+ python -m lidar_slam --no-model /working/e0218a3c-1965-4619-98e1-4ad0e735960c Lidar SLAM 0.0.12 ===================================================== The recording path: /working/e0218a3c-1965-4619-98e1-4ad0e735960c 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 0.002401008 Adjusted end_distance from 9.223372036854776e+18 to 114.512401008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002401008 meters 0.10106070798358797 Centerline is valid? [0, False] SLAMing on 0.032401008 meters 0.10280250494132993 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999941e-01 3.43409745e-04 3.16534741e-06 -3.68589812e-04] [-3.43409797e-04 9.99999941e-01 1.66243073e-05 4.88029951e-04] [-3.15963828e-06 -1.66253933e-05 1.00000000e+00 6.98443425e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06240100800000001 meters 0.09936293262726546 Centerline is valid? [False, True] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99999571e-01 7.18437250e-04 -5.84423455e-04 5.29966435e-04] [-7.18891464e-04 9.99999439e-01 -7.77361638e-04 3.67360341e-03] [ 5.83864642e-04 7.77781442e-04 9.99999527e-01 4.72438781e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.092401008 meters 0.0904336259063979 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:-0.00 [[ 9.99831854e-01 1.83163766e-02 8.80365261e-04 3.25996316e-02] [-1.83162722e-02 9.99832235e-01 -1.26406869e-04 1.31866118e-02] [-8.82532882e-04 1.10260604e-04 9.99999604e-01 -7.75684633e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.122401008 meters 0.0786247989402408 Centerline is valid? [True, True] Translation: X:0.07, Y:0.02, Z:-0.00 [[ 9.98815560e-01 4.86515440e-02 7.10447635e-04 6.56094982e-02] [-4.86514836e-02 9.98815810e-01 -1.02068047e-04 2.47052870e-02] [-7.14572098e-04 6.73828220e-05 9.99999742e-01 -4.19069950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15240100800000003 meters 0.07336963144828013 Centerline is valid? [True, True] Translation: X:0.10, Y:0.03, Z:-0.01 [[ 9.98282600e-01 5.85813748e-02 2.70266715e-04 9.61881891e-02] [-5.85813664e-02 9.98282636e-01 -3.88209368e-05 2.54780694e-02] [-2.72076753e-04 2.29216722e-05 9.99999963e-01 -5.18508471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18240100800000003 meters 0.07408315033825055 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:-0.01 [[ 9.97917129e-01 6.44967051e-02 -1.25666946e-03 1.24151112e-01] [-6.44965285e-02 9.97917915e-01 1.80587548e-04 1.34036972e-02] [ 1.26570027e-03 -9.91605901e-05 9.99999194e-01 -5.09352819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21240100800000003 meters 0.07456482248821653 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.01, Z:-0.01 [[ 9.97750207e-01 6.69172967e-02 -4.07427182e-03 1.51659271e-01] [-6.69154626e-02 9.97758477e-01 5.85001598e-04 -5.24400187e-03] [ 4.10428597e-03 -3.11053682e-04 9.99991529e-01 -8.38396750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24240100800000003 meters 0.07143476156834141 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:-0.01 [[ 9.97772207e-01 6.65757274e-02 -4.27741705e-03 1.82663512e-01] [-6.65737060e-02 9.97781321e-01 6.13392628e-04 -1.15124524e-02] [ 4.30876390e-03 -3.27262610e-04 9.99990664e-01 -8.71851639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.272401008 meters 0.07294350902336123 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.03, Z:-0.01 [[ 9.97858426e-01 6.52814935e-02 -4.10954892e-03 2.11403029e-01] [-6.52796108e-02 9.97866837e-01 5.90751897e-04 -2.77210609e-02] [ 4.13934775e-03 -3.21217004e-04 9.99991381e-01 -7.71347555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.302401008 meters 0.07230628752012133 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.04, Z:-0.01 [[ 9.97942345e-01 6.40568995e-02 -2.79104526e-03 2.41608882e-01] [-6.40560275e-02 9.97946223e-01 4.00784602e-04 -3.95752787e-02] [ 2.81098610e-03 -2.21176654e-04 9.99996025e-01 -6.31299878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.332401008 meters 0.07444892950828357 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.07, Z:-0.00 [[ 9.97929262e-01 6.43196620e-02 -4.10290828e-04 2.70567809e-01] [-6.43196436e-02 9.97929346e-01 5.78934417e-05 -6.51791080e-02] [ 4.13164945e-04 -3.13837998e-05 9.99999914e-01 -4.94217744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.362401008 meters 0.07585926616111034 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.08, Z:-0.01 [[ 9.97869434e-01 6.52364396e-02 8.94089541e-04 2.99678862e-01] [-6.52363488e-02 9.97869832e-01 -1.30327295e-04 -8.10892302e-02] [-9.00687069e-04 7.17224874e-05 9.99999592e-01 -5.93655003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392401008 meters 0.07384599065817875 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.09, Z:-0.01 [[ 9.97880333e-01 6.50701342e-02 8.47799414e-04 3.30341413e-01] [-6.50700516e-02 9.97880691e-01 -1.24680864e-04 -9.10886143e-02] [-8.54115666e-04 6.92502307e-05 9.99999633e-01 -7.89348154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422401008 meters 0.07633107510471296 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.12, Z:-0.01 [[ 9.98154128e-01 6.07213666e-02 1.11949487e-03 3.56082476e-01] [-6.07212226e-02 9.98154751e-01 -1.62171963e-04 -1.22800034e-01] [-1.12727643e-03 9.38955167e-05 9.99999360e-01 -9.70441671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.452401008 meters 0.07766616752604394 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.14, Z:-0.01 [[ 9.98471070e-01 5.52527166e-02 1.63081089e-03 3.84431796e-01] [-5.52524036e-02 9.98472391e-01 -2.36428976e-04 -1.40783819e-01] [-1.64138299e-03 1.45961271e-04 9.99998642e-01 -9.19519084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.482401008 meters 0.08097931562436173 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.16, Z:-0.01 [[ 9.98821942e-01 4.83848662e-02 3.69237213e-03 4.11295510e-01] [-4.83832166e-02 9.98828703e-01 -5.34846282e-04 -1.61367631e-01] [-3.71392573e-03 3.55567362e-04 9.99993040e-01 -7.27923175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.512401008 meters 0.08589127867383478 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.18, Z:-0.01 [[ 9.99179504e-01 4.01125095e-02 5.59506578e-03 4.38431997e-01] [-4.01085913e-02 9.99194998e-01 -8.10801831e-04 -1.82438114e-01] [-5.62308504e-03 5.85726365e-04 9.99984019e-01 -5.98819393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542401008 meters 0.09102981411794471 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.20, Z:-0.00 [[ 9.99482777e-01 3.14440946e-02 6.74152780e-03 4.65898895e-01] [-3.14382111e-02 9.99505220e-01 -9.76965199e-04 -2.02332703e-01] [-6.76891201e-03 7.64518316e-04 9.99976798e-01 -3.74659804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.572401008 meters 0.08970493751468417 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.21, Z:-0.00 [[ 9.99678158e-01 2.40740711e-02 8.00127952e-03 4.95896819e-01] [-2.40655507e-02 9.99709710e-01 -1.15947075e-03 -2.10369205e-01] [-8.02687002e-03 9.66542381e-04 9.99967317e-01 -3.18134646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6024010080000001 meters 0.08350805691074065 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.21, Z:-0.00 [[ 0.99985089 0.01480927 0.00888206 0.52576087] [-0.0147984 0.99988967 -0.00128808 -0.20699697] [-0.00890015 0.00115645 0.99995972 -0.00121934] [ 0. 0. 0. 1. ]] SLAMing on 0.632401008 meters 0.08797232223939844 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.22, Z:0.00 [[ 0.99982604 0.01527035 0.01070965 0.55659485] [-0.01525453 0.99988243 -0.00155716 -0.2162002 ] [-0.01073217 0.00139352 0.99994144 0.00154131] [ 0. 0. 0. 1. ]] SLAMing on 0.662401008 meters 0.08442879755777205 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.21, Z:0.00 [[ 0.99976671 0.01752448 0.01262646 0.58884175] [-0.0175027 0.99984513 -0.00183366 -0.20802134] [-0.01265664 0.00161224 0.9999186 0.00190885] [ 0. 0. 0. 1. ]] SLAMing on 0.692401008 meters 0.0870566835889275 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.21, Z:0.00 [[ 0.99967299 0.02178532 0.01339095 0.61880721] [-0.0217612 0.99976131 -0.00194477 -0.20870164] [-0.01343012 0.00165273 0.99990845 0.00378414] [ 0. 0. 0. 1. ]] SLAMing on 0.7224010080000001 meters 0.09197466588453411 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.20, Z:0.00 [[ 0.99936218 0.0308244 0.01803022 0.65103642] [-0.03078211 0.99952269 -0.00261883 -0.19562649] [-0.01810234 0.00206215 0.99983401 0.00424197] [ 0. 0. 0. 1. ]] SLAMing on 0.7524010080000001 meters 0.08810237802053304 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.18, Z:0.00 [[ 9.99146199e-01 3.49713341e-02 2.19972563e-02 6.84383276e-01] [-3.49093668e-02 9.99385376e-01 -3.19488290e-03 -1.76422262e-01] [-2.20954655e-02 2.42424482e-03 9.99752926e-01 3.19479105e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782401008 meters 0.08886812440611302 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.16, Z:-0.00 [[ 0.99889341 0.03932262 0.02580072 0.71677198] [-0.0392388 0.99922284 -0.00374728 -0.16343077] [-0.02592802 0.00273075 0.99966008 -0.00194259] [ 0. 0. 0. 1. ]] SLAMing on 0.812401008 meters 0.0972202792104929 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.14, Z:-0.01 [[ 0.99834222 0.04710898 0.0330688 0.74922255] [-0.04697549 0.9988845 -0.00480253 -0.14431132] [-0.03325816 0.00324114 0.99944154 -0.00811176] [ 0. 0. 0. 1. ]] SLAMing on 0.8424010080000001 meters 0.09829760466584192 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.13, Z:-0.01 [[ 0.99809438 0.04883153 0.03772393 0.78335444] [-0.0486586 0.99880039 -0.00548905 -0.1301992 ] [-0.03794671 0.003643 0.99927312 -0.01398072] [ 0. 0. 0. 1. ]] SLAMing on 0.8724010080000001 meters 0.2427416063629836 Centerline is valid? [True, False] Translation: X:0.85, Y:-0.11, Z:-0.03 [[ 0.99835543 0.05401755 0.01919757 0.84528288] [-0.05374591 0.99845088 -0.01439502 -0.11459968] [-0.01994542 0.01333956 0.99971208 -0.03293312] [ 0. 0. 0. 1. ]] SLAMing on 0.902401008 meters 0.23573861251883518 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.03 [[ 0.99897037 0.03919996 0.02283789 0.8530695 ] [-0.0390844 0.99922086 -0.00548487 -0.1158876 ] [-0.02303511 0.00458662 0.99972414 -0.03382463] [ 0. 0. 0. 1. ]] SLAMing on 0.932401008 meters 0.22240185101806226 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.03 [[ 0.99932122 0.03372738 0.01481742 0.84760481] [-0.03377059 0.99942603 0.00267587 -0.12223359] [-0.01471867 -0.00317445 0.99988664 -0.0300584 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9624010080000001 meters 0.2187290348493909 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:-0.03 [[ 0.99967124 0.01858509 0.01766352 0.85533504] [-0.01876473 0.99977332 0.01005944 -0.12324472] [-0.01747256 -0.01038758 0.99979338 -0.03132731] [ 0. 0. 0. 1. ]] SLAMing on 0.9924010080000001 meters 0.2187290348493909 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:-0.03 [[ 0.99967124 0.01858509 0.01766352 0.85533504] [-0.01876473 0.99977332 0.01005944 -0.12324472] [-0.01747256 -0.01038758 0.99979338 -0.03132731] [ 0. 0. 0. 1. ]] SLAMing on 1.0224010080000001 meters 0.209558661047064 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:-0.03 [[ 0.99984162 0.01774349 0.00138071 0.86217777] [-0.01775332 0.9998145 0.00746915 -0.122633 ] [-0.00124792 -0.00749248 0.99997115 -0.02613751] [ 0. 0. 0. 1. ]] SLAMing on 1.0524010080000001 meters 0.20415917976533424 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:-0.03 [[ 0.99974113 0.02271285 0.00133977 0.86189291] [-0.02272714 0.9996715 0.01184752 -0.12152585] [-0.00107024 -0.0118749 0.99992892 -0.02566449] [ 0. 0. 0. 1. ]] SLAMing on 1.0824010080000002 meters 0.20206536226023017 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:-0.03 [[ 9.99818414e-01 1.90481100e-02 5.56281849e-04 8.62978324e-01] [-1.90515488e-02 9.99793845e-01 7.02189276e-03 -1.17882952e-01] [-4.22413382e-04 -7.03121571e-03 9.99975191e-01 -2.58774811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1124010080000002 meters 0.19540054185734546 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:-0.02 [[ 9.99682801e-01 2.51792609e-02 5.49133476e-04 8.61256019e-01] [-2.51840554e-02 9.99610014e-01 1.20657861e-02 -1.16342461e-01] [-2.45111746e-04 -1.20757882e-02 9.99927055e-01 -2.37070085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1424010080000002 meters 0.18825528407256323 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.02 [[ 0.99985796 0.01316619 0.01052204 0.85666159] [-0.01332298 0.99979913 0.0149731 -0.11321452] [-0.01032278 -0.01511115 0.99983253 -0.02346958] [ 0. 0. 0. 1. ]] SLAMing on 1.1724010080000002 meters 0.1861916174423622 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.02 [[ 0.99990836 0.00924088 0.00989306 0.85766012] [-0.00933705 0.99990918 0.009719 -0.10912476] [-0.00980235 -0.00981048 0.99990383 -0.0240899 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2024010080000003 meters 0.1861916174423622 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.02 [[ 0.99992917 0.00585418 0.01036234 0.85548505] [-0.00591495 0.99996543 0.00584429 -0.10778601] [-0.01032776 -0.00590517 0.99992923 -0.02241644] [ 0. 0. 0. 1. ]] SLAMing on 1.2324010080000003 meters 0.1821676085253822 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.02 [[ 0.99992889 0.00584323 0.01039558 0.85541833] [-0.00589744 0.99996913 0.00519174 -0.10564563] [-0.01036492 -0.00525268 0.99993249 -0.02244405] [ 0. 0. 0. 1. ]] SLAMing on 1.262401008 meters 0.17851795107203403 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:-0.02 [[ 0.99994122 0.00308899 0.0103929 0.8539132 ] [-0.00310507 0.99999401 0.00153063 -0.10331148] [-0.01038811 -0.00156281 0.99994482 -0.02086073] [ 0. 0. 0. 1. ]] SLAMing on 1.2924010080000001 meters 0.1757045353120581 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:-0.02 [[ 0.99993537 0.00436604 0.01049716 0.85243649] [-0.00439233 0.99998727 0.00248238 -0.10353878] [-0.01048619 -0.00252832 0.99994182 -0.01928943] [ 0. 0. 0. 1. ]] SLAMing on 1.3224010080000002 meters 0.16844480109570834 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:-0.01 [[ 9.99985268e-01 5.34841282e-03 -9.26304260e-04 8.49774626e-01] [-5.34972063e-03 9.99984689e-01 -1.41518266e-03 -1.03559342e-01] [ 9.18721096e-04 1.42011728e-03 9.99998570e-01 -1.33542084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3524010080000002 meters 0.1679024723728526 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:-0.01 [[ 0.99998614 0.00514398 -0.00112486 0.85057591] [-0.00514573 0.99998554 -0.00156247 -0.10382958] [ 0.0011168 0.00156824 0.99999815 -0.01390197] [ 0. 0. 0. 1. ]] SLAMing on 1.3824010080000002 meters 0.16451386829874184 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:-0.01 [[ 9.99999147e-01 1.11098759e-03 -6.86669614e-04 8.49585458e-01] [-1.11497242e-03 9.99982382e-01 -5.83023411e-03 -1.03114523e-01] [ 6.80180199e-04 5.83099476e-03 9.99982768e-01 -1.37634668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4124010080000002 meters 0.16015335833691743 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.01 [[ 9.99998554e-01 1.42691688e-03 -9.24739638e-04 8.50257975e-01] [-1.43114086e-03 9.99988473e-01 -4.58329746e-03 -1.06793216e-01] [ 9.18188994e-04 4.58461427e-03 9.99989069e-01 -1.36435301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4424010080000003 meters 0.1589554704843411 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.01 [[ 0.9999984 0.00113774 -0.00137781 0.85194691] [-0.00114395 0.99998913 -0.00451947 -0.10847873] [ 0.00137266 0.00452104 0.99998884 -0.01469668] [ 0. 0. 0. 1. ]] SLAMing on 1.4724010080000003 meters 0.15557860265117662 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.01 [[ 0.99999812 0.00122265 -0.00150589 0.85240812] [-0.00122891 0.99999058 -0.0041631 -0.10970251] [ 0.00150079 0.00416495 0.9999902 -0.01493308] [ 0. 0. 0. 1. ]] SLAMing on 1.5024010080000003 meters 0.15007560278263127 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.02 [[ 0.99999783 0.00126395 -0.00165687 0.85304964] [-0.00127019 0.99999208 -0.00377258 -0.11115119] [ 0.00165209 0.00377468 0.99999151 -0.01540684] [ 0. 0. 0. 1. ]] SLAMing on 1.5324010080000001 meters 0.14763478355603993 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.02 [[ 0.99999759 0.00134272 -0.00173482 0.85341178] [-0.0013487 0.99999313 -0.00345161 -0.11227301] [ 0.00173018 0.00345394 0.99999254 -0.01567684] [ 0. 0. 0. 1. ]] SLAMing on 1.5624010080000001 meters 0.14736177852153384 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.02 [[ 9.99997410e-01 9.45897891e-04 -2.07022896e-03 8.55000607e-01] [-9.53705233e-04 9.99992425e-01 -3.77351324e-03 -1.12979997e-01] [ 2.06664392e-03 3.77547785e-03 9.99990737e-01 -1.70901568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5924010080000002 meters 0.14636212827939749 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.02 [[ 0.99999699 0.00100042 -0.0022417 0.85563014] [-0.0010081 0.99999362 -0.00342652 -0.11443211] [ 0.00223826 0.00342877 0.99999162 -0.01746883] [ 0. 0. 0. 1. ]] SLAMing on 1.6224010080000002 meters 0.14131129033756074 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:-0.02 [[ 9.99995398e-01 8.30387263e-04 -2.91808037e-03 8.57697983e-01] [-8.37036708e-04 9.99997055e-01 -2.27822346e-03 -1.19716777e-01] [ 2.91617997e-03 2.28065551e-03 9.99993147e-01 -1.83866379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6524010080000002 meters 0.1359253106000473 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:-0.02 [[ 0.99999136 -0.00301225 -0.00286326 0.8575859 ] [ 0.00299688 0.99998116 -0.00535655 -0.12288601] [ 0.00287934 0.00534792 0.99998155 -0.01809442] [ 0. 0. 0. 1. ]] SLAMing on 1.6824010080000003 meters 0.13503017301276182 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.02 [[ 0.99998747 -0.0032376 -0.00381806 0.86002823] [ 0.00322199 0.99998646 -0.00408717 -0.12858886] [ 0.00383124 0.00407482 0.99998436 -0.01889605] [ 0. 0. 0. 1. ]] SLAMing on 1.7124010080000003 meters 0.12962193654436588 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.02 [[ 0.99998432 -0.00305364 -0.00469401 0.86169428] [ 0.00304461 0.99999351 -0.00192827 -0.13553331] [ 0.00469987 0.00191395 0.99998712 -0.01866159] [ 0. 0. 0. 1. ]] SLAMing on 1.7424010080000003 meters 0.13395170574650075 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.15, Z:-0.02 [[ 0.99987844 -0.0099339 -0.01201784 0.89422796] [ 0.00986257 0.99993348 -0.00597984 -0.15006608] [ 0.01207644 0.00586059 0.9999099 -0.01907492] [ 0. 0. 0. 1. ]] SLAMing on 1.7724010080000003 meters 0.12672550883773143 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.16, Z:-0.02 [[ 0.99987201 -0.00958338 -0.01281091 0.89564368] [ 0.00953748 0.9999479 -0.0036391 -0.15739459] [ 0.01284512 0.00351645 0.99991131 -0.01859118] [ 0. 0. 0. 1. ]] SLAMing on 1.8024010080000001 meters 0.12097762270730786 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.16, Z:-0.02 [[ 0.99986914 -0.00910631 -0.01337065 0.89659277] [ 0.00908956 0.99995783 -0.00131241 -0.16438353] [ 0.01338204 0.00119071 0.99990975 -0.01796188] [ 0. 0. 0. 1. ]] SLAMing on 1.8324010080000002 meters 0.11894751807095738 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.18, Z:-0.02 [[ 0.99985755 -0.01664194 -0.00281526 0.90360635] [ 0.01663284 0.99985647 -0.00322334 -0.17901421] [ 0.0028685 0.00317605 0.99999084 -0.02282444] [ 0. 0. 0. 1. ]] SLAMing on 1.8624010080000002 meters 0.11548332452022371 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.02 [[ 0.99986128 -0.01130618 -0.01223114 0.91689942] [ 0.01124429 0.99992369 -0.00511669 -0.18840407] [ 0.01228806 0.00497845 0.99991211 -0.0205603 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8924010080000002 meters 0.11151902698573082 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.20, Z:-0.02 [[ 0.99986074 -0.01081186 -0.01271205 0.91793188] [ 0.01077744 0.99993808 -0.00277314 -0.19609858] [ 0.01274125 0.00263575 0.99991535 -0.02055389] [ 0. 0. 0. 1. ]] SLAMing on 1.9224010080000002 meters 0.1068163316294212 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.21, Z:-0.03 [[ 0.99986237 -0.01634244 -0.00285697 0.9263274 ] [ 0.01633274 0.99986088 -0.00338695 -0.21348442] [ 0.00291192 0.00333982 0.99999018 -0.02653161] [ 0. 0. 0. 1. ]] SLAMing on 1.9524010080000003 meters 0.10410908412448255 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.02 [[ 0.99986873 -0.01053322 -0.01231171 0.93908562] [ 0.01048302 0.9999365 -0.00413528 -0.22513314] [ 0.01235449 0.00400567 0.99991566 -0.02305479] [ 0. 0. 0. 1. ]] SLAMing on 1.9824010080000003 meters 0.10357562288432165 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.03 [[ 0.99995019 -0.00978782 0.00195346 0.94010767] [ 0.0097999 0.9999323 -0.006274 -0.23413987] [-0.00189192 0.00629283 0.99997841 -0.03007316] [ 0. 0. 0. 1. ]] SLAMing on 2.0124010080000003 meters 0.10120993800094753 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.24, Z:-0.03 [[ 0.99995618 -0.0092161 0.0016464 0.94101327] [ 0.00922324 0.99994788 -0.00437934 -0.24144252] [-0.00160595 0.00439433 0.99998906 -0.03038082] [ 0. 0. 0. 1. ]] SLAMing on 2.042401008 meters 0.09844914720744358 Centerline is valid? [False, True] Translation: X:0.95, Y:-0.26, Z:-0.03 [[ 0.999969 -0.00339574 -0.00710473 0.95369097] [ 0.0033576 0.99997993 -0.00537245 -0.25781099] [ 0.00712284 0.00534843 0.99996033 -0.028732 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0724010080000004 meters 0.09801351848309976 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.27, Z:-0.03 [[ 9.99978447e-01 -5.02045297e-03 -4.23079704e-03 9.83195161e-01] [ 5.02083538e-03 9.99987392e-01 7.97706484e-05 -2.68854272e-01] [ 4.23034321e-03 -1.01011065e-04 9.99991047e-01 -3.08233075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102401008 meters 0.09617800794600626 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.28, Z:-0.03 [[ 9.99975253e-01 -6.92175909e-03 -1.25767271e-03 1.01325232e+00] [ 6.92179434e-03 9.99976044e-01 2.36812643e-05 -2.77932442e-01] [ 1.25747867e-03 -3.23860301e-05 9.99999209e-01 -3.44217023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1324010080000004 meters 0.0933467887203087 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.28, Z:-0.03 [[ 9.99957196e-01 -9.06072758e-03 1.87314695e-03 1.04498324e+00] [ 9.06080890e-03 9.99958949e-01 -3.49311473e-05 -2.84500505e-01] [-1.87275356e-03 5.19018787e-05 9.99998245e-01 -2.83244529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1624010080000002 meters 0.09129836887243274 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.30, Z:-0.03 [[ 9.99896814e-01 -1.33372632e-02 5.33648693e-03 1.07346088e+00] [ 1.33380222e-02 9.99911039e-01 -1.06674540e-04 -3.01076509e-01] [-5.33458944e-03 1.77841714e-04 9.99985755e-01 -3.25645386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1924010080000005 meters 0.09070820683032288 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.31, Z:-0.04 [[ 9.99832284e-01 -1.62647900e-02 8.41788676e-03 1.10313052e+00] [ 1.62667565e-02 9.99867674e-01 -1.65190044e-04 -3.09987011e-01] [-8.41408608e-03 3.02094053e-04 9.99964555e-01 -3.60606957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2224010080000003 meters 0.08917090820038061 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.32, Z:-0.04 [[ 9.99725550e-01 -2.01041303e-02 1.20270330e-02 1.13362326e+00] [ 2.01084142e-02 9.99797778e-01 -2.35354306e-04 -3.19255685e-01] [-1.20198693e-02 4.77134274e-04 9.99927645e-01 -3.97700476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.252401008 meters 0.08721547268587197 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.33, Z:-0.04 [[ 9.99495165e-01 -2.46006508e-02 2.01053144e-02 1.16269431e+00] [ 2.46135284e-02 9.99696964e-01 -3.93262363e-04 -3.32788291e-01] [-2.00895473e-02 8.87926558e-04 9.99797790e-01 -4.26493492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2824010080000003 meters 0.08494890874567602 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.34, Z:-0.04 [[ 9.99412599e-01 -2.48117118e-02 2.36396957e-02 1.19250073e+00] [ 2.48296275e-02 9.99691589e-01 -4.64599412e-04 -3.35308607e-01] [-2.36208774e-02 1.05129134e-03 9.99720435e-01 -4.34812551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.312401008 meters 0.0835495364099136 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.34, Z:-0.04 [[ 9.99402313e-01 -2.40012534e-02 2.48788275e-02 1.22292234e+00] [ 2.40207932e-02 9.99711341e-01 -4.86801413e-04 -3.37138893e-01] [-2.48599621e-02 1.08411963e-03 9.99690356e-01 -4.47750924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3424010080000004 meters 0.08305570914488164 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.34, Z:-0.05 [[ 9.99275095e-01 -2.37855737e-02 2.97242557e-02 1.25100639e+00] [ 2.38133528e-02 9.99716253e-01 -5.80861117e-04 -3.43161539e-01] [-2.97020054e-02 1.28827423e-03 9.99557968e-01 -5.39672344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.372401008 meters 0.0817324689365786 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.35, Z:-0.06 [[ 9.99165900e-01 -2.31619731e-02 3.36307477e-02 1.27928134e+00] [ 2.31972292e-02 9.99730691e-01 -6.58476251e-04 -3.47707695e-01] [-3.36064390e-02 1.43806718e-03 9.99434109e-01 -5.88360195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4024010080000004 meters 0.07977071940944595 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.35, Z:-0.06 [[ 9.99021740e-01 -2.09324714e-02 3.89537407e-02 1.30955445e+00] [ 2.09778688e-02 9.99779654e-01 -7.56999212e-04 -3.52559386e-01] [-3.89293115e-02 1.57342513e-03 9.99240728e-01 -6.06000638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4324010080000003 meters 0.08002995529191444 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.35, Z:-0.06 [[ 9.99015590e-01 -1.95907078e-02 3.98002015e-02 1.34084571e+00] [ 1.96368668e-02 9.99806882e-01 -7.69133247e-04 -3.54961533e-01] [-3.97774475e-02 1.54992736e-03 9.99207362e-01 -6.45165887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4624010080000005 meters 0.07449501934028557 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.35, Z:-0.06 [[ 9.98728238e-01 -2.03078506e-02 4.61464802e-02 1.37293800e+00] [ 2.03709565e-02 9.99792088e-01 -8.97601060e-04 -3.52792577e-01] [-4.61186575e-02 1.83650747e-03 9.98934280e-01 -5.73091563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4924010080000003 meters 0.07710318725997534 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.37, Z:-0.07 [[ 9.98519017e-01 -2.08825280e-02 5.02363740e-02 1.40134851e+00] [ 2.09581835e-02 9.99779873e-01 -9.79639212e-04 -3.65845813e-01] [-5.02048583e-02 2.03105153e-03 9.98736876e-01 -6.84646991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522401008 meters 0.07624327538818762 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.37, Z:-0.07 [[ 9.98334328e-01 -2.09223900e-02 5.37663745e-02 1.43193566e+00] [ 2.10090088e-02 9.99778739e-01 -1.04626706e-03 -3.69069103e-01] [-5.37325877e-02 2.17410256e-03 9.98552994e-01 -6.99883063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5524010080000004 meters 0.07364182054881346 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.37, Z:-0.07 [[ 9.98282137e-01 -1.99178163e-02 5.51004114e-02 1.46428723e+00] [ 2.00071636e-02 9.99799264e-01 -1.07033565e-03 -3.65643273e-01] [-5.50680320e-02 2.17089991e-03 9.98480245e-01 -6.51020532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582401008 meters 0.07068679136232256 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.36, Z:-0.07 [[ 9.97833987e-01 -1.86299075e-02 6.30893075e-02 1.49492843e+00] [ 1.87448259e-02 9.99823544e-01 -1.23006979e-03 -3.63270293e-01] [-6.30552589e-02 2.41000353e-03 9.98007127e-01 -6.82676793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6124010080000004 meters 0.07121126067925476 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.36, Z:-0.07 [[ 9.97862715e-01 -1.67442492e-02 6.31635381e-02 1.52551087e+00] [ 1.68549054e-02 9.99857202e-01 -1.21942902e-03 -3.64123060e-01] [-6.31341001e-02 2.28143821e-03 9.98002445e-01 -7.42924134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.642401008 meters 0.0689565183548465 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.36, Z:-0.07 [[ 9.97560495e-01 -1.80359273e-02 6.74371116e-02 1.55634007e+00] [ 1.81668201e-02 9.99834088e-01 -1.32815807e-03 -3.63003900e-01] [-6.74019684e-02 2.55003590e-03 9.97722643e-01 -7.44951742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6724010080000005 meters 0.07027497734246797 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.37, Z:-0.08 [[ 9.97551353e-01 -1.86198131e-02 6.74136504e-02 1.58604581e+00] [ 1.87514277e-02 9.99823305e-01 -1.32004424e-03 -3.67330227e-01] [-6.73771598e-02 2.58091411e-03 9.97724239e-01 -8.23463353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7024010080000003 meters 0.06901977274984888 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.37, Z:-0.08 [[ 9.97350048e-01 -2.21394930e-02 6.93016877e-02 1.61808468e+00] [ 2.22878315e-02 9.99750660e-01 -1.36789014e-03 -3.68119964e-01] [-6.92541236e-02 2.90884963e-03 9.97594810e-01 -8.47366561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7324010080000005 meters 0.07029711579716803 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.37, Z:-0.09 [[ 9.97330586e-01 -2.37947013e-02 6.90327122e-02 1.64827733e+00] [ 2.39473365e-02 9.99712263e-01 -1.38421967e-03 -3.71773136e-01] [-6.89799118e-02 3.03367420e-03 9.97613436e-01 -9.23207623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7624010080000003 meters 0.06885493839323449 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.37, Z:-0.09 [[ 9.97314304e-01 -2.62707804e-02 6.83668398e-02 1.67967099e+00] [ 2.64270967e-02 9.99649787e-01 -1.38285692e-03 -3.67567681e-01] [-6.83065681e-02 3.18588007e-03 9.97659292e-01 -9.25605200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.792401008 meters 0.06854484024322421 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.37, Z:-0.10 [[ 9.97230665e-01 -2.80358403e-02 6.88839084e-02 1.71151485e+00] [ 2.81986356e-02 9.99601370e-01 -1.39190418e-03 -3.66744719e-01] [-6.88174261e-02 3.33048176e-03 9.97623712e-01 -9.73220779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8224010080000004 meters 0.06904089340865321 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.37, Z:-0.10 [[ 9.96983960e-01 -3.18393089e-02 7.07759964e-02 1.74182286e+00] [ 3.20209197e-02 9.99486172e-01 -1.43260948e-03 -3.65669833e-01] [-7.06940165e-02 3.69460117e-03 9.97491206e-01 -1.02948022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852401008 meters 0.07030218634642314 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.37, Z:-0.11 [[ 9.97102773e-01 -3.22115981e-02 6.89091643e-02 1.77150198e+00] [ 3.23852523e-02 9.99474474e-01 -1.40409138e-03 -3.66309384e-01] [-6.88277227e-02 3.63166408e-03 9.97621950e-01 -1.07463696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8824010080000004 meters 0.06976539193308355 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.37, Z:-0.11 [[ 9.96947481e-01 -3.28688432e-02 7.08191953e-02 1.80376316e+00] [ 3.30544100e-02 9.99452502e-01 -1.44965252e-03 -3.65762354e-01] [-7.07327736e-02 3.78611414e-03 9.97488115e-01 -1.09097382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9124010080000002 meters 0.07242480784591124 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.37, Z:-0.12 [[ 9.96745940e-01 -3.34853644e-02 7.33229901e-02 1.83346188e+00] [ 3.36865217e-02 9.99431310e-01 -1.50815094e-03 -3.70391555e-01] [-7.32307911e-02 3.97323982e-03 9.97307106e-01 -1.16812588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9424010080000005 meters 0.06939193142952338 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.36, Z:-0.12 [[ 9.96670138e-01 -3.32711814e-02 7.44423621e-02 1.86609550e+00] [ 3.34778797e-02 9.99438287e-01 -1.53018280e-03 -3.62343393e-01] [-7.43496359e-02 4.01725995e-03 9.97224144e-01 -1.15153494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9724010080000003 meters 0.0692252539548062 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.36, Z:-0.12 [[ 9.96701726e-01 -3.15801424e-02 7.47553546e-02 1.89680186e+00] [ 3.17843194e-02 9.99493560e-01 -1.54285940e-03 -3.56746787e-01] [-7.46687718e-02 3.91381870e-03 9.97200710e-01 -1.18712298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0024010080000005 meters 0.06896936014097237 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.36, Z:-0.12 [[ 9.96499679e-01 -3.14732617e-02 7.74456215e-02 1.92860189e+00] [ 3.16922817e-02 9.99496392e-01 -1.60030990e-03 -3.55647623e-01] [-7.73562523e-02 4.04913676e-03 9.96995293e-01 -1.21930297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0324010080000003 meters 0.06868334664344629 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.35, Z:-0.13 [[ 9.96411512e-01 -3.10974401e-02 7.87213317e-02 1.96113620e+00] [ 3.13227922e-02 9.99507993e-01 -1.62917543e-03 -3.54215579e-01] [-7.86319371e-02 4.08910107e-03 9.96895329e-01 -1.25415351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062401008 meters 0.06817664181059115 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.35, Z:-0.13 [[ 9.96347693e-01 -2.95203037e-02 8.01238175e-02 1.99239464e+00] [ 2.97493259e-02 9.99556003e-01 -1.66586499e-03 -3.49349041e-01] [-8.00390659e-02 4.04341030e-03 9.96783527e-01 -1.30005083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0924010080000004 meters 0.06826589461833443 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.35, Z:-0.14 [[ 9.96615951e-01 -2.72848961e-02 7.75382581e-02 2.02404975e+00] [ 2.74927447e-02 9.99620700e-01 -1.61418301e-03 -3.47200923e-01] [-7.74648050e-02 3.74046007e-03 9.96988071e-01 -1.36283639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122401008 meters 0.06826589461833443 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.35, Z:-0.14 [[ 9.96618483e-01 -2.71925627e-02 7.75381464e-02 2.05631462e+00] [ 2.74005475e-02 9.99623223e-01 -1.61952479e-03 -3.47987881e-01] [-7.74648928e-02 3.73863601e-03 9.96988071e-01 -1.40217015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1524010080000004 meters 0.06793895794025903 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.35, Z:-0.15 [[ 9.96657779e-01 -2.56709656e-02 7.75517461e-02 2.08827475e+00] [ 2.58750998e-02 9.99663857e-01 -1.62837117e-03 -3.45892171e-01] [-7.74838758e-02 3.62958796e-03 9.96986998e-01 -1.45644669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1824010080000003 meters 0.06779881233553192 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.34, Z:-0.15 [[ 9.96776027e-01 -2.37536530e-02 7.66375662e-02 2.11985076e+00] [ 2.39476890e-02 9.99711911e-01 -1.61373160e-03 -3.44108510e-01] [-7.65771557e-02 3.44382158e-03 9.97057711e-01 -1.51509152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2124010080000005 meters 0.0675605673192993 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.34, Z:-0.16 [[ 9.96971092e-01 -2.14366902e-02 7.47603545e-02 2.15129134e+00] [ 2.16151409e-02 9.99765119e-01 -1.57858403e-03 -3.40397024e-01] [-7.47089551e-02 3.18975824e-03 9.97200280e-01 -1.56490434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2424010080000003 meters 0.06762853878717826 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.34, Z:-0.16 [[ 9.96989525e-01 -2.09071332e-02 7.46644394e-02 2.18309656e+00] [ 2.10839843e-02 9.99776458e-01 -1.58109985e-03 -3.40091519e-01] [-7.46146925e-02 3.15056386e-03 9.97207462e-01 -1.60836310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2724010080000006 meters 0.06741571196864035 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.34, Z:-0.16 [[ 9.96792127e-01 -2.16704645e-02 7.70444470e-02 2.21538029e+00] [ 2.18612787e-02 9.99759678e-01 -1.63404131e-03 -3.40633170e-01] [-7.69905211e-02 3.31308963e-03 9.97026320e-01 -1.64472947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3024010080000004 meters 0.06791435226406642 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.34, Z:-0.17 [[ 9.96776383e-01 -2.24407131e-02 7.70276387e-02 2.24681602e+00] [ 2.26341431e-02 9.99742472e-01 -1.63896036e-03 -3.41856753e-01] [-7.69710224e-02 3.37713157e-03 9.97027611e-01 -1.67362384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332401008 meters 0.06847082793938022 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.34, Z:-0.17 [[ 9.96613573e-01 -2.35039266e-02 7.87969060e-02 2.27756073e+00] [ 2.37109459e-02 9.99717423e-01 -1.69252286e-03 -3.44000371e-01] [-7.87348589e-02 3.55514044e-03 9.96889253e-01 -1.69826653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3624010080000004 meters 0.06821068019555018 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.35, Z:-0.17 [[ 9.96116926e-01 -2.54478778e-02 8.42821214e-02 2.30941483e+00] [ 2.56937493e-02 9.99668179e-01 -1.83366063e-03 -3.46018092e-01] [-8.42074921e-02 3.99206408e-03 9.96440245e-01 -1.71120869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.392401008 meters 0.06855406868369157 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.35, Z:-0.17 [[ 9.96093411e-01 -2.57244066e-02 8.44758657e-02 2.34150452e+00] [ 2.59726795e-02 9.99660958e-01 -1.84111726e-03 -3.47684964e-01] [-8.43998631e-02 4.02798935e-03 9.96423825e-01 -1.74637630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4224010080000005 meters 0.06912703094319238 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.35, Z:-0.18 [[ 9.96090336e-01 -2.57886057e-02 8.44925427e-02 2.37238272e+00] [ 2.60372276e-02 9.99659277e-01 -1.84172357e-03 -3.50758716e-01] [-8.44162587e-02 4.03447462e-03 9.96422410e-01 -1.79597081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4524010080000003 meters 0.06972573587635486 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.35, Z:-0.18 [[ 9.96095622e-01 -2.66442176e-02 8.41641123e-02 2.40397224e+00] [ 2.68956899e-02 9.99636524e-01 -1.85525472e-03 -3.53062379e-01] [-8.40840889e-02 4.11166297e-03 9.96450180e-01 -1.84168950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4824010080000005 meters 0.06995273367895855 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.36, Z:-0.19 [[ 9.95915036e-01 -2.72127115e-02 8.60970918e-02 2.43581026e+00] [ 2.74784811e-02 9.99620584e-01 -1.90303659e-03 -3.56060370e-01] [-8.60126384e-02 4.26108007e-03 9.96284934e-01 -1.87722061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5124010080000003 meters 0.07062809082930856 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.36, Z:-0.19 [[ 9.96041910e-01 -2.74734779e-02 8.45323750e-02 2.46641251e+00] [ 2.77310178e-02 9.99613665e-01 -1.87374346e-03 -3.59372662e-01] [-8.44482390e-02 4.21049581e-03 9.96418971e-01 -1.91467516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5424010080000006 meters 0.07236566848320665 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.37, Z:-0.19 [[ 9.95764512e-01 -3.14526819e-02 8.63930845e-02 2.49655008e+00] [ 3.17370608e-02 9.99494409e-01 -1.91981973e-03 -3.66469349e-01] [-8.62890214e-02 4.65355093e-03 9.96259278e-01 -1.94780799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5724010080000004 meters 0.07381619218581784 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.37, Z:-0.20 [[ 9.95721859e-01 -3.36096620e-02 8.60718861e-02 2.52744783e+00] [ 3.39000030e-02 9.99423398e-01 -1.91341700e-03 -3.70115783e-01] [-8.59579476e-02 4.82306833e-03 9.96287092e-01 -1.99569458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.602401008 meters 0.07505016971320967 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.37, Z:-0.20 [[ 9.95608360e-01 -3.58487067e-02 8.64804291e-02 2.55851877e+00] [ 3.61504389e-02 9.99344505e-01 -1.92495703e-03 -3.73387241e-01] [-8.63547344e-02 5.04280878e-03 9.96251690e-01 -2.03007335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6324010080000004 meters 0.07574392342844924 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.38, Z:-0.21 [[ 9.95397979e-01 -3.69919170e-02 8.83994429e-02 2.58996167e+00] [ 3.73119242e-02 9.99301726e-01 -1.96977987e-03 -3.76460822e-01] [-8.82648499e-02 5.25906821e-03 9.96083158e-01 -2.05088991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6624010080000002 meters 0.07725947819253101 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.38, Z:-0.20 [[ 