 9.46701795e-01 -1.82517568e-02 -1.35064740e+01] [-5.11787482e-02 1.86863179e-03 9.98687761e-01 -4.86974755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49654761499998 meters 0.07754836201902009 Centerline is valid? [True, True] Translation: X:77.70, Y:-13.50, Z:-4.86 [[ 9.45130914e-01 3.23453200e-01 4.58866308e-02 7.77041473e+01] [-3.22984362e-01 9.46242619e-01 -1.74930757e-02 -1.34957436e+01] [-4.90780771e-02 1.71258250e-03 9.98793477e-01 -4.86043067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52654761499998 meters 0.07720279350636872 Centerline is valid? [True, True] Translation: X:77.74, Y:-13.49, Z:-4.86 [[ 9.44872001e-01 3.24404860e-01 4.44790715e-02 7.77353161e+01] [-3.23965240e-01 9.45916950e-01 -1.69601369e-02 -1.34943596e+01] [-4.75754585e-02 1.61548537e-03 9.98866340e-01 -4.86277722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55654761499999 meters 0.07771002011772936 Centerline is valid? [True, True] Translation: X:77.76, Y:-13.50, Z:-4.86 [[ 9.45252544e-01 3.22799885e-01 4.79360305e-02 7.77620522e+01] [-3.22288509e-01 9.46465521e-01 -1.82519909e-02 -1.35020623e+01] [-5.12615406e-02 1.80350904e-03 9.98683634e-01 -4.86405000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58654761499999 meters 0.07859961998499748 Centerline is valid? [True, True] Translation: X:77.79, Y:-13.50, Z:-4.86 [[ 9.46927035e-01 3.17159619e-01 5.23351357e-02 7.77917269e+01] [-3.16541400e-01 9.48369376e-01 -1.99265801e-02 -1.35048061e+01] [-5.59529465e-02 2.30278027e-03 9.98430751e-01 -4.86376652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61654761499999 meters 0.07873428256245925 Centerline is valid? [True, True] Translation: X:77.82, Y:-13.51, Z:-4.87 [[ 9.47056976e-01 3.16668482e-01 5.29542902e-02 7.78211091e+01] [-3.16035785e-01 9.48533387e-01 -2.01444130e-02 -1.35090061e+01] [-5.66080130e-02 2.34245623e-03 9.98393733e-01 -4.86620352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64654761499999 meters 0.079736258420717 Centerline is valid? [True, True] Translation: X:77.85, Y:-13.52, Z:-4.87 [[ 9.47631947e-01 3.15219278e-01 5.12883947e-02 7.78476787e+01] [-3.14625073e-01 9.49016009e-01 -1.94853296e-02 -1.35214144e+01] [-5.48156592e-02 2.32830587e-03 9.98493777e-01 -4.86991787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67654761499999 meters 0.07996642651652554 Centerline is valid? [True, True] Translation: X:77.88, Y:-13.52, Z:-4.88 [[ 9.47510444e-01 3.16119314e-01 4.78804549e-02 7.78775697e+01] [-3.15602586e-01 9.48717060e-01 -1.81919721e-02 -1.35182229e+01] [-5.11758382e-02 2.12588812e-03 9.98687396e-01 -4.87818790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70654761499999 meters 0.07898925626390144 Centerline is valid? [True, True] Translation: X:77.91, Y:-13.52, Z:-4.88 [[ 9.46814619e-01 3.17819704e-01 5.03260599e-02 7.79076484e+01] [-3.17251808e-01 9.48148781e-01 -1.91096965e-02 -1.35241666e+01] [-5.37900304e-02 2.12730656e-03 9.98550002e-01 -4.87909202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73654761499999 meters 0.07895866082464374 Centerline is valid? [True, True] Translation: X:77.94, Y:-13.53, Z:-4.88 [[ 9.47056475e-01 3.17709650e-01 4.63099564e-02 7.79364835e+01] [-3.17228664e-01 9.48186017e-01 -1.75855793e-02 -1.35296145e+01] [-4.94975613e-02 1.96369110e-03 9.98772314e-01 -4.88267614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.766547615 meters 0.08079663525768264 Centerline is valid? [True, True] Translation: X:77.96, Y:-13.54, Z:-4.89 [[ 9.47890763e-01 3.15591461e-01 4.36478085e-02 7.79644865e+01] [-3.15162213e-01 9.48893159e-01 -1.65696200e-02 -1.35366669e+01] [-4.66463375e-02 1.95004982e-03 9.98909564e-01 -4.88815647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79654761499998 meters 0.08042207925682766 Centerline is valid? [True, True] Translation: X:77.99, Y:-13.54, Z:-4.89 [[ 9.47141240e-01 3.17664323e-01 4.48647964e-02 7.79938300e+01] [-3.17213075e-01 9.48201332e-01 -1.70322712e-02 -1.35410300e+01] [-4.79514046e-02 1.90026642e-03 9.98847862e-01 -4.89194039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82654761499998 meters 0.07697118108110725 Centerline is valid? [True, True] Translation: X:78.03, Y:-13.54, Z:-4.89 [[ 9.46467561e-01 3.19057239e-01 4.90064611e-02 7.80282396e+01] [-3.18520796e-01 9.47733346e-01 -1.86013020e-02 -1.35382115e+01] [-5.23799374e-02 1.99595192e-03 9.98625234e-01 -4.88506812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85654761499998 meters 0.07820507370723546 Centerline is valid? [True, True] Translation: X:78.06, Y:-13.54, Z:-4.89 [[ 9.45834330e-01 3.20568576e-01 5.13147964e-02 7.80582926e+01] [-3.19982609e-01 9.47223194e-01 -1.94769165e-02 -1.35402930e+01] [-5.48502527e-02 2.00209383e-03 9.98492585e-01 -4.88791139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88654761499998 meters 0.07903257362830184 Centerline is valid? [True, True] Translation: X:78.09, Y:-13.55, Z:-4.89 [[ 9.47333134e-01 3.15747187e-01 5.35130588e-02 7.80882309e+01] [-3.15102370e-01 9.48840379e-01 -2.03084031e-02 -1.35465448e+01] [-5.71876722e-02 2.37673146e-03 9.98360617e-01 -4.88528258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.91654761499998 meters 0.07834009882827955 Centerline is valid? [True, True] Translation: X:78.12, Y:-13.55, Z:-4.89 [[ 9.48166882e-01 3.13567169e-01 5.15285879e-02 7.81183157e+01] [-3.12966235e-01 9.49562956e-01 -1.95532028e-02 -1.35500835e+01] [-5.50608807e-02 2.41299121e-03 9.98480083e-01 -4.88830229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94654761499999 meters 0.07804265562020563 Centerline is valid? [True, True] Translation: X:78.15, Y:-13.54, Z:-4.90 [[ 9.47360782e-01 3.16849589e-01 4.59770288e-02 7.81508305e+01] [-3.16374952e-01 9.48473720e-01 -1.74497206e-02 -1.35406128e+01] [-4.91369403e-02 1.98520073e-03 9.98790078e-01 -4.89803644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97654761499999 meters 0.07602620372439173 Centerline is valid? [True, True] Translation: X:78.18, Y:-13.53, Z:-4.91 [[ 9.43317190e-01 3.29389251e-01 4.06866089e-02 7.81837941e+01] [-3.29029686e-01 9.44193494e-01 -1.54308511e-02 -1.35334989e+01] [-4.34987879e-02 1.16908497e-03 9.99052796e-01 -4.90834994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00654761499999 meters 0.07506352966930803 Centerline is valid? [True, True] Translation: X:78.21, Y:-13.53, Z:-4.91 [[ 9.41244146e-01 3.35394223e-01 3.96254033e-02 7.82148837e+01] [-3.35058471e-01 9.42077470e-01 -1.50286757e-02 -1.35310592e+01] [-4.23707308e-02 8.68826014e-04 9.99101580e-01 -4.91175425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03654761499999 meters 0.07273858595162658 Centerline is valid? [True, True] Translation: X:78.25, Y:-13.53, Z:-4.90 [[ 9.40139482e-01 3.38161780e-01 4.22417392e-02 7.82494024e+01] [-3.37783273e-01 9.41087663e-01 -1.60146892e-02 -1.35258660e+01] [-4.51687354e-02 7.87488696e-04 9.98979061e-01 -4.90267072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06654761499999 meters 0.07287902317923031 Centerline is valid? [True, True] Translation: X:78.28, Y:-13.53, Z:-4.90 [[ 9.41421189e-01 3.35094430e-01 3.79192313e-02 7.82788097e+01] [-3.34787028e-01 9.42184176e-01 -1.43744508e-02 -1.35343194e+01] [-4.05436982e-02 8.37545839e-04 9.99177415e-01 -4.90405197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09654761499999 meters 0.07350041061684298 Centerline is valid? [True, True] Translation: X:78.30, Y:-13.54, Z:-4.91 [[ 9.42494119e-01 3.31978009e-01 3.86708979e-02 7.83043811e+01] [-3.31655607e-01 9.43286604e-01 -1.46608777e-02 -1.35434107e+01] [-4.13448289e-02 9.92370863e-04 9.99144444e-01 -4.90840801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12654761499999 meters 0.07430543641843411 Centerline is valid? [True, True] Translation: X:78.33, Y:-13.55, Z:-4.91 [[ 9.43796097e-01 3.28396458e-01 3.74792501e-02 7.83313128e+01] [-3.28090994e-01 9.44539324e-01 -1.42043831e-02 -1.35534248e+01] [-4.00652946e-02 1.10943694e-03 9.99196448e-01 -4.91115300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15654761499998 meters 0.07403324732012109 Centerline is valid? [True, True] Translation: X:78.36, Y:-13.56, Z:-4.91 [[ 9.44314657e-01 3.26825198e-01 3.81460211e-02 7.83579844e+01] [-3.26507166e-01 9.45084038e-01 -1.44648253e-02 -1.35614767e+01] [-4.07786650e-02 1.20439724e-03 9.99167478e-01 -4.91089977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18654761499998 meters 0.07413610111474611 Centerline is valid? [True, True] Translation: X:78.39, Y:-13.57, Z:-4.91 [[ 9.44374456e-01 3.26523054e-01 3.92375068e-02 7.83855076e+01] [-3.26187324e-01 9.45188439e-01 -1.48541290e-02 -1.35680396e+01] [-4.19370534e-02 1.22908264e-03 9.99119499e-01 -4.91306882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21654761499998 meters 0.07419334764956521 Centerline is valid? [True, True] Translation: X:78.41, Y:-13.57, Z:-4.92 [[ 9.43645279e-01 3.28811502e-01 3.76375299e-02 7.84138666e+01] [-3.28504222e-01 9.44394947e-01 -1.42534178e-02 -1.35726591e+01] [-4.02313808e-02 1.08608291e-03 9.99189800e-01 -4.91919868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24654761499998 meters 0.07208497387411711 Centerline is valid? [True, True] Translation: X:78.45, Y:-13.57, Z:-4.92 [[ 9.40688526e-01 3.36617936e-01 4.23492893e-02 7.84481268e+01] [-3.36237942e-01 9.41640956e-01 -1.60111706e-02 -1.35684761e+01] [-4.52674725e-02 8.22086575e-04 9.98974564e-01 -4.91626416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27654761499998 meters 0.07080602840435568 Centerline is valid? [True, True] Translation: X:78.48, Y:-13.56, Z:-4.91 [[ 9.34693537e-01 3.53062026e-01 4.11727732e-02 7.84840490e+01] [-3.52718602e-01 9.35599917e-01 -1.55686614e-02 -1.35569120e+01] [-4.40179464e-02 2.95241965e-05 9.99030740e-01 -4.91111060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30654761499999 meters 0.07414241434490877 Centerline is valid? [True, True] Translation: X:78.51, Y:-13.56, Z:-4.93 [[ 9.29713148e-01 3.66740012e-01 3.36931029e-02 7.85137656e+01] [-3.66519109e-01 9.30323334e-01 -1.27372107e-02 -1.35573979e+01] [-3.60167246e-02 -5.07213836e-04 9.99351059e-01 -4.92620075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33654761499999 meters 0.07916640886137892 Centerline is valid? [True, True] Translation: X:78.55, Y:-13.55, Z:-4.94 [[ 9.25532104e-01 3.77211333e-01 3.31953928e-02 7.85476521e+01] [-3.77003737e-01 9.26126770e-01 -1.25454597e-02 -1.35489134e+01] [-3.54754314e-02 -9.03561461e-04 9.99370140e-01 -4.93606847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36654761499999 meters 0.08175072238635614 