9.94832862e-01 -3.94968527e-02 9.35284704e-02 2.62126862e+00] [ 3.98665625e-02 9.99202833e-01 -2.08705890e-03 -3.83886650e-01] [-9.33714803e-02 5.80493340e-03 9.95614418e-01 -2.02609434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6924010080000005 meters 0.07817977311451965 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.39, Z:-0.20 [[ 9.94686628e-01 -4.04597707e-02 9.46652964e-02 2.65282264e+00] [ 4.08438207e-02 9.99163290e-01 -2.12205250e-03 -3.87895554e-01] [-9.45002312e-02 5.97726964e-03 9.95506895e-01 -2.03891252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7224010080000003 meters 0.07877445607993631 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.39, Z:-0.21 [[ 9.94603133e-01 -4.13163606e-02 9.51712504e-02 2.68459174e+00] [ 4.17087919e-02 9.99127524e-01 -2.13701061e-03 -3.89960149e-01] [-9.49999223e-02 6.09495532e-03 9.95458621e-01 -2.06968868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7524010080000005 meters 0.07966734450216256 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.39, Z:-0.21 [[ 9.94587695e-01 -4.18866398e-02 9.50832564e-02 2.71522818e+00] [ 4.22814625e-02 9.99103446e-01 -2.14060982e-03 -3.91790710e-01] [-9.49083462e-02 6.14928333e-03 9.95467022e-01 -2.11815024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7824010080000003 meters 0.08158941926420589 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.39, Z:-0.22 [[ 9.94614312e-01 -4.26189081e-02 9.44775048e-02 2.74579830e+00] [ 4.30123347e-02 9.99072269e-01 -2.13081915e-03 -3.93782839e-01] [-9.42990419e-02 6.18304128e-03 9.95524716e-01 -2.18986374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8124010080000006 meters 0.0819611881500506 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.39, Z:-0.22 [[ 9.94733408e-01 -4.28884478e-02 9.30915084e-02 2.77721192e+00] [ 4.32719091e-02 9.99061117e-01 -2.10366087e-03 -3.94281972e-01] [-9.29138837e-02 6.12082903e-03 9.95655335e-01 -2.23235573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8424010080000004 meters 0.08211483988914722 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.39, Z:-0.23 [[ 9.94890822e-01 -4.19548341e-02 9.18261669e-02 2.80857711e+00] [ 4.23241234e-02 9.99101774e-01 -2.07710613e-03 -3.94608311e-01] [-9.16565416e-02 5.95295584e-03 9.95772886e-01 -2.28412290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.872401008 meters 0.08169211415966711 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.39, Z:-0.23 [[ 9.95079624e-01 -4.01590712e-02 9.05747779e-02 2.83918013e+00] [ 4.05112779e-02 9.99176973e-01 -2.05275706e-03 -3.93873064e-01] [-9.04177956e-02 5.71195671e-03 9.95887542e-01 -2.34449573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9024010080000004 meters 0.08047372389656123 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.39, Z:-0.24 [[ 9.95647372e-01 -3.54911085e-02 8.61782616e-02 2.86812541e+00] [ 3.57926713e-02 9.99357323e-01 -1.95617684e-03 -3.90171880e-01] [-8.60534499e-02 5.03221252e-03 9.96277813e-01 -2.43800846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9324010080000003 meters 0.07992250563988539 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.39, Z:-0.25 [[ 9.95895829e-01 -3.31316301e-02 8.42246557e-02 2.89749127e+00] [ 3.34109863e-02 9.99439874e-01 -1.90905739e-03 -3.89288229e-01] [-8.41142291e-02 4.71525110e-03 9.96444962e-01 -2.50702229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9624010080000005 meters 0.07915345787916059 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.39, Z:-0.26 [[ 9.95956168e-01 -3.13789561e-02 8.41823713e-02 2.92878125e+00] [ 3.16524540e-02 9.99497099e-01 -1.91585446e-03 -3.88006469e-01] [-8.40799184e-02 4.57268570e-03 9.96448522e-01 -2.56225250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9924010080000003 meters 0.07736913934908811 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.39, Z:-0.26 [[ 9.95882530e-01 -2.81212687e-02 8.61810902e-02 2.95828741e+00] [ 2.83962818e-02 9.99594810e-01 -1.96663438e-03 -3.87427553e-01] [-8.60908662e-02 4.40575935e-03 9.96277548e-01 -2.57863580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.022401008 meters 0.07643346785572278 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.39, Z:-0.26 [[ 9.95840359e-01 -2.63818552e-02 8.72122508e-02 2.98912046e+00] [ 2.66566923e-02 9.99642670e-01 -1.98804480e-03 -3.88188441e-01] [-8.71286389e-02 4.30456538e-03 9.96187769e-01 -2.60354956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052401008 meters 0.07493513863660549 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.39, Z:-0.26 [[ 9.95872216e-01 -2.43926463e-02 8.74272768e-02 3.02027816e+00] [ 2.46612847e-02 9.99693876e-01 -1.99376131e-03 -3.87710882e-01] [-8.73518801e-02 4.14160045e-03 9.96168909e-01 -2.62302779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082401008 meters 0.06700693194501138 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.38, Z:-0.26 [[ 9.95847742e-01 -2.26082342e-02 8.81824404e-02 3.05340976e+00] [ 2.28747406e-02 9.99736313e-01 -2.01271436e-03 -3.75129952e-01] [-8.81136840e-02 4.02150750e-03 9.96102307e-01 -2.56703066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112401008 meters 0.06672482252492737 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.38, Z:-0.26 [[ 9.95663342e-01 -2.11112454e-02 9.06025692e-02 3.08267194e+00] [ 2.13870096e-02 9.99769121e-01 -2.07378503e-03 -3.77671142e-01] [-9.05378707e-02 4.00250975e-03 9.95884970e-01 -2.59599962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142401008 meters 0.0668643383947076 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.38, Z:-0.26 [[ 9.95540241e-01 -2.06824916e-02 9.20427221e-02 3.11379588e+00] [ 2.09646584e-02 9.99778013e-01 -2.09968567e-03 -3.80366771e-01] [-9.19788631e-02 4.01996581e-03 9.95752845e-01 -2.63075475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.172401008 meters 0.06711192407279369 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.38, Z:-0.27 [[ 9.95477186e-01 -2.06401842e-02 9.27316280e-02 3.14530987e+00] [ 2.09280073e-02 9.99778711e-01 -2.13235849e-03 -3.83369432e-01] [-9.26670953e-02 4.06340241e-03 9.95688856e-01 -2.67000049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202401008 meters 0.06800136262304644 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.39, Z:-0.27 [[ 9.95479745e-01 -2.12479853e-02 9.25667323e-02 3.17569216e+00] [ 2.15391352e-02 9.99765700e-01 -2.14727155e-03 -3.91501876e-01] [-9.24994187e-02 4.13137270e-03 9.95704168e-01 -2.71784634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232401008 meters 0.06880760495281578 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.40, Z:-0.28 [[ 9.95447321e-01 -2.26795000e-02 9.25757656e-02 3.20742120e+00] [ 2.29787722e-02 9.99733603e-01 -2.16794234e-03 -3.96608509e-01] [-9.25019358e-02 4.28534982e-03 9.95703283e-01 -2.76329462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262401008 meters 0.06959285516424259 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.40, Z:-0.28 [[ 9.95391005e-01 -2.40304238e-02 9.28401143e-02 3.23949122e+00] [ 2.43377529e-02 9.99701418e-01 -2.17935483e-03 -4.01213562e-01] [-9.27600231e-02 4.42882996e-03 9.95678645e-01 -2.81167071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.292401008 meters 0.07080246459283525 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.41, Z:-0.28 [[ 9.95321544e-01 -2.54358847e-02 9.32096538e-02 3.27134350e+00] [ 2.57523015e-02 9.99665949e-01 -2.19325636e-03 -4.06294689e-01] [-9.31227296e-02 4.58335841e-03 9.95644088e-01 -2.84736792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322401008 meters 0.0737659329534515 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.42, Z:-0.29 [[ 9.95389979e-01 -2.98392493e-02 9.11504756e-02 3.30074039e+00] [ 3.01607218e-02 9.99542747e-01 -2.15111252e-03 -4.16255424e-01] [-9.10446092e-02 4.89035998e-03 9.95834807e-01 -2.90823326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352401008 meters 0.07627196571848578 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.42, Z:-0.30 [[ 9.95364223e-01 -3.35364468e-02 9.01408367e-02 3.33095883e+00] [ 3.38659658e-02 9.99424118e-01 -2.12819150e-03 -4.22903535e-01] [-9.00175542e-02 5.17103217e-03 9.95926755e-01 -2.96122235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382401008 meters 0.07867516325371822 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.43, Z:-0.30 [[ 9.95332444e-01 -3.70132464e-02 8.91254511e-02 3.36011601e+00] [ 3.73492046e-02 9.99300060e-01 -2.10417707e-03 -4.29185276e-01] [-8.89851862e-02 5.42312041e-03 9.96018186e-01 -3.01388262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.412401008 meters 0.08489866535737634 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.44, Z:-0.31 [[ 9.95106173e-01 -4.52347867e-02 8.78494086e-02 3.38940386e+00] [ 4.55930413e-02 9.98957942e-01 -2.07477095e-03 -4.42607820e-01] [-8.76640126e-02 6.06993910e-03 9.96131606e-01 -3.06443853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442401008 meters 0.08753912385702717 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.45, Z:-0.31 [[ 9.94938519e-01 -4.87132636e-02 8.78883471e-02 3.41923163e+00] [ 4.90853156e-02 9.98792432e-01 -2.07572619e-03 -4.47989736e-01] [-8.76811006e-02 6.37924719e-03 9.96128169e-01 -3.10356653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.472401008 meters 0.08919972385695893 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.45, Z:-0.31 [[ 9.94836660e-01 -5.06197787e-02 8.79639591e-02 3.44950845e+00] [ 5.09998759e-02 9.98696499e-01 -2.07756038e-03 -4.50705221e-01] [-8.77441323e-02 6.55298423e-03 9.96121491e-01 -3.13880081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502401008 meters 0.09082018478724996 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.45, Z:-0.32 [[ 9.94701557e-01 -5.20625414e-02 8.86470764e-02 3.47890861e+00] [ 5.24543548e-02 9.98621126e-01 -2.09453895e-03 -4.52482177e-01] [-8.84157962e-02 6.73336636e-03 9.96060896e-01 -3.16743048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532401008 meters 0.09123000496004194 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.45, Z:-0.32 [[ 9.94662057e-01 -5.10983049e-02 8.96457253e-02 3.50750402e+00] [ 5.14949758e-02 9.98671012e-01 -2.11613822e-03 -4.50805759e-01] [-8.94184561e-02 6.72114686e-03 9.95971468e-01 -3.17541023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562401008 meters 0.09124606726913476 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.45, Z:-0.32 [[ 9.94726423e-01 -4.99872136e-02 8.95579191e-02 3.53622421e+00] [ 5.03783536e-02 9.98727974e-01 -2.11093470e-03 -4.49392683e-01] [-8.93384794e-02 6.61158304e-03 9.95979379e-01 -3.20147830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592401008 meters 0.09082295503848077 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.45, Z:-0.32 [[ 9.94817374e-01 -4.86136050e-02 8.93034757e-02 3.56560533e+00] [ 4.89965370e-02 9.98796742e-01 -2.09953631e-03 -4.46549589e-01] [-8.90939546e-02 6.46421624e-03 9.96002250e-01 -3.23011207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622401008 meters 0.09056439474236017 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.44, Z:-0.33 [[ 9.94853659e-01 -4.70971946e-02 8.97109280e-02 3.59461509e+00] [ 4.74773137e-02 9.98870095e-01 -2.10676690e-03 -4.43116737e-01] [-8.95103403e-02 6.35515863e-03 9.95965617e-01 -3.26603915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652401008 meters 0.08968739124769563 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.43, Z:-0.33 [[ 9.94813214e-01 -4.40375134e-02 9.16916907e-02 3.62329989e+00] [ 4.44215812e-02 9.99010559e-01 -2.15106887e-03 -4.32924186e-01] [-9.15062395e-02 6.21300163e-03 9.95785121e-01 -3.29267812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682401008 meters 0.08868858658707303 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.43, Z:-0.33 [[ 9.94854254e-01 -4.23119591e-02 9.20581944e-02 3.65388159e+00] [ 4.26914129e-02 9.99085980e-01 -2.15568591e-03 -4.27880966e-01] [-9.18828401e-02 6.07468768e-03 9.95751295e-01 -3.32928216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.712401008 meters 0.08816386473850456 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.42, Z:-0.33 [[ 9.94817642e-01 -4.09690758e-02 9.30558692e-02 3.68519226e+00] [ 4.13509669e-02 9.99142308e-01 -2.17863137e-03 -4.24680820e-01] [-9.28867994e-02 6.01529109e-03 9.95658505e-01 -3.34815484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742401008 meters 0.08631907422449789 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.42, Z:-0.34 [[ 9.94888857e-01 -3.76846513e-02 9.36804621e-02 3.71586068e+00] [ 3.80572945e-02 9.99273151e-01 -2.19381933e-03 -4.16563850e-01] [-9.35296972e-02 5.74783134e-03 9.95599899e-01 -3.36544348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.772401008 meters 0.08461720684110899 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.41, Z:-0.34 [[ 9.94996898e-01 -3.51022309e-02 9.35361229e-02 3.74655754e+00] [ 3.54623319e-02 9.99368614e-01 -2.18998079e-03 -4.10969774e-01] [-9.34001923e-02 5.49603312e-03 9.95613478e-01 -3.40767906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802401008 meters 0.08387651313071873 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.41, Z:-0.35 [[ 9.95209625e-01 -3.29660854e-02 9.20382482e-02 3.77794536e+00] [ 3.33056831e-02 9.99442887e-01 -2.15580805e-03 -4.06124522e-01] [-9.19159040e-02 5.21087765e-03 9.95753139e-01 -3.46837213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.832401008 meters 0.08331538541868465 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.40, Z:-0.35 [[ 9.95316633e-01 -3.00977143e-02 9.18636410e-02 3.80692011e+00] [ 3.04243168e-02 9.99534747e-01 -2.15664510e-03 -3.98195758e-01] [-9.17559910e-02 4.94143326e-03 9.95769261e-01 -3.54138698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862401008 meters 0.08250867119189174 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.39, Z:-0.36 [[ 9.95374473e-01 -2.89426244e-02 9.16077623e-02 3.83940519e+00] [ 2.92622277e-02 9.99569463e-01 -2.14731805e-03 -3.94542915e-01] [-9.15061728e-02 4.81803277e-03 9.95792853e-01 -3.58522995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892401008 meters 0.08211482194625797 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.39, Z:-0.36 [[ 9.95343375e-01 -2.84626606e-02 9.20947519e-02 3.87137644e+00] [ 2.87842101e-02 9.99583304e-01 -2.16486167e-03 -3.92728548e-01] [-9.19947587e-02 4.80565540e-03 9.95747895e-01 -3.62284279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9224010080000005 meters 0.08264527494270352 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.39, Z:-0.37 [[ 9.95326389e-01 -2.85156903e-02 9.22617741e-02 3.90445141e+00] [ 2.88390015e-02 9.99581708e-01 -2.17269615e-03 -3.93423889e-01] [-9.21612258e-02 4.82327925e-03 9.95732416e-01 -3.65604966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952401008 meters 0.06367798300219081 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.35, Z:-0.35 [[ 9.95397962e-01 -2.87210930e-02 9.14220748e-02 3.93957667e+00] [ 2.90395576e-02 9.99575940e-01 -2.15487335e-03 -3.54822272e-01] [-9.13214161e-02 4.79981315e-03 9.95809902e-01 -3.48518771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982401008 meters 0.06456919287617291 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.36, Z:-0.35 [[ 9.95421198e-01 -2.89045277e-02 9.11107424e-02 3.97058426e+00] [ 2.92238462e-02 9.99570532e-01 -2.17232139e-03 -3.56933849e-01] [-9.10088233e-02 4.82498109e-03 9.95838397e-01 -3.53664576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012401008 meters 0.06456919287617291 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.36, Z:-0.36 [[ 9.95424139e-01 -2.88040029e-02 9.11104432e-02 4.00283654e+00] [ 2.91240404e-02 9.99573417e-01 -2.18479006e-03 -3.57807961e-01] [-9.10086464e-02 4.82829699e-03 9.95838397e-01 -3.57600297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042401008 meters 0.06395808145196684 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.36, Z:-0.36 [[ 9.95528524e-01 -2.85381513e-02 9.00473844e-02 4.03501931e+00] [ 2.88505380e-02 9.99581383e-01 -2.16917755e-03 -3.55753652e-01] [-8.99477847e-02 4.75739361e-03 9.95935120e-01 -3.61388427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.072401008 meters 0.06396614113740356 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.36, Z:-0.37 [[ 9.95620152e-01 -2.66104697e-02 8.96236363e-02 4.06700801e+00] [ 2.69122114e-02 9.99635468e-01 -2.15981770e-03 -3.55703976e-01] [-8.95334918e-02 4.56232827e-03 9.95973363e-01 -3.66018646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102401008 meters 0.06444913933531123 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.36, Z:-0.37 [[ 9.95622641e-01 -2.54527330e-02 8.99317278e-02 4.09725914e+00] [ 2.57538243e-02 9.99665919e-01 -2.18900374e-03 -3.57195203e-01] [-8.98459672e-02 4.49550760e-03 9.95945527e-01 -3.71064454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132401008 meters 0.06458147198268496 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.36, Z:-0.38 [[ 9.95618791e-01 -2.31480376e-02 9.05946529e-02 4.12718029e+00] [ 2.34462294e-02 9.99722616e-01 -2.22849587e-03 -3.58327884e-01] [-9.05179380e-02 4.34283538e-03 9.95885356e-01 -3.75357405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162401008 meters 0.0641969069595944 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.36, Z:-0.38 [[ 9.95651158e-01 -2.08545056e-02 9.07957160e-02 4.15849140e+00] [ 2.11455275e-02 9.99773889e-01 -2.24436501e-03 -3.57886892e-01] [-9.07283809e-02 4.15452792e-03 9.95867010e-01 -3.79006138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192401008 meters 0.06216056277928126 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.35, Z:-0.38 [[ 9.95619713e-01 -1.57135715e-02 9.21654568e-02 4.18972408e+00] [ 1.59919037e-02 9.99869517e-01 -2.28212882e-03 -3.50623132e-01] [-9.21175704e-02 3.74603355e-03 9.95741091e-01 -3.80606529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222401008 meters 0.062225330710496095 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.35, Z:-0.39 [[ 9.95531672e-01 -1.21149512e-02 9.36478432e-02 4.21909324e+00] [ 1.23865236e-02 9.99920595e-01 -2.31919247e-03 -3.51123227e-01] [-9.36123101e-02 3.46880078e-03 9.95602683e-01 -3.85666881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252401008 meters 0.0605938495106229 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.35, Z:-0.39 [[ 9.95483853e-01 -8.88562709e-03 9.45142583e-02 4.25124271e+00] [ 9.14764015e-03 9.99955423e-01 -2.33929842e-03 -3.46747478e-01] [-9.44892590e-02 3.19331622e-03 9.95520760e-01 -3.85887650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282401008 meters 0.06072126291517566 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.35, Z:-0.39 [[ 9.95387785e-01 -5.53531269e-03 9.57732611e-02 4.28160428e+00] [ 5.78945562e-03 9.99980418e-01 -2.37591479e-03 -3.49064504e-01] [-9.57582343e-02 2.91943160e-03 9.95400340e-01 -3.89783280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.312401008 meters 0.06134546620959204 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.35, Z:-0.39 [[ 9.95456502e-01 -3.20009503e-03 9.51636023e-02 4.31228241e+00] [ 3.44022428e-03 9.99991299e-01 -2.35937306e-03 -3.54444951e-01] [-9.51552240e-02 2.67603739e-03 9.95458850e-01 -3.94929667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342401008 meters 0.0603721097123427 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.36, Z:-0.40 [[ 9.95511068e-01 -5.31912751e-04 9.46437031e-02 4.34416034e+00] [ 7.59279772e-04 9.99996912e-01 -2.36635192e-03 -3.55004356e-01] [-9.46421521e-02 2.42759058e-03 9.95508398e-01 -3.97738623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372401008 meters 0.060446509764171576 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.36, Z:-0.40 [[ 9.95583146e-01 9.06083035e-04 9.38795973e-02 4.37585842e+00] [-6.86715852e-04 9.99996958e-01 -2.36896575e-03 -3.57033690e-01] [-9.38814582e-02 2.29403377e-03 9.95580740e-01 -4.04113967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402401008 meters 0.06077517484492142 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.36, Z:-0.41 [[ 9.95690185e-01 1.86958568e-03 9.27230314e-02 4.40567770e+00] [-1.65766760e-03 9.99995835e-01 -2.36246085e-03 -3.60424353e-01] [-9.27270621e-02 2.19857512e-03 9.95689137e-01 -4.11622918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432401008 meters 0.06059336763821047 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.37, Z:-0.42 [[ 9.95937965e-01 4.41706592e-03 8.99336361e-02 4.43683065e+00] [-4.22683223e-03 9.99988409e-01 -2.30561149e-03 -3.66251762e-01] [-8.99427777e-02 1.91611162e-03 9.95945091e-01 -4.17046687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4624010080000005 meters 0.06071132329609162 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.37, Z:-0.42 [[ 9.95980537e-01 5.62042833e-03 8.93934077e-02 4.46967932e+00] [-5.43555302e-03 9.99982556e-01 -2.31141506e-03 -3.70836515e-01] [-8.94048395e-02 1.81622181e-03 9.95993713e-01 -4.21376281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492401008 meters 0.06087872954200928 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.38, Z:-0.43 [[ 9.96075070e-01 6.80555605e-03 8.82504305e-02 4.50037969e+00] [-6.62780607e-03 9.99975375e-01 -2.30702627e-03 -3.77575833e-01] [-8.82639579e-02 1.71306462e-03 9.96095648e-01 -4.26402318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522401008 meters 0.061010599205810465 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.39, Z:-0.43 [[ 9.96081446e-01 8.13947208e-03 8.80653263e-02 4.53112346e+00] [-7.96596894e-03 9.99965577e-01 -2.32143609e-03 -3.88274320e-01] [-8.80811901e-02 1.61081376e-03 9.96111996e-01 -4.29349981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552401008 meters 0.06098230020764253 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.39, Z:-0.43 [[ 9.96072739e-01 9.11446045e-03 8.80682934e-02 4.56322931e+00] [-8.94312865e-03 9.99957272e-01 -2.33982452e-03 -3.93865317e-01] [-8.80858567e-02 1.54302934e-03 9.96111691e-01 -4.33230903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582401008 meters 0.06094087815974996 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.40, Z:-0.44 [[ 9.96029607e-01 9.67619156e-03 8.84951569e-02 4.59511091e+00] [-9.50357468e-03 9.99952027e-01 -2.37171858e-03 -3.99622134e-01] [-8.85138608e-02 1.52128159e-03 9.96073783e-01 -4.36483326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612401008 meters 0.06073004234158201 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.41, Z:-0.44 [[ 9.95907046e-01 9.74972223e-03 8.98559870e-02 4.62695866e+00] [-9.57014041e-03 9.99951255e-01 -2.42918386e-03 -4.09736272e-01] [-8.98752908e-02 1.55930691e-03 9.95951806e-01 -4.38213640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642401008 meters 0.061157529004054155 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.42, Z:-0.44 [[ 9.95823954e-01 8.52641544e-03 9.08952798e-02 4.65770224e+00] [-8.33529792e-03 9.99962180e-01 -2.48201705e-03 -4.18025837e-01] [-9.09130049e-02 1.71401280e-03 9.95857363e-01 -4.42777322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6724010080000005 meters 0.0612464353094195 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.43, Z:-0.44 [[ 9.95746396e-01 4.63528686e-03 9.20197245e-02 4.68948455e+00] [-4.42195119e-03 9.99987043e-01 -2.52212059e-03 -4.32706426e-01] [-9.20302229e-02 2.10448576e-03 9.95753990e-01 -4.42660129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702401008 meters 0.061394186631166844 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.44, Z:-0.45 [[ 9.95611039e-01 2.44132020e-03 9.35558599e-02 4.72157502e+00] [-2.20900701e-03 9.99994215e-01 -2.58662910e-03 -4.40572368e-01] [-9.35616335e-02 2.36861094e-03 9.95610672e-01 -4.45553941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732401008 meters 0.061880164772836005 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.45, Z:-0.45 [[ 9.95514010e-01 -8.76312692e-05 9.46142053e-02 4.75333611e+00] [ 3.38764074e-04 9.99996463e-01 -2.63822352e-03 -4.47595363e-01] [-9.46136395e-02 2.65844037e-03 9.95510518e-01 -4.49295728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762401008 meters 0.06303152989390086 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.46, Z:-0.45 [[ 9.95426813e-01 -2.64105296e-03 9.54907616e-02 4.78369000e+00] [ 2.91077340e-03 9.99992158e-01 -2.68538688e-03 -4.57561732e-01] [-9.54829205e-02 2.95105807e-03 9.95426694e-01 -4.54326280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792401008 meters 0.0626910866658761 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.46, Z:-0.46 [[ 9.95307351e-01 -5.20858995e-03 9.66237435e-02 4.81506810e+00] [ 5.49886831e-03 9.99981132e-01 -2.73817148e-03 -4.62496115e-01] [-9.66076584e-02 3.25664344e-03 9.95317213e-01 -4.55723377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822401008 meters 0.06506737622924604 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.48, Z:-0.46 [[ 9.95052648e-01 -1.12380544e-02 9.87113632e-02 4.84473497e+00] [ 1.15731832e-02 9.99929043e-01 -2.82307545e-03 -4.79382675e-01] [-9.86726331e-02 3.95151340e-03 9.95112103e-01 -4.60280740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852401008 meters 0.06599138166455176 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.49, Z:-0.46 [[ 9.94922397e-01 -1.40716513e-02 9.96564702e-02 4.87637846e+00] [ 1.44274863e-02 9.99891854e-01 -2.85079000e-03 -4.86259536e-01] [-9.96055775e-02 4.27410718e-03 9.95017819e-01 -4.64415006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882401008 meters 0.06694198282057878 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.49, Z:-0.47 [[ 9.94906330e-01 -1.64405282e-02 9.94540313e-02 4.90726495e+00] [ 1.68073583e-02 9.99854680e-01 -2.85164961e-03 -4.92890315e-01] [-9.93926960e-02 4.50868379e-03 9.95038072e-01 -4.69314933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912401008 meters 0.06529198593552128 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.50, Z:-0.47 [[ 9.94894296e-01 -1.90556151e-02 9.91071304e-02 4.93889113e+00] [ 1.94330863e-02 9.99807113e-01 -2.84467156e-03 -4.95380171e-01] [-9.90338070e-02 4.75610493e-03 9.95072703e-01 -4.70417413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942401008 meters 0.06531675043390696 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.50, Z:-0.47 [[ 9.94970816e-01 -1.83382424e-02 9.84722523e-02 4.97020992e+00] [ 1.87072524e-02 9.99821012e-01 -2.82526406e-03 -4.97913041e-01] [-9.84028166e-02 4.65320057e-03 9.95135786e-01 -4.74853098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.972401008 meters 0.06645372665564057 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.50, Z:-0.48 [[ 9.95081619e-01 -1.66464151e-02 9.76497265e-02 5.00027921e+00] [ 1.70033528e-02 9.99851444e-01 -2.82419315e-03 -5.02489529e-01] [-9.75882074e-02 4.47067545e-03 9.95216838e-01 -4.81087364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0024010080000005 meters 0.06483106978317213 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.50, Z:-0.49 [[ 9.95539748e-01 -9.81857874e-03 9.38307295e-02 5.03078073e+00] [ 1.01200430e-02 9.99945044e-01 -2.73754563e-03 -4.98771476e-01] [-9.37986941e-02 3.67490651e-03 9.95584401e-01 -4.86968005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032401008 meters 0.06452424961524064 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.50, Z:-0.49 [[ 9.95762254e-01 -5.27705412e-03 9.18133273e-02 5.06082115e+00] [ 5.54666477e-03 9.99981022e-01 -2.68158717e-03 -4.97792745e-01] [-9.17974339e-02 3.17948103e-03 9.95772626e-01 -4.93404262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062401008 meters 0.06363151900146416 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.49, Z:-0.50 [[ 9.95913364e-01 -1.59320214e-04 9.03135979e-02 5.09241774e+00] [ 3.99320047e-04 9.99996437e-01 -2.63934258e-03 -4.94965485e-01] [-9.03128556e-02 2.66462058e-03 9.95909879e-01 -4.98572949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092401008 meters 0.06264548906693837 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.49, Z:-0.50 [[ 9.95870366e-01 3.52763650e-03 9.07180747e-02 5.12408944e+00] [-3.30007535e-03 9.99991021e-01 -2.65831898e-03 -4.91121268e-01] [-9.07266377e-02 2.34796462e-03 9.95873066e-01 -5.02299238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122401008 meters 0.061905480115286 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.49, Z:-0.51 [[ 9.95880105e-01 7.36829249e-03 9.03798917e-02 5.15598920e+00] [-7.15760673e-03 9.99970859e-01 -2.65501127e-03 -4.88217653e-01] [-9.03968209e-02 1.99716918e-03 9.95903824e-01 -5.05128311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152401008 meters 0.06179344930990338 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.49, Z:-0.51 [[ 9.95755001e-01 1.13927177e-02 9.13355577e-02 5.18626684e+00] [-1.11937885e-02 9.99933729e-01 -2.68999124e-03 -4.88301818e-01] [-9.13601511e-02 1.65618132e-03 9.95816539e-01 -5.10889336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182401008 meters 0.06247934718876411 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.49, Z:-0.52 [[ 9.95660220e-01 1.11034790e-02 9.23982675e-02 5.21655667e+00] [-1.08986165e-02 9.99936905e-01 -2.72147451e-03 -4.93701576e-01] [-9.24226555e-02 1.70265063e-03 9.95718411e-01 -5.17216946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2124010080000005 meters 0.061440204815987366 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.49, Z:-0.51 [[ 9.95639021e-01 1.01607852e-02 9.27345636e-02 5.24914804e+00] [-9.94826852e-03 9.99946723e-01 -2.75366086e-03 -4.94050560e-01] [-9.27576023e-02 1.81910386e-03 9.95687058e-01 -5.14110551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242401008 meters 0.06180886643272321 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.50, Z:-0.52 [[ 9.95689822e-01 7.25063049e-03 9.24619244e-02 5.28028027e+00] [-7.02571028e-03 9.99971516e-01 -2.75784598e-03 -4.99320649e-01] [-9.24792869e-02 2.09634848e-03 9.95712402e-01 -5.17272412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.272401008 meters 0.06352649052373462 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.51, Z:-0.52 [[ 9.95786473e-01 -1.30820482e-03 9.16929003e-02 5.30956740e+00] [ 1.56693523e-03 9.99994992e-01 -2.74977276e-03 -5.10746098e-01] [-9.16888438e-02 2.88186336e-03 9.95783536e-01 -5.23601306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302401008 meters 0.064598298751587 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.52, Z:-0.53 [[ 9.95854359e-01 -6.32726507e-03 9.07417274e-02 5.34039547e+00] [ 6.60121992e-03 9.99974514e-01 -2.71925423e-03 -5.17780217e-01] [-9.07222093e-02 3.30698728e-03 9.95870747e-01 -5.28135468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332401008 meters 0.06489347092361553 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.52, Z:-0.53 [[ 9.95915351e-01 -1.16245852e-02 8.95403969e-02 5.37124527e+00] [ 1.19129811e-02 9.99925427e-01 -2.68708194e-03 -5.22822190e-01] [-8.95024834e-02 3.74279921e-03 9.95979567e-01 -5.29594786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362401008 meters 0.06604036604946047 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.53, Z:-0.53 [[ 9.95964465e-01 -1.47289640e-02 8.85315840e-02 5.40136322e+00] [ 1.50231200e-02 9.99883616e-01 -2.65717487e-03 -5.29232785e-01] [-8.84821429e-02 3.97647235e-03 9.96069826e-01 -5.33435544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392401008 meters 0.06695904739965187 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.53, Z:-0.54 [[ 9.95927513e-01 -1.62892135e-02 8.86738469e-02 5.43209420e+00] [ 1.65900471e-02 9.99858846e-01 -2.65659122e-03 -5.31717013e-01] [-8.86180565e-02 4.11687558e-03 9.96057173e-01 -5.36629096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4224010080000005 meters 0.06623790385344028 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.53, Z:-0.54 [[ 9.95892161e-01 -1.64195603e-02 8.90460620e-02 5.46523412e+00] [ 1.67250287e-02 9.99856521e-01 -2.68535827e-03 -5.29866257e-01] [-8.89891934e-02 4.16362520e-03 9.96023889e-01 -5.38567989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452401008 meters 0.06685634375572183 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.53, Z:-0.54 [[ 9.95803519e-01 -1.63950140e-02 9.00364144e-02 5.49628470e+00] [ 1.67095586e-02 9.99856629e-01 -2.74082311e-03 -5.30698488e-01] [-8.99785699e-02 4.23379004e-03 9.95934703e-01 -5.43425805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482401008 meters 0.06689867355922849 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.53, Z:-0.55 [[ 9.95716869e-01 -1.58530722e-02 9.10856539e-02 5.52804186e+00] [ 1.61745343e-02 9.99865285e-01 -2.79209760e-03 -5.29565475e-01] [-9.10291200e-02 4.25340671e-03 9.95839148e-01 -5.47212887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512401008 meters 0.06637650708468636 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.52, Z:-0.55 [[ 9.95471789e-01 -1.34769962e-02 9.40972284e-02 5.55841032e+00] [ 1.38122586e-02 9.99900364e-01 -2.91252292e-03 -5.24383629e-01] [-9.40486009e-02 4.19902965e-03 9.95558752e-01 -5.49118275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542401008000001 meters 0.06595525816468423 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.52, Z:-0.55 [[ 9.95483984e-01 -1.21586859e-02 9.41477770e-02 5.59110172e+00] [ 1.24882387e-02 9.99917779e-01 -2.91196831e-03 -5.22277339e-01] [-9.41046304e-02 4.07455773e-03 9.95553975e-01 -5.51074036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572401008 meters 0.06537906144216937 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.52, Z:-0.55 [[ 9.95485333e-01 -8.31817872e-03 9.45502993e-02 5.62140633e+00] [ 8.63423335e-03 9.99958420e-01 -2.93409768e-03 -5.16752499e-01] [-9.45219615e-02 3.73722055e-03 9.95515762e-01 -5.52233558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602401008 meters 0.06477277485013849 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.51, Z:-0.55 [[ 9.95471760e-01 -6.53278724e-03 9.48330019e-02 5.65378094e+00] [ 6.84247786e-03 9.99972266e-01 -2.94082665e-03 -5.13157910e-01] [-9.48111600e-02 3.57640260e-03 9.95488851e-01 -5.54646503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632401008 meters 0.06432878357104492 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.51, Z:-0.56 [[ 9.95463538e-01 -4.77530016e-03 9.50238939e-02 5.68547764e+00] [ 5.07863286e-03 9.99982751e-01 -2.95058471e-03 -5.09455517e-01] [-9.50081649e-02 3.41979096e-03 9.95470619e-01 -5.57698341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662401008 meters 0.06439971111110236 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.51, Z:-0.56 [[ 9.95454338e-01 -3.94078501e-03 9.51584509e-02 5.71619593e+00] [ 4.24325880e-03 9.99986568e-01 -2.97649135e-03 -5.07001469e-01] [-9.51454430e-02 3.36674316e-03 9.95457689e-01 -5.61375400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692401008 meters 0.0639051080445893 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.50, Z:-0.56 [[ 9.95408940e-01 -4.19272183e-03 9.56214550e-02 5.74884099e+00] [ 4.50108600e-03 9.99985342e-01 -3.00937555e-03 -5.03267253e-01] [-9.56074359e-02 3.42595972e-03 9.95413221e-01 -5.63976378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722401008 meters 0.06304825404778523 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.50, Z:-0.57 [[ 9.95437501e-01 -7.01987484e-03 9.51572504e-02 5.78067397e+00] [ 7.34096122e-03 9.99968480e-01 -3.02461988e-03 -4.96311957e-01] [-9.51330186e-02 3.70936574e-03 9.95457658e-01 -5.65879209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7524010080000005 meters 0.0634777563401595 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.50, Z:-0.57 [[ 9.95487814e-01 -8.46405660e-03 9.45112268e-02 5.81199557e+00] [ 8.78736314e-03 9.99956875e-01 -3.00515976e-03 -4.96306921e-01] [-9.44817151e-02 3.82210439e-03 9.95519260e-01 -5.70688043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782401008 meters 0.06364906522011124 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.50, Z:-0.57 [[ 9.95566215e-01 -8.74817872e-03 9.36556489e-02 5.84386119e+00] [ 9.06755473e-03 9.99954433e-01 -2.98509544e-03 -4.95534671e-01] [-9.36252671e-02 3.82108789e-03 9.95600175e-01 -5.74687383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.812401008 meters 0.06385728252648092 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.49, Z:-0.58 [[ 9.95787089e-01 -8.01199100e-03 9.13448464e-02 5.87599519e+00] [ 8.31451852e-03 9.99961136e-01 -2.93186302e-03 -4.91340040e-01] [-9.13178063e-02 3.67899976e-03 9.95815005e-01 -5.79835185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842401008 meters 0.06398364914450963 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.49, Z:-0.58 [[ 9.95868942e-01 -5.85896562e-03 9.06130355e-02 5.90666029e+00] [ 6.14990081e-03 9.99976791e-01 -2.93186924e-03 -4.90568458e-01] [-9.05937548e-02 3.47701870e-03 9.95881861e-01 -5.84750608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872401008 meters 0.06313598058537344 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.49, Z:-0.59 [[ 9.95889379e-01 -3.88812415e-03 9.04943478e-02 5.93910065e+00] [ 4.17098257e-03 9.99986989e-01 -2.93679865e-03 -4.85570789e-01] [-9.04817517e-02 3.30217693e-03 9.95892639e-01 -5.87650517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902401008 meters 0.06313598058537344 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.49, Z:-0.59 [[ 9.95890433e-01 -3.62432528e-03 9.04936962e-02 5.97120870e+00] [ 3.90790630e-03 9.99987993e-01 -2.95672235e-03 -4.86734256e-01] [-9.04818935e-02 3.29821239e-03 9.95892639e-01 -5.91579829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932401008 meters 0.062018230708675466 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.48, Z:-0.60 [[ 9.95853831e-01 2.61942587e-03 9.09301155e-02 6.00157887e+00] [-2.35609904e-03 9.99992715e-01 -3.00314728e-03 -4.78484343e-01] [-9.09373196e-02 2.77645537e-03 9.95852748e-01 -5.95385330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9624010080000005 meters 0.06171068434125836 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.47, Z:-0.60 [[ 9.95766035e-01 5.19917940e-03 9.17767523e-02 6.03252036e+00] [-4.94195245e-03 9.99983199e-01 -3.02978311e-03 -4.74494591e-01] [-9.17909627e-02 2.56339877e-03 9.95774999e-01 -5.99241572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992401008 meters 0.06115741567951272 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.47, Z:-0.60 [[ 9.95679099e-01 9.09786642e-03 9.24140681e-02 6.06378782e+00] [-8.85349586e-03 9.99956144e-01 -3.05393584e-03 -4.69610689e-01] [-9.24377995e-02 2.22255252e-03 9.95715980e-01 -6.03187587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022401008 meters 0.06067285981107491 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.47, Z:-0.61 [[ 9.95589948e-01 1.28373434e-02 9.29293188e-02 6.09534106e+00] [-1.26061815e-02 9.99915813e-01 -3.07411089e-03 -4.65408734e-01] [-9.29609589e-02 1.88907004e-03 9.95667962e-01 -6.06680661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052401008 meters 0.060798446918871964 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.46, Z:-0.61 [[ 9.95513665e-01 1.52246267e-02 9.33849741e-02 6.12629327e+00] [-1.50018291e-02 9.99882700e-01 -3.08737992e-03 -4.63574467e-01] [-9.34210242e-02 1.67258347e-03 9.95625288e-01 -6.12422980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082401008000001 meters 0.06032233351934187 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.46, Z:-0.61 [[ 9.95463012e-01 1.59948391e-02 9.37952945e-02 6.15822007e+00] [-1.57716084e-02 9.99870750e-01 -3.12082740e-03 -4.59978694e-01] [-9.38330886e-02 1.62736559e-03 9.95586613e-01 -6.14848522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112401008 meters 0.06032191691160789 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.46, Z:-0.62 [[ 9.95381296e-01 1.49379216e-02 9.48310855e-02 6.19135009e+00] [-1.47028560e-02 9.99886860e-01 -3.17705643e-03 -4.61605771e-01] [-9.48678149e-02 1.76809475e-03 9.95488308e-01 -6.17861100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142401008 