Centerline is valid? [True, True] Translation: X:78.58, Y:-13.56, Z:-4.94 [[ 9.22275880e-01 3.85571330e-01 2.72387877e-02 7.85761605e+01] [-3.85435092e-01 9.22677488e-01 -1.02977146e-02 -1.35582552e+01] [-2.91031197e-02 -1.00145086e-03 9.99575913e-01 -4.93984489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39654761499999 meters 0.08204512508335908 Centerline is valid? [True, True] Translation: X:78.60, Y:-13.58, Z:-4.95 [[ 9.22177684e-01 3.85894466e-01 2.59572746e-02 7.85988136e+01] [-3.85770953e-01 9.22542426e-01 -9.81043524e-03 -1.35797779e+01] [-2.77324797e-02 -9.66598106e-04 9.99614913e-01 -4.94648875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42654761499999 meters 0.08336339561355982 Centerline is valid? [True, True] Translation: X:78.63, Y:-13.59, Z:-4.95 [[ 9.22007011e-01 3.86054070e-01 2.94164240e-02 7.86273061e+01] [-3.85895624e-01 9.22475494e-01 -1.11144475e-02 -1.35863209e+01] [-3.14267079e-02 -1.10407072e-03 9.99505449e-01 -4.94800708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45654761499999 meters 0.0817685634531237 Centerline is valid? [True, True] Translation: X:78.65, Y:-13.61, Z:-4.95 [[ 9.21429798e-01 3.87152652e-01 3.28626241e-02 7.86515167e+01] [-3.86955727e-01 9.22014744e-01 -1.24127607e-02 -1.36065510e+01] [-3.51054572e-02 -1.27889300e-03 9.99382795e-01 -4.94688142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48654761499999 meters 0.07802413521587816 Centerline is valid? [True, True] Translation: X:78.67, Y:-13.63, Z:-4.94 [[ 9.23494618e-01 3.81359118e-01 4.15079957e-02 7.86741135e+01] [-3.81039147e-01 9.24426000e-01 -1.56760865e-02 -1.36283780e+01] [-4.43492890e-02 -1.33938977e-03 9.99015188e-01 -4.94283656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51654761499998 meters 0.07871889622332161 Centerline is valid? [True, True] Translation: X:78.70, Y:-13.64, Z:-4.95 [[ 9.27121419e-01 3.72929481e-01 3.70064367e-02 7.86971465e+01] [-3.72668334e-01 9.27859317e-01 -1.39786049e-02 -1.36417982e+01] [-3.95498009e-02 -8.31263133e-04 9.99217255e-01 -4.95464330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54654761499998 meters 0.0756178818956781 Centerline is valid? [True, True] Translation: X:78.72, Y:-13.68, Z:-4.96 [[ 9.30595609e-01 3.64364471e-01 3.50762808e-02 7.87150109e+01] [-3.64123646e-01 9.31256323e-01 -1.32525793e-02 -1.36766102e+01] [-3.74937773e-02 -4.39311126e-04 9.99296765e-01 -4.95653399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57654761499998 meters 0.0729676464522946 Centerline is valid? [True, True] Translation: X:78.74, Y:-13.70, Z:-4.95 [[ 9.32680570e-01 3.58784017e-01 3.71615841e-02 7.87405848e+01] [-3.58510332e-01 9.33420573e-01 -1.40134531e-02 -1.36952964e+01] [-3.97151901e-02 -2.52736427e-04 9.99211009e-01 -4.95043265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60654761499998 meters 0.0736842161005737 Centerline is valid? [True, True] Translation: X:78.77, Y:-13.70, Z:-4.95 [[ 9.34008784e-01 3.55649807e-01 3.37758197e-02 7.87673822e+01] [-3.55421688e-01 9.34619282e-01 -1.27365901e-02 -1.37044652e+01] [-3.60972982e-02 -1.08571792e-04 9.99348274e-01 -4.95426935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63654761499998 meters 0.07441798006423547 Centerline is valid? [True, True] Translation: X:78.79, Y:-13.73, Z:-4.96 [[ 9.35186005e-01 3.52886360e-01 2.99725244e-02 7.87909896e+01] [-3.52705446e-01 9.35666189e-01 -1.12982863e-02 -1.37252521e+01] [-3.20312888e-02 -5.47338870e-06 9.99486867e-01 -4.96245700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66654761499998 meters 0.07452164264645723 Centerline is valid? [True, True] Translation: X:78.82, Y:-13.74, Z:-4.97 [[ 9.36527075e-01 3.49360818e-01 2.93948606e-02 7.88151790e+01] [-3.49184557e-01 9.36988262e-01 -1.10969511e-02 -1.37423146e+01] [-3.14194792e-02 1.28363746e-04 9.99506278e-01 -4.96713833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69654761499999 meters 0.07331730343428684 Centerline is valid? [True, True] Translation: X:78.84, Y:-13.75, Z:-4.96 [[ 9.37441722e-01 3.46587657e-01 3.28635785e-02 7.88438827e+01] [-3.46366649e-01 9.38017563e-01 -1.23772685e-02 -1.37516515e+01] [-3.51164222e-02 2.20120317e-04 9.99383204e-01 -4.96297042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72654761499999 meters 0.07329241080166082 Centerline is valid? [True, True] Translation: X:78.87, Y:-13.77, Z:-4.97 [[ 9.38482400e-01 3.43549762e-01 3.49906623e-02 7.88685467e+01] [-3.43297037e-01 9.39134407e-01 -1.31799215e-02 -1.37656590e+01] [-3.73888937e-02 3.56933686e-04 9.99300727e-01 -4.96514767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75654761499999 meters 0.07284990996873644 Centerline is valid? [True, True] Translation: X:78.89, Y:-13.78, Z:-4.97 [[ 9.39766788e-01 3.39433355e-01 4.02912092e-02 7.88927904e+01] [-3.39094847e-01 9.40629921e-01 -1.51669486e-02 -1.37846461e+01] [-4.30472852e-02 5.90853170e-04 9.99072861e-01 -4.96522594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78654761499999 meters 0.07224147076810918 Centerline is valid? [True, True] Translation: X:78.92, Y:-13.79, Z:-4.96 [[ 9.39112524e-01 3.41080742e-01 4.16124343e-02 7.89210121e+01] [-3.40721236e-01 9.40033852e-01 -1.56651108e-02 -1.37894110e+01] [-4.44601646e-02 5.33061651e-04 9.99011016e-01 -4.96352784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81654761499999 meters 0.07326048807065123 Centerline is valid? [True, True] Translation: X:78.95, Y:-13.79, Z:-4.97 [[ 9.37408592e-01 3.46229125e-01 3.72897298e-02 7.89502862e+01] [-3.45944700e-01 9.38149950e-01 -1.40333994e-02 -1.37898371e+01] [-3.98421297e-02 2.54844764e-04 9.99205955e-01 -4.97213674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84654761499999 meters 0.07384194888692956 Centerline is valid? [True, True] Translation: X:78.98, Y:-13.79, Z:-4.98 [[ 9.33706938e-01 3.56315284e-01 3.50823593e-02 7.89825259e+01] [-3.56070817e-01 9.34365769e-01 -1.31978567e-02 -1.37873598e+01] [-3.74823537e-02 -1.68873977e-04 9.99297275e-01 -4.97604826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87654761499999 meters 0.07789185282374761 Centerline is valid? [True, True] Translation: X:79.02, Y:-13.77, Z:-4.98 [[ 9.27571589e-01 3.72563887e-01 2.84094737e-02 7.90196519e+01] [-3.72411152e-01 9.28006307e-01 -1.06877396e-02 -1.37724662e+01] [-3.03460366e-02 -6.66361164e-04 9.99539231e-01 -4.98150135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90654761499998 meters 0.08970748476979387 Centerline is valid? [True, True] Translation: X:79.06, Y:-13.75, Z:-4.99 [[ 9.19046849e-01 3.93587281e-01 2.10224248e-02 7.90569305e+01] [-3.93509116e-01 9.19286703e-01 -7.90778793e-03 -1.37520781e+01] [-2.24380403e-02 -1.00488821e-03 9.99747730e-01 -4.99479889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93654761499998 meters 0.09478894957133659 Centerline is valid? [True, True] Translation: X:79.09, Y:-13.75, Z:-4.99 [[ 9.12592149e-01 4.08385543e-01 1.99202963e-02 7.90913597e+01] [-4.08318834e-01 9.12808617e-01 -7.49387650e-03 -1.37461352e+01] [-2.12438089e-02 -1.29497928e-03 