meters 0.060306772340868786 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.46, Z:-0.62 [[ 9.95341844e-01 1.43158602e-02 9.53397605e-02 6.22386751e+00] [-1.40729846e-02 9.99895788e-01 -3.21941081e-03 -4.63665702e-01] [-9.53759136e-02 1.86269931e-03 9.95439584e-01 -6.21895042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1724010080000005 meters 0.06077745206666654 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.47, Z:-0.63 [[ 9.95445306e-01 1.20038369e-02 9.45756330e-02 6.25471717e+00] [-1.17519887e-02 9.99925760e-01 -3.21947408e-03 -4.66061968e-01] [-9.46072578e-02 2.09335859e-03 9.95512473e-01 -6.27897320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202401008 meters 0.06103586481194248 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.47, Z:-0.63 [[ 9.95479355e-01 1.08763749e-02 9.43533675e-02 6.28596191e+00] [-1.06188009e-02 9.99938397e-01 -3.23155271e-03 -4.68117787e-01] [-9.43827026e-02 2.21502439e-03 9.95533525e-01 -6.32640120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232401008 meters 0.06065085142878612 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.47, Z:-0.63 [[ 9.95461003e-01 9.47005505e-03 9.46979956e-02 6.31790751e+00] [-9.20224818e-03 9.99952330e-01 -3.26431850e-03 -4.67813144e-01] [-9.47243947e-02 2.37806731e-03 9.95500695e-01 -6.33683107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262401008 meters 0.0607609990880455 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.47, Z:-0.64 [[ 9.95369056e-01 4.98999164e-03 9.59976159e-02 6.34992935e+00] [-4.69138002e-03 9.99983431e-01 -3.33606678e-03 -4.70271288e-01] [-9.60126723e-02 2.87025634e-03 9.95375973e-01 -6.36730859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292401008000001 meters 0.061524890631856316 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.47, Z:-0.64 [[ 9.95229750e-01 1.85277430e-03 9.75413381e-02 6.38032114e+00] [-1.52887323e-03 9.99993067e-01 -3.39529214e-03 -4.74406938e-01] [-9.75469525e-02 3.22996741e-03 9.95225683e-01 -6.40863824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322401008 meters 0.06188421356302078 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.48, Z:-0.64 [[ 9.95167477e-01 -2.12156232e-03 9.81691997e-02 6.41116157e+00] [ 2.47032281e-03 9.99991062e-01 -3.43123469e-03 -4.76622985e-01] [-9.81610426e-02 3.65716279e-03 9.95163823e-01 -6.43537034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.352401008 meters 0.06214200615276869 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.48, Z:-0.65 [[ 9.95052031e-01 -6.55558235e-03 9.91386874e-02 6.44227245e+00] [ 6.93334782e-03 9.99969956e-01 -3.46642115e-03 -4.78489818e-01] [-9.91129845e-02 4.13663241e-03 9.95067588e-01 -6.46567730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382401008 meters 0.06472469654347394 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.49, Z:-0.65 [[ 9.94903070e-01 -1.67316323e-02 9.94380932e-02 6.47159129e+00] [ 1.71626166e-02 9.99846654e-01 -3.48029008e-03 -4.85862504e-01] [-9.93646138e-02 5.16916916e-03 9.95037664e-01 -6.49667659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412401008 meters 0.06550023984643036 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.49, Z:-0.65 [[ 9.94867315e-01 -2.13123134e-02 9.89182040e-02 6.50191484e+00] [ 2.17616532e-02 9.99757180e-01 -3.46568239e-03 -4.88762208e-01] [-9.88203230e-02 5.60051778e-03 9.95089533e-01 -6.52396653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442401008 meters 0.06677897048067284 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.49, Z:-0.66 [[ 9.94783642e-01 -2.61094074e-02 9.86093516e-02 6.53270569e+00] [ 2.65794250e-02 9.99640732e-01 -3.45555581e-03 -4.92249750e-01] [-9.84837019e-02 6.05851026e-03 9.95120221e-01 -6.55521810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472401008 meters 0.06917786136218064 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.49, Z:-0.66 [[ 9.94676122e-01 -3.27955172e-02 9.76927121e-02 6.56195119e+00] [ 3.32888208e-02 9.99439910e-01 -3.42345246e-03 -4.94600334e-01] [-9.75257215e-02 6.65730160e-03 9.95210738e-01 -6.58089994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5024010080000005 meters 0.06854508393478477 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.49, Z:-0.66 [[ 9.94761889e-01 -3.46969309e-02 9.61504427e-02 6.59259299e+00] [ 3.51837676e-02 9.99375171e-01 -3.37200609e-03 -4.90164869e-01] [-9.59733668e-02 6.73727798e-03 9.95361101e-01 -6.61196714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532401008 meters 0.06940089220458599 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.48, Z:-0.67 [[ 9.94908107e-01 -3.53108000e-02 9.43981243e-02 6.62388110e+00] [ 3.57826196e-02 9.99354117e-01 -3.30965353e-03 -4.83890253e-01] [-9.42202876e-02 6.67061331e-03 9.95529025e-01 -6.66334621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562401008 meters 0.06953182009153755 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.48, Z:-0.67 [[ 9.94939431e-01 -3.42578832e-02 9.44559437e-02 6.65610055e+00] [ 3.47266502e-02 9.99391323e-01 -3.32305538e-03 -4.80718254e-01] [-9.42846098e-02 6.58637735e-03 9.95523496e-01 -6.70660826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592401008 meters 0.06688361954685913 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.47, Z:-0.67 [[ 9.94971149e-01 -3.26113630e-02 9.47043375e-02 6.68828768e+00] [ 3.30758267e-02 9.99447270e-01 -3.33834320e-03 -4.71797193e-01] [-9.45431236e-02 6.45397943e-03 9.95499846e-01 -6.71945599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622401008000001 meters 0.06707302091102037 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.47, Z:-0.68 [[ 9.95113779e-01 -3.08131490e-02 9.38036044e-02 6.71870560e+00] [ 3.12613622e-02 9.99505756e-01 -3.31215949e-03 -4.68292418e-01] [-9.36551845e-02 6.22840400e-03 9.95585212e-01 -6.75469210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652401008 meters 0.06886841340403267 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.46, Z:-0.68 [[ 9.95382901e-01 -2.76964997e-02 9.19009495e-02 6.74806628e+00] [ 2.81136087e-02 9.99599461e-01 -3.24696509e-03 -4.61666328e-01] [-9.17742101e-02 5.81564087e-03 9.95762860e-01 -6.81759002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682401008 meters 0.06611687948608938 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.45, Z:-0.68 [[ 9.95405048e-01 -2.63929706e-02 9.20445639e-02 6.77982379e+00] [ 2.68057633e-02 9.99635374e-01 -3.25108903e-03 -4.50563366e-01] [-9.19251962e-02 5.70347523e-03 9.95749581e-01 -6.83657334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7124010080000005 meters 0.06551239610459492 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.44, Z:-0.69 [[ 9.95422492e-01 -2.52456680e-02 9.21776512e-02 6.81236315e+00] [ 2.56549661e-02 9.99665548e-01 -3.25790126e-03 -4.44438055e-01] [-9.20645743e-02 5.60780271e-03 9.95737248e-01 -6.86953892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742401008 meters 0.063281464388513 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.43, Z:-0.69 [[ 9.95475693e-01 -2.36721511e-02 9.20205087e-02 6.84438805e+00] [ 2.40740136e-02 9.99704866e-01 -3.25939010e-03 -4.34906511e-01] [-9.19161935e-02 5.45994660e-03 9.95751777e-01 -6.87382672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.772401008 meters 0.06548789302207159 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.44, Z:-0.69 [[ 9.95458377e-01 -2.22786764e-02 9.25542003e-02 6.87435071e+00] [ 2.26795941e-02 9.99737398e-01 -3.28203283e-03 -4.35838218e-01] [-9.24567760e-02 5.36621876e-03 9.95702239e-01 -6.93108593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802401008 meters 0.06278588765990474 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.42, Z:-0.69 [[ 9.95405922e-01 -1.94710492e-02 9.37439581e-02 6.90611774e+00] [ 1.98701615e-02 9.99797037e-01 -3.32585784e-03 -4.19203054e-01] [-9.36601736e-02 5.17328617e-03 9.95590784e-01 -6.92522202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832401008000001 meters 0.06243924460631328 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.41, Z:-0.70 [[ 9.95420459e-01 -1.89450359e-02 9.36973623e-02 6.93817868e+00] [ 1.93410163e-02 9.99807434e-01 -3.31978971e-03 -4.13309434e-01] [-9.36164258e-02 5.11678880e-03 9.95595190e-01 -6.95563448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862401008 meters 0.06248955089110077 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.41, Z:-0.70 [[ 9.95427398e-01 -1.82997894e-02 9.37518652e-02 6.96980412e+00] [ 1.86955052e-02 9.99819631e-01 -3.34424729e-03 -4.08518526e-01] [-9.36737562e-02 5.08169386e-03 9.95589978e-01 -6.99085827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892401008 meters 0.06255875081199537 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.40, Z:-0.70 [[ 9.95366965e-01 -1.85974367e-02 9.43331364e-02 7.00198685e+00] [ 1.90015815e-02 9.99813714e-01 -3.38771897e-03 -4.03074079e-01] [-9.42525606e-02 5.16450233e-03 9.95534923e-01 -7.02494664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9224010080000005 meters 0.06280398661333911 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.39, Z:-0.71 [[ 9.95227563e-01 -1.80508881e-02 9.58971517e-02 7.03449621e+00] [ 1.84683523e-02 9.99823433e-01 -3.46738500e-03 -3.93183255e-01] [-9.58176300e-02 5.22189951e-03 9.95385209e-01 -7.05177009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952401008000001 meters 0.0630638458585453 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.39, Z:-0.71 [[ 9.95127194e-01 -1.83313029e-02 9.68805033e-02 7.06752020e+00] [ 1.87609340e-02 9.99817782e-01 -3.52550719e-03 -3.90406985e-01] [-9.67982229e-02 5.32589680e-03 9.95289776e-01 -7.08903184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982401008 meters 0.06272109953951722 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.39, Z:-0.71 [[ 9.94992133e-01 -1.87098845e-02 9.81865344e-02 7.10081490e+00] [ 1.91557256e-02 9.99810031e-01 -3.59994397e-03 -3.86201883e-01] [-9.81005275e-02 5.46275024e-03 9.95161517e-01 -7.12145765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012401008 meters 0.06320078307815927 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.38, Z:-0.72 [[ 9.94946972e-01 -2.03761445e-02 9.83124393e-02 7.13266684e+00] [ 2.08339935e-02 9.99776349e-01 -3.63261603e-03 -3.80435161e-01] [-9.82164329e-02 5.66250105e-03 9.95148968e-01 -7.15196043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042401008 meters 0.06451309934432212 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.38, Z:-0.72 [[ 9.94888296e-01 -2.14684471e-02 9.86731149e-02 7.16301005e+00] [ 2.19376048e-02 9.99752598e-01 -3.67202895e-03 -3.81458510e-01] [-9.85698702e-02 5.81791043e-03 9.95113126e-01 -7.19727302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.072401008 meters 0.06262495776745072 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.37, Z:-0.72 [[ 9.94785799e-01 -2.29318037e-02 9.93747790e-02 7.19519693e+00] [ 2.34152157e-02 9.99718976e-01 -3.70078492e-03 -3.74921751e-01] [-9.92619867e-02 6.00837016e-03 9.95043194e-01 -7.21421046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102401008000001 meters 0.06448206041014562 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.38, Z:-0.73 [[ 9.94678373e-01 -2.46718186e-02 1.00031175e-01 7.22544385e+00] [ 2.51711991e-02 9.99676185e-01 -3.73301490e-03 -3.76546604e-01] [-9.99066837e-02 6.23105383e-03 9.94977301e-01 -7.25690125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.132401008 meters 0.06412861598290001 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.37, Z:-0.73 [[ 9.94593154e-01 -2.59639945e-02 1.00550130e-01 7.25760244e+00] [ 2.64754472e-02 9.99642411e-01 -3.75522658e-03 -3.70482452e-01] [-1.00416674e-01 6.39703231e-03 9.94924907e-01 -7.28674277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162401008 meters 0.06480224161491144 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.37, Z:-0.73 [[ 9.94665112e-01 -2.65877749e-02 9.96714876e-02 7.28887272e+00] [ 2.70939603e-02 9.99625939e-01 -3.72812307e-03 -3.70761676e-01] [-9.95350819e-02 6.40872928e-03 9.95013415e-01 -7.32857125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192401008000001 meters 0.06532119706213294 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.37, Z:-0.74 [[ 9.94781525e-01 -2.78737323e-02 9.81466866e-02 7.31984502e+00] [ 2.83720336e-02 9.99590641e-01 -3.68482053e-03 -3.70888120e-01] [-9.80037997e-02 6.45021248e-03 9.95165137e-01 -7.37248480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222401008 meters 0.06491963542075316 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.37, Z:-0.74 [[ 9.94940168e-01 -3.22349882e-02 9.51575956e-02 7.35097371e+00] [ 3.27233661e-02 9.99458050e-01 -3.57588825e-03 -3.65277091e-01] [-9.49907562e-02 6.67167170e-03 9.95455798e-01 -7.42647927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252401008 meters 0.06602046077907622 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.37, Z:-0.75 [[ 9.94950163e-01 -3.49502427e-02 9.40885402e-02 7.38146089e+00] [ 3.54399584e-02 9.99365543e-01 -3.53841287e-03 -3.65762568e-01] [-9.39051767e-02 6.85503841e-03 9.95557545e-01 -7.48070312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282401008 meters 0.06837253792642163 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.37, Z:-0.75 [[ 9.94902529e-01 -3.86811059e-02 9.31274915e-02 7.41076191e+00] [ 3.91773378e-02 9.99226124e-01 -3.50552657e-03 -3.68748920e-01] [-9.29198247e-02 7.13614444e-03 9.95648021e-01 -7.53922658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312401008 meters 0.07161988247048443 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.37, Z:-0.76 [[ 9.94532161e-01 -4.54738480e-02 9.40101569e-02 7.44046173e+00] [ 4.60095323e-02 9.98934737e-01 -3.53741712e-03 -3.71349272e-01] [-9.37491514e-02 7.84343844e-03 9.95564954e-01 -7.58025350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342401008 meters 0.06980828379322222 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.37, Z:-0.76 [[ 9.94315468e-01 -4.86723151e-02 9.46982342e-02 7.47091918e+00] [ 4.92301022e-02 9.98781114e-01 -3.56145032e-03 -3.66830512e-01] [-9.44094638e-02 8.20320888e-03 9.95499654e-01 -7.58654507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372401008 meters 0.07183657367647531 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.37, Z:-0.76 [[ 9.94106005e-01 -5.19437168e-02 9.51583001e-02 7.50021893e+00] [ 5.25218504e-02 9.98613361e-01 -3.57927069e-03 -3.68632182e-01] [-9.48404292e-02 8.55606449e-03 9.95455718e-01 -7.61279594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402401008 meters 0.07033889172977548 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.36, Z:-0.76 [[ 9.94081676e-01 -5.43440422e-02 9.40656476e-02 7.53128098e+00] [ 5.49196572e-02 9.98484503e-01 -3.53945263e-03 -3.62822508e-01] [-9.37307433e-02 8.68455812e-03 9.95559705e-01 -7.62704435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432401008000001 meters 0.07543839973033135 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.36, Z:-0.77 [[ 9.94100758e-01 -5.69613314e-02 9.22989123e-02 7.56076191e+00] [ 5.75265880e-02 9.98337933e-01 -3.47313766e-03 -3.60763549e-01] [-9.19476708e-02 8.76229029e-03 9.95725287e-01 -7.67929506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462401008 meters 0.07661692032837963 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.36, Z:-0.77 [[ 9.94175874e-01 -5.72050546e-02 9.13340777e-02 7.59149266e+00] [ 5.77594775e-02 9.98324613e-01 -3.43644982e-03 -3.57083557e-01] [-9.09844755e-02 8.69184410e-03 9.95814379e-01 -7.71536959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492401008 meters 0.07089846253144692 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.34, Z:-0.77 [[ 9.94251381e-01 -5.66649313e-02 9.08475468e-02 7.62417348e+00] [ 5.72115576e-02 9.98356213e-01 -3.42204069e-03 -3.40467575e-01] [-9.05043030e-02 8.59989834e-03 9.95858932e-01 -7.72107674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522401008000001 meters 0.06920610775115953 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.33, Z:-0.77 [[ 9.94265905e-01 -5.61482313e-02 9.10092640e-02 7.65719697e+00] [ 5.66952051e-02 9.98385628e-01 -3.43396103e-03 -3.31448327e-01] [-9.06695304e-02 8.57405926e-03 9.95844125e-01 -7.73696002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552401008 meters 0.07307009255565536 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.33, Z:-0.78 [[ 9.94168125e-01 -5.59210617e-02 9.22093983e-02 7.68888753e+00] [ 5.64824910e-02 9.98397496e-01 -3.48819378e-03 -3.27132106e-01] [-9.18665689e-02 8.67606758e-03 9.95733528e-01 -7.76455764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582401008 meters 0.07199210853189074 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.32, Z:-0.78 [[ 9.94280384e-01 -5.51788084e-02 9.14429678e-02 7.72149757e+00] [ 5.57283906e-02 9.98439951e-01 -3.46575463e-03 -3.21166354e-01] [-9.11090760e-02 8.54190127e-03 9.95804284e-01 -7.78361239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612401008 meters 0.06916881156060538 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.31, Z:-0.78 [[ 9.94410451e-01 -5.50925419e-02 9.00703383e-02 7.75380039e+00] [ 5.56258653e-02 9.98445826e-01 -3.41980893e-03 -3.11222033e-01] [-8.97419474e-02 8.41093426e-03 9.95929535e-01 -7.80623139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642401008 meters 0.0700741030011134 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.30, Z:-0.79 [[ 9.94361067e-01 -5.45842276e-02 9.09210145e-02 7.78420991e+00] [ 5.51260383e-02 9.98473420e-01 -3.45669070e-03 -3.01259308e-01] [-9.05935356e-02 8.44931397e-03 9.95852108e-01 -7.88319592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672401008 meters 0.07127283581072565 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.30, Z:-0.79 [[ 9.94305266e-01 -5.42987973e-02 9.16988521e-02 7.81461066e+00] [ 5.48501894e-02 9.98488455e-01 -3.50178740e-03 -2.98968686e-01] [-9.13701023e-02 8.51154505e-03 9.95780627e-01 -7.93893648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702401008 meters 0.07154743227583353 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.30, Z:-0.80 [[ 9.94230562e-01 -5.42803478e-02 9.25161217e-02 7.84698688e+00] [ 5.48419982e-02 9.98488779e-01 -3.53746549e-03 -2.96240148e-01] [-9.21842945e-02 8.59082529e-03 9.95704903e-01 -7.98579047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732401008 meters 0.0710617587696415 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.29, Z:-0.80 [[ 9.94245070e-01 -5.43229732e-02 9.23350208e-02 7.87860434e+00] [ 5.48831909e-02 9.98486517e-01 -3.53696345e-03 -2.92353754e-01] [-9.20031350e-02 8.58424904e-03 9.95721715e-01 -8.02576587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762401008000001 meters 0.07219596304084762 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.29, Z:-0.81 [[ 9.94368325e-01 -5.28804057e-02 9.18438777e-02 7.90871789e+00] [ 5.34292883e-02 9.98565410e-01 -3.52606957e-03 -2.88521487e-01] [-9.15256594e-02 8.41336491e-03 9.95767176e-01 -8.06735720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792401008 meters 0.07236139447233843 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.29, Z:-0.81 [[ 9.94611573e-01 -5.05617344e-02 9.05059637e-02 7.93944503e+00] [ 5.10853033e-02 9.98688243e-01 -3.47628110e-03 -2.86743467e-01] [-9.02114750e-02 8.08107402e-03 9.95889846e-01 -8.11464639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822401008 meters 0.07236139447233843 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.29, Z:-0.82 [[ 9.94616752e-01 -5.04596863e-02 9.05060042e-02 7.97178553e+00] [ 5.09827419e-02 9.98693488e-01 -3.47522893e-03 -2.88084214e-01] [-9.02123981e-02 8.07076517e-03 9.95889846e-01 -8.15403932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852401008000001 meters 0.07008633849102536 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.28, Z:-0.82 [[ 9.94935628e-01 -4.75574127e-02 8.85516146e-02 8.00310954e+00] [ 4.80476648e-02 9.98839217e-01 -3.41184899e-03 -2.82083584e-01] [-8.82865666e-02 7.64926842e-03 9.96065746e-01 -8.18914381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882401008 meters 0.07040606409247527 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.28, Z:-0.82 [[ 9.95141030e-01 -4.46328925e-02 8.77623801e-02 8.03298562e+00] [ 4.51033181e-02 9.98976598e-01 -3.38353844e-03 -2.82035389e-01] [-8.75215467e-02 7.32547248e-03 9.96135692e-01 -8.23523809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912401008 meters 0.06714660011052766 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.27, Z:-0.83 [[ 9.95258772e-01 -3.85341566e-02 8.93033932e-02 8.06387935e+00] [ 3.89969688e-02 9.99233398e-01 -3.44285900e-03 -2.72007181e-01] [-8.91022654e-02 6.90909726e-03 9.95998519e-01 -8.27509654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942401008000001 meters 0.06600545612140973 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.27, Z:-0.83 [[ 9.95279238e-01 -3.55204692e-02 9.03190716e-02 8.09417557e+00] [ 3.59816229e-02 9.99346385e-01 -3.48220775e-03 -2.67315578e-01] [-9.01363480e-02 6.71559585e-03 9.95906793e-01 -8.32925453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972401008 meters 0.06644754210745304 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.27, Z:-0.84 [[ 9.95419185e-01 -3.21187890e-02 9.00501524e-02 8.12297459e+00] [ 3.25634893e-02 9.99463634e-01 -3.47318061e-03 -2.67722977e-01] [-8.98902982e-02 6.38961779e-03 9.95931176e-01 -8.38901583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002401008 meters 0.06436513017333831 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.26, Z:-0.84 [[ 9.95589642e-01 -2.54951451e-02 9.02843449e-02 8.15356308e+00] [ 2.59148660e-02 9.99658098e-01 -3.47949495e-03 -2.64890783e-01] [-9.01647662e-02 5.80385583e-03 9.95909951e-01 -8.41559429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032401008 meters 0.0665208027036768 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.27, Z:-0.85 [[ 9.95590695e-01 -2.20452167e-02 9.11766257e-02 8.18292813e+00] [ 2.24589250e-02 9.99741592e-01 -3.51380338e-03 -2.72961449e-01] [-9.10756024e-02 5.54603895e-03 9.95828538e-01 -8.46391207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062401008 meters 0.0638399270602815 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.27, Z:-0.85 [[ 9.95473885e-01 -1.96389566e-02 9.29841649e-02 8.21412321e+00] [ 2.00587780e-02 9.99792384e-01 -3.58244243e-03 -2.69406163e-01] [-9.28945045e-02 5.43137661e-03 9.95661143e-01 -8.46109898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092401008 meters 0.06399976340170978 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.27, Z:-0.85 [[ 9.95380222e-01 -1.37515196e-02 9.50216232e-02 8.24368210e+00] [ 1.41635606e-02 9.99892982e-01 -3.66316796e-03 -2.70964138e-01] [-9.49610800e-02 4.99208946e-03 9.95468469e-01 -8.51736309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122401008 meters 0.06417048381234425 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.27, Z:-0.86 [[ 9.95472503e-01 -1.05299709e-02 9.44648880e-02 8.27381017e+00] [ 1.09226363e-02 9.99933719e-01 -3.64062461e-03 -2.72518884e-01] [-9.44202910e-02 4.65594731e-03 9.95521537e-01 -8.57617410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152401008 meters 0.06394398127737419 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.27, Z:-0.86 [[ 9.95595023e-01 -8.33187528e-03 9.33869857e-02 8.30604095e+00] [ 8.70613103e-03 9.99955617e-01 -3.60087901e-03 -2.74051352e-01] [-9.33528389e-02 4.39805656e-03 9.95623375e-01 -8.62644617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182401008000001 meters 0.06403495360107046 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.28, Z:-0.87 [[ 9.95587147e-01 -6.96416301e-03 9.35827641e-02 8.33798656e+00] [ 7.33434695e-03 9.99966579e-01 -3.61232428e-03 -2.77174876e-01] [-9.35544796e-02 4.28275209e-03 9.95604950e-01 -8.66886628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212401008 meters 0.0635578395661931 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.28, Z:-0.87 [[ 9.95543900e-01 -5.08595977e-03 9.41619627e-02 8.36929654e+00] [ 5.45503546e-03 9.99978414e-01 -3.66259674e-03 -2.80457083e-01] [-9.41413023e-02 4.15993269e-03 9.95550155e-01 -8.69756596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242401008 meters 0.0630082658996853 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.29, Z:-0.87 [[ 9.95202977e-01 -2.50565089e-03 9.77995759e-02 8.39971228e+00] [ 2.89191579e-03 9.99988568e-01 -3.80800178e-03 -2.87480736e-01] [-9.77889163e-02 4.07256284e-03 9.95198845e-01 -8.71520686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.272401008000001 meters 0.06294490334250026 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.29, Z:-0.87 [[ 9.95099358e-01 -2.82423405e-04 9.88796597e-02 8.42946157e+00] [ 6.66548281e-04 9.99992360e-01 -3.85175799e-03 -2.92376238e-01] [-9.88778165e-02 3.89878998e-03 9.95091944e-01 -8.74928723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302401008 meters 0.062281972920133793 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.30, Z:-0.88 [[ 9.95077951e-01 2.49562529e-03 9.90638369e-02 8.46105410e+00] [-2.12367757e-03 9.99990296e-01 -3.85989842e-03 -2.95303933e-01] [-9.90725084e-02 3.63052016e-03 9.95073594e-01 -8.78653608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.332401008 meters 0.06156939017989288 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.30, Z:-0.88 [[ 9.95011023e-01 7.93807106e-03 9.94487387e-02 8.49100821e+00] [-7.58971499e-03 9.99963667e-01 -3.88071865e-03 -3.00773700e-01] [-9.94759309e-02 3.10657025e-03 9.95035119e-01 -8.84448213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362401008 meters 0.06162479510940537 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.31, Z:-0.89 [[ 9.94963823e-01 1.06848155e-02 9.96635596e-02 8.52081952e+00] [-1.03485095e-02 9.99938883e-01 -3.89078975e-03 -3.05663839e-01] [-9.96990408e-02 2.83982576e-03 9.95013586e-01 -8.89680320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.392401008 meters 0.06116283369939079 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.31, Z:-0.89 [[ 9.94946047e-01 1.40623361e-02 9.94213977e-02 8.55165722e+00] [-1.37443464e-02 9.99898004e-01 -3.88265252e-03 -3.09779888e-01] [-9.94658563e-02 2.49654765e-03 9.95037844e-01 -8.94594538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422401008 meters 0.059620246938249355 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.32, Z:-0.90 [[ 9.95019198e-01 1.93870860e-02 9.77800364e-02 8.58363054e+00] [-1.91051043e-02 9.99810186e-01 -3.81939397e-03 -3.18215298e-01] [-9.78355232e-02 1.93227253e-03 9.95200722e-01 -8.98211803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452401008 meters 0.059674521633997696 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.33, Z:-0.91 [[ 9.94951751e-01 2.15004518e-02 9.80241949e-02 8.61357472e+00] [-2.12259946e-02 9.99767321e-01 -3.84199684e-03 -3.26299830e-01] [-9.80839914e-02 1.74194046e-03 9.95176616e-01 -9.05667059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482401008 meters 0.05969781125171161 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.34, Z:-0.91 [[ 9.94948358e-01 2.25097387e-02 9.78318743e-02 8.64328063e+00] [-2.22398711e-02 9.99745257e-01 -3.84824805e-03 -3.35181777e-01] [-9.78935754e-02 1.65303981e-03 9.95195516e-01 -9.12886337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512401008000001 meters 0.05924821608060476 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.34, Z:-0.92 [[ 9.94883114e-01 2.24827903e-02 9.84993041e-02 8.67512147e+00] [-2.22079858e-02 9.99745822e-01 -3.88556693e-03 -3.44051674e-01] [-9.85616260e-02 1.67821378e-03 9.95129534e-01 -9.17811787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542401008 meters 0.05996219879256885 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.37, Z:-0.93 [[ 9.95057814e-01 2.10553265e-02 9.70392673e-02 8.70413937e+00] [-2.07791390e-02 9.99776655e-01 -3.85595632e-03 -3.65812245e-01] [-9.70987824e-02 1.82050704e-03 9.95273084e-01 -9.26832670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572401008 meters 0.059373372930717504 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.38, Z:-0.93 [[ 9.94995274e-01 2.02545685e-02 9.78476217e-02 8.73626860e+00] [-1.99700934e-02 9.99793026e-01 -3.88591685e-03 -3.75484134e-01] [-9.79060774e-02 1.91244276e-03 9.95193822e-01 -9.29640871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602401008000001 meters 0.0595385961363225 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.39, Z:-0.93 [[ 9.94953589e-01 2.00479622e-02 9.83129454e-02 8.76768836e+00] [-1.97567967e-02 9.99797074e-01 -3.93435548e-03 -3.87244210e-01] [-9.83718710e-02 1.97215223e-03 9.95147771e-01 -9.34372178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632401008 meters 0.05937816564122162 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.40, Z:-0.94 [[ 9.94849710e-01 2.00262204e-02 9.93630003e-02 8.79787715e+00] [-1.97270296e-02 9.99797431e-01 -3.99277363e-03 -3.98748599e-01] [-9.94228326e-02 2.01207284e-03 9.95043241e-01 -9.37209038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662401008 meters 0.059227634726612244 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.42, Z:-0.94 [[ 9.94464835e-01 2.03929529e-02 1.03071913e-01 8.82843619e+00] [-2.00704260e-02 9.99789892e-01 -4.16539594e-03 -4.16684513e-01] [-1.03135202e-01 2.07364258e-03 9.94665185e-01 -9.40543317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692401008000001 meters 0.059137515508776155 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.43, Z:-0.94 [[ 9.94245349e-01 2.16668610e-02 1.04912978e-01 8.85900591e+00] [-2.13370207e-02 9.99763241e-01 -4.26541733e-03 -4.25984518e-01] [-1.04980557e-01 2.00234096e-03 9.94472259e-01 -9.44719490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722401008 meters 0.059136620096575956 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.44, Z:-0.95 [[ 9.94084629e-01 2.29203277e-02 1.06162185e-01 8.88991747e+00] [-2.25872277e-02 9.99735460e-01 -4.33910073e-03 -4.35667751e-01] [-1.06233555e-01 1.91552388e-03 9.94339360e-01 -9.48394633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752401008 meters 0.05890633692453512 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.44, Z:-0.95 [[ 9.93945082e-01 2.43875794e-02 1.07137387e-01 8.92110866e+00] [-2.40541397e-02 9.99700959e-01 -4.40362291e-03 -4.43602181e-01] [-1.07212742e-01 1.79986166e-03 9.94234474e-01 -9.51623782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782401008 meters 0.05873602019256248 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.46, Z:-0.96 [[ 9.93911357e-01 2.77717885e-02 1.06625238e-01 8.95206073e+00] [-2.74583792e-02 9.99613235e-01 -4.40657747e-03 -4.60063266e-01] [-1.06706378e-01 1.45199117e-03 9.94289516e-01 -9.55088710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812401008 meters 0.05881963641914385 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.47, Z:-0.96 [[ 9.93881019e-01 2.80900220e-02 1.06824489e-01 8.98225130e+00] [-2.77744618e-02 9.99604351e-01 -4.44090828e-03 -4.69341566e-01] [-1.06906969e-01 1.44674175e-03 9.94267975e-01 -9.59239710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842401008000001 meters 0.059046188802961114 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.48, Z:-0.96 [[ 9.93985374e-01 2.77241571e-02 1.05945497e-01 9.01381449e+00] [-2.74104249e-02 9.99614507e-01 -4.41649861e-03 -4.78293067e-01] [-1.06027099e-01 1.48592393e-03 9.94362130e-01 -9.64680749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872401008 meters 0.05953160779015059 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.49, Z:-0.97 [[ 9.94093685e-01 2.57591065e-02 1.05423975e-01 9.04342187e+00] [-2.54349237e-02 9.99666715e-01 -4.41858085e-03 -4.93896466e-01] [-1.05502657e-01 1.71103257e-03 9.94417549e-01 -9.71469004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902401008 meters 0.05937670267493567 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.50, Z:-0.97 [[ 9.94120553e-01 2.40113636e-02 1.05583047e-01 9.07556417e+00] [-2.36740939e-02 9.99709840e-01 -4.44667188e-03 -5.01247168e-01] [-1.05659182e-01 1.92094494e-03 9.94400547e-01 -9.73828058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932401008000001 meters 0.05970334149469504 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.51, Z:-0.98 [[ 9.94168029e-01 2.17873371e-02 1.05618376e-01 9.10680674e+00] [-2.14346360e-02 9.99760243e-01 -4.47349821e-03 -5.11749933e-01] [-1.05690519e-01 2.18351746e-03 9.94396675e-01 -9.76926524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962401008 meters 0.06097273549518212 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.53, Z:-0.98 [[ 9.94205961e-01 1.90882273e-02 1.05783487e-01 9.13696582e+00] [-1.87164239e-02 9.99814676e-01 -4.50646567e-03 -5.27280846e-01] [-1.05849903e-01 2.50046646e-03 9.94378975e-01 -9.83086495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.992401008 meters 0.06120089466835939 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.54, Z:-0.99 [[ 9.94366284e-01 1.36024181e-02 1.05122158e-01 9.16684647e+00] [-1.32019176e-02 9.99902703e-01 -4.50478676e-03 -5.41962499e-01] [-1.05173206e-01 3.09159400e-03 9.94449113e-01 -9.86353686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022401008000001 meters 0.061818612310827824 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.55, Z:-0.99 [[ 9.94568110e-01 1.11610076e-02 1.03487716e-01 9.19667445e+00] [-1.07596093e-02 9.99932273e-01 -4.43615368e-03 -5.51156310e-01] [-1.03530219e-01 3.29856958e-03 9.94620839e-01 -9.91760641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.052401008 meters 0.06709173963712266 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.58, Z:-1.00 [[ 9.94323950e-01 7.88128398e-03 1.06102628e-01 9.22577271e+00] [-7.44037588e-03 9.99961965e-01 -4.55069106e-03 -5.78979311e-01] [-1.06134458e-01 3.73541767e-03 9.94344771e-01 -1.00160511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082401008 meters 0.06247166218031212 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.57, Z:-1.00 [[ 9.94664590e-01 6.30007840e-03 1.02969226e-01 9.25816299e+00] [-5.87557820e-03 9.99972946e-01 -4.42538408e-03 -5.72194757e-01] [-1.02994321e-01 3.79676910e-03 9.94674698e-01 -9.99156124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.112401008 meters 0.06273831874223586 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.58, Z:-1.00 [[ 9.94617158e-01 4.76501813e-03 1.03508467e-01 9.28945931e+00] [-4.32542939e-03 9.99980651e-01 -4.47093510e-03 -5.80330394e-01] [-1.03527768e-01 3.99915020e-03 9.94618524e-01 -1.00129837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142401008 meters 0.06306067877902206 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.59, Z:-1.00 [[ 9.94578677e-01 3.77744061e-03 1.03918171e-01 9.32010185e+00] [-3.32661538e-03 9.99984291e-01 -4.51124709e-03 -5.88475574e-01] [-1.03933580e-01 4.14109437e-03 9.94575619e-01 -1.00330379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.172401008 meters 0.06296491718742574 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.59, Z:-1.01 [[ 9.94614101e-01 2.74817006e-03 1.03610992e-01 9.35173259e+00] [-2.29217793e-03 9.99987159e-01 -4.51981271e-03 -5.93742205e-01] [-1.03622083e-01 4.25797462e-03 9.94607628e-01 -1.00604729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202401008 meters 0.0632343582930633 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.60, Z:-1.01 [[ 9.94544193e-01 1.96851695e-03 1.04297527e-01 9.38327519e+00] [-1.49959075e-03 9.99988414e-01 -4.57426827e-03 -6.00713083e-01] [-1.04305323e-01 4.39290833e-03 9.94535621e-01 -1.01048488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.232401008 meters 0.06367072428328588 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.61, Z:-1.02 [[ 9.94419606e-01 1.57853267e-03 1.05485335e-01 9.41447465e+00] [-1.09401720e-03 9.99988586e-01 -4.65090717e-03 -6.05371024e-01] [-1.05491473e-01 4.50955050e-03 9.94409982e-01 -1.01561867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262401008000001 meters 0.06360084226210656 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.61, Z:-1.02 [[ 9.94416522e-01 1.64100144e-03 1.05513451e-01 9.44739250e+00] [-1.15383673e-03 9.99988393e-01 -4.67796355e-03 -6.09491069e-01] [-1.05519903e-01 4.53009895e-03 9.94406873e-01 -1.01929463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.292401008 meters 0.06373617622733874 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.61, Z:-1.02 [[ 9.94297417e-01 1.52184422e-03 1.06631751e-01 9.47975120e+00] [-1.02023337e-03 9.99988158e-01 -4.75853379e-03 -6.13647390e-01] [-1.06637730e-01 4.62260858e-03 9.94287195e-01 -1.02203193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322401008 meters 0.0633363419906478 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.61, Z:-1.03 [[ 9.94256783e-01 1.48184473e-03 1.07010533e-01 9.51258478e+00] [-9.75723374e-04 9.99988091e-01 -4.78184235e-03 -6.14233937e-01] [-1.07016344e-01 4.64996651e-03 9.94246388e-01 -1.02559700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352401008000001 meters 0.06331622711719431 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.61, Z:-1.03 [[ 9.94224278e-01 2.19967307e-03 1.07299794e-01 9.54453451e+00] [-1.69180979e-03 9.99986934e-01 -4.82392317e-03 -6.14557670e-01] [-1.07309004e-01 4.61453069e-03 9.94215009e-01 -1.02989701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382401008 meters 0.06322298140182106 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.61, Z:-1.03 [[ 9.94157088e-01 3.21612957e-03 1.07895050e-01 9.57626202e+00] [-2.70584405e-03 9.99984454e-01 -4.87552981e-03 -6.14292303e-01] [-1.07909053e-01 4.55509534e-03 9.94150334e-01 -1.03385816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.412401008 meters 0.0626978523926251 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.61, Z:-1.04 [[ 9.94053864e-01 4.02687561e-03 1.08814979e-01 9.60802876e+00] [-3.50989671e-03 9.99981628e-01 -4.94210679e-03 -6.12751257e-01] [-1.08832881e-01 4.53079101e-03 9.94049735e-01 -1.03640758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442401008000001 meters 0.0625364039955847 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.61, Z:-1.04 [[ 9.93965584e-01 4.50426842e-03 1.09599862e-01 9.64053046e+00] [-3.97966341e-03 9.99979557e-01 -5.00482270e-03 -6.12483156e-01] [-1.09620164e-01 4.53845096e-03 9.93963189e-01 -1.03936526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.472401008 meters 0.06296377510298125 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.61, Z:-1.04 [[ 9.93952861e-01 3.38069077e-03 1.09755554e-01 9.67167209e+00] [-2.84692456e-03 9.99983349e-01 -5.01956985e-03 -6.10907179e-01] [-1.09770696e-01 4.67675003e-03 9.93945935e-01 -1.04304250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502401008 meters 0.06268041993497751 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.61, Z:-1.05 [[ 9.94130843e-01 2.84983561e-03 1.08146867e-01 9.70354059e+00] [-2.32613583e-03 9.99984952e-01 -4.96833031e-03 -6.08719140e-01] [-1.08159398e-01 4.68760610e-03 9.94122513e-01 -1.04817330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.532401008 meters 0.06303878220948303 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.61, Z:-1.05 [[ 9.94452462e-01 2.60420409e-03 1.05154740e-01 9.73493520e+00] [-2.10537937e-03 9.99986001e-01 -4.85444534e-03 -6.06747967e-01] [-1.05165909e-01 4.60612450e-03 9.94444023e-01 -1.05413446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562401008 meters 0.06375073914577599 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.60, Z:-1.06 [[ 9.94865969e-01 1.57649336e-03 1.01189019e-01 9.76496978e+00] [-1.10685258e-03 9.99988356e-01 -4.69719976e-03 -6.00547771e-01] [-1.01195246e-01 4.56108286e-03 9.94856130e-01 -1.06367219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592401008000001 meters 0.06340820374860535 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.60, Z:-1.07 [[ 9.95129419e-01 1.28739441e-03 9.85686711e-02 9.79715003e+00] [-8.40054057e-04 9.99989160e-01 -4.57973051e-03 -5.97821925e-01] [-9.85734986e-02 4.47462154e-03 9.95119713e-01 -1.06832396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622401008 meters 0.06375848304240482 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.59, Z:-1.07 [[ 9.95490352e-01 1.04497214e-03 9.48570921e-02 9.82852772e+00] [-6.29529734e-04 9.99990080e-01 -4.40948580e-03 -5.94965769e-01] [-9.48607589e-02 4.32988521e-03 9.95481134e-01 -1.07353920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.652401008 meters 0.06404523029571191 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.59, Z:-1.08 [[ 9.95600086e-01 1.61567045e-03 9.36902271e-02 9.86032040e+00] [-1.21112587e-03 9.99989698e-01 -4.37459475e-03 -5.93726902e-01] [-9.36963298e-02 4.24187625e-03 9.95591786e-01 -1.07804903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682401008000001 meters 0.06392783192285732 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.59, Z:-1.08 [[ 9.95772045e-01 2.36875971e-03 9.18282276e-02 9.89181285e+00] [-1.98149483e-03 9.99988756e-01 -4.30821688e-03 -5.90936611e-01] [-9.18374002e-02 4.10804477e-03 9.95765543e-01 -1.08340073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.712401008 meters 0.06461265472760737 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.59, Z:-1.09 [[ 9.95955060e-01 3.93245133e-03 8.97666623e-02 9.92365690e+00] [-3.56701518e-03 9.99984687e-01 -4.23101724e-03 -5.85427687e-01] [-8.97819260e-02 3.89370398e-03 9.95953837e-01 -1.09013938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742401008 meters 0.06461265472760737 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.59, Z:-1.09 [[ 9.95954106e-01 4.18896722e-03 8.97656448e-02 9.95577518e+00] [-3.82263831e-03 9.99983652e-01 -4.25247785e-03 -5.87066971e-01] [-8.97819908e-02 3.89213118e-03 9.95953837e-01 -1.09407170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.772401008000001 meters 0.06300271337344214 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.58, Z:-1.10 [[ 9.96048734e-01 5.52713723e-03 8.86361690e-02 9.98853337e+00] [-5.17322423e-03 9.99977706e-01 -4.22209774e-03 -5.81242259e-01] [-8.86575291e-02 3.74688033e-03 9.96055121e-01 -1.09509756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802401008 meters 0.06281247464058755 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.58, Z:-1.10 [[ 9.96012466e-01 6.26429915e-03 8.89939715e-02 1.00204520e+01] [-5.90856214e-03 9.99973469e-01 -4.26019214e-03 -5.79961551e-01] [-8.90182975e-02 3.71737806e-03 9.96023054e-01 -1.09790610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.832401008 meters 0.0617456447731443 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.57, Z:-1.10 [[ 9.95630116e-01 7.64863373e-03 9.30707821e-02 1.00521579e+01] [-7.26272031e-03 9.99963571e-01 -4.48445824e-03 -5.73091514e-01] [-9.31016915e-02 3.78891462e-03 9.95649396e-01 -1.09697146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862401008 meters 0.06382847235246297 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.58, Z:-1.10 [[ 9.95503647e-01 8.94706090e-03 9.42997263e-02 1.00814754e+01] [-8.55649327e-03 9.99953062e-01 -4.54530147e-03 -5.77652895e-01] [-9.43359672e-02 3.71798922e-03 9.95533476e-01 -1.10320897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.892401008 meters 0.060963533381449476 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.57, Z:-1.10 [[ 9.95472724e-01 1.07384173e-02 9.44390887e-02 1.01141602e+01] [-1.03551229e-02 9.99936043e-01 -4.54777881e-03 -5.67201215e-01] [-9.44818845e-02 3.54926139e-03 9.95520254e-01 -1.10130794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922401008000001 meters 0.060900783121948944 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.57, Z:-1.11 [[ 9.95400905e-01 1.22967998e-02 9.50043487e-02 1.01452291e+01] [-1.19137063e-02 9.99918455e-01 -4.59855841e-03 -5.65135145e-01] [-9.50531492e-02 3.44555529e-03 9.95466236e-01 -1.10506013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952401008 meters 0.06045457024100118 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.56, Z:-1.11 [[ 9.95137093e-01 1.54056680e-02 9.72873608e-02 1.01753447e+01] [-1.50159755e-02 9.99876035e-01 -4.73652575e-03 -5.58440833e-01] [-9.73482699e-02 3.25262784e-03 9.95245063e-01 -1.10823959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982401008 meters 0.0602879192913497 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.56, Z:-1.11 [[ 9.94937158e-01 1.66260338e-02 9.91142122e-02 1.02060275e+01] [-1.62280010e-02 9.99856696e-01 -4.82080204e-03 -5.56859464e-01] [-9.91801595e-02 3.18796954e-03 9.95064386e-01 -1.11123268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012401008000001 meters 0.05983244174319921 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.55, Z:-1.11 [[ 9.94719043e-01 1.75414511e-02 1.01125283e-01 1.02387804e+01] [-1.71291903e-02 9.99841063e-01 -4.94368240e-03 -5.54554070e-01] [-1.01195929e-01 3.18538081e-03 9.94861416e-01 -1.11286479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042401008 meters 0.05992421796532088 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.55, Z:-1.12 [[ 9.94664742e-01 1.79875472e-02 1.01580017e-01 1.02695079e+01] [-1.75732504e-02 9.99833216e-01 -4.97198744e-03 -5.54678175e-01] [-1.01652509e-01 3.16036953e-03 9.94814947e-01 -1.11589187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.072401008 meters 0.06004446108337317 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.55, Z:-1.12 [[ 9.94861603e-01 1.58871730e-02 9.99899410e-02 1.03015404e+01] [-1.54727754e-02 9.99868192e-01 -4.91858216e-03 -5.51292258e-01] [-1.00054904e-01 3.34618662e-03 9.94976291e-01 -1.12085055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102401008000001 meters 0.06059778180949207 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.55, Z:-1.13 [[ 9.95040985e-01 1.42480423e-02 9.84399881e-02 1.03322955e+01] [-1.38381406e-02 9.99892508e-01 -4.84552807e-03 -5.52032009e-01] [-9.84984459e-02 3.45927263e-03 9.95131192e-01 -1.12732364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132401008 meters 0.06054835007076206 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.55, Z:-1.13 [[ 9.95201059e-01 1.35586482e-02 9.69072463e-02 1.03643614e+01] [-1.31562471e-02 9.99901979e-01 -4.79023078e-03 -5.50867642e-01] [-9.69626964e-02 3.49230707e-03 9.95281889e-01 -1.13163791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162401008 meters 0.06172118969954034 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.55, Z:-1.14 [[ 9.95427452e-01 1.27582845e-02 9.46647491e-02 1.03943960e+01] [-1.23682173e-02 9.99912436e-01 -4.70612749e-03 -5.51610792e-01] [-9.47165020e-02 3.51377431e-03 9.95498085e-01 -1.13854217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192401008000001 meters 0.060316647532031614 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.55, Z:-1.14 [[ 9.95419222e-01 1.41331556e-02 9.45559453e-02 1.04268890e+01] [-1.37503789e-02 9.99894420e-01 -4.69850877e-03 -5.47280868e-01] [-9.46123669e-02 3.37680587e-03 9.95508462e-01 -1.13964118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222401008 meters 0.06029804464419579 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.55, Z:-1.14 [[ 9.95375561e-01 1.69646228e-02 9.45499571e-02 1.04566580e+01] [-1.65919087e-02 9.99851172e-01 -4.72678788e-03 -5.46804394e-01] [-9.46160736e-02 3.13616488e-03 9.95508897e-01 -1.14399387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252401008 meters 0.059721291437991236 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.54, Z:-1.15 [[ 9.95333849e-01 2.03153331e-02 9.43282404e-02 1.04885129e+01] [-1.99593555e-02 9.99789670e-01 -4.71585231e-03 -5.43927463e-01] [-9.44042045e-02 2.81111654e-03 9.95529981e-01 -1.14792604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282401008 meters 0.05906766280325882 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.54, Z:-1.15 [[ 9.95220863e-01 2.76653806e-02 9.36486019e-02 1.05179042e+01] [-2.73461576e-02 9.99615019e-01 -4.69054874e-03 -5.38449058e-01] [-9.37423148e-02 2.10720253e-03 9.95594264e-01 -1.15424954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312401008 meters 0.05897048833466108 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.54, Z:-1.16 [[ 9.95094947e-01 3.07520820e-02 9.40231683e-02 1.05489497e+01] [-3.04446110e-02 9.99525390e-01 -4.70318276e-03 -5.39339698e-01] [-9.41231767e-02 1.81761461e-03 9.95558900e-01 -1.15959442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342401008000001 meters 0.05856207706196675 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.54, Z:-1.16 [[ 9.94924466e-01 3.36817065e-02 9.48200931e-02 1.05811045e+01] [-3.33801398e-02 9.99431368e-01 -4.76519468e-03 -5.40516681e-01] [-9.49266752e-02 1.57590081e-03 9.95483020e-01 -1.16257283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.372401008 meters 0.05785655442676754 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.54, Z:-1.16 [[ 9.94732478e-01 3.64052382e-02 9.58225266e-02 1.06134094e+01] [-3.61077232e-02 9.99336195e-01 -4.83756083e-03 -5.41380073e-01] [-9.59350316e-02 1.35214560e-03 9.95386679e-01 -1.16396560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402401008 meters 0.057489402902109465 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.54, Z:-1.17 [[ 9.94533068e-01 4.12389356e-02 9.59339709e-02 1.06447825e+01] [-4.09609480e-02 9.99148899e-01 -4.86605328e-03 -5.42440930e-01] [-9.60529922e-02 9.09904508e-04 9.95375806e-01 -1.16835777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432401008000001 meters 0.05758666380473176 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.54, Z:-1.17 [[ 9.94454665e-01 4.37343767e-02 9.56411172e-02 1.06750459e+01] [-4.34673609e-02 9.99042956e-01 -4.87448368e-03 -5.43891849e-01] [-9.57627670e-02 6.90186069e-04 9.95403946e-01 -1.17397777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462401008 meters 0.057489928141209 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.55, Z:-1.18 [[ 9.94181869e-01 4.83394795e-02 9.62585398e-02 1.07066254e+01] [-4.80884878e-02 9.98830928e-01 -4.92698646e-03 -5.46561984e-01] [-9.63841745e-02 2.69392991e-04 9.95344171e-01 -1.17707103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.492401008 meters 0.05739955453916724 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.55, Z:-1.18 [[ 9.93926944e-01 5.05977163e-02 9.77194990e-02 1.07373384e+01] [-5.03473675e-02 9.98719112e-01 -5.02766821e-03 -5.50764777e-01] [-9.78487198e-02 7.72153779e-05 9.95201297e-01 -1.17943097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522401008000001 meters 0.05733830846458721 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.56, Z:-1.18 [[ 9.93782985e-01 5.24219045e-02 9.82207859e-02 1.07688051e+01] [-5.21767745e-02 9.98625022e-01 -5.06445542e-03 -5.55902739e-01] [-9.83512230e-02 -9.18741775e-05 9.95151762e-01 -1.18220371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.552401008 meters 0.05741885708690696 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.56, Z:-1.19 [[ 9.93690965e-01 5.28920281e-02 9.88974145e-02 1.07988889e+01] [-5.26434062e-02 9.98600230e-01 -5.12363521e-03 -5.61433950e-01] [-9.90299803e-02 -1.14986749e-04 9.95084444e-01 -1.18639552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582401008 meters 0.057535756658356765 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.57, Z:-1.19 [[ 9.93731435e-01 5.27374856e-02 9.85727808e-02 1.08298802e+01] [-5.24876475e-02 9.98608407e-01 -5.12789929e-03 -5.69617025e-01] [-9.87060402e-02 -7.80986463e-05 9.95116632e-01 -1.19345034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.612401008 meters 0.05767646575155605 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.57, Z:-1.20 [[ 9.93760585e-01 5.29320577e-02 9.81738093e-02 1.08614257e+01] [-5.26827736e-02 9.98598113e-01 -5.13160263e-03 -5.74930129e-01] [-9.83078070e-02 -7.24841341e-05 9.95156053e-01 -1.19959942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642401008 meters 0.05763179214305148 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.58, Z:-1.20 [[ 9.93722182e-01 5.25190866e-02 9.87824425e-02 1.08928211e+01] [-5.22621890e-02 9.98619920e-01 -5.18826668e-03 -5.80878323e-01] [-9.89185979e-02 -6.89098800e-06 9.95095529e-01 -1.20344979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672401008000001 meters 0.05768158558024042 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.59, Z:-1.21 [[ 9.93654424e-01 5.28203207e-02 9.93020661e-02 1.09238792e+01] [-5.25598805e-02 9.98604032e-01 -5.23883765e-03 -5.87552015e-01] [-9.94401607e-02 -1.37105280e-05 9.95043544e-01 -1.20706320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702401008 meters 0.057650150546857445 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.60, Z:-1.21 [[ 9.93622238e-01 5.28793710e-02 9.95922684e-02 1.09567838e+01] [-5.26154484e-02 9.98600907e-01 -5.27659645e-03 -5.95090177e-01] [-9.97319526e-02 2.85171755e-06 9.95014340e-01 -1.20957417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732401008 meters 0.05772913753032536 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.60, Z:-1.21 [[ 9.93571747e-01 5.25738827e-02 1.00255528e-01 1.09872660e+01] [-5.23020623e-02 9.98617035e-01 -5.33958980e-03 -6.02799351e-01] [-1.00397601e-01 6.16946934e-05 9.94947395e-01 -1.21275861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762401008000001 meters 0.057777402251563595 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.62, Z:-1.22 [[ 9.93612603e-01 5.12120991e-02 1.00555039e-01 1.10197729e+01] [-5.09296249e-02 9.98687775e-01 -5.37596309e-03 -6.16673710e-01] [-1.00698403e-01 2.20394245e-04 9.94916973e-01 -1.21542587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792401008 meters 0.057868430753610554 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.62, Z:-1.22 [[ 9.93684755e-01 5.01891879e-02 1.00357629e-01 1.10503425e+01] [-4.98996942e-02 9.98739666e-01 -5.39438143e-03 -6.24149590e-01] [-1.00501885e-01 3.52499581e-04 9.94936805e-01 -1.22208074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822401008 meters 0.05808901318110784 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.63, Z:-1.23 [[ 9.93671881e-01 4.96614341e-02 1.00746886e-01 1.10817712e+01] [-4.93654181e-02 9.98766020e-01 -5.43068929e-03 -6.31885468e-01] [-1.00892262e-01 4.22911110e-04 9.94897267e-01 -1.22744834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852401008000001 meters 0.05797113977466583 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.64, Z:-1.23 [[ 9.93682961e-01 4.91600336e-02 1.00883422e-01 1.11142748e+01] [-4.88582135e-02 9.98790790e-01 -5.46189412e-03 -6.39815918e-01] [-1.01029939e-01 4.98407373e-04 9.94883261e-01 -1.22938909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882401008 meters 0.05810227291772978 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.66, Z:-1.23 [[ 9.93720531e-01 4.81914060e-02 1.00980662e-01 1.11448284e+01] [-4.78811991e-02 9.98837924e-01 -5.49484740e-03 -6.57767970e-01] [-1.01128119e-01 6.25267522e-04 9.94873214e-01 -1.23322671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.912401008 meters 0.05830388577498515 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.67, Z:-1.24 [[ 9.93856885e-01 4.67576248e-02 1.00310602e-01 1.11748418e+01] [-4.64416440e-02 9.98905950e-01 -5.48418621e-03 -6.67955559e-01] [-1.00457284e-01 7.91906974e-04 9.94941057e-01 -1.23909249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942401008000001 meters 0.05826426992878744 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.68, Z:-1.24 [[ 9.93956122e-01 4.60208568e-02 9.96659811e-02 1.12068059e+01] [-4.57031700e-02 9.98940090e-01 -5.46960252e-03 -6.75819217e-01] [-9.98120599e-02 8.81493633e-04 9.95005917e-01 -1.24219060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972401008 meters 0.058655342379344444 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.69, Z:-1.25 [[ 9.94150621e-01 4.49481173e-02 9.82049330e-02 1.12375387e+01] [-4.46322686e-02 9.98988825e-01 -5.41183972e-03 -6.89019269e-01] [-9.83488826e-02 9.97074873e-04 9.95151498e-01 -1.24947806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002401008000001 meters 0.058973004367887855 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.70, Z:-1.26 [[ 9.94215187e-01 4.45421823e-02 9.77351298e-02 1.12672389e+01] [-4.42251513e-02 9.99006947e-01 -5.40882734e-03 -6.98596300e-01] [-9.78789947e-02 1.05518738e-03 9.95197764e-01 -1.25562647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.032401008 meters 0.05881532532754318 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.71, Z:-1.26 [[ 9.94219746e-01 4.36772244e-02 9.80785259e-02 1.12996621e+01] [-4.33515994e-02 9.99045014e-01 -5.44968564e-03 -7.07331592e-01] [-9.82228894e-02 1.16632410e-03 9.95163757e-01 -1.25751606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062401008 meters 0.05896625119617079 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.72, Z:-1.26 [[ 9.94292002e-01 4.22106035e-02 9.79881567e-02 1.13297951e+01] [-4.18765639e-02 9.99107851e-01 -5.46405603e-03 -7.17116971e-01] [-9.81313778e-02 1.32945991e-03 9.95172581e-01 -1.26079401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092401008000001 meters 0.059249757661245954 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.73, Z:-1.26 [[ 9.94241080e-01 3.83207975e-02 1.00080926e-01 1.13606411e+01] [-3.79515275e-02 9.99263936e-01 -5.59170689e-03 -7.31331667e-01] [-1.00221539e-01 1.76128068e-03 9.94963588e-01 -1.26347133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122401008 meters 0.05941100963152492 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.74, Z:-1.27 [[ 9.94242347e-01 3.65396085e-02 1.00732382e-01 1.13918511e+01] [-3.61539729e-02 9.99330249e-01 -5.65185869e-03 -7.38962936e-01] [-1.00871433e-01 1.97744145e-03 9.94897504e-01 -1.26732345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.152401008 meters 0.05984480310696227 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.75, Z:-1.27 [[ 9.94218959e-01 3.41008497e-02 1.01812544e-01 1.14223902e+01] [-3.36915997e-02 9.99415811e-01 -5.73702503e-03 -7.47926511e-01] [-1.01948703e-01 2.27363157e-03 9.94787059e-01 -1.27024787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182401008000001 meters 0.06022113932569054 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.76, Z:-1.27 [[ 9.94146577e-01 3.05930862e-02 1.03617791e-01 1.14536686e+01] [-3.01474976e-02 9.99528259e-01 -5.86407592e-03 -7.62385302e-01] [-1.03748311e-01 2.70593389e-03 9.94599902e-01 -1.26991428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.212401008 meters 0.060537369227727046 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.77, Z:-1.27 [[ 9.94185755e-01 2.94964719e-02 1.03559849e-01 1.14837056e+01] [-2.90447213e-02 9.99560890e-01 -5.86782947e-03 -7.69338902e-01] [-1.03687455e-01 2.82584553e-03 9.94605915e-01 -1.27366718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242401008 meters 0.06111689291766893 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.78, Z:-1.28 [[ 9.94162072e-01 2.85498331e-02 1.04051346e-01 1.15140227e+01] [-2.80866017e-02 9.99587994e-01 -5.91473694e-03 -7.75500916e-01] [-1.04177341e-01 2.95775843e-03 9.94554339e-01 -1.27817734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272401008000001 meters 0.06075984094817496 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.78, Z:-1.28 [[ 9.94140326e-01 2.87677682e-02 1.04198984e-01 1.15464567e+01] [-2.83021122e-02 9.99581736e-01 -5.94501559e-03 -7.77649451e-01] [-1.04326426e-01 2.96112840e-03 9.94538701e-01 -1.28192215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302401008 meters 0.061094512454071416 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.78, Z:-1.29 [[ 9.94159271e-01 3.02391322e-02 1.03599900e-01 1.15767451e+01] [-2.97838176e-02 9.99538717e-01 -5.93943638e-03 -7.84188512e-01] [-1.03731715e-01 2.81914521e-03 9.94601319e-01 -1.28819835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332401008000001 meters 0.06055637311805107 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.79, Z:-1.29 [[ 9.94244784e-01 3.19968267e-02 1.02242418e-01 1.16081631e+01] [-3.15604656e-02 9.99484530e-01 -5.88312629e-03 -7.85201171e-01] [-1.02377957e-01 2.62244932e-03 9.94742116e-01 -1.29150648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362401008 meters 0.060354563139694825 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.79, Z:-1.30 [[ 9.94207800e-01 3.34918665e-02 1.02123191e-01 1.16396816e+01] [-3.30619739e-02 9.99435890e-01 -5.89974857e-03 -7.86271917e-01] [-1.02263176e-01 2.48918176e-03 9.94754265e-01 -1.29659596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.392401008 meters 0.06011366940755996 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.78, Z:-1.30 [[ 9.94384912e-01 3.81321798e-02 9.87146536e-02 1.16703708e+01] [-3.77512082e-02 9.99270769e-01 -5.72499423e-03 -7.83555036e-01] [-9.88609744e-02 1.96625045e-03 9.95099312e-01 -1.30485441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422401008000001 meters 0.06003898422182373 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.78, Z:-1.31 [[ 9.94374663e-01 4.03816928e-02 9.79201081e-02 1.17020051e+01] [-4.00157370e-02 9.99182797e-01 -5.69911325e-03 -7.83700677e-01] [-9.80702273e-02 1.74870853e-03 9.95177960e-01 -1.31135372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.452401008 meters 0.059933655588845655 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.78, Z:-1.32 [[ 9.94328876e-01 4.23917546e-02 9.75347401e-02 1.17333911e+01] [-4.20361740e-02 9.99099838e-01 -5.69862061e-03 -7.84557536e-01] [-9.76885175e-02 1.56631572e-03 9.95215806e-01 -1.31627705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482401008 meters 0.05922647107908414 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.78, Z:-1.32 [[ 9.94339620e-01 4.43555553e-02 9.65469045e-02 1.17664029e+01] [-4.40144347e-02 9.99014855e-01 -5.66110818e-03 -7.83511580e-01] [-9.67028935e-02 1.37960674e-03 9.95312336e-01 -1.31740282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512401008000001 meters 0.059061645459683426 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.79, Z:-1.32 [[ 9.94201756e-01 4.67246474e-02 9.68487275e-02 1.17968203e+01] [-4.63898097e-02 9.98907108e-01 -5.70737727e-03 -7.86055057e-01] [-9.70095575e-02 1.18149047e-03 9.95282749e-01 -1.32177693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542401008 meters 0.05892621819048291 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.79, Z:-1.32 [[ 9.94016382e-01 4.72024059e-02 9.85056620e-02 1.18292875e+01] [-4.68557586e-02 9.98884648e-01 -5.83080219e-03 -7.88603462e-01] [-9.86710213e-02 1.18035539e-03 9.95119408e-01 -1.32433380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.572401008 meters 0.058975126617112975 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.79, Z:-1.33 [[ 9.93984679e-01 4.70273625e-02 9.89084669e-02 1.18606888e+01] [-4.66765132e-02 9.98892872e-01 -5.85954093e-03 -7.92602920e-01] [-9.90745213e-02 1.20759155e-03 9.95079284e-01 -1.32858084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602401008000001 meters 0.059064043232243395 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.80, Z:-1.33 [[ 9.93957893e-01 4.70706238e-02 9.91567620e-02 1.18917914e+01] [-4.67156610e-02 9.98890804e-01 -5.89988315e-03 -7.97706447e-01] [-9.93244889e-02 1.23206175e-03 9.95054334e-01 -1.33268288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.632401008 meters 0.059064043232243395 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.80, Z:-1.34 [[ 9.93945487e-01 4.73350283e-02 9.91552548e-02 1.19238148e+01] [-4.69788629e-02 9.98878311e-01 -5.92509565e-03 -7.99798734e-01] [-9.93244980e-02 1.23102096e-03 9.95054335e-01 -1.33661100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662401008 meters 0.05924423515038139 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.81, Z:-1.34 [[ 9.94080234e-01 4.41312789e-02 9.92820116e-02 1.19552323e+01] [-4.37555614e-02 9.99024491e-01 -5.95968678e-03 -8.07458271e-01] [-9.94481697e-02 1.58026667e-03 9.95041489e-01 -1.33935153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.692401008000001 meters 0.05931504859784447 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.81, Z:-1.34 [[ 9.94159527e-01 4.20294262e-02 9.94000152e-02 1.19869776e+01] [-4.16399749e-02 9.99114722e-01 -5.99034806e-03 -8.12757973e-01] [-9.95637895e-02 1.81634745e-03 9.95029524e-01 -1.34210491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722401008 meters 0.0597526691344369 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.82, Z:-1.35 [[ 9.94293767e-01 4.11658037e-02 9.84138235e-02 1.20170201e+01] [-4.07772315e-02 9.99150503e-01 -5.95735748e-03 -8.17694874e-01] [-9.85754606e-02 1.91032015e-03 9.95127745e-01 -1.34621850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752401008000001 meters 0.0598400518599302 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.82, Z:-1.35 [[ 9.94393447e-01 4.22101795e-02 9.69534602e-02 1.20477071e+01] [-4.18369412e-02 9.99107148e-01 -5.88026344e-03 -8.21412552e-01] [-9.71151020e-02 1.79105921e-03 9.95271545e-01 -1.35059519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782401008 meters 0.059808674234306955 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.82, Z:-1.36 [[ 9.94392017e-01 4.31763451e-02 9.65418066e-02 1.20807097e+01] [-4.28097427e-02 9.99066019e-01 -5.86639996e-03 -8.22726353e-01] [-9.67049282e-02 1.70057138e-03 9.95311642e-01 -1.35549407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812401008 meters 0.05951393015916046 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.82, Z:-1.36 [[ 9.94358614e-01 4.45995046e-02 9.62384096e-02 1.21129589e+01] [-4.42402946e-02 9.99003708e-01 -5.86410813e-03 -8.22399661e-01] [-9.64040643e-02 1.57341084e-03 9.95341037e-01 -1.35941451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842401008000001 meters 0.059303679572300205 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.82, Z:-1.36 [[ 9.94296014e-01 4.85539753e-02 9.49628769e-02 1.21432885e+01] [-4.82201069e-02 9.98819844e-01 -5.80873172e-03 -8.20348864e-01] [-9.51328429e-02 1.19647872e-03 9.95463867e-01 -1.36493137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.872401008 meters 0.059018588780632535 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.82, Z:-1.37 [[ 9.94203087e-01 4.96380155e-02 9.53744639e-02 1.21751421e+01] [-4.93042764e-02 9.98766648e-01 -5.85408852e-03 -8.20791058e-01] [-9.55474190e-02 1.11778394e-03 9.95424252e-01 -1.36724871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902401008 meters 0.05884405845428162 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.82, Z:-1.37 [[ 9.94056260e-01 5.06254204e-02 9.63805913e-02 1.22074296e+01] [-5.02869891e-02 9.98717152e-01 -5.93874081e-03 -8.21666016e-01] [-9.65576010e-02 1.05675274e-03 9.95326837e-01 -1.36974619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932401008000001 meters 0.05896319265698792 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.82, Z:-1.37 [[ 9.93957053e-01 5.06998764e-02 9.73596392e-02 1.22385190e+01] [-5.03523432e-02 9.98713344e-01 -6.02484199e-03 -8.23424771e-01] [-9.75398296e-02 1.08614822e-03 9.95231029e-01 -1.37425066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962401008 meters 0.05847364650707417 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.82, Z:-1.38 [[ 9.93930663e-01 5.14799433e-02 9.72196058e-02 1.22711022e+01] [-5.11361967e-02 9.98673510e-01 -6.02575799e-03 -8.22796124e-01] [-9.74008507e-02 1.01774475e-03 9.95244713e-01 -1.37547152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.992401008 meters 0.05879198028044717 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.82, Z:-1.38 [[ 9.93954935e-01 5.00138149e-02 9.77353869e-02 1.23031728e+01] [-4.96565625e-02 9.98747810e-01 -6.08584858e-03 -8.24805424e-01] [-9.79173801e-02 1.19585588e-03 9.95193829e-01 -1.37898171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022401008000001 meters 0.05875553817179835 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.83, Z:-1.38 [[ 9.93930048e-01 5.00403383e-02 9.79746104e-02 1.23353013e+01] [-4.96789437e-02 9.98746450e-01 -6.12623322e-03 -8.27028000e-01] [-9.81583532e-02 1.22177212e-03 9.95170058e-01 -1.38239297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.052401008 meters 0.05903583948571124 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.83, Z:-1.39 [[ 9.94015696e-01 4.90670807e-02 9.75972168e-02 1.23656637e+01] [-4.87007839e-02 9.98794582e-01 -6.13327691e-03 -8.30203539e-01] [-9.77805133e-02 1.34351256e-03 9.95207097e-01 -1.38778753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082401008000001 meters 0.059300868052744725 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.83, Z:-1.39 [[ 9.94139270e-01 4.71282012e-02 9.72936008e-02 1.23956516e+01] [-4.67536290e-02 9.98887658e-01 -6.12743219e-03 -8.33097591e-01] [-9.74741518e-02 1.54269204e-03 9.95236861e-01 -1.39323612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.112401008 meters 0.05915724614913968 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.83, Z:-1.40 [[ 9.94192961e-01 4.63687674e-02 9.71096989e-02 1.24275702e+01] [-4.59911638e-02 9.98923072e-01 -6.12441607e-03 -8.33849742e-01] [-9.72891004e-02 1.62266327e-03 9.95254841e-01 -1.39529381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142401008 meters 0.059392998224066344 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.84, Z:-1.40 [[ 9.94191746e-01 4.66019861e-02 9.70104449e-02 1.24586620e+01] [-4.62239611e-02 9.98912221e-01 -6.14173894e-03 -8.36895632e-01] [-9.71911361e-02 1.62185913e-03 9.95264413e-01 -1.40123957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172401008000001 meters 0.059438548752142197 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.84, Z:-1.41 [[ 9.94165975e-01 4.76780264e-02 9.67513282e-02 1.24894816e+01] [-4.73045387e-02 9.98861571e-01 -6.15170298e-03 -8.38122436e-01] [-9.69344847e-02 1.53903684e-03 9.95289574e-01 -1.40623552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202401008 meters 0.05923345772732943 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.84, Z:-1.41 [[ 9.94130032e-01 4.80855396e-02 9.69188293e-02 1.25223594e+01] [-4.77107478e-02 9.98842062e-01 -6.18220704e-03 -8.38903378e-01] [-9.71038781e-02 1.52184786e-03 9.95273089e-01 -1.40970627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.232401008 meters 0.05888436867095436 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.84, Z:-1.41 [[ 9.94003265e-01 4.92570164e-02 9.76281532e-02 1.25544644e+01] [-4.88796698e-02 9.98785091e-01 -6.25457138e-03 -8.38318250e-01] [-9.78176254e-02 1.44503249e-03 9.95203308e-01 -1.41323289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262401008000001 meters 0.05910591128873199 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.84, Z:-1.42 [[ 9.93970808e-01 5.05528806e-02 9.72956249e-02 1.25856570e+01] [-5.01820647e-02 9.98720492e-01 -6.25609210e-03 -8.39811944e-01] [-9.74873979e-02 1.33587758e-03 9.95235863e-01 -1.42000299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.292401008 meters 0.05882657369762866 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.84, Z:-1.42 [[ 9.93951463e-01 5.23305828e-02 9.65505013e-02 1.26177647e+01] [-5.19714874e-02 9.98629123e-01 -6.23205472e-03 -8.39368911e-01] [-9.67442695e-02 1.17648674e-03 9.95308576e-01 -1.42464886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322401008 meters 0.05882657369762866 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.84, Z:-1.43 [[ 9.93937306e-01 5.26019195e-02 9.65487995e-02 1.26497760e+01] [-5.22415525e-02 9.98614868e-01 -6.25829569e-03 -8.41611452e-01] [-9.67442650e-02 1.17649438e-03 9.95308577e-01 -1.42857798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352401008000001 meters 0.05866663563990867 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.84, Z:-1.43 [[ 9.93788068e-01 5.54566665e-02 9.64874793e-02 1.26807546e+01] [-5.51074993e-02 9.98460666e-01 -6.28190224e-03 -8.43697844e-01] [-9.66873262e-02 9.25695796e-04 9.95314374e-01 -1.43255163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382401008 meters 0.058478787791167136 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.84, Z:-1.44 [[ 9.93632289e-01 5.77872486e-02 9.67238762e-02 1.27123970e+01] [-5.74453413e-02 9.98328660e-01 -6.31819667e-03 -8.44479373e-01] [-9.69273289e-02 7.21628137e-04 9.95291200e-01 -1.43615215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412401008000002 meters 0.05850973659853552 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.85, Z:-1.44 [[ 9.93716523e-01 5.67378820e-02 9.64794571e-02 1.27430433e+01] [-5.63905097e-02 9.98388751e-01 -6.32551136e-03 -8.49916539e-01] [-9.66829008e-02 8.45239384e-04 9.95314876e-01 -1.43935454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442401008000001 meters 0.058407684762903415 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.85, Z:-1.44 [[ 9.93555023e-01 5.52567175e-02 9.89702532e-02 1.27744477e+01] [-5.48815956e-02 9.98471642e-01 -6.51084978e-03 -8.54944214e-01] [-9.91787594e-02 1.03724209e-03 9.95069092e-01 -1.44073872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472401008 meters 0.05827280523413921 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.86, Z:-1.44 [[ 9.93447119e-01 5.52028226e-02 1.00077322e-01 1.28061919e+01] [-5.48165865e-02 9.98474580e-01 -6.60724255e-03 -8.56872772e-01] [-1.00289400e-01 1.07804891e-03 9.94957725e-01 -1.44277148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502401008000001 meters 0.05841831610347873 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.86, Z:-1.45 [[ 9.93243164e-01 5.54783641e-02 1.01932175e-01 1.28366837e+01] [-5.50764704e-02 9.98459289e-01 -6.75508268e-03 -8.58878251e-01] [-1.02149888e-01 1.09537526e-03 9.94768416e-01 -1.44682496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.532401008 meters 0.05825894873042658 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.86, Z:-1.45 [[ 9.93082630e-01 5.61678693e-02 1.03111881e-01 1.28689324e+01] [-5.57579060e-02 9.98420777e-01 -6.85623916e-03 -8.59680687e-01] [-1.03334144e-01 1.05950946e-03 9.94646134e-01 -1.44915159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562401008 meters 0.057981704138301435 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.86, Z:-1.45 [[ 9.92701219e-01 5.77110805e-02 1.05894857e-01 1.29008260e+01] [-5.72846580e-02 9.98332876e-01 -7.06662335e-03 -8.58623872e-01] [-1.06126139e-01 9.48894953e-04 9.94352222e-01 -1.44990689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592401008000001 meters 0.05807912160810124 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.86, Z:-1.45 [[ 9.92592937e-01 5.82755486e-02 1.06598417e-01 1.29311906e+01] [-5.78438922e-02 9.98300112e-01 -7.13939165e-03 -8.59954887e-01] [-1.06833264e-01 9.20442378e-04 9.94276524e-01 -1.45332378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622401008 meters 0.05790778815174197 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.86, Z:-1.45 [[ 9.92533773e-01 5.91420209e-02 1.06672074e-01 1.29644949e+01] [-5.87123488e-02 9.98249217e-01 -7.16670186e-03 -8.59697146e-01] [-1.06909168e-01 8.50225598e-04 9.94268428e-01 -1.45496278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.652401008 meters 0.058041933965374694 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.86, Z:-1.46 [[ 9.92569873e-01 5.99230053e-02 1.05897499e-01 1.29952509e+01] [-5.95007184e-02 9.98202688e-01 -7.14544277e-03 -8.62391062e-01] [-1.06135344e-01 7.91373979e-04 9.94351378e-01 -1.46071363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682401008000001 meters 0.05807919947676321 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.86, Z:-1.47 [[ 9.92815328e-01 5.99499853e-02 1.03555413e-01 1.30271080e+01] [-5.95437231e-02 9.98201064e-01 -7.01284623e-03 -8.63502473e-01] [-1.03789543e-01 7.96386418e-04 9.94598963e-01 -1.46500220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712401008 meters 0.05823374432674088 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.87, Z:-1.47 [[ 9.92964474e-01 5.90958397e-02 1.02612056e-01 1.30583789e+01] [-5.86898549e-02 9.98251906e-01 -6.97377822e-03 -8.66310992e-01] [-1.02844802e-01 9.02427328e-04 9.94697005e-01 -1.46938126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742401008 meters 0.058449937017534315 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.87, Z:-1.48 [[ 9.93203884e-01 5.73708087e-02 1.01265174e-01 1.30885417e+01] [-5.69637643e-02 9.98352340e-01 -6.90907988e-03 -8.70794553e-01] [-1.01494703e-01 1.09367946e-03 9.94835478e-01 -1.47537197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772401008000001 meters 0.0591705161205504 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.88, Z:-1.48 [[ 9.93690230e-01 5.15881962e-02 9.95910834e-02 1.31192481e+01] [-5.11645020e-02 9.98667051e-01 -6.80548918e-03 -8.77354846e-01] [-9.98094165e-02 1.66701993e-03 9.95005177e-01 -1.48093726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802401008 meters 0.06003228134127878 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.88, Z:-1.49 [[ 9.93962175e-01 4.81518751e-02 9.85930595e-02 1.31491385e+01] [-4.77172051e-02 9.98837987e-01 -6.76340737e-03 -8.82875366e-01] [-9.88041638e-02 2.01798587e-03 9.95104851e-01 -1.48733688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832401008000001 meters 0.060221331149777575 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.89, Z:-1.49 [[ 9.94225533e-01 4.48692760e-02 9.74799309e-02 1.31810602e+01] [-4.44284201e-02 9.98990173e-01 -6.68954174e-03 -8.86555276e-01] [-9.76816479e-02 2.32003388e-03 9.95215008e-01 -1.49000321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862401008 meters 0.061249707941908156 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.89, Z:-1.49 [[ 9.94651810e-01 3.87628586e-02 9.57351417e-02 1.32117839e+01] [-3.83087730e-02 9.99244303e-01 -6.57726383e-03 -8.94825156e-01] [-9.59177485e-02 2.87459157e-03 9.95385113e-01 -1.49287998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.892401008 meters 0.06320708194630566 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.90, Z:-1.50 [[ 9.94803140e-01 3.58840481e-02 9.52840398e-02 1.32415264e+01] [-3.54207652e-02 9.99351026e-01 -6.54959437e-03 -9.03439034e-01] [-9.54572288e-02 3.14052344e-03 9.95428578e-01 -1.49937167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922401008000001 meters 0.06299878119607087 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.91, Z:-1.50 [[ 9.94864479e-01 3.35945830e-02 9.54781290e-02 1.32730216e+01] [-3.31190232e-02 9.99429875e-01 -6.56160930e-03 -9.05024204e-01] [-9.56441291e-02 3.36576965e-03 9.95409902e-01 -1.50035112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.952401008 meters 0.06242510825665024 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.91, Z:-1.50 [[ 9.94832978e-01 3.22738023e-02 9.62587494e-02 1.33051068e+01] [-3.17822274e-02 9.99472787e-01 -6.63606458e-03 -9.05016988e-01] [-9.64221716e-02 3.54245843e-03 9.95334223e-01 -1.50233939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982401008 meters 0.06423012300071847 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.91, Z:-1.51 [[ 9.94812707e-01 3.13048674e-02 9.67867935e-02 1.33356363e+01] [-3.08006965e-02 9.99503096e-01 -6.69913325e-03 -9.11169492e-01] [-9.69484152e-02 3.68328223e-03 9.95282592e-01 -1.50771221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012401008000001 meters 0.06291222548485872 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.91, Z:-1.51 [[ 9.94687238e-01 3.06263476e-02 9.82818663e-02 1.33688243e+01] [-3.01021167e-02 9.99523611e-01 -6.81271389e-03 -9.06393127e-01] [-9.84436945e-02 3.81802735e-03 9.95135298e-01 -1.50830204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042401008 meters 0.06316404601480971 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.91, Z:-1.51 [[ 9.94611443e-01 3.14068900e-02 9.88012399e-02 1.34001810e+01] [-3.08781233e-02 9.99499500e-01 -6.87679714e-03 -9.07199463e-01] [-9.89677688e-02 3.78894426e-03 9.95083426e-01 -1.51222800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.072401008 meters 0.06308361978163071 