9.99773486e-01 -4.99408516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96654761499998 meters 0.08942073226811706 Centerline is valid? [True, True] Translation: X:79.12, Y:-13.76, Z:-4.99 [[ 9.13952694e-01 4.05001157e-01 2.57786134e-02 7.91175417e+01] [-4.04888160e-01 9.14314813e-01 -9.69534093e-03 -1.37639131e+01] [-2.74963924e-02 -1.57637239e-03 9.99620660e-01 -4.98825774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99654761499998 meters 0.08390041216641467 Centerline is valid? [True, True] Translation: X:79.14, Y:-13.79, Z:-4.98 [[ 9.17411542e-01 3.96386499e-01 3.51255836e-02 7.91413649e+01] [-3.96170640e-01 9.18081964e-01 -1.32034174e-02 -1.37863387e+01] [-3.74818212e-02 -1.80275747e-03 9.99295684e-01 -4.98413626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02654761499998 meters 0.08401109165780436 Centerline is valid? [True, True] Translation: X:79.16, Y:-13.80, Z:-4.99 [[ 9.17964567e-01 3.94884157e-01 3.75174257e-02 7.91647745e+01] [-3.94636701e-01 9.18729034e-01 -1.41009436e-02 -1.38041844e+01] [-4.00365875e-02 -1.86158657e-03 9.99196480e-01 -4.98947320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05654761499999 meters 0.08216365609292657 Centerline is valid? [True, True] Translation: X:79.19, Y:-13.82, Z:-4.99 [[ 9.19118849e-01 3.91801045e-01 4.13821457e-02 7.91919627e+01] [-3.91496974e-01 9.20047988e-01 -1.55505384e-02 -1.38172882e+01] [-4.41662771e-02 -1.90819183e-03 9.99022372e-01 -4.98710688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08654761499999 meters 0.07860916205919175 Centerline is valid? [True, True] Translation: X:79.21, Y:-13.84, Z:-4.99 [[ 9.22071554e-01 3.84744480e-01 4.19014745e-02 7.92144072e+01] [-3.84425603e-01 9.23021748e-01 -1.57419119e-02 -1.38430985e+01] [-4.47325859e-02 -1.59283041e-03 9.98997727e-01 -4.98723750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11654761499999 meters 0.07687161813399704 Centerline is valid? [True, True] Translation: X:79.24, Y:-13.87, Z:-4.99 [[ 9.24529978e-01 3.78808685e-01 4.18126846e-02 7.92371253e+01] [-3.78485244e-01 9.25474081e-01 -1.57049350e-02 -1.38662614e+01] [-4.46457216e-02 -1.30580096e-03 9.99002029e-01 -4.99265015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14654761499999 meters 0.077038367608682 Centerline is valid? [True, True] Translation: X:79.27, Y:-13.87, Z:-5.00 [[ 9.24834315e-01 3.77929264e-01 4.30227944e-02 7.92659219e+01] [-3.77585836e-01 9.25833561e-01 -1.61602361e-02 -1.38680461e+01] [-4.59393731e-02 -1.29925691e-03 9.98943385e-01 -4.99506523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17654761499999 meters 0.07917361236629883 Centerline is valid? [True, True] Translation: X:79.29, Y:-13.88, Z:-5.01 [[ 9.27151715e-01 3.73001486e-01 3.54906893e-02 7.92912925e+01] [-3.72764409e-01 9.27830333e-01 -1.33255187e-02 -1.38770570e+01] [-3.78997763e-02 -8.74888318e-04 9.99281162e-01 -5.01273798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20654761499999 meters 0.07598194412535472 Centerline is valid? [True, True] Translation: X:79.32, Y:-13.89, Z:-5.01 [[ 9.30441924e-01 3.64676669e-01 3.58992138e-02 7.93181505e+01] [-3.64427798e-01 9.31134059e-01 -1.34812294e-02 -1.38912354e+01] [-3.83432705e-02 -5.39170385e-04 9.99264481e-01 -5.01111410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23654761499999 meters 0.07449487402070602 Centerline is valid? [True, True] Translation: X:79.35, Y:-13.89, Z:-5.01 [[ 9.31924889e-01 3.60386904e-01 4.04633165e-02 7.93485858e+01] [-3.60067212e-01 9.32802821e-01 -1.51822357e-02 -1.38937014e+01] [-4.32157747e-02 -4.20810275e-04 9.99065673e-01 -5.00738995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26654761499998 meters 0.07404733989843468 Centerline is valid? [True, True] Translation: X:79.38, Y:-13.88, Z:-5.01 [[ 9.31152233e-01 3.61814155e-01 4.52331274e-02 7.93837023e+01] [-3.61416458e-01 9.32250083e-01 -1.69683901e-02 -1.38842537e+01] [-4.83079905e-02 -5.47842392e-04 9.98832337e-01 -5.00760685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29654761499998 meters 0.07404733989843468 Centerline is valid? [True, True] Translation: X:79.41, Y:-13.89, Z:-5.01 [[ 9.31272225e-01 3.61505636e-01 4.52296081e-02 7.94093363e+01] [-3.61107120e-01 9.32369778e-01 -1.69777805e-02 -1.38936084e+01] [-4.83082830e-02 -5.21798053e-04 9.98832337e-01 -5.01007853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32654761499998 meters 0.07416988706992529 Centerline is valid? [True, True] Translation: X:79.44, Y:-13.89, Z:-5.01 [[ 9.30384104e-01 3.63783062e-01 4.52471378e-02 7.94402973e+01] [-3.63387848e-01 9.31483468e-01 -1.69652933e-02 -1.38914040e+01] [-4.83186472e-02 -6.58020893e-04 9.98831755e-01 -5.01373629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35654761499998 meters 0.0747115958315804 Centerline is valid? [True, True] Translation: X:79.48, Y:-13.87, Z:-5.01 [[ 9.27059090e-01 3.71506373e-01 5.04426149e-02 7.94767496e+01] [-3.71027877e-01 9.28429621e-01 -1.88879084e-02 -1.38734983e+01] [-5.38493962e-02 -1.20540910e-03 9.98548341e-01 -5.01181810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38654761499998 meters 0.07712435401837511 Centerline is valid? [True, True] Translation: X:79.51, Y:-13.85, Z:-5.02 [[ 9.23393286e-01 3.80518815e-01 5.05001942e-02 7.95145357e+01] [-3.80053289e-01 9.24771535e-01 -1.88972240e-02 -1.38525764e+01] [-5.38918914e-02 -1.74319518e-03 9.98545255e-01 -5.01814699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41654761499998 meters 0.07790162524805008 Centerline is valid? [True, True] Translation: X:79.55, Y:-13.84, Z:-5.02 [[ 9.21415518e-01 3.84904441e-01 5.33105511e-02 7.95480082e+01] [-3.84392716e-01 9.22954024e-01 -1.99526996e-02 -1.38443028e+01] [-5.68830704e-02 -2.10746046e-03 9.98378623e-01 -5.01921396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44654761499999 meters 0.07841792137117366 Centerline is valid? [True, True] Translation: X:79.58, Y:-13.84, Z:-5.02 [[ 9.19342639e-01 3.89028995e-01 5.88689473e-02 7.95822317e+01] [-3.88414701e-01 9.21221757e-01 -2.20112338e-02 -1.38357132e+01] [-6.27943632e-02 -2.62969874e-03 9.98023022e-01 -5.02103153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47654761499999 meters 0.08192803062118705 Centerline is valid? [True, True] Translation: X:79.62, Y:-13.81, Z:-5.03 [[ 9.16509032e-01 3.96206079e-01 5.50630248e-02 7.96193869e+01] [-3.95682873e-01 9.18156908e-01 -2.05659203e-02 -1.38144801e+01] [-5.87048392e-02 -2.93864410e-03 9.98271058e-01 -5.02955451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50654761499999 meters 0.08555963800685605 Centerline is valid? [True, True] Translation: X:79.65, Y:-13.81, Z:-5.03 [[ 9.13589025e-01 4.02870501e-01 5.52309030e-02 7.96511073e+01] [-4.02356519e-01 9.15250744e-01 -2.06229812e-02 -1.38092360e+01] [-5.88585159e-02 -3.38158455e-03 9.98260607e-01 -5.03414254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53654761499999 meters 0.084924193625883 Centerline is valid? [True, True] Translation: X:79.69, Y:-13.80, Z:-5.03 [[ 9.12393298e-01 4.04500126e-01 6.25948634e-02 7.96862409e+01] [-4.03844097e-01 9.14529371e-01 -2.33661152e-02 -1.37992330e+01] [-6.66964376e-02 -3.95947920e-03 9.97765457e-01 -5.02719549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56654761499999 meters 0.08789471713935741 Centerline is valid? [True, True] Translation: X:79.72, Y:-13.78, Z:-5.03 [[ 9.10429527e-01 4.08881581e-01 6.27210461e-02 7.97228904e+01] [-4.08233325e-01 9.12577365e-01 -2.34116600e-02 -1.37846617e+01] [-6.68104036e-02 -4.29015461e-03 9.97756466e-01 -5.02930391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59654761499999 meters 0.09930773906528387 Centerline is valid? [True, True] Translation: X:79.76, Y:-13.75, Z:-5.04 [[ 9.02335829e-01 4.26072284e-01 6.52108893e-02 7.97640219e+01] [-4.25417190e-01 9.04670544e-01 -2.43191374e-02 -1.37533647e+01] [-6.93560811e-02 -5.79780425e-03 9.97575120e-01 -5.03541317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62654761499999 meters 0.10376699672891118 Centerline is valid? [True, False] Translation: X:79.76, Y:-13.73, Z:-5.03 [[ 9.03344140e-01 4.25268322e-01 5.58231155e-02 7.97566262e+01] [-4.25036098e-01 9.05024871e-01 -1.65619590e-02 -1.37323111e+01] [-5.75645845e-02 -8.76569060e-03 9.98303301e-01 -5.03099565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65654761499998 meters 0.11008103369114121 Centerline is valid? [False, False] Translation: X:79.76, Y:-13.70, Z:-5.03 [[ 8.98994532e-01 4.33606985e-01 6.15939413e-02 7.97622449e+01] [-4.33873772e-01 9.00921739e-01 -9.67319560e-03 -1.37033359e+01] [-5.96856859e-02 -1.80278457e-02 9.98054415e-01 -5.03156290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68654761499998 meters 0.10784495817557492 Centerline is valid? [False, False] Translation: X:79.76, Y:-13.67, Z:-5.03 [[ 8.92678661e-01 4.46708931e-01 5.97991514e-02 7.97577211e+01] [-4.47199056e-01 8.94416517e-01 -5.66548769e-03 -1.36716894e+01] [-5.60161727e-02 -2.16846641e-02 9.98194352e-01 -5.02689106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71654761499998 meters 0.11577405979034606 Centerline is valid? [False, False] Translation: X:79.76, Y:-13.64, Z:-5.03 [[ 8.86989770e-01 4.58340999e-01 5.63265165e-02 7.97595369e+01] [-4.59066381e-01 8.88401966e-01 -6.85413410e-05 -1.36388287e+01] [-5.00720033e-02 -2.57968146e-02 9.98412399e-01 -5.02684027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74654761499998 meters 0.12509456293237306 Centerline is valid? [False, False] Translation: X:79.75, Y:-13.61, Z:-5.03 [[ 8.82790107e-01 4.66506862e-01 5.52537244e-02 7.97505469e+01] [-4.67300630e-01 8.84096943e-01 1.64844014e-03 -1.36072530e+01] [-4.80806402e-02 -2.72753269e-02 9.98470985e-01 -5.02678052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.77654761499998 meters 0.1235251979780052 Centerline is valid? [False, False] Translation: X:79.76, Y:-13.57, Z:-5.02 [[ 8.82628135e-01 4.68294509e-01 4.08390469e-02 7.97636563e+01] [-4.68981825e-01 8.83164981e-01 8.69858313e-03 -1.35742215e+01] [-3.19941174e-02 -2.68303850e-02 9.99127873e-01 -5.01784255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80654761499999 meters 0.12726903950122903 Centerline is valid? [False, False] Translation: X:79.75, Y:-13.55, Z:-5.01 [[ 8.92454464e-01 4.50369978e-01 2.63042324e-02 7.97468402e+01] [-4.50816950e-01 8.92500689e-01 1.43734766e-02 -1.35487653e+01] [-1.70031632e-02 -2.46860671e-02 9.99550644e-01 -5.00679529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1376.36 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%| | 0/2727 [00:00