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.91, Z:-1.51 [[ 9.94503922e-01 3.25595687e-02 9.95079093e-02 1.34325677e+01] [-3.20265357e-02 9.99462856e-01 -6.94984164e-03 -9.05351474e-01] [-9.96807431e-02 3.72475116e-03 9.95012500e-01 -1.51474136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102401008000001 meters 0.06242871377877932 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.90, Z:-1.52 [[ 9.94441209e-01 3.36346834e-02 9.97767017e-02 1.34643695e+01] [-3.31017706e-02 9.99427527e-01 -6.99225002e-03 -9.02821507e-01] [-9.99547644e-02 3.65059607e-03 9.94985285e-01 -1.51796473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.132401008 meters 0.061977097979343546 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.90, Z:-1.52 [[ 9.94419742e-01 3.50845131e-02 9.94909705e-02 1.34960793e+01] [-3.45595162e-02 9.99378155e-01 -6.99591905e-03 -9.00044195e-01] [-9.96745510e-02 3.51852021e-03 9.95013871e-01 -1.52201666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162401008000002 meters 0.06192331925454967 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.90, Z:-1.53 [[ 9.94375493e-01 3.74008703e-02 9.90886138e-02 1.35274452e+01] [-3.68892059e-02 9.99294904e-01 -6.99148710e-03 -8.97945570e-01] [-9.92802345e-02 3.29686316e-03 9.95054052e-01 -1.52753434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192401008000001 meters 0.06128564708921965 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.89, Z:-1.53 [[ 9.94415527e-01 4.36069180e-02 9.61051277e-02 1.35578952e+01] [-4.31521255e-02 9.99045327e-01 -6.80654609e-03 -8.88562283e-01] [-9.63101912e-02 2.62139458e-03 9.95347917e-01 -1.53467423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222401008 meters 0.06039250474966182 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.88, Z:-1.54 [[ 9.94233393e-01 4.68690869e-02 9.64533477e-02 1.35901661e+01] [-4.64251952e-02 9.98898334e-01 -6.84241109e-03 -8.83567853e-01] [-9.66677860e-02 2.32508810e-03 9.95313987e-01 -1.53652877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252401008000001 meters 0.060519764413824756 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.88, Z:-1.54 [[ 9.94064462e-01 4.96371700e-02 9.68090770e-02 1.36210877e+01] [-4.92029750e-02 9.98765182e-01 -6.86865548e-03 -8.82410875e-01] [-9.70304760e-02 2.06459171e-03 9.95279269e-01 -1.54124372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282401008 meters 0.06000696036007749 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.88, Z:-1.54 [[ 9.93892908e-01 5.17848255e-02 9.74434177e-02 1.36534556e+01] [-5.13531060e-02 9.98656480e-01 -6.93493434e-03 -8.79673283e-01] [-9.76716249e-02 1.88855990e-03 9.95216905e-01 -1.54358231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.312401008 meters 0.05972500565916396 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.88, Z:-1.55 [[ 9.93780215e-01 5.35200135e-02 9.76549652e-02 1.36860359e+01] [-5.30922510e-02 9.98565248e-01 -6.97554879e-03 -8.78378407e-01] [-9.78881860e-02 1.74744045e-03 9.95195885e-01 -1.54678116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342401008000001 meters 0.05947026925771032 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.87, Z:-1.55 [[ 9.93631323e-01 5.47478103e-02 9.84858920e-02 1.37184302e+01] [-5.43177183e-02 9.98498850e-01 -7.04506287e-03 -8.72364282e-01] [-9.87237516e-02 1.65066620e-03 9.95113509e-01 -1.55194227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.372401008 meters 0.05943481935314132 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.87, Z:-1.56 [[ 9.93605256e-01 5.61347143e-02 9.79667728e-02 1.37514204e+01] [-5.57136333e-02 9.98422035e-01 -7.03071781e-03 -8.71357907e-01] [-9.82068520e-02 1.52767332e-03 9.95164851e-01 -1.55791066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402401008 meters 0.05955793228116942 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.87, Z:-1.56 [[ 9.93506152e-01 5.88265832e-02 9.73907517e-02 1.37821337e+01] [-5.84206489e-02 9.98267394e-01 -7.01694711e-03 -8.70634297e-01] [-9.76347950e-02 1.28174920e-03 9.95221485e-01 -1.56279010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432401008000001 meters 0.05952284522171478 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.87, Z:-1.57 [[ 9.93451154e-01 5.95123625e-02 9.75350354e-02 1.38137087e+01] [-5.91064542e-02 9.98226802e-01 -7.04834022e-03 -8.71862213e-01] [-9.77815499e-02 1.23723162e-03 9.95207133e-01 -1.56554231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462401008 meters 0.0594689507960112 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.87, Z:-1.57 [[ 9.93415256e-01 6.05029326e-02 9.72909266e-02 1.38467017e+01] [-6.01016350e-02 9.98167347e-01 -7.05277084e-03 -8.73638400e-01] [-9.75393394e-02 1.15898639e-03 9.95230995e-01 -1.56968269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492401008000002 meters 0.05974286755170584 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.88, Z:-1.58 [[ 9.93472031e-01 6.05644199e-02 9.66709648e-02 1.38767284e+01] [-6.01659475e-02 9.98163602e-01 -7.03430993e-03 -8.76235128e-01] [-9.69194674e-02 1.17208998e-03 9.95291537e-01 -1.57534765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522401008000001 meters 0.05999224863257142 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.88, Z:-1.58 [[ 9.93608477e-01 5.87082476e-02 9.64133611e-02 1.39080827e+01] [-5.83010175e-02 9.98274241e-01 -7.03788453e-03 -8.81570185e-01] [-9.66601567e-02 1.37190468e-03 9.95316498e-01 -1.57997125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552401008 meters 0.05999224863257142 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.88, Z:-1.58 [[ 9.93593240e-01 5.89681004e-02 9.64118065e-02 1.39400985e+01] [-5.85600314e-02 9.98258930e-01 -7.05910869e-03 -8.84063631e-01] [-9.66602091e-02 1.36800426e-03 9.95316499e-01 -1.58389779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582401008000001 meters 0.060198938974146673 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.89, Z:-1.59 [[ 9.93599359e-01 5.76350398e-02 9.71520264e-02 1.39729284e+01] [-5.72117865e-02 9.98336539e-01 -7.13903528e-03 -8.89484511e-01] [-9.74018764e-02 1.53509988e-03 9.95243949e-01 -1.58740337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612401008 meters 0.060415375789865264 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.90, Z:-1.59 [[ 9.93713498e-01 5.70065592e-02 9.63521417e-02 1.40029242e+01] [-5.65847077e-02 9.98372505e-01 -7.10719525e-03 -8.95060204e-01] [-9.66004858e-02 1.61045809e-03 9.95321934e-01 -1.59114865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642401008 meters 0.060588666765611525 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.90, Z:-1.60 [[ 9.93787676e-01 5.60779003e-02 9.61318024e-02 1.40338386e+01] [-5.56520626e-02 9.98424927e-01 -7.10732010e-03 -9.00239777e-01] [-9.63789513e-02 1.71323404e-03 9.95343239e-01 -1.59536640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672401008000001 meters 0.06097401792128591 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.91, Z:-1.60 [[ 9.93919423e-01 5.53533901e-02 9.51849961e-02 1.40642576e+01] [-5.49307222e-02 9.98465229e-01 -7.05703213e-03 -9.06827758e-01] [-9.54295396e-02 1.78554072e-03 9.95434586e-01 -1.60016440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702401008 meters 0.060126214744352556 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.91, Z:-1.60 [[ 9.93884697e-01 5.54413563e-02 9.54958869e-02 1.40975499e+01] [-5.50145606e-02 9.98460320e-01 -7.09836271e-03 -9.08439301e-01] [-9.57423967e-02 1.80128981e-03 9.95404515e-01 -1.60021067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732401008 meters 0.060860900204900696 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.91, Z:-1.61 [[ 9.93731178e-01 5.61391893e-02 9.66785285e-02 1.41276534e+01] [-5.57022631e-02 9.98421358e-01 -7.21453039e-03 -9.14949565e-01] [-9.69309256e-02 1.78409095e-03 9.95289512e-01 -1.60758882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762401008000001 meters 0.060438706213527975 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.92, Z:-1.61 [[ 9.93580764e-01 5.75367347e-02 9.74001542e-02 1.41595015e+01] [-5.70977903e-02 9.98341973e-01 -7.29024656e-03 -9.17117838e-01] [-9.76581191e-02 1.68211516e-03 9.95218600e-01 -1.60981635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792401008 meters 0.06007577121779869 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.92, Z:-1.61 [[ 9.93529453e-01 5.84534391e-02 9.73777212e-02 1.41920135e+01] [-5.80166030e-02 9.98288826e-01 -7.31390332e-03 -9.19117983e-01] [-9.76386138e-02 1.61705378e-03 9.95220622e-01 -1.61207752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822401008 meters 0.05968789978426423 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.92, Z:-1.62 [[ 9.93552856e-01 5.98578016e-02 9.62796195e-02 1.42248649e+01] [-5.94370433e-02 9.98205838e-01 -7.23479108e-03 -9.22838717e-01] [-9.65399370e-02 1.46557144e-03 9.95328033e-01 -1.61589418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852401008000001 meters 0.05983534029721085 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.93, Z:-1.62 [[ 9.93642460e-01 5.90734456e-02 9.58383498e-02 1.42557573e+01] [-5.86502618e-02 9.98252417e-01 -7.22904142e-03 -9.26599124e-01] [-9.60979087e-02 1.56213820e-03 9.95370660e-01 -1.62127428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882401008 meters 0.06005524070616134 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.93, Z:-1.63 [[ 9.93714374e-01 5.77500613e-02 9.58992861e-02 1.42870389e+01] [-5.73181717e-02 9.98329604e-01 -7.25453522e-03 -9.31560582e-01] [-9.61580462e-02 1.71216418e-03 9.95364606e-01 -1.62596177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912401008000002 meters 0.06028470139918776 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.94, Z:-1.63 [[ 9.93818091e-01 5.54841951e-02 9.61618750e-02 1.43183693e+01] [-5.50371181e-02 9.98457642e-01 -7.29743389e-03 -9.36745063e-01] [-9.64184512e-02 1.95984935e-03 9.95338958e-01 -1.62981858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942401008000001 meters 0.06138100468310156 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.95, Z:-1.63 [[ 9.94130820e-01 4.88159553e-02 9.65448875e-02 1.43469366e+01] [-4.83311281e-02 9.98804286e-01 -7.35534923e-03 -9.48996508e-01] [-9.67885058e-02 2.64605604e-03 9.95301454e-01 -1.63359412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972401008 meters 0.061953826026557725 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.96, Z:-1.64 [[ 9.94240758e-01 4.52193409e-02 9.71623665e-02 1.43777351e+01] [-4.47116421e-02 9.98972546e-01 -7.39734144e-03 -9.55851739e-01] [-9.73970396e-02 3.01044941e-03 9.95241053e-01 -1.63663396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002401008000001 meters 0.0631990258998691 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.96, Z:-1.64 [[ 9.94486569e-01 4.08939466e-02 9.65616322e-02 1.44068632e+01] [-4.03698475e-02 9.99157581e-01 -7.37586548e-03 -9.62833223e-01] [-9.67819151e-02 3.43702078e-03 9.95299677e-01 -1.64147966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032401008 meters 0.06356868381724631 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.97, Z:-1.64 [[ 9.94772654e-01 3.33802909e-02 9.65045203e-02 1.44372720e+01] [-3.28207807e-02 9.99434007e-01 -7.37978619e-03 -9.69822960e-01] [-9.66962389e-02 4.17385580e-03 9.95305188e-01 -1.64388955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062401008 meters 0.06562556984781168 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.98, Z:-1.65 [[ 9.94889935e-01 2.94362814e-02 9.65791042e-02 1.44667565e+01] [-2.88571744e-02 9.99556244e-01 -7.38779323e-03 -9.78732177e-01] [-9.67537157e-02 4.56304107e-03 9.95297894e-01 -1.64883398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092401008000001 meters 0.06529298803650846 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.98, Z:-1.65 [[ 9.95098463e-01 2.59557835e-02 9.54219350e-02 1.44972710e+01] [-2.53744460e-02 9.99651357e-01 -7.30085748e-03 -9.81159886e-01] [-9.55781663e-02 4.84379332e-03 9.95410143e-01 -1.65131963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122401008 meters 0.06643997699760348 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.99, Z:-1.66 [[ 9.95256967e-01 2.26112445e-02 9.46165991e-02 1.45274859e+01] [-2.20245275e-02 9.99731209e-01 -7.24082588e-03 -9.86975118e-01] [-9.47548911e-02 5.12259651e-03 9.95487453e-01 -1.65619807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152401008 meters 0.06960163127258144 Centerline is valid? [True, True] Translation: X:14.56, Y:-1.00, Z:-1.66 [[ 9.95445637e-01 1.80183392e-02 9.36126189e-02 1.45559115e+01] [-1.74237628e-02 9.99822522e-01 -7.16498159e-03 -9.98441613e-01] [-9.37251057e-02 5.50126560e-03 9.95582915e-01 -1.66178803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182401008000001 meters 0.06795222056631525 Centerline is valid? [True, True] Translation: X:14.59, Y:-1.00, Z:-1.66 [[ 9.95468732e-01 1.81681998e-02 9.33376726e-02 1.45878690e+01] [-1.75779473e-02 9.99819986e-01 -7.14215687e-03 -9.96996872e-01] [-9.34506307e-02 5.46910914e-03 9.95608893e-01 -1.66381973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212401008 meters 0.06725974688764397 Centerline is valid? [True, True] Translation: X:14.62, Y:-1.00, Z:-1.67 [[ 9.95464777e-01 1.95212082e-02 9.31063896e-02 1.46199598e+01] [-1.89377858e-02 9.99795129e-01 -7.14569815e-03 -9.96391626e-01] [-9.32268074e-02 5.35006196e-03 9.95630523e-01 -1.66789857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242401008000002 meters 0.06614897657425921 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.99, Z:-1.67 [[ 9.95410471e-01 2.24773740e-02 9.30202279e-02 1.46505180e+01] [-2.19053060e-02 9.99734364e-01 -7.16652950e-03 -9.94348783e-01] [-9.31566032e-02 5.09600194e-03 9.95638427e-01 -1.67168942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272401008000001 meters 0.06466573419649412 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.99, Z:-1.68 [[ 9.95249092e-01 2.82257265e-02 9.31802244e-02 1.46812901e+01] [-2.76767659e-02 9.99591148e-01 -7.17867248e-03 -9.88961601e-01] [-9.33447507e-02 4.56564001e-03 9.95623379e-01 -1.67641016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302401008 meters 0.06343755079512851 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.99, Z:-1.68 [[ 9.95195337e-01 3.12607894e-02 9.27847195e-02 1.47132203e+01] [-3.07296842e-02 9.99502175e-01 -7.14760627e-03 -9.85649881e-01] [-9.29619688e-02 4.26201930e-03 9.95660538e-01 -1.67953315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332401008000001 meters 0.06345665246342352 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.99, Z:-1.68 [[ 9.95135799e-01 3.33679760e-02 9.26893762e-02 1.47434864e+01] [-3.28465396e-02 9.99434861e-01 -7.14592102e-03 -9.85113406e-01] [-9.28754387e-02 4.06663655e-03 9.95669431e-01 -1.68354122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362401008 meters 0.06288041585075801 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.98, Z:-1.69 [[ 9.95052570e-01 3.52429535e-02 9.28887304e-02 1.47753289e+01] [-3.47273395e-02 9.99371162e-01 -7.16193327e-03 -9.83303382e-01] [-9.30827261e-02 3.90072163e-03 9.95650737e-01 -1.68693951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.392401008 meters 0.06265332994556551 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.98, Z:-1.69 [[ 9.94937342e-01 3.69578134e-02 9.34548292e-02 1.48071979e+01] [-3.64430177e-02 9.99309725e-01 -7.20971933e-03 -9.80229159e-01] [-9.36567752e-02 3.76744299e-03 9.95597416e-01 -1.69030062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422401008000001 meters 0.061465671661119825 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.98, Z:-1.69 [[ 9.94935789e-01 3.71036653e-02 9.34135668e-02 1.48405073e+01] [-3.65898470e-02 9.99304373e-01 -7.20780477e-03 -9.76913397e-01] [-9.36160218e-02 3.75331481e-03 9.95601302e-01 -1.69114000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.452401008 meters 0.061504465509593036 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.98, Z:-1.69 [[ 9.94865998e-01 3.70298523e-02 9.41829878e-02 1.48735765e+01] [-3.65046704e-02 9.99306866e-01 -7.29357086e-03 -9.76701062e-01] [-9.43877863e-02 3.81800673e-03 9.95528186e-01 -1.69467053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482401008 meters 0.06359972049152872 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.98, Z:-1.70 [[ 9.94823858e-01 3.72204029e-02 9.45522772e-02 1.49032185e+01] [-3.66894020e-02 9.99299696e-01 -7.34879091e-03 -9.81731332e-01] [-9.47595869e-02 3.84168602e-03 9.95492774e-01 -1.70158333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512401008000001 meters 0.06180030492475945 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.97, Z:-1.70 [[ 9.94709880e-01 3.66954524e-02 9.59463276e-02 1.49372172e+01] [-3.61442799e-02 9.99318612e-01 -7.47684868e-03 -9.71467119e-01] [-9.61553172e-02 3.96938434e-03 9.95358427e-01 -1.70367604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542401008 meters 0.06184608303275268 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.97, Z:-1.71 [[ 9.94505815e-01 3.74369681e-02 9.77581544e-02 1.49684273e+01] [-3.68655566e-02 9.99290987e-01 -7.64554522e-03 -9.69861927e-01] [-9.79750686e-02 3.99963041e-03 9.95180832e-01 -1.70822137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572401008000002 meters 0.0611317690393052 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.97, Z:-1.71 [[ 9.94380856e-01 3.80473347e-02 9.87882231e-02 1.50006610e+01] [-3.74646985e-02 9.99267923e-01 -7.74689637e-03 -9.66621374e-01] [-9.90106513e-02 4.00229445e-03 9.95078325e-01 -1.71069697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602401008000001 meters 0.06088879294945427 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.97, Z:-1.71 [[ 9.94235812e-01 3.85011396e-02 1.00064041e-01 1.50326381e+01] [-3.79032001e-02 9.99250420e-01 -7.87056939e-03 -9.65138959e-01] [-1.00292061e-01 4.03245460e-03 9.94949869e-01 -1.71335861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.632401008 meters 0.06122929749516303 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.96, Z:-1.72 [[ 9.94267559e-01 3.83419862e-02 9.98093862e-02 1.50637225e+01] [-3.77439104e-02 9.99256420e-01 -7.87431209e-03 -9.63675706e-01] [-1.00037087e-01 4.06197653e-03 9.94975418e-01 -1.71571954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662401008000002 meters 0.06214137216178912 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.97, Z:-1.72 [[ 9.94237045e-01 3.75045160e-02 1.00429629e-01 1.50947977e+01] [-3.68924710e-02 9.99287656e-01 -7.94525010e-03 -9.65315766e-01] [-1.00656071e-01 4.19436481e-03 9.94912440e-01 -1.71988706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692401008000001 meters 0.061021742110257085 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.96, Z:-1.72 [[ 9.94296301e-01 3.69832984e-02 1.00035501e-01 1.51274539e+01] [-3.63713581e-02 9.99306842e-01 -7.93474543e-03 -9.60689677e-01] [-1.00259614e-01 4.25106099e-03 9.94952229e-01 -1.72248112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722401008 meters 0.06069034983908739 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.96, Z:-1.73 [[ 9.94277589e-01 3.67359365e-02 1.00312246e-01 1.51591498e+01] [-3.61169577e-02 9.99315706e-01 -7.98024961e-03 -9.57659421e-01] [-1.00536765e-01 4.31161020e-03 9.94924002e-01 -1.72637984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752401008000001 meters 0.06116085642084847 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.95, Z:-1.73 [[ 9.94216339e-01 3.81049389e-02 1.00408592e-01 1.51897411e+01] [-3.74892593e-02 9.99264910e-01 -8.01220435e-03 -9.52547230e-01] [-1.00640087e-01 4.20162072e-03 9.94914026e-01 -1.73287583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782401008 meters 0.06130576105293368 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.95, Z:-1.74 [[ 9.94279627e-01 3.96290857e-02 9.91844654e-02 1.52208482e+01] [-3.90337885e-02 9.99206376e-01 -7.93606517e-03 -9.51220660e-01] [-9.94202493e-02 4.01912247e-03 9.95037417e-01 -1.73806530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.812401008 meters 0.061149703767654516 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.95, Z:-1.74 [[ 9.94430678e-01 4.07051834e-02 9.72147873e-02 1.52531071e+01] [-4.01366354e-02 9.99163774e-01 -7.79761088e-03 -9.49471848e-01] [-9.74508969e-02 3.85230900e-03 9.95232878e-01 -1.74373119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842401008000001 meters 0.06089524856643395 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.95, Z:-1.75 [[ 9.94623779e-01 4.27017528e-02 9.43403355e-02 1.52862436e+01] [-4.21731215e-02 9.99081480e-01 -7.59103630e-03 -9.45257585e-01] [-9.45778326e-02 3.57159878e-03 9.95511063e-01 -1.74905946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872401008 meters 0.06042807788735941 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.94, Z:-1.75 [[ 9.94606834e-01 4.32272041e-02 9.42796647e-02 1.53189851e+01] [-4.26987768e-02 9.99058963e-01 -7.61596308e-03 -9.44139707e-01] [-9.45201608e-02 3.54926256e-03 9.95516621e-01 -1.75173045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902401008000002 meters 0.06082528850814984 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.95, Z:-1.76 [[ 9.94533340e-01 4.44745684e-02 9.44745955e-02 1.53500445e+01] [-4.39491212e-02 9.99004586e-01 -7.63624911e-03 -9.45194062e-01] [-9.47201730e-02 3.44242888e-03 9.95497985e-01 -1.75616760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932401008000001 meters 0.060173260351035616 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.94, Z:-1.76 [[ 9.94368166e-01 4.53883879e-02 9.57697459e-02 1.53820999e+01] [-4.48506065e-02 9.98963553e-01 -7.76163546e-03 -9.43187000e-01] [-9.60227738e-02 3.42259203e-03 9.95373253e-01 -1.75862106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962401008 meters 0.0590028713144553 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.94, Z:-1.76 [[ 9.94056025e-01 4.85984056e-02 9.74208061e-02 1.54139707e+01] [-4.80544569e-02 9.98813290e-01 -7.92347146e-03 -9.37524261e-01] [-9.76902639e-02 3.19487063e-03 9.95211739e-01 -1.76048427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992401008000002 meters 0.05901695388772642 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.94, Z:-1.76 [[ 9.93851614e-01 5.03412768e-02 9.86140233e-02 1.54453818e+01] [-4.97925169e-02 9.98727386e-01 -8.01953447e-03 -9.37046545e-01] [-9.88922394e-02 3.05998685e-03 9.95093444e-01 -1.76450831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022401008 meters 0.05861969995993517 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.94, Z:-1.77 [[ 9.93696613e-01 5.20592281e-02 9.92818097e-02 1.54779563e+01] [-5.15088163e-02 9.98639683e-01 -8.10092749e-03 -9.35842386e-01] [-9.95684830e-02 2.93597571e-03 9.95026380e-01 -1.76873231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052401008 meters 0.05860705524197466 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.94, Z:-1.77 [[ 9.93569059e-01 5.36363735e-02 9.97179197e-02 1.55092834e+01] [-5.30884721e-02 9.98556620e-01 -8.14189245e-03 -9.35698468e-01] [-1.00010690e-01 2.79566043e-03 9.94982435e-01 -1.77356737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082401008 meters 0.05835197169147689 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.94, Z:-1.78 [[ 9.93572276e-01 5.50523061e-02 9.89109457e-02 1.55410757e+01] [-5.45179719e-02 9.98479943e-01 -8.09898289e-03 -9.35070504e-01] [-9.92064631e-02 2.65450070e-03 9.95063330e-01 -1.77732336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112401008000003 meters 0.0583544973613837 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.93, Z:-1.78 [[ 9.93524806e-01 5.62140834e-02 9.87341671e-02 1.55719161e+01] [-5.56850355e-02 9.98415462e-01 -8.10809439e-03 -9.32804513e-01] [-9.90335082e-02 2.55757731e-03 9.95080812e-01 -1.78166414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142401008 meters 0.058147450357594596 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.93, Z:-1.78 [[ 9.93467421e-01 5.65775384e-02 9.91033032e-02 1.56038509e+01] [-5.60441993e-02 9.98394946e-01 -8.15958933e-03 -9.33281888e-01] [-9.94058865e-02 2.55212090e-03 9.95043696e-01 -1.78411521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172401008 meters 0.05826737652842903 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.94, Z:-1.79 [[ 9.93426728e-01 5.69086852e-02 9.93213845e-02 1.56356980e+01] [-5.63723122e-02 9.98376136e-01 -8.20076746e-03 -9.35449698e-01] [-9.96267950e-02 2.54788549e-03 9.95021613e-01 -1.78756200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202401008000002 meters 0.05828259320177138 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.94, Z:-1.79 [[ 9.93384319e-01 5.69847675e-02 9.97012064e-02 1.56678601e+01] [-5.64421479e-02 9.98371727e-01 -8.25703276e-03 -9.37052125e-01] [-1.00009391e-01 2.57505663e-03 9.94983161e-01 -1.79162351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232401008 meters 0.05820443419471673 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.94, Z:-1.80 [[ 9.93401208e-01 5.77707685e-02 9.90786429e-02 1.57008571e+01] [-5.72362045e-02 9.98326728e-01 -8.23171896e-03 -9.37429332e-01] [-9.93884102e-02 2.50651409e-03 9.95045557e-01 -1.79634675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262401008 meters 0.05822794900090974 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.93, Z:-1.81 [[ 9.93401625e-01 5.94379663e-02 9.80833258e-02 1.57329048e+01] [-5.89195944e-02 9.98229252e-01 -8.17565923e-03 -9.34395590e-01] [-9.83955896e-02 2.34268340e-03 9.95144623e-01 -1.80508662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292401008000002 meters 0.05828738091930923 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.93, Z:-1.81 [[ 9.93418436e-01 6.13249006e-02 9.67422725e-02 1.57649568e+01] [-6.08274931e-02 9.98115547e-01 -8.08523127e-03 -9.34996743e-01] [-9.70557922e-02 2.14742789e-03 9.95276626e-01 -1.81064165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322401008 meters 0.05845039232511161 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.94, Z:-1.82 [[ 9.93397530e-01 6.29779137e-02 9.58912392e-02 1.57955440e+01] [-6.24941834e-02 9.98012923e-01 -8.04249016e-03 -9.37300455e-01] [-9.62071952e-02 1.99674517e-03 9.95359326e-01 -1.81611488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352401008 meters 0.05773269152315466 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.94, Z:-1.82 [[ 9.93333807e-01 6.50394149e-02 9.51725932e-02 1.58282024e+01] [-6.45714446e-02 9.97881085e-01 -7.99182872e-03 -9.36859389e-01] [-9.54907144e-02 1.79312182e-03 9.95428706e-01 -1.81662608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382401008000002 meters 0.05754407535274295 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.94, Z:-1.82 [[ 9.93347281e-01 6.55809295e-02 9.46589706e-02 1.58611568e+01] [-6.51184359e-02 9.97845714e-01 -7.96995973e-03 -9.39400678e-01] [-9.49777255e-02 1.75289372e-03 9.95477855e-01 -1.81900499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.412401008 meters 0.05754407535274295 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.94, Z:-1.82 [[ 9.93329348e-01 6.58551650e-02 9.46567728e-02 1.58931679e+01] [-6.53914359e-02 9.97827653e-01 -7.99596638e-03 -9.42202616e-01] [-9.49777211e-02 1.75288578e-03 9.95477855e-01 -1.82293467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442401008 meters 0.05777330464597115 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.95, Z:-1.83 [[ 9.93391803e-01 6.64288567e-02 9.35945170e-02 1.59240672e+01] [-6.59755037e-02 9.97789706e-01 -7.93320791e-03 -9.46267563e-01] [-9.39146395e-02 1.70583830e-03 9.95578792e-01 -1.82748920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472401008000002 meters 0.057723800588149125 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.95, Z:-1.83 [[ 9.93435911e-01 6.62306962e-02 9.32662072e-02 1.59558028e+01] [-6.57777482e-02 9.97802822e-01 -7.92568281e-03 -9.49562049e-01] [-9.35862082e-02 1.73881683e-03 9.95609662e-01 -1.83149437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502401008 meters 0.058079887350062954 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.95, Z:-1.84 [[ 9.93419133e-01 6.60841652e-02 9.35484368e-02 1.59868024e+01] [-6.56257507e-02 9.97812465e-01 -7.97156462e-03 -9.53850505e-01] [-9.38705905e-02 1.77991842e-03 9.95582816e-01 -1.83662387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.532401008 meters 0.057809489967014675 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.96, Z:-1.84 [[ 9.93151723e-01 6.82008619e-02 9.48593532e-02 1.60169636e+01] [-6.77366656e-02 9.97670283e-01 -8.10871058e-03 -9.57493493e-01] [-9.51913788e-02 1.62772360e-03 9.95457660e-01 -1.84203058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562401008000002 meters 0.05754527055350107 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.96, Z:-1.85 [[ 9.92924292e-01 7.07716087e-02 9.53558102e-02 1.60491447e+01] [-7.03124049e-02 9.97491551e-01 -8.17136222e-03 -9.59118343e-01] [-9.56949155e-02 1.40884770e-03 9.95409714e-01 -1.84566475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592401008 meters 0.057205175167315714 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.96, Z:-1.85 [[ 9.92570604e-01 7.41287858e-02 9.64806673e-02 1.60811915e+01] [-7.36722761e-02 9.97248047e-01 -8.29027536e-03 -9.60371064e-01] [-9.68297050e-02 1.12073327e-03 9.95300333e-01 -1.84902789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622401008 meters 0.05704056195459404 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.96, Z:-1.85 [[ 9.92280771e-01 7.74439738e-02 9.68571212e-02 1.61113896e+01] [-7.69973935e-02 9.96996366e-01 -8.34556502e-03 -9.62406458e-01] [-9.72125115e-02 8.23397820e-04 9.95263307e-01 -1.85432704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652401008000002 meters 0.05713937000690708 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.97, Z:-1.86 [[ 9.92011072e-01 8.23721657e-02 9.55450653e-02 1.61436863e+01] [-8.19586254e-02 9.96601576e-01 -8.25125077e-03 -9.67082893e-01] [-9.59000360e-02 3.54589909e-04 9.95390907e-01 -1.85859508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682401008 meters 0.05716846050995524 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.97, Z:-1.86 [[ 9.91929111e-01 8.38366677e-02 9.51212472e-02 1.61759971e+01] [-8.34310940e-02 9.96479481e-01 -8.23988616e-03 -9.72582369e-01] [-9.54771757e-02 2.37313234e-04 9.95431591e-01 -1.86324648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712401008 meters 0.05714053798632752 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.98, Z:-1.87 [[ 9.91769573e-01 8.40988412e-02 9.65427297e-02 1.62066502e+01] [-8.36795887e-02 9.96457388e-01 -8.39049918e-03 -9.78278275e-01] [-9.69063475e-02 2.42785882e-04 9.95293475e-01 -1.86698895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742401008 meters 0.05711186121307617 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.98, Z:-1.87 [[ 9.91681215e-01 8.45615665e-02 9.70448827e-02 1.62384837e+01] [-8.41381177e-02 9.96418232e-01 -8.45480765e-03 -9.84047801e-01] [-9.74122423e-02 2.19300153e-04 9.95244094e-01 -1.87032679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772401008 meters 0.05693575876212112 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.99, Z:-1.87 [[ 9.91521935e-01 8.48693993e-02 9.83942934e-02 1.62694592e+01] [-8.44332964e-02 9.96392061e-01 -8.59531801e-03 -9.93097702e-01] [-9.87687722e-02 2.14691806e-04 9.95110388e-01 -1.87285882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802401008 meters 0.05694231293644817 Centerline is valid? [True, True] Translation: X:16.30, Y:-1.00, Z:-1.88 [[ 9.91644253e-01 8.47538471e-02 9.72546155e-02 1.63008119e+01] [-8.43251044e-02 9.96401889e-01 -8.51772690e-03 -9.98989318e-01] [-9.76265928e-02 2.45549325e-04 9.95223085e-01 -1.87655215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832401008 meters 0.057071048295109714 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.01, Z:-1.88 [[ 9.91774787e-01 8.37964078e-02 9.67519216e-02 1.63309402e+01] [-8.33653234e-02 9.96482831e-01 -8.49653181e-03 -1.00573361e+00] [-9.71236076e-02 3.60890789e-04 9.95272262e-01 -1.88219214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862401008000003 meters 0.05726878147617467 Centerline is valid? [True, True] Translation: X:16.36, Y:-1.01, Z:-1.89 [[ 9.91900325e-01 8.24502864e-02 9.66214008e-02 1.63616234e+01] [-8.20120455e-02 9.96595047e-01 -8.50507651e-03 -1.01402802e+00] [-9.69936555e-02 5.12069432e-04 9.95284868e-01 -1.88703914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892401008 meters 0.057495787648590084 Centerline is valid? [True, True] Translation: X:16.39, Y:-1.03, Z:-1.89 [[ 9.92313534e-01 7.84837081e-02 9.56773581e-02 1.63925510e+01] [-7.80333399e-02 9.96914977e-01 -8.44551674e-03 -1.02902400e+00] [-9.60450267e-02 9.14576771e-04 9.95376570e-01 -1.88964747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922401008 meters 0.05766439691211559 Centerline is valid? [True, True] Translation: X:16.42, Y:-1.04, Z:-1.89 [[ 9.92434148e-01 7.67333722e-02 9.58459753e-02 1.64241988e+01] [-7.62710894e-02 9.97051032e-01 -8.48292566e-03 -1.03745011e+00] [-9.62142521e-02 1.10846815e-03 9.95360030e-01 -1.89353426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952401008000002 meters 0.05779523148858229 Centerline is valid? [True, True] Translation: X:16.45, Y:-1.05, Z:-1.90 [[ 9.92450526e-01 7.52369510e-02 9.68573931e-02 1.64549451e+01] [-7.47555188e-02 9.97164850e-01 -8.59499738e-03 -1.04558638e+00] [-9.72294493e-02 1.28948501e-03 9.95261157e-01 -1.89715134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982401008 meters 0.0578460730541051 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.06, Z:-1.90 [[ 9.92388132e-01 7.32091629e-02 9.90263293e-02 1.64857731e+01] [-7.26932253e-02 9.97315408e-01 -8.81313225e-03 -1.05768000e+00] [-9.94056861e-02 1.54750458e-03 9.95045785e-01 -1.89889544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012401008 meters 0.05775529408564935 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.06, Z:-1.90 [[ 9.92348769e-01 7.36292130e-02 9.91093310e-02 1.65183571e+01] [-7.31122838e-02 9.97284514e-01 -8.84264919e-03 -1.06430341e+00] [-9.94912783e-02 1.52888250e-03 9.95037260e-01 -1.90258686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042401008000002 meters 0.057826225311771534 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.07, Z:-1.91 [[ 9.92218884e-01 7.50366284e-02 9.93538654e-02 1.65496303e+01] [-7.45212440e-02 9.97179766e-01 -8.89368558e-03 -1.07013494e+00] [-9.97410164e-02 1.42050914e-03 9.95012418e-01 -1.90747633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072401008 meters 0.057585760749913735 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.07, Z:-1.91 [[ 9.92087442e-01 7.73595651e-02 9.88837968e-02 1.65813756e+01] [-7.68595858e-02 9.97002547e-01 -8.86144757e-03 -1.07403344e+00] [-9.92729150e-02 1.19116319e-03 9.95059531e-01 -1.91088794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102401008 meters 0.05766074720317574 Centerline is valid? [True, True] Translation: X:16.61, Y:-1.08, Z:-1.92 [[ 9.91695573e-01 8.32566200e-02 9.80215569e-02 1.66110327e+01] [-8.27917464e-02 9.96527948e-01 -8.80765750e-03 -1.07864394e+00] [-9.84145168e-02 6.19139068e-04 9.95145316e-01 -1.91949304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132401008000002 meters 0.05765922411666106 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.08, Z:-1.92 [[ 9.91485070e-01 8.67166937e-02 9.71471603e-02 1.66434907e+01] [-8.62743850e-02 9.96232968e-01 -8.75233580e-03 -1.08087270e+00] [-9.75401775e-02 2.96498772e-04 9.95231544e-01 -1.92292588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162401008 meters 0.05803579928235513 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.08, Z:-1.93 [[ 9.91284533e-01 9.03385632e-02 9.58849265e-02 1.66736635e+01] [-8.99237544e-02 9.95911111e-01 -8.64736542e-03 -1.08360154e+00] [-9.62740543e-02 -5.03329967e-05 9.95354863e-01 -1.93070788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192401008 meters 0.05804908090058404 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.09, Z:-1.93 [[ 9.90987238e-01 9.35901828e-02 9.58392969e-02 1.67052371e+01] [-9.31885856e-02 9.95610748e-01 -8.66755946e-03 -1.08783391e+00] [-9.62298325e-02 -3.41687712e-04 9.95359082e-01 -1.93186684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222401008000002 meters 0.05816534761995222 Centerline is valid? [True, True] Translation: X:16.74, Y:-1.09, Z:-1.93 [[ 9.90709308e-01 9.65835894e-02 9.57427643e-02 1.67362506e+01] [-9.61963171e-02 9.95324679e-01 -8.66324800e-03 -1.09316322e+00] [-9.61318637e-02 -6.27340882e-04 9.95368410e-01 -1.93485727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252401008 meters 0.058551915240594374 Centerline is valid? [True, True] Translation: X:16.77, Y:-1.10, Z:-1.94 [[ 9.90414576e-01 9.90685441e-02 9.62517069e-02 1.67676061e+01] [-9.86866010e-02 9.95080248e-01 -8.73234818e-03 -1.09865457e+00] [-9.66432735e-02 -8.50108875e-04 9.95318720e-01 -1.93939231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282401008 meters 0.05898875501157446 Centerline is valid? [True, True] Translation: X:16.80, Y:-1.11, Z:-1.95 [[ 9.90223986e-01 1.02038693e-01 9.51029063e-02 1.67974669e+01] [-1.01677048e-01 9.94779822e-01 -8.65358672e-03 -1.10773238e+00] [-9.54894528e-02 -1.10079363e-03 9.95429833e-01 -1.94551826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312401008000002 meters 0.059365977068803075 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.11, Z:-1.95 [[ 9.90197169e-01 1.03257836e-01 9.40605442e-02 1.68285501e+01] [-1.02907704e-01 9.94653917e-01 -8.57845036e-03 -1.11352290e+00] [-9.44434810e-02 -1.18519741e-03 9.95529520e-01 -1.95234799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342401008 meters 0.059539479200069904 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.12, Z:-1.96 [[ 9.90228845e-01 1.04615475e-01 9.22086574e-02 1.68595989e+01] [-1.04282972e-01 9.94511938e-01 -8.43013421e-03 -1.12056827e+00] [-9.25845331e-02 -1.26803079e-03 9.95704020e-01 -1.95765031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372401008 meters 0.06031258730142166 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.13, Z:-1.97 [[ 9.90199726e-01 1.05794349e-01 9.11704907e-02 1.68897735e+01] [-1.05471995e-01 9.94387131e-01 -8.36013828e-03 -1.12607942e+00] [-9.15432181e-02 -1.33772693e-03 9.95800206e-01 -1.96691060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402401008000002 meters 0.060745878512283795 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.14, Z:-1.97 [[ 9.90284742e-01 1.06577338e-01 8.93162988e-02 1.69198149e+01] [-1.06270413e-01 9.94303468e-01 -8.19836656e-03 -1.14096718e+00] [-8.96812657e-02 -1.37296267e-03 9.95969571e-01 -1.97185649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.432401008 meters 0.060237872376110085 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.15, Z:-1.97 [[ 9.90289407e-01 1.05867227e-01 9.01056089e-02 1.69507712e+01] [-1.05550188e-01 9.94379423e-01 -8.28981207e-03 -1.15282547e+00] [-9.04767828e-02 -1.30135091e-03 9.95897715e-01 -1.97311590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462401008 meters 0.0593604562432352 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.17, Z:-1.97 [[ 9.90605948e-01 1.01794927e-01 9.13107233e-02 1.69817889e+01] [-1.01449585e-01 9.94804984e-01 -8.42768810e-03 -1.16729312e+00] [-9.16942585e-02 -9.14917018e-04 9.95786787e-01 -1.97222032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492401008 meters 0.057820483129293304 Centerline is valid? [True, True] Translation: X:17.01, Y:-1.19, Z:-1.97 [[ 9.91000759e-01 9.36119219e-02 9.56781212e-02 1.70126823e+01] [-9.31938969e-02 9.95608750e-01 -8.83823763e-03 -1.18635070e+00] [-9.60853390e-02 -1.57916756e-04 9.95373087e-01 -1.96760069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522401008000003 meters 0.05770331004853125 Centerline is valid? [True, True] Translation: X:17.04, Y:-1.19, Z:-1.97 [[ 9.90861577e-01 9.39109527e-02 9.68197723e-02 1.70432428e+01] [-9.34841615e-02 9.95580583e-01 -8.94504592e-03 -1.18805677e+00] [-9.72319232e-02 -1.87812933e-04 9.95261733e-01 -1.97134429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552401008 meters 0.05778407243919536 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.19, Z:-1.98 [[ 9.90812243e-01 9.39359422e-02 9.72992167e-02 1.70742485e+01] [-9.35029443e-02 9.95578229e-01 -9.01052452e-03 -1.18822682e+00] [-9.77153939e-02 -1.70025220e-04 9.95214385e-01 -1.97747270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582401008 meters 0.05752206143442909 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.19, Z:-1.98 [[ 9.90694895e-01 9.39459594e-02 9.84773113e-02 1.71065440e+01] [-9.35003920e-02 9.95577287e-01 -9.14019953e-03 -1.18897285e+00] [-9.89004592e-02 -1.52518187e-04 9.95097320e-01 -1.97978756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612401008000003 meters 0.05770868792157474 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.19, Z:-1.99 [[ 9.90599598e-01 9.42732129e-02 9.91211224e-02 1.71366457e+01] [-9.38209174e-02 9.95546350e-01 -9.22497519e-03 -1.18933859e+00] [-9.95493397e-02 -1.61377920e-04 9.95032614e-01 -1.98842972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642401008 meters 0.05772423706017528 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.19, Z:-1.99 [[ 9.90724873e-01 9.33522094e-02 9.87400190e-02 1.71692788e+01] [-9.28967115e-02 9.95633147e-01 -9.21076781e-03 -1.19356036e+00] [-9.91686814e-02 -4.72862848e-05 9.95070636e-01 -1.99172786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.672401008 meters 0.05767344924684419 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.20, Z:-2.00 [[ 9.90917197e-01 9.25373707e-02 9.75701956e-02 1.72009179e+01] [-9.20860229e-02 9.95709210e-01 -9.12869525e-03 -1.19897760e+00] [-9.79962879e-02 6.09298459e-05 9.95186778e-01 -1.99581053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702401008000002 meters 0.05773634494654072 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.20, Z:-2.00 [[ 9.91167501e-01 9.14187979e-02 9.60707517e-02 1.72309808e+01] [-9.09737959e-02 9.95812516e-01 -9.01120549e-03 -1.20455790e+00] [-9.64922505e-02 1.91693064e-04 9.95333717e-01 -2.00025451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.732401008 meters 0.05784404310147422 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.21, Z:-2.00 [[ 9.91498737e-01 9.00612841e-02 9.39107008e-02 1.72621605e+01] [-8.96281905e-02 9.95936169e-01 -8.82809436e-03 -1.21018926e+00] [-9.43241331e-02 3.35998230e-04 9.95541483e-01 -2.00437901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762401008 meters 0.057905554551193644 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.22, Z:-2.01 [[ 9.91820268e-01 8.74440183e-02 9.29844074e-02 1.72934953e+01] [-8.70059167e-02 9.96169254e-01 -8.76287616e-03 -1.21740050e+00] [-9.33944688e-02 6.01004579e-04 9.95629003e-01 -2.00739372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792401008000002 meters 0.0580586112324416 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.22, Z:-2.01 [[ 9.91881317e-01 8.67908668e-02 9.29451364e-02 1.73246591e+01] [-8.63479424e-02 9.96226316e-01 -8.78404915e-03 -1.22281016e+00] [-9.33567661e-02 6.87112958e-04 9.95632483e-01 -2.01191030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822401008 meters 0.05837541614696403 Centerline is valid? [True, True] Translation: X:17.36, Y:-1.23, Z:-2.02 [[ 9.92004853e-01 8.57695393e-02 9.25740630e-02 1.73551931e+01] [-8.53243408e-02 9.96314686e-01 -8.76370153e-03 -1.22724784e+00] [-9.29845572e-02 7.94813551e-04 9.95667234e-01 -2.01738151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852401008 meters 0.0581543032654145 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.23, Z:-2.02 [[ 9.92123434e-01 8.49312010e-02 9.20748761e-02 1.73873866e+01] [-8.44853786e-02 9.96386422e-01 -8.73605951e-03 -1.23024201e+00] [-9.24841204e-02 8.88268596e-04 9.95713763e-01 -2.01816024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882401008000002 meters 0.05904327037595551 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.24, Z:-2.03 [[ 9.92602649e-01 8.05611446e-02 9.08288630e-02 1.74171596e+01] [-8.01070413e-02 9.96748821e-01 -8.64003480e-03 -1.23788843e+00] [-9.12296131e-02 1.30008996e-03 9.95829035e-01 -2.02634198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912401008 meters 0.05897985970869409 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.24, Z:-2.03 [[ 9.92910943e-01 7.79221557e-02 8.97552070e-02 1.74486711e+01] [-7.74659211e-02 9.96958246e-01 -8.56078377e-03 -1.24146684e+00] [-9.01492685e-02 1.54712610e-03 9.95927063e-01 -2.02675632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942401008 meters 0.059554165458723614 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.25, Z:-2.03 [[ 9.93089517e-01 7.49908250e-02 9.02750697e-02 1.74787297e+01] [-7.45162558e-02 9.97182537e-01 -8.62063771e-03 -1.24809553e+00] [-9.06671917e-02 1.83410475e-03 9.95879559e-01 -2.03069458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972401008000002 meters 0.059955906149230034 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.25, Z:-2.03 [[ 9.93355486e-01 7.12207509e-02 9.04017816e-02 1.75103763e+01] [-7.07280627e-02 9.97458164e-01 -8.64596060e-03 -1.25387398e+00] [-9.07877669e-02 2.19456953e-03 9.95867845e-01 -2.03242509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002401008 meters 0.06018280045301887 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.26, Z:-2.03 [[ 9.93511301e-01 6.84014668e-02 9.08654716e-02 1.75420022e+01] [-6.78918206e-02 9.97654829e-01 -8.69155990e-03 -1.25857249e+00] [-9.12468920e-02 2.46614069e-03 9.95825247e-01 -2.03425019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032401008 meters 0.06046912360915181 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.26, Z:-2.04 [[ 9.93569943e-01 6.66337876e-02 9.15352747e-02 1.75734880e+01] [-6.61070279e-02 9.97773926e-01 -8.77803519e-03 -1.26264644e+00] [-9.19164242e-02 2.67046696e-03 9.95763144e-01 -2.03765534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062401008000002 meters 0.06016383295337908 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.26, Z:-2.04 [[ 9.93619969e-01 6.35087703e-02 9.31986805e-02 1.76060310e+01] [-6.29468188e-02 9.97976662e-01 -8.95993897e-03 -1.26379381e+00] [-9.35791427e-02 3.03621383e-03 9.95607214e-01 -2.03761512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092401008 meters 0.061069731098679504 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.27, Z:-2.04 [[ 9.93552928e-01 6.31721055e-02 9.41374721e-02 1.76369397e+01] [-6.25951072e-02 9.97997766e-01 -9.07256190e-03 -1.26909448e+00] [-9.45221197e-02 3.12152528e-03 9.95517868e-01 -2.04364902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122401008 meters 0.06060580071355822 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.27, Z:-2.05 [[ 9.93617986e-01 6.23361069e-02 9.40080217e-02 1.76689593e+01] [-6.17544714e-02 9.98050010e-01 -9.08644391e-03 -1.26708633e+00] [-9.43911205e-02 3.22303841e-03 9.95529974e-01 -2.04620932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.152401008000002 meters 0.06065287760788097 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.27, Z:-2.05 [[ 9.93634326e-01 6.19438154e-02 9.40945811e-02 1.77003961e+01] [-6.13572109e-02 9.98074229e-01 -9.11736824e-03 -1.26873457e+00] [-9.44781410e-02 3.28594899e-03 9.95521513e-01 -2.05017065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182401008 meters 0.06071413369162497 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.27, Z:-2.05 [[ 9.93599344e-01 6.14998009e-02 9.47529298e-02 1.77330864e+01] [-6.09008432e-02 9.98101395e-01 -9.20287319e-03 -1.27098914e+00] [-9.51390063e-02 3.37343544e-03 9.95458281e-01 -2.05421919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.212401008 meters 0.0608547235468426 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.27, Z:-2.06 [[ 9.93530926e-01 6.17590151e-02 9.53001753e-02 1.77650509e+01] [-6.11517132e-02 9.98085316e-01 -9.28275195e-03 -1.27377689e+00] [-9.56909992e-02 3.39493215e-03 9.95405298e-01 -2.05659868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242401008 meters 0.06079929386292272 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.28, Z:-2.06 [[ 9.93353932e-01 6.17414458e-02 9.71388725e-02 1.77964652e+01] [-6.11078069e-02 9.98086081e-01 -9.48742137e-03 -1.27639293e+00] [-9.75387236e-02 3.48842386e-03 9.95225617e-01 -2.05522932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272401008000003 meters 0.06067021027126116 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.28, Z:-2.06 [[ 9.93265329e-01 6.23318775e-02 9.76663845e-02 1.78283354e+01] [-6.16930826e-02 9.98049480e-01 -9.54983592e-03 -1.27800125e+00] [-9.80711434e-02 3.46018060e-03 9.95173391e-01 -2.05772407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302401008 meters 0.06081805855915995 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.28, Z:-2.06 [[ 9.93108057e-01 6.20375310e-02 9.94370790e-02 1.78599538e+01] [-6.13714455e-02 9.98067409e-01 -9.74647348e-03 -1.27914120e+00] [-9.98495549e-02 3.57670406e-03 9.94996117e-01 -2.06117062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.332401008 meters 0.06089303917459132 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.28, Z:-2.06 [[ 9.93078575e-01 6.18574878e-02 9.98428526e-02 1.78915901e+01] [-6.11827485e-02 9.98078382e-01 -9.80886063e-03 -1.28003473e+00] [-1.00257744e-01 3.63230919e-03 9.94954869e-01 -2.06475414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362401008000003 meters 0.06089303917459132 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.28, Z:-2.07 [[ 9.93063012e-01 6.21106016e-02 9.98405109e-02 1.79235430e+01] [-6.14347499e-02 9.98062669e-01 -9.83263295e-03 -1.28330925e+00] [-1.00257798e-01 3.63074728e-03 9.94954869e-01 -2.06868406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.392401008 meters 0.061129646615212814 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.28, Z:-2.07 [[ 9.93046374e-01 6.22035839e-02 9.99480560e-02 1.79559880e+01] [-6.15241488e-02 9.98056804e-01 -9.86889921e-03 -1.28464632e+00] [-1.00367718e-01 3.65105550e-03 9.94943712e-01 -2.07292293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422401008 meters 0.06167525453235232 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.28, Z:-2.08 [[ 9.93124782e-01 6.20030049e-02 9.92914642e-02 1.79870595e+01] [-6.13288832e-02 9.98069204e-01 -9.83021099e-03 -1.28421233e+00] [-9.97092552e-02 3.67319154e-03 9.95009835e-01 -2.07933173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452401008000002 meters 0.061624105298947865 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.29, Z:-2.08 [[ 9.93255301e-01 6.21996927e-02 9.78524632e-02 1.80183557e+01] [-6.15438553e-02 9.98057153e-01 -9.70938966e-03 -1.28513474e+00] [-9.82662719e-02 3.62168492e-03 9.95153568e-01 -2.08471485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482401008 meters 0.06214160283850664 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.29, Z:-2.09 [[ 9.93355859e-01 6.21228675e-02 9.68756219e-02 1.80492599e+01] [-6.14788191e-02 9.98062009e-01 -9.62191191e-03 -1.28784638e+00] [-9.72856186e-02 3.60218373e-03 9.95249985e-01 -2.09031754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.512401008 meters 0.0620840353547174 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.29, Z:-2.10 [[ 9.93445196e-01 6.37269254e-02 9.48974245e-02 1.80818744e+01] [-6.31145978e-02 9.97961610e-01 -9.44315445e-03 -1.28882994e+00] [-9.53057697e-02 3.39184364e-03 9.95442266e-01 -2.09586627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542401008000002 meters 0.061691988998725786 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.29, Z:-2.10 [[ 9.93336135e-01 6.52154456e-02 9.50277261e-02 1.81135868e+01] [-6.46058875e-02 9.97865823e-01 -9.48040858e-03 -1.28836166e+00] [-9.54431892e-02 3.27788183e-03 9.95429482e-01 -2.10050420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.572401008 meters 0.06132462472636948 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.29, Z:-2.11 [[ 9.93136906e-01 6.83359894e-02 9.49172145e-02 1.81438608e+01] [-6.77396045e-02 9.97657853e-01 -9.49496065e-03 -1.28574767e+00] [-9.53437519e-02 3.00014128e-03 9.95439887e-01 -2.10589361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602401008 meters 0.05943863732170139 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.28, Z:-2.11 [[ 9.93034447e-01 6.95326511e-02 9.51199100e-02 1.81769729e+01] [-6.89395574e-02 9.97575497e-01 -9.51129642e-03 -1.28169368e+00] [-9.55506372e-02 2.88752048e-03 9.95420383e-01 -2.10574160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632401008000002 meters 0.0593199162387283 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.28, Z:-2.11 [[ 9.92926889e-01 7.07076951e-02 9.53761719e-02 1.82085089e+01] [-7.01146577e-02 9.97493137e-01 -9.55911292e-03 -1.28301807e+00] [-9.58129798e-02 2.80423261e-03 9.95395403e-01 -2.10990960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662401008 meters 0.05862313632083388 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.28, Z:-2.11 [[ 9.92582232e-01 7.40534602e-02 9.64188652e-02 1.82400244e+01] [-7.34604018e-02 9.97251048e-01 -9.69106291e-03 -1.28286670e+00] [-9.68714711e-02 2.53620827e-03 9.95293668e-01 -2.11100044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.692401008 meters 0.05901114892949393 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.29, Z:-2.12 [[ 9.92327962e-01 7.61291480e-02 9.74144130e-02 1.82712079e+01] [-7.55335906e-02 9.97095175e-01 -9.79230856e-03 -1.28603436e+00] [-9.78769212e-02 2.35912121e-03 9.95195731e-01 -2.11558572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722401008000002 meters 0.057841193611852935 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.28, Z:-2.12 [[ 9.91987066e-01 7.88962864e-02 9.86764287e-02 1.83036851e+01] [-7.82973638e-02 9.96880559e-01 -9.93349582e-03 -1.28252874e+00] [-9.91523293e-02 2.12779513e-03 9.95069992e-01 -2.11652717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752401008 meters 0.05703237347267092 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.28, Z:-2.12 [[ 9.91215433e-01 8.74211694e-02 9.92446724e-02 1.83358391e+01] [-8.68573398e-02 9.96170608e-01 -9.99614134e-03 -1.27513544e+00] [-9.97385000e-02 1.28820133e-03 9.95012850e-01 -2.12074322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782401008 meters 0.05659536068554133 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.27, Z:-2.12 [[ 9.90641997e-01 9.36107069e-02 9.93250724e-02 1.83678534e+01] [-9.30770590e-02 9.95608655e-01 -1.00033804e-02 -1.27211849e+00] [-9.98253252e-02 6.64883136e-04 9.95004755e-01 -2.12416149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812401008000002 meters 0.056624658608809345 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.27, Z:-2.13 [[ 9.90013997e-01 9.89955356e-02 1.00360198e-01 1.83993225e+01] [-9.84758166e-02 9.95087867e-01 -1.01317008e-02 -1.26948305e+00] [-1.00870208e-01 1.47473190e-04 9.94899583e-01 -2.12875361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842401008 meters 0.05657988591304759 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.27, Z:-2.13 [[ 9.89484582e-01 1.03379267e-01 1.01158237e-01 1.84321035e+01] [-1.02871858e-01 9.94641970e-01 -1.02338731e-02 -1.26721815e+00] [-1.01674199e-01 -2.80076110e-04 9.94817711e-01 -2.13135093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872401008 meters 0.057119971941578744 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.26, Z:-2.13 [[ 9.88412223e-01 1.10831102e-01 1.03719542e-01 1.84652866e+01] [-1.10335952e-01 9.93838703e-01 -1.05171627e-02 -1.26171195e+00] [-1.04246124e-01 -1.04870223e-03 9.94550977e-01 -2.13394826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902401008000002 meters 0.057119971941578744 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.27, Z:-2.14 [[ 9.88383320e-01 1.11091136e-01 1.03716792e-01 1.84972201e+01] [-1.10594576e-01 9.93809670e-01 -1.05442023e-02 -1.26509472e+00] [-1.04246119e-01 -1.04880108e-03 9.94550977e-01 -2.13787656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932401008 meters 0.057565074118554965 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.26, Z:-2.14 [[ 9.87726015e-01 1.15753196e-01 1.04873812e-01 1.85295601e+01] [-1.15268632e-01 9.93276829e-01 -1.06903764e-02 -1.26426556e+00] [-1.05406173e-01 -1.52949800e-03 9.94428077e-01 -2.14045054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962401008 meters 0.057883455381913494 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.27, Z:-2.15 [[ 9.87569557e-01 1.16752280e-01 1.05239137e-01 1.85612577e+01] [-1.16267250e-01 9.93159752e-01 -1.07533149e-02 -1.26513052e+00] [-1.05774749e-01 -1.61621860e-03 9.94388802e-01 -2.14519966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992401008 meters 0.0578275764991329 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.27, Z:-2.15 [[ 9.87526955e-01 1.16863598e-01 1.05514988e-01 1.85933238e+01] [-1.16374916e-01 9.93146659e-01 -1.07977637e-02 -1.26843350e+00] [-1.06053724e-01 -1.61621517e-03 9.94359088e-01 -2.14915695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022401008000003 meters 0.058057154021393206 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.27, Z:-2.15 [[ 9.87443339e-01 1.17480446e-01 1.05612490e-01 1.86255689e+01] [-1.16991398e-01 9.93073815e-01 -1.08356313e-02 -1.27133906e+00] [-1.06153973e-01 -1.65618084e-03 9.94348325e-01 -2.15434622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052401008 meters 0.05768296220191601 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.28, Z:-2.16 [[ 9.87654656e-01 1.15788630e-01 1.05504853e-01 1.86563040e+01] [-1.15287963e-01 9.93272825e-01 -1.08526424e-02 -1.27859521e+00] [-1.06051716e-01 -1.44477676e-03 9.94359566e-01 -2.15905932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082401008 meters 0.05761147464168776 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.28, Z:-2.16 [[ 9.87831386e-01 1.14042884e-01 1.05751466e-01 1.86870022e+01] [-1.13527145e-01 9.93475061e-01 -1.09037196e-02 -1.28388674e+00] [-1.06304936e-01 -1.23462562e-03 9.94332810e-01 -2.16362360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112401008000003 meters 0.05740278636772733 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.29, Z:-2.17 [[ 9.88019566e-01 1.12382379e-01 1.05771157e-01 1.87183574e+01] [-1.11854472e-01 9.93664498e-01 -1.09290107e-02 -1.29071522e+00] [-1.06329272e-01 -1.03290044e-03 9.94330438e-01 -2.16732604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142401008 meters 0.05720748883637679 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.30, Z:-2.17 [[ 9.88055555e-01 1.10804392e-01 1.07091584e-01 1.87499956e+01] [-1.10251244e-01 9.93841872e-01 -1.10904162e-02 -1.29805169e+00] [-1.07660967e-01 -8.49033068e-04 9.94187304e-01 -2.16987814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172401008 meters 0.05690274318915129 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.31, Z:-2.17 [[ 9.88145170e-01 1.08334576e-01 1.08778407e-01 1.87814751e+01] [-1.07746076e-01 9.94114331e-01 -1.12907430e-02 -1.30627626e+00] [-1.09361351e-01 -5.63553327e-04 9.94001900e-01 -2.17267526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202401008000002 meters 0.05688217835315735 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.31, Z:-2.18 [[ 9.88152410e-01 1.08033654e-01 1.09011666e-01 1.88138583e+01] [-1.07438001e-01 9.94147109e-01 -1.13402990e-02 -1.31118514e+00] [-1.09598767e-01 -5.06051744e-04 9.93975782e-01 -2.17682406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232401008 meters 0.05681695343378666 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.32, Z:-2.18 [[ 9.88091763e-01 1.08015038e-01 1.09578371e-01 1.88465054e+01] [-1.07409724e-01 9.94149146e-01 -1.14292117e-02 -1.31625500e+00] [-1.10171771e-01 -4.76672682e-04 9.93912448e-01 -2.18071969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262401008 meters 0.05686477818587159 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.32, Z:-2.19 [[ 9.87953120e-01 1.08936546e-01 1.09915702e-01 1.88783839e+01] [-1.08329859e-01 9.94048553e-01 -1.14942048e-02 -1.32040269e+00] [-1.10513684e-01 -5.51417079e-04 9.93874450e-01 -2.18505407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292401008000002 meters 0.05724292376875093 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.32, Z:-2.19 [[ 9.87452724e-01 1.12284698e-01 1.11037221e-01 1.89100155e+01] [-1.11683165e-01 9.93675665e-01 -1.16422832e-02 -1.32087927e+00] [-1.11642234e-01 -9.04783946e-04 9.93748053e-01 -2.19143061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322401008 meters 0.05733110652074964 Centerline is valid? [True, True] Translation: X:18.94, Y:-1.32, Z:-2.19 [[ 9.87327012e-01 1.13792542e-01 1.10619296e-01 1.89417163e+01] [-1.13201663e-01 9.93503987e-01 -1.16280319e-02 -1.32458932e+00] [-1.11223895e-01 -1.04161837e-03 9.93794828e-01 -2.19477692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352401008 meters 0.057521412479689164 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.33, Z:-2.20 [[ 9.87210980e-01 1.15077605e-01 1.10325096e-01 1.89728098e+01] [-1.14496963e-01 9.93355809e-01 -1.16052315e-02 -1.32833585e+00] [-1.10927577e-01 -1.17507644e-03 9.93827798e-01 -2.19839196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382401008000002 meters 0.05772967171983217 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.33, Z:-2.20 [[ 9.87014590e-01 1.15972821e-01 1.11141820e-01 1.90041654e+01] [-1.15386414e-01 9.93251587e-01 -1.17157883e-02 -1.33160389e+00] [-1.11750502e-01 -1.26060205e-03 9.93735496e-01 -2.20194811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412401008 meters 0.05773415126621873 Centerline is valid? [True, True] Translation: X:19.04, Y:-1.34, Z:-2.21 [[ 9.86898663e-01 1.16583523e-01 1.11531664e-01 1.90367032e+01] [-1.15993408e-01 9.93180035e-01 -1.17875733e-02 -1.33652079e+00] [-1.12145259e-01 -1.30379755e-03 9.93690969e-01 -2.20521198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442401008 meters 0.057926695881550666 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.34, Z:-2.21 [[ 9.86795426e-01 1.17009693e-01 1.11997850e-01 1.90682884e+01] [-1.16413811e-01 9.93129887e-01 -1.18681490e-02 -1.34088706e+00] [-1.12617100e-01 -1.32666131e-03 9.93637574e-01 -2.20929183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472401008000002 meters 0.05766801701185925 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.35, Z:-2.21 [[ 9.86785714e-01 1.16371008e-01 1.12746363e-01 1.90992676e+01] [-1.15759616e-01 9.93205048e-01 -1.19767742e-02 -1.34659905e+00] [-1.13374006e-01 -1.23296595e-03 9.93551616e-01 -2.21247094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502401008 meters 0.0575078663634987 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.35, Z:-2.22 [[ 9.86898249e-01 1.15633136e-01 1.12520326e-01 1.91299695e+01] [-1.15016349e-01 9.93291360e-01 -1.19797131e-02 -1.35239472e+00] [-1.13150720e-01 -1.11891923e-03 9.93577205e-01 -2.21575777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532401008 meters 0.05737342171015618 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.36, Z:-2.22 [[ 9.86932412e-01 1.14745477e-01 1.13127761e-01 1.91610846e+01] [-1.14113332e-01 9.93394423e-01 -1.20692745e-02 -1.35852160e+00] [-1.13765382e-01 -9.97827637e-04 9.93507143e-01 -2.21845400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562401008000002 meters 0.05694105683587741 Centerline is valid? [True, True] Translation: X:19.19, Y:-1.37, Z:-2.22 [[ 9.87199047e-01 1.11817258e-01 1.13731891e-01 1.91916319e+01] [-1.11155810e-01 9.93728582e-01 -1.21610154e-02 -1.36685202e+00] [-1.14378443e-01 -6.36617712e-04 9.93437047e-01 -2.22233748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.592401008 meters 0.056732525550704065 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.37, Z:-2.23 [[ 9.87310112e-01 1.09715055e-01 1.14810057e-01 1.92231385e+01] [-1.09023627e-01 9.93963013e-01 -1.23036029e-02 -1.37396034e+00] [-1.15466841e-01 -3.69537215e-04 9.93311266e-01 -2.22618794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622401008 meters 0.05657280578295412 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.38, Z:-2.23 [[ 9.87485314e-01 1.07339970e-01 1.15546034e-01 1.92530095e+01] [-1.06620211e-01 9.94222373e-01 -1.24098335e-02 -1.38119790e+00] [-1.16210523e-01 -6.50141926e-05 9.93224602e-01 -2.22957596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.652401008000002 meters 0.056468078517408975 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.39, Z:-2.23 [[ 9.87506563e-01 1.05307119e-01 1.17222856e-01 1.92848676e+01] [-1.04548954e-01 9.94439727e-01 -1.26153273e-02 -1.38791305e+00] [-1.17899549e-01 2.02191469e-04 9.93025506e-01 -2.23299109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682401008000003 meters 0.056508911998317396 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.40, Z:-2.24 [[ 9.87865948e-01 1.02293234e-01 1.16863007e-01 1.93149200e+01] [-1.01514989e-01 9.94754112e-01 -1.26080410e-02 -1.39687879e+00] [-1.17539674e-01 5.91707483e-04 9.93068011e-01 -2.23781520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.712401008 meters 0.05658646491113569 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.40, Z:-2.24 [[ 9.88069425e-01 1.00936801e-01 1.16320996e-01 1.93456192e+01] [-1.00153464e-01 9.94892538e-01 -1.25746364e-02 -1.40377559e+00] [-1.16996134e-01 7.74663135e-04 9.93132068e-01 -2.24232042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742401008 meters 0.056525810115596424 Centerline is valid? [True, True] Translation: X:19.38, Y:-1.41, Z:-2.25 [[ 9.88314344e-01 1.00137506e-01 1.14922743e-01 1.93754187e+01] [-9.93645519e-02 9.94973214e-01 -1.24494459e-02 -1.41112134e+00] [-1.15591707e-01 8.84719161e-04 9.93296418e-01 -2.24713889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772401008000003 meters 0.056599701395203095 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.42, Z:-2.25 [[ 9.88450643e-01 9.96564984e-02 1.14166148e-01 1.94073023e+01] [-9.88878068e-02 9.95021439e-01 -1.23910311e-02 -1.41750675e+00] [-1.14832612e-01 9.58282588e-04 9.93384393e-01 -2.25113247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802401008 meters 0.05653940988873262 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.42, Z:-2.26 [[ 9.88423470e-01 1.00327400e-01 1.13813256e-01 1.94397873e+01] [-9.95644405e-02 9.94954064e-01 -1.23827803e-02 -1.42171402e+00] [-1.14481293e-01 9.07677552e-04 9.93424989e-01 -2.25511859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832401008 meters 0.05658460935592341 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.43, Z:-2.26 [[ 9.88504488e-01 1.02288412e-01 1.11337134e-01 1.94704169e+01] [-1.01567369e-01 9.94754541e-01 -1.21438552e-02 -1.42504076e+00] [-1.11995295e-01 6.96035543e-04 9.93708493e-01 -2.26404236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862401008000003 meters 0.05661949134122129 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.43, Z:-2.27 [[ 9.88579056e-01 1.03378133e-01 1.09655881e-01 1.95013808e+01] [-1.02682184e-01 9.94641950e-01 -1.19899787e-02 -1.42763168e+00] [-1.10307841e-01 5.93336455e-04 9.93897293e-01 -2.27010572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892401008 meters 0.05682125422021574 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.43, Z:-2.28 [[ 9.88584022e-01 1.04985251e-01 1.08072792e-01 1.95322037e+01] [-1.04317458e-01 9.94473690e-01 -1.18299739e-02 -1.43206653e+00] [-1.08717521e-01 4.21044360e-04 9.94072595e-01 -2.27692488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922401008 meters 0.05701240632998839 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.44, Z:-2.28 [[ 9.88575873e-01 1.07529476e-01 1.05617972e-01 1.95636291e+01] [-1.06903313e-01 9.94201883e-01 -1.15886651e-02 -1.43661762e+00] [-1.06251710e-01 1.65363617e-04 9.94339251e-01 -2.28178027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952401008000002 meters 0.057154214839384467 Centerline is valid? [True, True] Translation: X:19.60, Y:-1.44, Z:-2.29 [[ 9.88533732e-01 1.08109418e-01 1.05420179e-01 1.95950975e+01] [-1.07486037e-01 9.94138993e-01 -1.15937494e-02 -1.44121677e+00] [-1.06055705e-01 1.29615079e-04 9.94360182e-01 -2.28570033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982401008 meters 0.05693946706858861 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.45, Z:-2.29 [[ 9.88446441e-01 1.08257272e-01 1.06084855e-01 1.96271423e+01] [-1.07624926e-01 9.94122903e-01 -1.16845921e-02 -1.44714659e+00] [-1.06726326e-01 1.32218868e-04 9.94288426e-01 -2.28756250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012401008 meters 0.05702774651392747 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.45, Z:-2.29 [[ 9.88477081e-01 1.06851362e-01 1.07218684e-01 1.96575062e+01] [-1.06194275e-01 9.94274956e-01 -1.18358750e-02 -1.45446932e+00] [-1.07869532e-01 3.13480766e-04 9.94165009e-01 -2.29108597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042401008000002 meters 0.05693390385445217 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.47, Z:-2.29 [[ 9.88659695e-01 1.01120631e-01 1.11025339e-01 1.96895334e+01] [-1.00377026e-01 9.94873672e-01 -1.22812816e-02 -1.46726533e+00] [-1.11698078e-01 9.97614725e-04 9.93741689e-01 -2.29007848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072401008 meters 0.057113174251805954 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.48, Z:-2.29 [[ 9.88889317e-01 9.70493017e-02 1.12602632e-01 1.97206490e+01] [-9.62544162e-02 9.95278430e-01 -1.24873880e-02 -1.47530757e+00] [-1.13282863e-01 1.51014402e-03 9.93561630e-01 -2.29283255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102401008 meters 0.05764437442781165 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.48, Z:-2.30 [[ 9.89128510e-01 9.28633338e-02 1.14022768e-01 1.97504461e+01] [-9.20172152e-02 9.95676768e-01 -1.26730225e-02 -1.48447100e+00] [-1.14706680e-01 2.04319027e-03 9.93397304e-01 -2.29602781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132401008000002 meters 0.0583149377330068 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.49, Z:-2.30 [[ 9.89400850e-01 8.83545700e-02 1.15236400e-01 1.97811336e+01] [-8.74567580e-02 9.96085643e-01 -1.28338607e-02 -1.49346120e+00] [-1.15919254e-01 2.61963074e-03 9.93255186e-01 -2.29875336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162401008 meters 0.060034371518653186 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.51, Z:-2.30 [[ 9.89782706e-01 8.10155701e-02 1.17331464e-01 1.98097565e+01] [-8.00301074e-02 9.96706442e-01 -1.30938823e-02 -1.50938999e+00] [-1.18005834e-01 3.57004863e-03 9.93006484e-01 -2.29984096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192401008 meters 0.060279314493694836 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.52, Z:-2.30 [[ 9.90059227e-01 7.85994576e-02 1.16639836e-01 1.98407386e+01] [-7.76079370e-02 9.96898868e-01 -1.30251913e-02 -1.51511693e+00] [-1.17301894e-01 3.84353381e-03 9.93088865e-01 -2.30350655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222401008000002 meters 0.06007636529953742 Centerline is valid? [True, True] Translation: X:19.87, Y:-1.52, Z:-2.31 [[ 9.90341304e-01 7.65314169e-02 1.15615935e-01 1.98725106e+01] [-7.55403595e-02 9.97058834e-01 -1.29358221e-02 -1.51807864e+00] [-1.16265886e-01 4.07720964e-03 9.93209756e-01 -2.30852755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.252401008 meters 0.06007636529953742 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.52, Z:-2.31 [[ 9.90320421e-01 7.68026895e-02 1.15614926e-01 1.99043866e+01] [-7.58124206e-02 9.97038067e-01 -1.29448417e-02 -1.52180031e+00] [-1.16266681e-01 4.05449375e-03 9.93209756e-01 -2.31244026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282401008 meters 0.060504516918808704 Centerline is valid? [True, True] Translation: X:19.93, Y:-1.53, Z:-2.32 [[ 9.90725583e-01 7.53402903e-02 1.13078116e-01 1.99347183e+01] [-7.43801637e-02 9.97149190e-01 -1.26919202e-02 -1.52569658e+00] [-1.13711964e-01 4.16344130e-03 9.93505035e-01 -2.31919290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312401008000002 meters 0.0605517723237167 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.53, Z:-2.32 [[ 9.90795431e-01 7.66836242e-02 1.11552840e-01 1.99664232e+01] [-7.57550505e-02 9.97047536e-01 -1.25452713e-02 -1.52870059e+00] [-1.12185501e-01 3.97910641e-03 9.93679314e-01 -2.32479465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342401008 meters 0.061297525263208696 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.53, Z:-2.33 [[ 9.90794348e-01 7.85963992e-02 1.10223253e-01 1.99968843e+01] [-7.76987490e-02 9.96899489e-01 -1.24223229e-02 -1.53332935e+00] [-1.10857854e-01 3.74375843e-03 9.93829221e-01 -2.33164041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.372401008 meters 0.06020620885667675 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.53, Z:-2.34 [[ 9.90889998e-01 8.05485995e-02 1.07930231e-01 2.00289790e+01] [-7.96981888e-02 9.96744663e-01 -1.21768345e-02 -1.53155746e+00] [-1.08559708e-01 3.46405967e-03 9.94083895e-01 -2.33613096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402401008000002 meters 0.059714818352529064 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.53, Z:-2.34 [[ 9.90705463e-01 8.58024734e-02 1.05549141e-01 2.00597682e+01] [-8.50161066e-02 9.96308088e-01 -1.19354546e-02 -1.52835388e+00] [-1.06183555e-01 2.85114298e-03 9.94342458e-01 -2.34382936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432401008000003 meters 0.05854851540895442 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.52, Z:-2.35 [[ 9.90416711e-01 8.99599726e-02 1.04794763e-01 2.00921099e+01] [-8.92076910e-02 9.95942511e-01 -1.18533887e-02 -1.52487408e+00] [-1.05435890e-01 2.39129543e-03 9.94423227e-01 -2.34720394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462401008 meters 0.058222388263263584 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.52, Z:-2.35 [[ 9.90078701e-01 9.47759714e-02 1.03738524e-01 2.01232581e+01] [-9.40647575e-02 9.95496883e-01 -1.17378873e-02 -1.52401231e+00] [-1.04383847e-01 1.86329311e-03 9.94535339e-01 -2.35221227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492401008 meters 0.05790957982226187 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.52, Z:-2.36 [[ 9.89662205e-01 9.98236704e-02 1.02975506e-01 2.01546628e+01] [-9.91488585e-02 9.95004250e-01 -1.16639220e-02 -1.52212917e+00] [-1.03625402e-01 1.33343892e-03 9.94615503e-01 -2.35753999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522401008000003 meters 0.05753064192576889 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.52, Z:-2.36 [[ 9.89143607e-01 1.04844021e-01 1.02969198e-01 2.01855961e+01] [-1.04193852e-01 9.94488330e-01 -1.16876923e-02 -1.51972498e+00] [-1.03627050e-01 8.32048687e-04 9.94615877e-01 -2.36255209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552401008 meters 0.05739163984948914 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.51, Z:-2.37 [[ 9.88171139e-01 1.13054475e-01 1.03617018e-01 2.02187063e+01] [-1.12438519e-01 9.93588791e-01 -1.17853117e-02 -1.51313384e+00] [-1.04285090e-01 -4.63916601e-06 9.94547445e-01 -2.36507919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582401008 meters 0.05728015427425897 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.51, Z:-2.37 [[ 9.87871869e-01 1.15841034e-01 1.03392584e-01 2.02518802e+01] [-1.15240558e-01 9.93267728e-01 -1.17828080e-02 -1.51431553e+00] [-1.04061449e-01 -2.75114478e-04 9.94570832e-01 -2.36679365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612401008000003 meters 0.057217710121489754 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.52, Z:-2.37 [[ 9.87639788e-01 1.17075780e-01 1.04215696e-01 2.02835569e+01] [-1.16469436e-01 9.93122912e-01 -1.19059823e-02 -1.51634183e+00] [-1.04892897e-01 -3.79121526e-04 9.94483452e-01 -2.36955689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642401008 meters 0.05713520754469965 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.52, Z:-2.37 [[ 9.87524970e-01 1.16828235e-01 1.05572711e-01 2.03147159e+01] [-1.16201785e-01 9.93152080e-01 -1.20868424e-02 -1.51970490e+00] [-1.06261842e-01 -3.31678818e-04 9.94338127e-01 -2.37312730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672401008 meters 0.05697321052040578 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.53, Z:-2.38 [[ 9.87900467e-01 1.12536668e-01 1.06715346e-01 2.03446782e+01] [-1.11868749e-01 9.93647560e-01 -1.22437482e-02 -1.52692776e+00] [-1.07415313e-01 1.57492329e-04 9.94214225e-01 -2.37732863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702401008000002 meters 0.05683743270883342 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.53, Z:-2.38 [[ 9.88229402e-01 1.09129971e-01 1.07206801e-01 2.03767194e+01] [-1.08433373e-01 9.94027335e-01 -1.23231614e-02 -1.53467157e+00] [-1.07911317e-01 5.53315473e-04 9.94160370e-01 -2.38127445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732401008 meters 0.0570161369119265 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.54, Z:-2.38 [[ 9.88544237e-01 1.05348919e-01 1.08082826e-01 2.04079652e+01] [-1.04615039e-01 9.94434813e-01 -1.24537697e-02 -1.54309540e+00] [-1.08793316e-01 1.00401321e-03 9.94063884e-01 -2.38490424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762401008 meters 0.057389910648342056 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.55, Z:-2.39 [[ 9.88967704e-01 1.01145360e-01 1.08224286e-01 2.04383493e+01] [-1.00381646e-01 9.94870536e-01 -1.24956490e-02 -1.55241703e+00] [-1.08933030e-01 1.49406136e-03 9.94047968e-01 -2.38853586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792401008000002 meters 0.05902780611894561 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.57, Z:-2.39 [[ 9.90150291e-01 9.05803049e-02 1.06759588e-01 2.04669166e+01] [-8.97731528e-02 9.95885639e-01 -1.23521593e-02 -1.56805815e+00] [-1.07439203e-01 2.64634934e-03 9.94208134e-01 -2.39217647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822401008 meters 0.06038042904613404 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.58, Z:-2.40 [[ 9.90720792e-01 8.50887653e-02 1.05982146e-01 2.04958830e+01] [-8.42619647e-02 9.96368175e-01 -1.22629849e-02 -1.57711838e+00] [-1.06640680e-01 3.21893029e-03 9.94292414e-01 -2.39775253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852401008 meters 0.061573286350338347 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.58, Z:-2.40 [[ 9.91142284e-01 7.95316758e-02 1.06356409e-01 2.05259763e+01] [-7.86670941e-02 9.96824979e-01 -1.23065236e-02 -1.58392486e+00] [-1.06997484e-01 3.83076624e-03 9.94251912e-01 -2.40241140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882401008000002 meters 0.06157975540193504 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.59, Z:-2.41 [[ 9.91693260e-01 7.14032270e-02 1.06986249e-01 2.05569044e+01] [-7.04810441e-02 9.97436281e-01 -1.23809630e-02 -1.58659973e+00] [-1.07596007e-01 4.73761498e-03 9.94183411e-01 -2.40615109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912401008 meters 0.06257738179340544 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.59, Z:-2.41 [[ 9.91905139e-01 6.90391572e-02 1.06572937e-01 2.05860262e+01] [-6.81101668e-02 9.97601531e-01 -1.23365694e-02 -1.59212194e+00] [-1.07169031e-01 4.97800602e-03 9.94228353e-01 -2.40997580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942401008 meters 0.06276781123110377 Centerline is valid? [True, True] Translation: X:20.62, Y:-1.60, Z:-2.41 [[ 9.91920552e-01 6.87155199e-02 1.06638626e-01 2.06173843e+01] [-6.77838520e-02 9.97623700e-01 -1.23410754e-02 -1.59526850e+00] [-1.07233244e-01 5.01298952e-03 9.94221254e-01 -2.41364164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972401008000002 meters 0.06179618854659253 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.60, Z:-2.42 [[ 9.92030267e-01 7.01307165e-02 1.04678705e-01 2.06494889e+01] [-6.92384555e-02 9.97526293e-01 -1.21380005e-02 -1.59516300e+00] [-1.05271007e-01 4.79347199e-03 9.94432018e-01 -2.41600931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002401008 meters 0.06117426215330791 Centerline is valid? [True, True] Translation: X:20.68, Y:-1.59, Z:-2.42 [[ 9.91727750e-01 7.57597053e-02 1.03617263e-01 2.06801197e+01] [-7.49131537e-02 9.97117338e-01 -1.20429964e-02 -1.59173790e+00] [-1.04230943e-01 4.18107778e-03 9.94544332e-01 -2.42053778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032401008 meters 0.060965368930390444 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.59, Z:-2.43 [[ 9.91498718e-01 7.93737984e-02 1.03102335e-01 2.07101194e+01] [-7.85551108e-02 9.96837748e-01 -1.19833051e-02 -1.59079883e+00] [-1.03727460e-01 3.78221627e-03 9.94598567e-01 -2.42542669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062401008000002 meters 0.05967550633271944 Centerline is valid? [True, True] Translation: X:20.74, Y:-1.58, Z:-2.43 [[ 9.91165389e-01 8.35824517e-02 1.02981288e-01 2.07423555e+01] [-8.27882336e-02 9.96495272e-01 -1.19700018e-02 -1.58496396e+00] [-1.03620849e-01 3.33861257e-03 9.94611267e-01 -2.42977074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092401008000003 meters 0.059031856437503416 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.58, Z:-2.44 [[ 9.90861618e-01 8.80094928e-02 1.02213420e-01 2.07743512e+01] [-8.72497667e-02 9.96115525e-01 -1.18886256e-02 -1.58207454e+00] [-1.02862686e-01 2.86188577e-03 9.94691448e-01 -2.43504805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122401008 meters 0.05857557711216628 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.58, Z:-2.44 [[ 9.90525213e-01 9.25957087e-02 1.01419119e-01 2.08057734e+01] [-9.18711811e-02 9.95700962e-01 -1.18016716e-02 -1.57981143e+00] [-1.02075899e-01 2.37235902e-03 9.94773785e-01 -2.44003712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152401008000002 meters 0.058518336492751705 Centerline is valid? [True, True] Translation: X:20.84, Y:-1.58, Z:-2.45 [[ 9.90126341e-01 9.65243394e-02 1.01650783e-01 2.08359887e+01] [-9.58167285e-02 9.95328663e-01 -1.18324224e-02 -1.57918140e+00] [-1.02318055e-01 1.97574761e-03 9.94749774e-01 -2.44524836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182401008000003 meters 0.05758189096302031 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.57, Z:-2.45 [[ 9.89424548e-01 1.02821790e-01 1.02307106e-01 2.08685243e+01] [-1.02138442e-01 9.94698899e-01 -1.19096245e-02 -1.57367469e+00] [-1.02989334e-01 1.33418646e-03 9.94681566e-01 -2.44671125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212401008 meters 0.05726345491862437 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.57, Z:-2.45 [[ 9.89149535e-01 1.04305205e-01 1.03458304e-01 2.09005021e+01] [-1.03613937e-01 9.94544614e-01 -1.20483508e-02 -1.57449904e+00] [-1.04150605e-01 1.19789839e-03 9.94560816e-01 -2.44742841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242401008 meters 0.05712709517438931 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.58, Z:-2.45 [[ 9.88860464e-01 1.05861193e-01 1.04634553e-01 2.09322457e+01] [-1.05160155e-01 9.94380341e-01 -1.22098223e-02 -1.57653887e+00] [-1.05339089e-01 1.07042471e-03 9.94435785e-01 -2.45026670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272401008000003 meters 0.05710334037828439 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.58, Z:-2.45 [[ 9.88679488e-01 1.06077950e-01 1.06114742e-01 2.09632774e+01] [-1.05355429e-01 9.94357223e-01 -1.24075553e-02 -1.57792281e+00] [-1.06832128e-01 1.08733127e-03 9.94276478e-01 -2.45293700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302401008 meters 0.057282215258401006 Centerline is valid? [True, True] Translation: X:21.00, Y:-1.58, Z:-2.46 [[ 9.88688936e-01 1.05978852e-01 1.06125734e-01 2.09954584e+01] [-1.05253261e-01 9.94367753e-01 -1.24307103e-02 -1.58069172e+00] [-1.06845401e-01 1.12002608e-03 9.94275015e-01 -2.45765345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332401008 meters 0.057268441968886016 Centerline is valid? [True, True] Translation: X:21.03, Y:-1.58, Z:-2.46 [[ 9.88663008e-01 1.05979358e-01 1.06366497e-01 2.10279451e+01] [-1.05247500e-01 9.94367665e-01 -1.24864237e-02 -1.58363830e+00] [-1.07090708e-01 1.15005737e-03 9.94248589e-01 -2.46213136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362401008000003 meters 0.057256154665507236 Centerline is valid? [True, True] Translation: X:21.06, Y:-1.59, Z:-2.47 [[ 9.88757016e-01 1.05499243e-01 1.05969206e-01 2.10594208e+01] [-1.04767165e-01 9.94418629e-01 -1.24672380e-02 -1.58647865e+00] [-1.06693037e-01 1.22497572e-03 9.94291253e-01 -2.46505704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392401008 meters 0.05751604386023002 Centerline is valid? [True, True] Translation: X:21.09, Y:-1.59, Z:-2.47 [[ 9.88807009e-01 1.05459209e-01 1.05541716e-01 2.10897869e+01] [-1.04730013e-01 9.94422843e-01 -1.24431883e-02 -1.59092866e+00] [-1.06265342e-01 1.25052651e-03 9.94337022e-01 -2.46879093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422401008 meters 0.05739204509808049 Centerline is valid? [True, True] Translation: X:21.12, Y:-1.59, Z:-2.47 [[ 9.88882519e-01 1.05275452e-01 1.05016395e-01 2.11219081e+01] [-1.04551223e-01 9.94442282e-01 -1.23931493e-02 -1.59384662e+00] [-1.05737438e-01 1.27577623e-03 9.94393266e-01 -2.47260240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452401008000002 meters 0.05754734855976147 Centerline is valid? [True, True] Translation: X:21.15, Y:-1.60, Z:-2.48 [[ 9.88947499e-01 1.05421023e-01 1.04255707e-01 2.11525566e+01] [-1.04705458e-01 9.94426860e-01 -1.23283035e-02 -1.59756844e+00] [-1.04974338e-01 1.27590336e-03 9.94474113e-01 -2.47809364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482401008 meters 0.057662727385212977 Centerline is valid? [True, True] Translation: X:21.18, Y:-1.60, Z:-2.48 [[ 9.89008550e-01 1.05692561e-01 1.03398121e-01 2.11840005e+01] [-1.04987945e-01 9.94398058e-01 -1.22487955e-02 -1.60010692e+00] [-1.04113497e-01 1.25860734e-03 9.94564626e-01 -2.48380987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512401008 meters 0.05784861931236809 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.60, Z:-2.49 [[ 9.89025914e-01 1.07769578e-01 1.01061666e-01 2.12141182e+01] [-1.07104965e-01 9.94175355e-01 -1.19953800e-02 -1.60150712e+00] [-1.01765755e-01 1.03953548e-03 9.94807846e-01 -2.49120805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542401008000002 meters 0.05775783717127253 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.60, Z:-2.50 [[ 9.88921733e-01 1.09347606e-01 1.00383801e-01 2.12463812e+01] [-1.08697938e-01 9.94003172e-01 -1.19353383e-02 -1.60254178e+00] [-1.01086917e-01 8.91603241e-04 9.94877199e-01 -2.49514471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572401008 meters 0.057978224434206006 Centerline is valid? [True, True] Translation: X:21.28, Y:-1.61, Z:-2.50 [[ 9.88801998e-01 1.10673712e-01 1.00109627e-01 2.12779795e+01] [-1.10031433e-01 9.93856487e-01 -1.19317812e-02 -1.60536136e+00] [-1.00815137e-01 7.82963331e-04 9.94904867e-01 -2.50132802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602401008 meters 0.05786690991759982 Centerline is valid? [True, True] Translation: X:21.31, Y:-1.61, Z:-2.50 [[ 9.88613542e-01 1.12165413e-01 1.00310443e-01 2.13104461e+01] [-1.11526315e-01 9.93689336e-01 -1.19743240e-02 -1.60743994e+00] [-1.01020523e-01 6.50724795e-04 9.94884129e-01 -2.50417856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632401008000002 meters 0.0578849445074776 Centerline is valid? [True, True] Translation: X:21.34, Y:-1.61, Z:-2.51 [[ 9.88423161e-01 1.13771869e-01 1.00377371e-01 2.13419140e+01] [-1.13139630e-01 9.93506779e-01 -1.19876846e-02 -1.61020435e+00] [-1.01089460e-01 4.92246448e-04 9.94877218e-01 -2.50733670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662401008 meters 0.058039729738315504 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.61, Z:-2.51 [[ 9.88207861e-01 1.15512425e-01 1.00509223e-01 2.13725949e+01] [-1.14885060e-01 9.93305978e-01 -1.20273894e-02 -1.61385645e+00] [-1.01225725e-01 3.38552621e-04 9.94863427e-01 -2.50996796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692401008 meters 0.05807145911692181 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.62, Z:-2.51 [[ 9.88056680e-01 1.16712917e-01 1.00608607e-01 2.14051502e+01] [-1.16088137e-01 9.93165665e-01 -1.20626089e-02 -1.61742088e+00] [-1.01328876e-01 2.39075546e-04 9.94852955e-01 -2.51498388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722401008000002 meters 0.0581382534541344 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.62, Z:-2.52 [[ 9.87985445e-01 1.16894182e-01 1.01096540e-01 2.14370981e+01] [-1.16261103e-01 9.93144343e-01 -1.21519340e-02 -1.62126142e+00] [-1.01823948e-01 2.52338639e-04 9.94802402e-01 -2.51887695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752401008 meters 0.05836093924478685 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.63, Z:-2.52 [[ 9.88029730e-01 1.15958723e-01 1.01739017e-01 2.14691227e+01] [-1.15312047e-01 9.93253969e-01 -1.22345490e-02 -1.62658181e+00] [-1.02471385e-01 3.56363755e-04 9.94735889e-01 -2.52319023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782401008 meters 0.05837953560366312 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.63, Z:-2.53 [[ 9.88012933e-01 1.15786459e-01 1.02097701e-01 2.15008436e+01] [-1.15131330e-01 9.93274047e-01 -1.23062689e-02 -1.63221858e+00] [-1.02835896e-01 4.04108660e-04 9.94698253e-01 -2.52724183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812401008000002 meters 0.058652048617476686 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.64, Z:-2.53 [[ 9.88196486e-01 1.13948961e-01 1.02388180e-01 2.15313212e+01] [-1.13277347e-01 9.93486408e-01 -1.23692750e-02 -1.64005432e+00] [-1.03130731e-01 6.25012728e-04 9.94667614e-01 -2.53231169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842401008000003 meters 0.058928721574781975 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.65, Z:-2.54 [[ 9.88459363e-01 1.11724743e-01 1.02301855e-01 2.15611953e+01] [-1.11039638e-01 9.93738800e-01 -1.23853254e-02 -1.64848675e+00] [-1.03045070e-01 8.82829864e-04 9.94676296e-01 -2.53528423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872401008 meters 0.05948201841871449 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.66, Z:-2.54 [[ 9.89182640e-01 1.04481534e-01 1.02962682e-01 2.15915812e+01] [-1.03745880e-01 9.94525421e-01 -1.24891674e-02 -1.66252156e+00] [-1.03703893e-01 1.67211353e-03 9.94606810e-01 -2.53644151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902401008000002 meters 0.06011705484308835 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.67, Z:-2.54 [[ 9.89605335e-01 9.99085947e-02 1.03438651e-01 2.16217145e+01] [-9.91407129e-02 9.94994262e-01 -1.25514011e-02 -1.67161295e+00] [-1.04174857e-01 2.16595189e-03 9.94556639e-01 -2.54005071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932401008000003 meters 0.06053696815478848 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.68, Z:-2.54 [[ 9.90113335e-01 9.53298749e-02 1.02897029e-01 2.16525034e+01] [-9.45427532e-02 9.95442185e-01 -1.25109373e-02 -1.67872130e+00] [-1.03620709e-01 2.65907747e-03 9.94613331e-01 -2.54337656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962401008 meters 0.06159159535090113 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.69, Z:-2.55 [[ 9.90586431e-01 9.02899140e-02 1.02889522e-01 2.16808808e+01] [-8.94753161e-02 9.95910413e-01 -1.25146995e-02 -1.68833393e+00] [-1.03598698e-01 3.19081895e-03 9.94614060e-01 -2.54793995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992401008 meters 0.06410324219310297 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.70, Z:-2.55 [[ 9.91471854e-01 8.21076844e-02 1.01202226e-01 2.17084616e+01] [-8.12773265e-02 9.96615526e-01 -1.23081428e-02 -1.70454924e+00] [-1.01870302e-01 3.97773083e-03 9.94789736e-01 -2.55253479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022401008000003 meters 0.06450710347622139 Centerline is valid? [True, True] Translation: X:21.74, Y:-1.71, Z:-2.56 [[ 9.91844458e-01 7.79256776e-02 1.00857131e-01 2.17392009e+01] [-7.70785776e-02 9.96949458e-01 -1.22748096e-02 -1.71040546e+00] [-1.01505985e-01 4.40077772e-03 9.94825195e-01 -2.55613243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.052401008 meters 0.06535686366892478 Centerline is valid? [True, True] Translation: X:21.77, Y:-1.72, Z:-2.56 [[ 9.92065204e-01 7.46709868e-02 1.01147783e-01 2.17698378e+01] [-7.38017973e-02 9.97196908e-01 -1.23134886e-02 -1.71721237e+00] [-1.01783717e-01 4.75089543e-03 9.94795207e-01 -2.56032016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082401008 meters 0.06536231625826015 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.72, Z:-2.56 [[ 9.92107968e-01 7.37033599e-02 1.01437638e-01 2.18009815e+01] [-7.28241279e-02 9.97268346e-01 -1.23487724e-02 -1.72149595e+00] [-1.02070691e-01 4.86420797e-03 9.94765255e-01 -2.56343021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112401008000003 meters 0.06573263101968624 Centerline is valid? [True, True] Translation: X:21.83, Y:-1.72, Z:-2.57 [[ 9.92159474e-01 7.33560648e-02 1.01185309e-01 2.18310941e+01] [-7.24770428e-02 9.97293723e-01 -1.23413012e-02 -1.72457627e+00] [-1.01816783e-01 4.91092690e-03 9.94791046e-01 -2.56818053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142401008 meters 0.06573263101968624 Centerline is valid? [True, True] Translation: X:21.86, Y:-1.73, Z:-2.57 [[ 9.92141093e-01 7.36056918e-02 1.01184258e-01 2.18629807e+01] [-7.27270852e-02 9.97275414e-01 -1.23499149e-02 -1.72860011e+00] [-1.01817596e-01 4.89402192e-03 9.94791046e-01 -2.57210101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172401008 meters 0.06560418690897149 Centerline is valid? [True, True] Translation: X:21.89, Y:-1.73, Z:-2.58 [[ 9.92038700e-01 7.53568287e-02 1.00898787e-01 2.18936675e+01] [-7.44894803e-02 9.97145425e-01 -1.23417716e-02 -1.73044636e+00] [-1.01540801e-01 4.72761680e-03 9.94820142e-01 -2.57631490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202401008000002 meters 0.06562916842109895 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.73, Z:-2.58 [[ 9.91906168e-01 7.77806963e-02 1.00360939e-01 2.19234607e+01] [-7.69324865e-02 9.96960428e-01 -1.23002880e-02 -1.73144117e+00] [-1.01012609e-01 4.47971498e-03 9.94875060e-01 -2.58142197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232401008 meters 0.06472971202994321 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.73, Z:-2.59 [[ 9.91720781e-01 8.00592914e-02 1.00401206e-01 2.19550467e+01] [-7.92218902e-02 9.96781040e-01 -1.23065154e-02 -1.72937217e+00] [-1.01063269e-01 4.25065376e-03 9.94870920e-01 -2.58507495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262401008 meters 0.06331711870499046 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.72, Z:-2.59 [[ 9.91128141e-01 8.56455051e-02 1.01635895e-01 2.19874621e+01] [-8.48162025e-02 9.96318691e-01 -1.24610744e-02 -1.72346082e+00] [-1.02328977e-01 3.73015081e-03 9.94743618e-01 -2.58725882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292401008000002 meters 0.062339089444197415 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.72, Z:-2.59 [[ 9.90721646e-01 8.90784098e-02 1.02643353e-01 2.20192843e+01] [-8.82505245e-02 9.96018770e-01 -1.25878908e-02 -1.72155911e+00] [-1.03356015e-01 3.41276617e-03 9.94638571e-01 -2.59057043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322401008 meters 0.06046746661073248 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.72, Z:-2.59 [[ 9.90321228e-01 9.28367640e-02 1.03175586e-01 2.20512905e+01] [-9.20200211e-02 9.95676697e-01 -1.26582488e-02 -1.71569635e+00] [-1.03904677e-01 3.04151297e-03 9.94582610e-01 -2.59251843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352401008 meters 0.06021239726460773 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.71, Z:-2.60 [[ 9.89976154e-01 9.68302108e-02 1.02815977e-01 2.20815072e+01] [-9.60402415e-02 9.95297474e-01 -1.26178374e-02 -1.71457101e+00] [-1.03554271e-01 2.61688684e-03 9.94620362e-01 -2.59722978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382401008000002 meters 0.05961464542926745 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.71, Z:-2.60 [[ 9.89744824e-01 9.96995698e-02 1.02299460e-01 2.21135857e+01] [-9.89330374e-02 9.95014921e-01 -1.25523430e-02 -1.71247083e+00] [-1.03040952e-01 2.30282016e-03 9.94674449e-01 -2.60068958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412401008 meters 0.05946472615238999 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.71, Z:-2.61 [[ 9.89624113e-01 1.02194258e-01 1.00997275e-01 2.21441546e+01] [-1.01457724e-01 9.94762369e-01 -1.24160994e-02 -1.71181476e+00] [-1.01737142e-01 2.04031774e-03 9.94809223e-01 -2.60611485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442401008 meters 0.05924299854022468 Centerline is valid? [True, True] Translation: X:22.18, Y:-1.71, Z:-2.61 [[ 9.89681851e-01 1.02265495e-01 1.00357372e-01 2.21764337e+01] [-1.01536516e-01 9.94755047e-01 -1.23585259e-02 -1.71378442e+00] [-1.01094853e-01 2.04107079e-03 9.94874698e-01 -2.60900814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472401008000002 meters 0.05952257081831809 Centerline is valid? [True, True] Translation: X:22.21, Y:-1.72, Z:-2.61 [[ 9.89745016e-01 1.01686076e-01 1.00323208e-01 2.22073772e+01] [-1.00951992e-01 9.94814266e-01 -1.23802617e-02 -1.71765913e+00] [-1.01061859e-01 2.12547451e-03 9.94877873e-01 -2.61344342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502401008 meters 0.060037912020163016 Centerline is valid? [True, True] Translation: X:22.24, Y:-1.72, Z:-2.62 [[ 9.89757580e-01 1.01477776e-01 1.00410132e-01 2.22382751e+01] [-1.00740091e-01 9.94835459e-01 -1.24033375e-02 -1.72204091e+00] [-1.01150223e-01 2.16097139e-03 9.94868817e-01 -2.61932506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532401008 meters 0.05955098159638089 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.72, Z:-2.62 [[ 9.89663703e-01 1.02304800e-01 1.00496184e-01 2.22705068e+01] [-1.01568524e-01 9.94750896e-01 -1.24294218e-02 -1.72273225e+00] [-1.01240259e-01 2.09369847e-03 9.94859802e-01 -2.62267489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562401008000002 meters 0.05974463665976073 Centerline is valid? [True, True] Translation: X:22.30, Y:-1.73, Z:-2.63 [[ 9.89578585e-01 1.04379834e-01 9.91921105e-02 2.23006352e+01] [-1.03670702e-01 9.94535730e-01 -1.22909741e-02 -1.72505228e+00] [-9.99330279e-02 1.87956904e-03 9.94992391e-01 -2.62887004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592401008000003 meters 0.05913708491361759 Centerline is valid? [True, True] Translation: X:22.33, Y:-1.72, Z:-2.63 [[ 9.89338885e-01 1.08319280e-01 9.73422005e-02 2.23328891e+01] [-1.07653498e-01 9.94115065e-01 -1.20814633e-02 -1.72163558e+00] [-9.80780034e-02 1.47343296e-03 9.95177640e-01 -2.63309637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622401008 meters 0.05890074592108265 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.72, Z:-2.64 [[ 9.89087937e-01 1.10487915e-01 9.74549830e-02 2.23652986e+01] [-1.09828538e-01 9.93876636e-01 -1.21212389e-02 -1.72323160e+00] [-9.81974810e-02 1.28563292e-03 9.95166118e-01 -2.63662989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652401008000002 meters 0.05897732973713403 Centerline is valid? [True, True] Translation: X:22.40, Y:-1.73, Z:-2.64 [[ 9.88888789e-01 1.12636251e-01 9.70156573e-02 2.23960271e+01] [-1.11992638e-01 9.93635710e-01 -1.20716315e-02 -1.72589864e+00] [-9.77579248e-02 1.07246172e-03 9.95209645e-01 -2.64175793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682401008000003 meters 0.058459976347720204 Centerline is valid? [True, True] Translation: X:22.43, Y:-1.73, Z:-2.64 [[ 9.88645635e-01 1.14442832e-01 9.73788810e-02 2.24279994e+01] [-1.13801098e-01 9.93429412e-01 -1.21372997e-02 -1.72693141e+00] [-9.81280714e-02 9.17664792e-04 9.95173372e-01 -2.64173861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712401008 meters 0.05851191600206432 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.73, Z:-2.65 [[ 9.88371092e-01 1.16408003e-01 9.78353814e-02 2.24585627e+01] [-1.15767466e-01 9.93201195e-01 -1.22179864e-02 -1.72852000e+00] [-9.85924892e-02 7.49750370e-04 9.95127609e-01 -2.64547814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742401008 meters 0.058478172020891867 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.73, Z:-2.65 [[ 9.88263536e-01 1.16914838e-01 9.83163499e-02 2.24900531e+01] [-1.16268343e-01 9.93141680e-01 -1.22994257e-02 -1.73243067e+00] [-9.90800503e-02 7.23994824e-04 9.95079203e-01 -2.64929144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772401008000003 meters 0.058475825807816156 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.74, Z:-2.65 [[ 9.88302819e-01 1.16718346e-01 9.81548002e-02 2.25223480e+01] [-1.16070787e-01 9.93164761e-01 -1.23016152e-02 -1.73703465e+00] [-9.89197129e-02 7.64816085e-04 9.95095124e-01 -2.65351492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802401008 meters 0.058459676460340636 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.74, Z:-2.66 [[ 9.88269362e-01 1.16387991e-01 9.88812653e-02 2.25536854e+01] [-1.15726357e-01 9.93203476e-01 -1.24203897e-02 -1.74193931e+00] [-9.96548006e-02 8.31521931e-04 9.95021723e-01 -2.65822966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832401008 meters 0.0583680395476538 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.75, Z:-2.66 [[ 9.88103652e-01 1.16377232e-01 1.00536124e-01 2.25854636e+01] [-1.15690691e-01 9.93204703e-01 -1.26523587e-02 -1.74741077e+00] [-1.01325398e-01 8.70748131e-04 9.94852957e-01 -2.66032375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862401008000003 meters 0.05844380140397656 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.75, Z:-2.66 [[ 9.87878716e-01 1.17107538e-01 1.01889481e-01 2.26157737e+01] [-1.16403601e-01 9.93118891e-01 -1.28479218e-02 -1.75263469e+00] [-1.02692957e-01 8.31885947e-04 9.94712755e-01 -2.66468811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892401008 meters 0.058356383331212625 Centerline is valid? [True, True] Translation: X:22.65, Y:-1.76, Z:-2.67 [[ 9.87739140e-01 1.18427092e-01 1.01717330e-01 2.26482843e+01] [-1.17730272e-01 9.92962493e-01 -1.28479859e-02 -1.75706829e+00] [-1.02523043e-01 7.15249582e-04 9.94730373e-01 -2.66822671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922401008 meters 0.05832812410669509 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.76, Z:-2.67 [[ 9.87608427e-01 1.19336129e-01 1.01923905e-01 2.26796436e+01] [-1.18638481e-01 9.92853698e-01 -1.29013295e-02 -1.76165912e+00] [-1.02735120e-01 6.49364564e-04 9.94708537e-01 -2.67227875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952401008000002 meters 0.05825721807660767 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.77, Z:-2.67 [[ 9.87516470e-01 1.20810442e-01 1.01074519e-01 2.27126419e+01] [-1.20129860e-01 9.92675462e-01 -1.28157489e-02 -1.76536901e+00] [-1.01882472e-01 5.13695225e-04 9.94796310e-01 -2.67494481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982401008 meters 0.058538171449754164 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.77, Z:-2.68 [[ 9.87332959e-01 1.24275859e-01 9.86363973e-02 2.27429817e+01] [-1.23642107e-01 9.92247690e-01 -1.25360105e-02 -1.76940692e+00] [-9.94296608e-02 1.81604358e-04 9.95044577e-01 -2.68242294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012401008 meters 0.05882930342974504 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.77, Z:-2.69 [[ 9.87300072e-01 1.25640204e-01 9.72270921e-02 2.27735408e+01] [-1.25030068e-01 9.92075872e-01 -1.23671285e-02 -1.77262821e+00] [-9.80104608e-02 5.37569300e-05 9.95185383e-01 -2.68948581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042401008000002 meters 0.058954952116701334 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.78, Z:-2.70 [[ 9.87248526e-01 1.27272457e-01 9.56141650e-02 2.28049756e+01] [-1.26688206e-01 9.91867791e-01 -1.21813184e-02 -1.77646227e+00] [-9.63869569e-02 -8.71984012e-05 9.95343934e-01 -2.69507749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.072401008 meters 0.05907120711157445 Centerline is valid? [True, True] Translation: X:22.84, Y:-1.78, Z:-2.70 [[ 9.87433688e-01 1.26713622e-01 9.44371185e-02 2.28365338e+01] [-1.26139126e-01 9.91939342e-01 -1.20525069e-02 -1.78251302e+00] [-9.52031100e-02 -1.11643063e-05 9.95457868e-01 -2.69873658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102401008 meters 0.05916078673937494 Centerline is valid? [True, True] Translation: X:22.87, Y:-1.79, Z:-2.70 [[ 9.87852711e-01 1.24705192e-01 9.27126580e-02 2.28669181e+01] [-1.24140721e-01 9.92193819e-01 -1.18535324e-02 -1.79440516e+00] [-9.34671233e-02 2.00127902e-04 9.95622346e-01 -2.70110815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132401008000002 meters 0.05942643459359367 Centerline is valid? [True, True] Translation: X:22.90, Y:-1.80, Z:-2.71 [[ 9.88092830e-01 1.22989192e-01 9.24457539e-02 2.28968000e+01] [-1.22418359e-01 9.92407936e-01 -1.18420505e-02 -1.80307845e+00] [-9.32003440e-02 3.83987628e-04 9.95647301e-01 -2.70633088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162401008 meters 0.05928713448204072 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.81, Z:-2.71 [[ 9.88320790e-01 1.20544844e-01 9.32253034e-02 2.29293152e+01] [-1.19951609e-01 9.92707677e-01 -1.19615925e-02 -1.81156834e+00] [-9.39873827e-02 6.39365426e-04 9.95573183e-01 -2.70795567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192401008 meters 0.05957563053809883 Centerline is valid? [True, True] Translation: X:22.96, Y:-1.82, Z:-2.71 [[ 9.89002361e-01 1.13770618e-01 9.45017236e-02 2.29594758e+01] [-1.13127466e-01 9.93506156e-01 -1.21529943e-02 -1.82388568e+00] [-9.52706978e-02 1.32859957e-03 9.95450516e-01 -2.71027148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222401008000002 meters 0.059944135433031426 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.83, Z:-2.71 [[ 9.89314533e-01 1.10247179e-01 9.54060473e-02 2.29895732e+01] [-1.09573218e-01 9.93902737e-01 -1.22905798e-02 -1.83350999e+00] [-9.61793334e-02 1.70530156e-03 9.95362561e-01 -2.71311584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252401008000003 meters 0.0602274748894459 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.84, Z:-2.71 [[ 9.89651043e-01 1.05801396e-01 9.69374894e-02 2.30210475e+01] [-1.05082233e-01 9.94384863e-01 -1.25087340e-02 -1.84240899e+00] [-9.77166137e-02 2.19287389e-03 9.95211864e-01 -2.71451402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282401008 meters 0.06129516778332707 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.85, Z:-2.72 [[ 9.90024116e-01 1.02324119e-01 9.68608546e-02 2.30507732e+01] [-1.01587200e-01 9.94747824e-01 -1.25222614e-02 -1.85431957e+00] [-9.76334537e-02 2.55751777e-03 9.95219156e-01 -2.71807158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312401008000002 meters 0.06157561753440422 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.86, Z:-2.72 [[ 9.90650464e-01 9.54765932e-02 9.74467945e-02 2.30810070e+01] [-9.46951203e-02 9.95426278e-01 -1.26237597e-02 -1.86290969e+00] [-9.82063736e-02 3.27799746e-03 9.95160672e-01 -2.71772689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342401008000003 meters 0.06214525004096091 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.87, Z:-2.72 [[ 9.90781876e-01 9.36253152e-02 9.79059453e-02 2.31108645e+01] [-9.28272256e-02 9.95601421e-01 -1.26852787e-02 -1.86928750e+00] [-9.86629615e-02 3.48000697e-03 9.95114822e-01 -2.72177568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372401008 meters 0.06321656104370404 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.88, Z:-2.73 [[ 9.90906064e-01 9.22392404e-02 9.79647633e-02 2.31403543e+01] [-9.14335020e-02 9.95730295e-01 -1.26922621e-02 -1.87725642e+00] [-9.87172073e-02 3.61957807e-03 9.95108945e-01 -2.72691192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402401008000002 meters 0.0627998694509651 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.88, Z:-2.73 [[ 9.91094083e-01 9.14367639e-02 9.68082455e-02 2.31720902e+01] [-9.06442312e-02 9.95804102e-01 -1.25623934e-02 -1.87934647e+00] [-9.75507126e-02 3.67540480e-03 9.95223769e-01 -2.72895349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432401008000003 meters 0.06325813457414187 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.88, Z:-2.73 [[ 9.91235266e-01 9.01476289e-02 9.65714851e-02 2.32032741e+01] [-8.93506436e-02 9.95921103e-01 -1.25546072e-02 -1.88204282e+00] [-9.73093481e-02 3.81584502e-03 9.95246869e-01 -2.73402405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462401008 meters 0.06291562517133951 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.88, Z:-2.74 [[ 9.91169262e-01 8.95719172e-02 9.77771268e-02 2.32364170e+01] [-8.87500472e-02 9.95972558e-01 -1.27315341e-02 -1.88352374e+00] [-9.85237231e-02 3.94138067e-03 9.95126897e-01 -2.73738012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492401008 meters 0.06339403687616384 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.89, Z:-2.74 [[ 9.91358856e-01 8.80877477e-02 9.72016792e-02 2.32679575e+01] [-8.72657785e-02 9.96104315e-01 -1.26837642e-02 -1.88654231e+00] [-9.79402963e-02 4.09178174e-03 9.95183880e-01 -2.73927137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522401008000003 meters 0.06420191887330014 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.89, Z:-2.74 [[ 9.91458018e-01 8.75710339e-02 9.66556341e-02 2.32984171e+01] [-8.67538133e-02 9.96149674e-01 -1.26334380e-02 -1.89169905e+00] [-9.73898016e-02 4.14027861e-03 9.95237703e-01 -2.74344116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552401008 meters 0.06456213145279643 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.89, Z:-2.75 [[ 9.91507120e-01 8.65159868e-02 9.71010572e-02 2.33303556e+01] [-8.56841114e-02 9.96241250e-01 -1.27124084e-02 -1.89440401e+00] [-9.78359051e-02 4.28442560e-03 9.95193338e-01 -2.74740305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582401008 meters 0.06374410218634424 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.89, Z:-2.75 [[ 9.91636076e-01 8.48897681e-02 9.72194452e-02 2.33629525e+01] [-8.40455367e-02 9.96380295e-01 -1.27536822e-02 -1.89375502e+00] [-9.79501966e-02 4.47615091e-03 9.95181251e-01 -2.75001883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612401008000003 meters 0.06440037412517555 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.90, Z:-2.75 [[ 9.91874138e-01 8.25970254e-02 9.67647915e-02 2.33937168e+01] [-8.17491215e-02 9.96572003e-01 -1.27013518e-02 -1.89726849e+00] [-9.74821760e-02 4.68770572e-03 9.95226231e-01 -2.75459242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642401008 meters 0.06650678606497937 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.90, Z:-2.76 [[ 9.92698633e-01 7.75752901e-02 9.23661066e-02 2.34230208e+01] [-7.67810057e-02 9.96974223e-01 -1.21274475e-02 -1.90185302e+00] [-9.30274177e-02 4.94693799e-03 9.95651258e-01 -2.76176486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672401008 meters 0.06623345187532101 Centerline is valid? [True, True] Translation: X:23.45, Y:-1.90, Z:-2.77 [[ 9.92973332e-01 7.53953807e-02 9.12112812e-02 2.34534909e+01] [-7.46116396e-02 9.97140740e-01 -1.19769969e-02 -1.90299983e+00] [-9.18534947e-02 5.08741524e-03 9.95759536e-01 -2.76534148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702401008000002 meters 0.06724267045725764 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.91, Z:-2.77 [[ 9.93283240e-01 7.33684848e-02 8.94733008e-02 2.34832723e+01] [-7.26061063e-02 9.97291474e-01 -1.17502752e-02 -1.90691293e+00] [-9.00930600e-02 5.17504344e-03 9.95919906e-01 -2.77069073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.732401008 meters 0.06734692948453658 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.91, Z:-2.77 [[ 9.93423659e-01 7.20460019e-02 8.89876800e-02 2.35151100e+01] [-7.12866324e-02 9.97387409e-01 -1.16864268e-02 -1.90910100e+00] [-8.95971519e-02 5.26594081e-03 9.95964166e-01 -2.77407458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762401008 meters 0.06799934143173682 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.91, Z:-2.78 [[ 9.93610294e-01 7.07499095e-02 8.79376709e-02 2.35465345e+01] [-7.00027532e-02 9.97479868e-01 -1.15553916e-02 -1.90795807e+00] [-8.85335993e-02 5.32567695e-03 9.96058954e-01 -2.77894437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792401008000002 meters 0.06739139444574441 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.91, Z:-2.78 [[ 9.93568485e-01 7.03490839e-02 8.87280788e-02 2.35788717e+01] [-6.95871000e-02 9.97507782e-01 -1.16559391e-02 -1.90696863e+00] [-8.93269337e-02 5.40664402e-03 9.95987684e-01 -2.78199462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822401008 meters 0.06763192468424463 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.91, Z:-2.79 [[ 9.93698924e-01 7.00820779e-02 8.74697176e-02 2.36111369e+01] [-6.93387791e-02 9.97526755e-01 -1.15111573e-02 -1.90881484e+00] [-8.80601094e-02 5.37358118e-03 9.96100668e-01 -2.78505893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.852401008 meters 0.06841751538146372 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.91, Z:-2.79 [[ 9.93693449e-01 6.99164768e-02 8.76642203e-02 2.36420350e+01] [-6.91674078e-02 9.97538120e-01 -1.15571766e-02 -1.91217793e+00] [-8.82564386e-02 5.42078376e-03 9.96083037e-01 -2.78861055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882401008000002 meters 0.06819997565624988 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.91, Z:-2.79 [[ 9.93703222e-01 6.99993509e-02 8.74871303e-02 2.36741424e+01] [-6.92519970e-02 9.97532307e-01 -1.15523453e-02 -1.91272817e+00] [-8.80798956e-02 5.42094427e-03 9.96098662e-01 -2.79082556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912401008 meters 0.06860940385716874 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.91, Z:-2.79 [[ 9.93604192e-01 7.07089748e-02 8.80394881e-02 2.37063545e+01] [-6.99530351e-02 9.97482301e-01 -1.16461605e-02 -1.90944557e+00] [-8.86413192e-02 5.41304452e-03 9.96048902e-01 -2.79362983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942401008 meters 0.0686065377743853 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.91, Z:-2.80 [[ 9.93508631e-01 7.08291861e-02 8.90158778e-02 2.37391183e+01] [-7.00545054e-02 9.97473360e-01 -1.18009340e-02 -1.90911582e+00] [-8.96268173e-02 5.48836648e-03 9.95960296e-01 -2.79706729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972401008000002 meters 0.06941860501495323 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.91, Z:-2.80 [[ 9.93478640e-01 7.12974846e-02 8.89767402e-02 2.37699163e+01] [-7.05248282e-02 9.97440209e-01 -1.18015963e-02 -1.91112406e+00] [-8.95904025e-02 5.44956449e-03 9.95963785e-01 -2.80068916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002401008000003 meters 0.06868338429956641 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.90, Z:-2.80 [[ 9.93477031e-01 7.01827019e-02 8.98764575e-02 2.38028792e+01] [-6.93886396e-02 9.97518329e-01 -1.19331787e-02 -1.90486696e+00] [-9.04909164e-02 5.61893377e-03 9.95881430e-01 -2.80142629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.032401008 meters 0.06868338429956641 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.91, Z:-2.81 [[ 9.93458969e-01 7.04389980e-02 8.98756014e-02 2.38347705e+01] [-6.96453972e-02 9.97500358e-01 -1.19396266e-02 -1.90922368e+00] [-9.04919599e-02 5.60210717e-03 9.95881429e-01 -2.80535217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062401008000002 meters 0.06983293004456721 Centerline is valid? [True, True] Translation: X:23.87, Y:-1.91, Z:-2.81 [[ 9.93484078e-01 6.97462010e-02 9.01379696e-02 2.38654730e+01] [-6.89427986e-02 9.97548442e-01 -1.19998420e-02 -1.91069249e+00] [-9.07539345e-02 5.70728811e-03 9.95856993e-01 -2.81024236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092401008000003 meters 0.07156871051357133 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.91, Z:-2.82 [[ 9.93534120e-01 6.91991658e-02 9.00079350e-02 2.38963494e+01] [-6.83941109e-02 9.97586189e-01 -1.20017121e-02 -1.91310458e+00] [-9.06211813e-02 5.76809781e-03 9.95868732e-01 -2.81628185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122401008 meters 0.07207034451523049 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.91, Z:-2.82 [[ 9.93624849e-01 6.81182949e-02 8.98307195e-02 2.39282878e+01] [-6.73099319e-02 9.97659935e-01 -1.20011588e-02 -1.91248582e+00] [-9.04380083e-02 5.87815002e-03 9.95884739e-01 -2.82159598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152401008000002 meters 0.06959666361236524 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.90, Z:-2.82 [[ 9.93981468e-01 6.52082612e-02 8.80268352e-02 2.39605203e+01] [-6.44201948e-02 9.97853484e-01 -1.17669894e-02 -1.90110566e+00] [-8.86051891e-02 6.02546355e-03 9.96048600e-01 -2.82444662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182401008000003 meters 0.0687937647752205 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.90, Z:-2.83 [[ 9.94100824e-01 6.43385157e-02 8.73161280e-02 2.39924054e+01] [-6.35599609e-02 9.97909781e-01 -1.16705197e-02 -1.89854224e+00] [-8.78844821e-02 6.05186359e-03 9.96112289e-01 -2.82818966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212401008 meters 0.07459204907973106 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.91, Z:-2.84 [[ 9.94285830e-01 6.21091279e-02 8.68224907e-02 2.40201030e+01] [-6.13299386e-02 9.98049953e-01 -1.16159212e-02 -1.90883342e+00] [-8.73746375e-02 6.22472783e-03 9.96156075e-01 -2.83652557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242401008 meters 0.07028014971283589 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.90, Z:-2.84 [[ 9.94372726e-01 6.02725763e-02 8.71211730e-02 2.40524483e+01] [-5.94803503e-02 9.98161338e-01 -1.16632655e-02 -1.90066176e+00] [-8.76639616e-02 6.41563521e-03 9.96129444e-01 -2.83545590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272401008000003 meters 0.07289853695813496 Centerline is valid? [True, True] Translation: X:24.08, Y:-1.90, Z:-2.84 [[ 9.94552405e-01 5.65310137e-02 8.75771607e-02 2.40828062e+01] [-5.57159912e-02 9.98377811e-01 -1.17249375e-02 -1.90104687e+00] [-8.80979166e-02 6.78161648e-03 9.96088734e-01 -2.83742713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302401008 meters 0.06869510603075972 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.89, Z:-2.84 [[ 9.94533343e-01 5.55359557e-02 8.84261644e-02 2.41167200e+01] [-5.47013097e-02 9.98432607e-01 -1.18362312e-02 -1.89133773e+00] [-8.89449022e-02 6.93449953e-03 9.96012408e-01 -2.83671180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.332401008 meters 0.06993166773538374 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.89, Z:-2.84 [[ 9.94557499e-01 5.50007200e-02 8.84889904e-02 2.41474611e+01] [-5.41602666e-02 9.98461668e-01 -1.18727913e-02 -1.89141119e+00] [-8.90058770e-02 7.01558629e-03 9.96006393e-01 -2.84044479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362401008000003 meters 0.07082062870355534 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.88, Z:-2.84 [[ 9.94401508e-01 5.59152264e-02 8.96611834e-02 2.41793563e+01] [-5.50556765e-02 9.98410774e-01 -1.20332645e-02 -1.88486062e+00] [-9.01915342e-02 7.02953927e-03 9.95899630e-01 -2.84365451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.392401008 meters 0.07074830157277973 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.88, Z:-2.85 [[ 9.94304842e-01 5.73006396e-02 8.98583172e-02 2.42111395e+01] [-5.64426228e-02 9.98332970e-01 -1.20628180e-02 -1.88295833e+00] [-9.03997279e-02 6.92227925e-03 9.95881505e-01 -2.84634750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422401008 meters 0.06868614484996821 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.88, Z:-2.85 [[ 9.94165913e-01 5.84012786e-02 9.06831164e-02 2.42435732e+01] [-5.75316400e-02 9.98269423e-01 -1.21766351e-02 -1.87615913e+00] [-9.12373133e-02 6.88844715e-03 9.95805353e-01 -2.84753227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452401008000002 meters 0.0685258507308573 Centerline is valid? [True, True] Translation: X:24.28, Y:-1.87, Z:-2.85 [[ 9.94065380e-01 5.98958238e-02 9.08103011e-02 2.42759761e+01] [-5.90296764e-02 9.98181720e-01 -1.21963983e-02 -1.87242621e+00] [-9.13756958e-02 6.76351465e-03 9.95793521e-01 -2.85190108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482401008 meters 0.06769467099940028 Centerline is valid? [True, True] Translation: X:24.31, Y:-1.87, Z:-2.85 [[ 9.94006218e-01 6.00623066e-02 9.13463634e-02 2.43092494e+01] [-5.91866251e-02 9.98171552e-01 -1.22677279e-02 -1.86666156e+00] [-9.19161693e-02 6.78771482e-03 9.95743614e-01 -2.85459507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.512401008 meters 0.07560503944518839 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.87, Z:-2.87 [[ 9.94005094e-01 6.08953340e-02 9.08054643e-02 2.43393575e+01] [-6.00313958e-02 9.98121715e-01 -1.22177880e-02 -1.87114870e+00] [-9.13789120e-02 6.69336474e-03 9.95793700e-01 -2.86501406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542401008000002 meters 0.06809298905417785 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.85, Z:-2.86 [[ 9.94158642e-01 5.99590061e-02 8.97413668e-02 2.43746997e+01] [-5.91092430e-02 9.98178193e-01 -1.20992986e-02 -1.85435231e+00] [-9.03033373e-02 6.72407804e-03 9.95891608e-01 -2.86277820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.572401008 meters 0.06944892179679797 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.85, Z:-2.87 [[ 9.94252366e-01 5.81488436e-02 8.98940741e-02 2.44049291e+01] [-5.72880680e-02 9.98284018e-01 -1.21283203e-02 -1.85405659e+00] [-9.04450654e-02 6.90875328e-03 9.95877482e-01 -2.86618517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602401008 meters 0.0698203362893686 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.85, Z:-2.87 [[ 9.94423044e-01 5.58835308e-02 8.94418253e-02 2.44365138e+01] [-5.50223819e-02 9.98412205e-01 -1.20667787e-02 -1.85145204e+00] [-8.99741442e-02 7.07818059e-03 9.95918949e-01 -2.86845617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632401008000002 meters 0.07498853321755798 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.85, Z:-2.87 [[ 9.95008720e-01 4.99099542e-02 8.64097462e-02 2.44662569e+01] [-4.90840945e-02 9.98726620e-01 -1.16572248e-02 -1.84962671e+00] [-8.68815253e-02 7.35769621e-03 9.96191480e-01 -2.87211529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662401008000003 meters 0.07138947980662537 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.84, Z:-2.87 [[ 9.95254650e-01 4.62693518e-02 8.55998142e-02 2.44997537e+01] [-4.54449322e-02 9.98900006e-01 -1.15558157e-02 -1.83883828e+00] [-8.60403350e-02 7.61090156e-03 9.96262583e-01 -2.87045095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692401008 meters 0.07254204667456525 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.84, Z:-2.87 [[ 9.95524198e-01 4.34671761e-02 8.39176712e-02 2.45313262e+01] [-4.26648436e-02 9.99025178e-01 -1.13315723e-02 -1.83632814e+00] [-8.43284179e-02 7.70052007e-03 9.96408260e-01 -2.87201107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722401008000002 meters 0.07370695390324636 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.83, Z:-2.87 [[ 9.95632876e-01 4.11655800e-02 8.37888529e-02 2.45629630e+01] [-4.03575009e-02 9.99121225e-01 -1.13159446e-02 -1.83366600e+00] [-8.41810487e-02 7.88501780e-03 9.96419278e-01 -2.87310125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752401008000003 meters 0.07629656204014863 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.82, Z:-2.88 [[ 9.95843551e-01 3.91739809e-02 8.22254292e-02 2.45939955e+01] [-3.83888747e-02 9.99201133e-01 -1.11081546e-02 -1.82454813e+00] [-8.25948926e-02 7.90544246e-03 9.96551849e-01 -2.87553758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782401008 meters 0.07541509910176723 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.82, Z:-2.88 [[ 9.95799050e-01 3.98951045e-02 8.24174318e-02 2.46274277e+01] [-3.91090850e-02 9.99172957e-01 -1.11301683e-02 -1.81905426e+00] [-8.27933083e-02 7.86014064e-03 9.96535743e-01 -2.87893013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812401008000002 meters 0.07217905053930888 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.81, Z:-2.88 [[ 9.95685300e-01 4.07846774e-02 8.33510271e-02 2.46606130e+01] [-3.99830102e-02 9.99136853e-01 -1.12653534e-02 -1.80797927e+00] [-8.37385367e-02 7.88412184e-03 9.96456571e-01 -2.88100032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842401008000003 meters 0.07192994862652871 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.80, Z:-2.89 [[ 9.95631074e-01 4.18084578e-02 8.34914265e-02 2.46931610e+01] [-4.10074438e-02 9.99095091e-01 -1.12866639e-02 -1.80179757e+00] [-8.38877523e-02 7.81358336e-03 9.96444576e-01 -2.88528346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872401008 meters 0.09203759581519086 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.82, Z:-2.90 [[ 9.95464154e-01 4.31774277e-02 8.47751637e-02 2.47208193e+01] [-4.23560690e-02 9.99036802e-01 -1.14643360e-02 -1.81716006e+00] [-8.51885090e-02 7.82159282e-03 9.96334151e-01 -2.90224691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902401008000002 meters 0.0963095023096078 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.82, Z:-2.91 [[ 9.95340314e-01 4.35185896e-02 8.60452905e-02 2.47521329e+01] [-4.26738114e-02 9.99021321e-01 -1.16338039e-02 -1.81764701e+00] [-8.64673666e-02 7.90771357e-03 9.96223300e-01 -2.90788299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932401008000003 meters 0.09643383606862262 Centerline is valid? [True, True] Translation: X:24.79, Y:-1.81, Z:-2.91 [[ 9.95367017e-01 4.30311568e-02 8.59815119e-02 2.47850385e+01] [-4.21835134e-02 9.99041933e-01 -1.16519483e-02 -1.81230433e+00] [-8.64005326e-02 7.97096278e-03 9.96228594e-01 -2.91130806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962401008 meters 0.09868422420557517 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.80, Z:-2.91 [[ 9.95151275e-01 4.31312574e-02 8.83947628e-02 2.48183828e+01] [-4.22327519e-02 9.99035604e-01 -1.20107212e-02 -1.79946591e+00] [-8.88275527e-02 8.21933042e-03 9.96013107e-01 -2.91363024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.992401008 meters 0.10031832949300488 Centerline is valid? [True, False] Translation: X:24.85, Y:-1.79, Z:-2.90 [[ 9.97512709e-01 3.48185697e-02 6.12867284e-02 2.48479658e+01] [-3.45057994e-02 9.99385546e-01 -6.15470572e-03 -1.79002742e+00] [-6.14633685e-02 4.02464961e-03 9.98101226e-01 -2.90369607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022401008000003 meters 0.09145338456196991 Centerline is valid? [False, True] Translation: X:24.86, Y:-1.78, Z:-2.90 [[ 9.98724529e-01 2.82252841e-02 4.18646551e-02 2.48605542e+01] [-2.81132347e-02 9.99599419e-01 -3.26290904e-03 -1.77841269e+00] [-4.19399815e-02 2.08179641e-03 9.99117963e-01 -2.89592959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.052401008 meters 0.09646531557495099 Centerline is valid? [True, True] Translation: X:24.89, Y:-1.78, Z:-2.90 [[ 9.98675687e-01 2.95841746e-02 4.20909585e-02 2.48913247e+01] [-2.93939683e-02 9.99554736e-01 -5.13080159e-03 -1.77837787e+00] [-4.22240075e-02 3.88678650e-03 9.99100609e-01 -2.90063407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082401008 meters 0.09275084827535528 Centerline is valid? [True, True] Translation: X:24.93, Y:-1.75, Z:-2.90 [[ 9.98741105e-01 3.05152391e-02 3.98123739e-02 2.49273664e+01] [-3.03454762e-02 9.99527647e-01 -4.86157064e-03 -1.75419403e+00] [-3.99419204e-02 3.64732499e-03 9.99195346e-01 -2.90440464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112401008000003 meters 0.09721505089256915 Centerline is valid? [True, True] Translation: X:24.96, Y:-1.75, Z:-2.91 [[ 9.98801532e-01 3.11938170e-02 3.77153249e-02 2.49587771e+01] [-3.10414146e-02 9.99507422e-01 -4.61984945e-03 -1.75303740e+00] [-3.78408579e-02 3.44357567e-03 9.99277845e-01 -2.91128488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142401008 meters 0.0970389085467919 Centerline is valid? [True, True] Translation: X:24.99, Y:-1.75, Z:-2.92 [[ 9.98811759e-01 3.17556919e-02 3.69681837e-02 2.49928931e+01] [-3.16093457e-02 9.99490004e-01 -4.53661512e-03 -1.74616675e+00] [-3.70933934e-02 3.36268443e-03 9.99306146e-01 -2.91514380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.172401008 meters 0.09479063807275143 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.74, Z:-2.92 [[ 9.98861682e-01 3.21484288e-02 3.52394588e-02 2.50257765e+01] [-3.20152442e-02 9.99477970e-01 -4.33734467e-03 -1.73683765e+00] [-3.53605016e-02 3.20420751e-03 9.99369485e-01 -2.91743931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202401008000002 meters 0.09676348081418894 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.72, Z:-2.92 [[ 9.98857409e-01 3.40479462e-02 3.35352481e-02 2.50583683e+01] [-3.39281109e-02 9.99415717e-01 -4.13617422e-03 -1.72410093e+00] [-3.36564822e-02 2.99366065e-03 9.99428977e-01 -2.92229864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.232401008 meters 0.09188219500369589 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.71, Z:-2.92 [[ 9.98802291e-01 3.59649748e-02 3.31738369e-02 2.50913416e+01] [-3.58481637e-02 9.99348799e-01 -4.10945336e-03 -1.71152801e+00] [-3.33000305e-02 2.91531030e-03 9.99441148e-01 -2.92244836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262401008 meters 0.09411217711234938 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.70, Z:-2.93 [[ 9.98591902e-01 4.03889363e-02 3.43940028e-02 2.51223841e+01] [-4.02658339e-02 9.99179901e-01 -4.26463137e-03 -1.69748175e+00] [-3.45380402e-02 2.87372315e-03 9.99399252e-01 -2.92754451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292401008000002 meters 0.08939087230574506 Centerline is valid? [True, True] Translation: X:25.16, Y:-1.69, Z:-2.93 [[ 9.98443270e-01 4.35928359e-02 3.47951310e-02 2.51552291e+01] [-4.34688574e-02 9.99045477e-01 -4.31202326e-03 -1.68552102e+00] [-3.49498915e-02 2.79280602e-03 9.99385164e-01 -2.92716125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322401008 meters 0.08835976359661614 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.68, Z:-2.93 [[ 9.98208944e-01 4.71074499e-02 3.68753681e-02 2.51862152e+01] [-4.69705231e-02 9.98885816e-01 -4.57127019e-03 -1.67909788e+00] [-3.70496230e-02 2.83102746e-03 9.99309417e-01 -2.92897380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352401008 meters 0.08715774373128223 Centerline is valid? [True, True] Translation: X:25.22, Y:-1.67, Z:-2.93 [[ 9.97989386e-01 5.13796357e-02 3.71122328e-02 2.52172248e+01] [-5.12438779e-02 9.98675572e-01 -4.60066238e-03 -1.67289327e+00] [-3.72994607e-02 2.68963750e-03 9.99300513e-01 -2.93104641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382401008000002 meters 0.08244257636995561 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.66, Z:-2.93 [[ 9.97638761e-01 5.71219559e-02 3.81311541e-02 2.52499445e+01] [-5.69827959e-02 9.98363969e-01 -4.72728146e-03 -1.65539503e+00] [-3.83388019e-02 2.54329944e-03 9.99261561e-01 -2.93056147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412401008000003 meters 0.08134966586897267 Centerline is valid? [True, True] Translation: X:25.28, Y:-1.65, Z:-2.93 [[ 9.97523908e-01 5.93513034e-02 3.77289857e-02 2.52816614e+01] [-5.92167072e-02 9.98234199e-01 -4.67597403e-03 -1.65128229e+00] [-3.79398890e-02 2.43020959e-03 9.99277068e-01 -2.93309166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442401008 meters 0.08013476870453597 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.65, Z:-2.94 [[ 9.97390661e-01 6.16707879e-02 3.75311028e-02 2.53134009e+01] [-6.15391778e-02 9.98093823e-01 -4.65297399e-03 -1.64690129e+00] [-3.77465144e-02 2.33119960e-03 9.99284627e-01 -2.93550594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472401008000002 meters 0.07980496801364395 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.64, Z:-2.94 [[ 9.97250341e-01 6.37768265e-02 3.77395646e-02 2.53446554e+01] [-6.36451916e-02 9.97961614e-01 -4.68038360e-03 -1.64397841e+00] [-3.79611368e-02 2.26557231e-03 9.99276648e-01 -2.93864021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502401008000003 meters 0.07824622177647897 Centerline is valid? [True, True] Translation: X:25.38, Y:-1.63, Z:-2.94 [[ 9.97126761e-01 6.70721807e-02 3.52071819e-02 2.53781257e+01] [-6.69599318e-02 9.97746143e-01 -4.35904541e-03 -1.63311462e+00] [-3.54202006e-02 1.98905033e-03 9.99370528e-01 -2.94483065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532401008 meters 0.07794987517558902 Centerline is valid? [True, True] Translation: X:25.41, Y:-1.63, Z:-2.95 [[ 9.97085267e-01 6.86212798e-02 3.33480034e-02 2.54108037e+01] [-6.85212119e-02 9.97641088e-01 -4.13569741e-03 -1.63248593e+00] [-3.35531353e-02 1.83859734e-03 9.99435244e-01 -2.94864063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562401008000002 meters 0.07733876934719028 Centerline is valid? [True, True] Translation: X:25.44, Y:-1.63, Z:-2.95 [[ 9.96948575e-01 7.02160476e-02 3.41063781e-02 2.54426999e+01] [-7.01115853e-02 9.97530098e-01 -4.25069462e-03 -1.63213965e+00] [-3.43206056e-02 1.84647171e-03 9.99409169e-01 -2.95070150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592401008000003 meters 0.0769071118524144 Centerline is valid? [True, True] Translation: X:25.47, Y:-1.63, Z:-2.95 [[ 9.96707846e-01 7.24009981e-02 3.64906051e-02 2.54735817e+01] [-7.22827056e-02 9.97373795e-01 -4.55236238e-03 -1.62878207e+00] [-3.67243689e-02 1.89973564e-03 9.99323627e-01 -2.95184938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622401008 meters 0.07615221091478751 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.63, Z:-2.95 [[ 9.96593887e-01 7.41577325e-02 3.60729139e-02 2.55056179e+01] [-7.40436209e-02 9.97244892e-01 -4.49090402e-03 -1.62918559e+00] [-3.63065644e-02 1.80463833e-03 9.99339070e-01 -2.95455562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652401008000002 meters 0.07565604619714288 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.63, Z:-2.96 [[ 9.96495111e-01 7.59376326e-02 3.50851907e-02 2.55372713e+01] [-7.58304694e-02 9.97111118e-01 -4.37693839e-03 -1.63045425e+00] [-3.53162081e-02 1.70107122e-03 9.99374740e-01 -2.95793492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682401008000003 meters 0.07509731019805004 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.63, Z:-2.96 [[ 9.96396277e-01 7.77289221e-02 3.39510606e-02 2.55699307e+01] [-7.76291083e-02 9.96973248e-01 -4.25027658e-03 -1.63105009e+00] [-3.41786686e-02 1.59936919e-03 9.99414459e-01 -2.96200209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712401008 meters 0.0747909086801074 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.63, Z:-2.97 [[ 9.96253563e-01 7.99046891e-02 3.30768608e-02 2.56008721e+01] [-7.98111195e-02 9.96801400e-01 -4.14168120e-03 -1.63035501e+00] [-3.33020009e-02 1.48626337e-03 9.99444229e-01 -2.96658234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742401008 meters 0.07529870895892644 Centerline is valid? [True, True] Translation: X:25.63, Y:-1.63, Z:-2.97 [[ 9.96217322e-01 8.06193519e-02 3.24278717e-02 2.56324190e+01] [-8.05298050e-02 9.96743932e-01 -4.06018287e-03 -1.63421517e+00] [-3.26496137e-02 1.43341432e-03 9.99465831e-01 -2.97055722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772401008000003 meters 0.07065733367629878 Centerline is valid? [True, True] Translation: X:25.67, Y:-1.63, Z:-2.96 [[ 9.96201709e-01 8.02263781e-02 3.38508900e-02 2.56661992e+01] [-8.01279897e-02 9.96775500e-01 -4.25536513e-03 -1.63106221e+00] [-3.40831304e-02 1.52679824e-03 9.99417835e-01 -2.96477980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802401008 meters 0.07005097219331956 Centerline is valid? [True, True] Translation: X:25.70, Y:-1.64, Z:-2.96 [[ 9.96241724e-01 7.89473250e-02 3.56335155e-02 2.56993340e+01] [-7.88376317e-02 9.96877425e-01 -4.47522538e-03 -1.63522292e+00] [-3.58755543e-02 1.64914427e-03 9.99354904e-01 -2.96353278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832401008 meters 0.0791539326920253 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.66, Z:-2.97 [[ 9.96424805e-01 7.57578284e-02 3.73946327e-02 2.57275329e+01] [-7.56340036e-02 9.97124490e-01 -4.71695168e-03 -1.65642304e+00] [-3.76444501e-02 1.87178188e-03 9.99289443e-01 -2.97234449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862401008000003 meters 0.07706239721092438 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.66, Z:-2.97 [[ 9.96471942e-01 7.47571318e-02 3.81449937e-02 2.57592672e+01] [-7.46274663e-02 9.97199864e-01 -4.81387881e-03 -1.65897793e+00] [-3.83980543e-02 1.95023093e-03 9.99260620e-01 -2.97075907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892401008 meters 0.07285054784638186 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.66, Z:-2.97 [[ 9.96542299e-01 7.39694231e-02 3.78414011e-02 2.57923946e+01] [-7.38409516e-02 9.97258559e-01 -4.78334934e-03 -1.65818066e+00] [-3.80914827e-02 1.97256488e-03 9.99272309e-01 -2.96752363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922401008 meters 0.08413255819383038 Centerline is valid? [True, True] Translation: X:25.82, Y:-1.68, Z:-2.98 [[ 9.96589410e-01 7.29397129e-02 3.85920520e-02 2.58193806e+01] [-7.28048342e-02 9.97334215e-01 -4.89076306e-03 -1.68406173e+00] [-3.88459048e-02 2.06439472e-03 9.99243081e-01 -2.97934469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952401008000002 meters 0.07513101265811825 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.68, Z:-2.97 [[ 9.96551482e-01 7.29311329e-02 3.95751718e-02 2.58536669e+01] [-7.27888563e-02 9.97334709e-01 -5.02607095e-03 -1.67581509e+00] [-3.98362495e-02 2.12810696e-03 9.99203955e-01 -2.97167321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982401008 meters 0.07513101265811825 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.68, Z:-2.97 [[ 9.96527935e-01 7.32528566e-02 3.95739071e-02 2.58858203e+01] [-7.31104396e-02 9.97311136e-01 -5.03600157e-03 -1.68017724e+00] [-3.98363998e-02 2.12525050e-03 9.99203955e-01 -2.97399708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012401008 meters 0.07516783008894355 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.69, Z:-2.98 [[ 9.96407701e-01 7.38689332e-02 4.14134464e-02 2.59166647e+01] [-7.37127989e-02 9.97265499e-01 -5.28664078e-03 -1.68530561e+00] [-4.16907198e-02 2.21494854e-03 9.99128109e-01 -2.97569177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042401008000002 meters 0.08306742887959458 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.70, Z:-2.99 [[ 9.96175505e-01 7.67976668e-02 4.16711213e-02 2.59449346e+01] [-7.66413970e-02 9.97044438e-01 -5.33712992e-03 -1.70210377e+00] [-4.19578388e-02 2.12298514e-03 9.99117127e-01 -2.98668420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.072401008 meters 0.08206186298533502 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.71, Z:-2.99 [[ 9.96031230e-01 7.89700856e-02 4.10550084e-02 2.59760297e+01] [-7.88201704e-02 9.96874973e-01 -5.26003371e-03 -1.70640373e+00] [-4.13420957e-02 2.00319509e-03 9.99143042e-01 -2.98988361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102401008 meters 0.08154841805473288 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.71, Z:-2.99 [[ 9.95911687e-01 8.03333193e-02 4.13094262e-02 2.60080276e+01] [-8.01827111e-02 9.96766132e-01 -5.29256377e-03 -1.71193552e+00] [-4.16010062e-02 1.95862433e-03 9.99132384e-01 -2.99373053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132401008000002 meters 0.06944768993226912 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.70, Z:-2.98 [[ 9.95813446e-01 8.23803873e-02 3.96112652e-02 2.60431157e+01] [-8.22436749e-02 9.96599347e-01 -5.07135789e-03 -1.69782545e+00] [-3.98943415e-02 1.79235036e-03 9.99202296e-01 -2.98455296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162401008000003 meters 0.06840353679072993 Centerline is valid? [True, True] Translation: X:26.08, Y:-1.70, Z:-2.99 [[ 9.95690288e-01 8.42333298e-02 3.88020213e-02 2.60753431e+01] [-8.41031180e-02 9.96444618e-01 -4.97887574e-03 -1.70120242e+00] [-3.90834525e-02 1.69404725e-03 9.99234514e-01 -2.98728812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192401008 meters 0.06973367205562628 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.71, Z:-3.00 [[ 9.95455385e-01 8.71343058e-02 3.84212143e-02 2.61047699e+01] [-8.70080144e-02 9.96195313e-01 -4.95014576e-03 -1.70986735e+00] [-3.87063611e-02 1.58469568e-03 9.99249371e-01 -2.99559418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222401008000002 meters 0.07055410722855918 Centerline is valid? [True, True] Translation: X:26.14, Y:-1.72, Z:-3.00 [[ 9.95351834e-01 8.90648389e-02 3.66358011e-02 2.61356658e+01] [-8.89515996e-02 9.96024801e-01 -4.71262353e-03 -1.71736447e+00] [-3.69098955e-02 1.43190537e-03 9.99317572e-01 -3.00159719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252401008000003 meters 0.06918665693798262 Centerline is valid? [True, True] Translation: X:26.17, Y:-1.72, Z:-3.00 [[ 9.95308499e-01 9.01191378e-02 3.52069974e-02 2.61676182e+01] [-9.00148450e-02 9.95930079e-01 -4.53943020e-03 -1.72177061e+00] [-3.54727972e-02 1.34898105e-03 9.99369732e-01 -3.00364855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282401008 meters 0.06761438568137114 Centerline is valid? [True, True] Translation: X:26.20, Y:-1.73, Z:-3.00 [[ 9.95059095e-01 9.30244444e-02 3.46965423e-02 2.61992582e+01] [-9.29243476e-02 9.95663049e-01 -4.48991869e-03 -1.73097633e+00] [-3.49637373e-02 1.24358087e-03 9.99387808e-01 -3.00449374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312401008000002 meters 0.06578357959553609 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.74, Z:-3.00 [[ 9.94897119e-01 9.46033156e-02 3.50704297e-02 2.62312740e+01] [-9.45021509e-02 9.95514329e-01 -4.53483399e-03 -1.73538537e+00] [-3.53421256e-02 1.19746223e-03 9.99374555e-01 -3.00429268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342401008000003 meters 0.06632685593254822 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.74, Z:-3.01 [[ 9.94580805e-01 9.78257825e-02 3.52013998e-02 2.62618102e+01] [-9.77254814e-02 9.95202949e-01 -4.56286901e-03 -1.74330510e+00] [-3.54789031e-02 1.09806819e-03 9.99369822e-01 -3.00982598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372401008 meters 0.06408940966126979 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.74, Z:-3.01 [[ 9.94228329e-01 1.01382714e-01 3.50938090e-02 2.62937278e+01] [-1.01284553e-01 9.94847009e-01 -4.56825291e-03 -1.74459193e+00] [-3.53761128e-02 9.87425686e-04 9.99373582e-01 -3.00953592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402401008000002 meters 0.06353424011538412 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.75, Z:-3.02 [[ 9.93496187e-01 1.08638640e-01 3.41023857e-02 2.63237970e+01] [-1.08550117e-01 9.94081053e-01 -4.44210408e-03 -1.74962642e+00] [-3.43831197e-02 7.11395512e-04 9.99408473e-01 -3.01661383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432401008000003 meters 0.06253951455592122 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.75, Z:-3.02 [[ 9.93069009e-01 1.12659684e-01 3.34923612e-02 2.63552975e+01] [-1.12576843e-01 9.93633478e-01 -4.35502572e-03 -1.75287632e+00] [-3.37697672e-02 5.54376787e-04 9.99429485e-01 -3.01872337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462401008 meters 0.0618312149761977 Centerline is valid? [True, True] Translation: X:26.39, Y:-1.76, Z:-3.02 [[ 9.92583610e-01 1.16732986e-01 3.39291367e-02 2.63876295e+01] [-1.16649774e-01 9.93163238e-01 -4.42853862e-03 -1.75769666e+00] [-3.42141278e-02 4.37868716e-04 9.99414429e-01 -3.02079828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492401008 meters 0.059817443841204666 Centerline is valid? [True, True] Translation: X:26.42, Y:-1.76, Z:-3.02 [[ 9.91827193e-01 1.22513162e-01 3.56278592e-02 2.64194366e+01] [-1.22424945e-01 9.92466856e-01 -4.65544037e-03 -1.76392800e+00] [-3.59298221e-02 2.55653653e-04 9.99354283e-01 -3.01626853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522401008000003 meters 0.05993234071367004 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.77, Z:-3.02 [[ 9.91510450e-01 1.25001396e-01 3.58005440e-02 2.64499671e+01] [-1.24914126e-01 9.92156553e-01 -4.67291288e-03 -1.77099129e+00] [-3.61038649e-02 1.61248283e-04 9.99348030e-01 -3.01998244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552401008 meters 0.05968805666085902 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.78, Z:-3.02 [[ 9.91295514e-01 1.26841809e-01 3.52754784e-02 2.64822629e+01] [-1.26757980e-01 9.91922953e-01 -4.61183541e-03 -1.77844171e+00] [-3.55755303e-02 1.00243374e-04 9.99366985e-01 -3.02269286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582401008 meters 0.060161700786019824 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.79, Z:-3.03 [[ 9.91211910e-01 1.27564654e-01 3.50172491e-02 2.65131215e+01] [-1.27482055e-01 9.91830253e-01 -4.59064521e-03 -1.78818672e+00] [-3.53167711e-02 8.62313238e-05 9.99376165e-01 -3.02820703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612401008000003 meters 0.05995712987718117 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.81, Z:-3.03 [[ 9.91251862e-01 1.26716216e-01 3.69153901e-02 2.65426481e+01] [-1.26623306e-01 9.91939001e-01 -4.85352334e-03 -1.80786154e+00] [-3.72328353e-02 1.36715327e-04 9.99306608e-01 -3.02794411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642401008 meters 0.05938786254470946 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.82, Z:-3.03 [[ 9.91146856e-01 1.26994478e-01 3.87338620e-02 2.65738813e+01] [-1.26891948e-01 9.91903414e-01 -5.10408885e-03 -1.82018997e+00] [-3.90684410e-02 1.43886408e-04 9.99236527e-01 -3.02605361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672401008 meters 0.059436884875589305 Centerline is valid? [True, True] Translation: X:26.60, Y:-1.83, Z:-3.03 [[ 9.91082133e-01 1.27130630e-01 3.99250288e-02 2.66036878e+01] [-1.27021280e-01 9.91885971e-01 -5.27406365e-03 -1.83231818e+00] [-4.02715709e-02 1.55701989e-04 9.99188759e-01 -3.02875119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702401008000002 meters 0.05897201796721043 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.84, Z:-3.03 [[ 9.91003552e-01 1.27612049e-01 4.03376395e-02 2.66352749e+01] [-1.27500398e-01 9.91824149e-01 -5.33904405e-03 -1.84306039e+00] [-4.06891713e-02 1.47946518e-04 9.99171842e-01 -3.02798277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732401008 meters 0.05875038809516976 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.86, Z:-3.03 [[ 9.90698606e-01 1.29961699e-01 4.03265394e-02 2.66656262e+01] [-1.29851352e-01 9.91519012e-01 -5.35483069e-03 -1.85803488e+00] [-4.06804534e-02 6.85676157e-05 9.99172205e-01 -3.03095378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762401008 meters 0.057813953247449285 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.87, Z:-3.02 [[ 9.90415608e-01 1.32004996e-01 4.06399286e-02 2.66959341e+01] [-1.31894674e-01 9.91249051e-01 -5.39574511e-03 -1.86804545e+00] [-4.09965559e-02 -1.61599688e-05 9.99159288e-01 -3.02473337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792401008000002 meters 0.05775739097453333 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.88, Z:-3.03 [[ 9.90170479e-01 1.33918931e-01 4.03502501e-02 2.67277075e+01] [-1.33811338e-01 9.90992287e-01 -5.36777099e-03 -1.87964705e+00] [-4.07056327e-02 -8.43125950e-05 9.99171179e-01 -3.02737678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822401008000003 meters 0.0580531549586484 Centerline is valid? [True, True] Translation: X:26.76, Y:-1.90, Z:-3.03 [[ 9.89542171e-01 1.39062786e-01 3.83123216e-02 2.67571181e+01] [-1.38969017e-01 9.90283531e-01 -5.11280392e-03 -1.89906524e+00] [-3.86510619e-02 -2.64890599e-04 9.99252733e-01 -3.03037258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852401008 meters 0.058042921172235064 Centerline is valid? [True, True] Translation: X:26.79, Y:-1.91, Z:-3.03 [[ 9.89250364e-01 1.41073708e-01 3.84958062e-02 2.67881844e+01] [-1.40980712e-01 9.89999034e-01 -5.13339074e-03 -1.91144305e+00] [-3.88349974e-02 -3.48957528e-04 9.99245576e-01 -3.03259341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882401008000002 meters 0.058193930457585225 Centerline is valid? [True, True] Translation: X:26.82, Y:-1.92, Z:-3.04 [[ 9.89023525e-01 1.42638688e-01 3.85573859e-02 2.68182411e+01] [-1.42546128e-01 9.89774745e-01 -5.15327932e-03 -1.92283302e+00] [-3.88981838e-02 -3.99491595e-04 9.99243099e-01 -3.03592435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912401008000003 meters 0.05828052649880382 Centerline is valid? [True, True] Translation: X:26.85, Y:-1.93, Z:-3.04 [[ 9.88834383e-01 1.43803937e-01 3.90767342e-02 2.68497612e+01] [-1.43709441e-01 9.89606099e-01 -5.23115378e-03 -1.93456028e+00] [-3.94228350e-02 -4.42950920e-04 9.99222520e-01 -3.03941596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942401008 meters 0.058377783503422064 Centerline is valid? [True, True] Translation: X:26.88, Y:-1.95, Z:-3.04 [[ 9.88801351e-01 1.44279696e-01 3.81478395e-02 2.68800896e+01] [-1.44189573e-01 9.89536849e-01 -5.11775630e-03 -1.94644865e+00] [-3.84870812e-02 -4.40076346e-04 9.99259001e-01 -3.04338775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972401008000002 meters 0.05862016599249589 Centerline is valid? [True, True] Translation: X:26.91, Y:-1.97, Z:-3.05 [[ 9.88822903e-01 1.44279832e-01 3.75845167e-02 2.69083638e+01] [-1.44192003e-01 9.89536836e-01 -5.05137810e-03 -1.96798881e+00] [-3.79200757e-02 -4.24468386e-04 9.99280685e-01 -3.04708798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002401008000003 meters 0.058327057195816025 Centerline is valid? [True, True] Translation: X:26.94, Y:-1.98, Z:-3.05 [[ 9.88958559e-01 1.43357402e-01 3.75449581e-02 2.69390760e+01] [-1.43268816e-01 9.89670910e-01 -5.05338538e-03 -1.98316497e+00] [-3.78815931e-02 -3.81432952e-04 9.99282162e-01 -3.04627239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032401008 meters 0.058236711238584336 Centerline is valid? [True, True] Translation: X:26.97, Y:-2.00, Z:-3.05 [[ 9.89045677e-01 1.42649485e-01 3.79443401e-02 2.69691623e+01] [-1.42558128e-01 9.89773208e-01 -5.11638720e-03 -1.99772652e+00] [-3.82861412e-02 -3.48933455e-04 9.99266756e-01 -3.04733884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062401008000002 meters 0.058288561851724326 Centerline is valid? [True, True] Translation: X:27.00, Y:-2.01, Z:-3.05 [[ 9.89148302e-01 1.41528959e-01 3.94359084e-02 2.69984736e+01] [-1.41428954e-01 9.89934068e-01 -5.32836169e-03 -2.01199157e+00] [-3.97930668e-02 -3.06839361e-04 9.99207895e-01 -3.04974262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092401008000003 meters 0.05829548440644903 Centerline is valid? [True, True] Translation: X:27.03, Y:-2.03, Z:-3.05 [[ 9.89185155e-01 1.41043465e-01 4.02426324e-02 2.70287339e+01] [-1.40938559e-01 9.90003364e-01 -5.44632410e-03 -2.02590142e+00] [-4.06085098e-02 -2.84315658e-04 9.99175094e-01 -3.05177262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122401008 meters 0.05857730476303386 Centerline is valid? [True, True] Translation: X:27.06, Y:-2.05, Z:-3.06 [[ 9.89252349e-01 1.40493339e-01 4.05143287e-02 2.70569382e+01] [-1.40386131e-01 9.90081591e-01 -5.49334105e-03 -2.04860173e+00] [-4.08842688e-02 -2.53349303e-04 9.99163857e-01 -3.05538942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152401008000002 meters 0.05781870892662685 Centerline is valid? [True, True] Translation: X:27.09, Y:-2.06, Z:-3.05 [[ 9.89207133e-01 1.41059224e-01 3.96427041e-02 2.70883479e+01] [-1.40956745e-01 9.90001124e-01 -5.38237647e-03 -2.06213921e+00] [-4.00055554e-02 -2.63621355e-04 9.99199423e-01 -3.05031742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182401008000003 meters 0.0583076783464338 Centerline is valid? [True, True] Translation: X:27.12, Y:-2.08, Z:-3.06 [[ 9.88708099e-01 1.44203883e-01 4.07619257e-02 2.71174440e+01] [-1.44097735e-01 9.89547921e-01 -5.54574674e-03 -2.07585500e+00] [-4.11355971e-02 -3.90576447e-04 9.99153497e-01 -3.05816860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212401008 meters 0.05845305448630819 Centerline is valid? [True, True] Translation: X:27.15, Y:-2.08, Z:-3.06 [[ 9.88393519e-01 1.46511770e-01 4.01566141e-02 2.71483036e+01] [-1.46410286e-01 9.89208815e-01 -5.47249172e-03 -2.08465991e+00] [-4.05250611e-02 -4.70366009e-04 9.99178412e-01 -3.06139207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242401008 meters 0.058233546799515694 Centerline is valid? [True, True] Translation: X:27.18, Y:-2.10, Z:-3.06 [[ 9.88181395e-01 1.48512760e-01 3.79669600e-02 2.71792873e+01] [-1.48423013e-01 9.88910360e-01 -5.18731576e-03 -2.09637807e+00] [-3.83163026e-02 -5.09161680e-04 9.99265531e-01 -3.06067979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272401008000003 meters 0.058466906649688594 Centerline is valid? [True, True] Translation: X:27.21, Y:-2.11, Z:-3.06 [[ 9.87972594e-01 1.50242399e-01 3.65701299e-02 2.72086608e+01] [-1.50160297e-01 9.88649035e-01 -4.99711368e-03 -2.10689120e+00] [-3.69058020e-02 -5.54370194e-04 9.99318595e-01 -3.06433931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302401008 meters 0.05862921117677681 Centerline is valid? [True, True] Translation: X:27.24, Y:-2.13, Z:-3.07 [[ 9.87625009e-01 1.52408356e-01 3.69937088e-02 2.72370746e+01] [-1.52325813e-01 9.88317399e-01 -5.05618350e-03 -2.12536663e+00] [-3.73321307e-02 -6.41483506e-04 9.99302707e-01 -3.06903671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332401008 meters 0.058468791635778374 Centerline is valid? [True, True] Translation: X:27.27, Y:-2.14, Z:-3.07 [[ 9.87520086e-01 1.53111792e-01 3.68898213e-02 2.72685926e+01] [-1.53029954e-01 9.88208654e-01 -5.04865307e-03 -2.13755694e+00] [-3.72278490e-02 -6.59601364e-04 9.99306586e-01 -3.07133125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362401008000003 meters 0.0583890819896327 Centerline is valid? [True, True] Translation: X:27.30, Y:-2.15, Z:-3.07 [[ 9.87517579e-01 1.52979699e-01 3.74999077e-02 2.72994975e+01] [-1.52894583e-01 9.88229115e-01 -5.14413575e-03 -2.14931291e+00] [-3.78454490e-02 -6.53608265e-04 9.99283391e-01 -3.07406891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392401008 meters 0.05831445352627921 Centerline is valid? [True, True] Translation: X:27.33, Y:-2.16, Z:-3.08 [[ 9.87488350e-01 1.53105308e-01 3.77561109e-02 2.73288126e+01] [-1.53018734e-01 9.88209663e-01 -5.18929753e-03 -2.16002281e+00] [-3.81054626e-02 -6.53021443e-04 9.99273510e-01 -3.07825024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422401008 meters 0.058277878429047136 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.17, Z:-3.08 [[ 9.87522178e-01 1.52989746e-01 3.73374692e-02 2.73604465e+01] [-1.52904755e-01 9.88227572e-01 -5.13822885e-03 -2.17260186e+00] [-3.76840129e-02 -6.34961643e-04 9.99289504e-01 -3.08133141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452401008000002 meters 0.0581505547757412 Centerline is valid? [True, True] Translation: X:27.39, Y:-2.19, Z:-3.09 [[ 9.87655016e-01 1.52104521e-01 3.74404134e-02 2.73880875e+01] [-1.52017958e-01 9.88364237e-01 -5.16475335e-03 -2.19487036e+00] [-3.77903480e-02 -5.90620622e-04 9.99285515e-01 -3.08509498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482401008 meters 0.05818388644914148 Centerline is valid? [True, True] Translation: X:27.42, Y:-2.21, Z:-3.09 [[ 9.87824046e-01 1.50772089e-01 3.83592374e-02 2.74177289e+01] [-1.50679759e-01 9.88568401e-01 -5.30338570e-03 -2.20831015e+00] [-3.87203326e-02 -5.41148745e-04 9.99249940e-01 -3.08818671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.512401008 meters 0.057883974605654406 Centerline is valid? [True, True] Translation: X:27.45, Y:-2.22, Z:-3.09 [[ 9.87952642e-01 1.49405468e-01 4.03433122e-02 2.74480589e+01] [-1.49301843e-01 9.88775886e-01 -5.58638840e-03 -2.22247789e+00] [-4.07251312e-02 -5.04243703e-04 9.99170260e-01 -3.08875183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542401008000002 meters 0.05747389185682897 Centerline is valid? [True, True] Translation: X:27.48, Y:-2.24, Z:-3.09 [[ 9.87952625e-01 1.48461469e-01 4.36898483e-02 2.74777801e+01] [-1.48338881e-01 9.88918066e-01 -6.05271217e-03 -2.23710639e+00] [-4.41042748e-02 -5.01110318e-04 9.99026807e-01 -3.08689750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572401008000003 meters 0.05732857016876647 Centerline is valid? [True, True] Translation: X:27.51, Y:-2.25, Z:-3.09 [[ 9.88063265e-01 1.47061208e-01 4.58692122e-02 2.75072960e+01] [-1.46924608e-01 9.89127286e-01 -6.35381984e-03 -2.24997340e+00] [-4.63048898e-02 -4.61340064e-04 9.98927247e-01 -3.08782179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602401008 meters 0.057050307611283754 Centerline is valid? [True, True] Translation: X:27.54, Y:-2.27, Z:-3.09 [[ 9.88196381e-01 1.45249092e-01 4.86889546e-02 2.75360710e+01] [-1.45092510e-01 9.89395042e-01 -6.75385527e-03 -2.26860951e+00] [-4.91536017e-02 -3.90267290e-04 9.98791155e-01 -3.08904251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632401008000002 meters 0.05720809635939859 Centerline is valid? [True, True] Translation: X:27.57, Y:-2.28, Z:-3.09 [[ 9.88188252e-01 1.45240841e-01 4.88781900e-02 2.75670834e+01] [-1.45083179e-01 9.89396252e-01 -6.77705051e-03 -2.27911883e+00] [-4.93442025e-02 -3.94401524e-04 9.98781755e-01 -3.09278516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662401008000003 meters 0.057269716480321156 Centerline is valid? [True, True] Translation: X:27.60, Y:-2.29, Z:-3.09 [[ 9.88099772e-01 1.45597612e-01 4.96001504e-02 2.75981574e+01] [-1.45435052e-01 9.89343808e-01 -6.89019747e-03 -2.29056512e+00] [-5.00747980e-02 -4.05397888e-04 9.98745388e-01 -3.09447435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692401008 meters 0.05747611156169278 Centerline is valid? [True, True] Translation: X:27.63, Y:-2.31, Z:-3.10 [[ 9.88154491e-01 1.45780209e-01 4.79461467e-02 2.76269353e+01] [-1.45627996e-01 9.89316925e-01 -6.67143430e-03 -2.30788543e+00] [-4.84064976e-02 -3.89893519e-04 9.98827642e-01 -3.09912824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722401008000002 meters 0.05770117835119411 Centerline is valid? [True, True] Translation: X:27.66, Y:-2.32, Z:-3.10 [[ 9.88143159e-01 1.46186886e-01 4.69307039e-02 2.76567240e+01] [-1.46041050e-01 9.89256914e-01 -6.53992973e-03 -2.31809379e+00] [-4.73825752e-02 -3.91422437e-04 9.98876738e-01 -3.10289166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752401008000003 meters 0.05771384103346934 Centerline is valid? [True, True] Translation: X:27.69, Y:-2.33, Z:-3.11 [[ 9.88435370e-01 1.44598245e-01 4.56822464e-02 2.76861434e+01] [-1.44457942e-01 9.89490404e-01 -6.37528571e-03 -2.32944794e+00] [-4.61239996e-02 -2.97605406e-04 9.98935678e-01 -3.10702221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782401008 meters 0.057695319899093406 Centerline is valid? [True, True] Translation: X:27.72, Y:-2.35, Z:-3.11 [[ 9.89324955e-01 1.39194042e-01 4.31410701e-02 2.77150651e+01] [-1.39063318e-01 9.90265125e-01 -6.03125588e-03 -2.34983780e+00] [-4.35606120e-02 -3.24683755e-05 9.99050786e-01 -3.10968179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812401008000002 meters 0.05794997046722189 Centerline is valid? [True, True] Translation: X:27.74, Y:-2.36, Z:-3.11 [[ 9.89768180e-01 1.36206409e-01 4.25060538e-02 2.77443289e+01] [-1.36076666e-01 9.90680475e-01 -5.94447782e-03 -2.36284031e+00] [-4.29195935e-02 9.95729224e-05 9.99078525e-01 -3.11440692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842401008000003 meters 0.05799335477228768 Centerline is valid? [True, True] Translation: X:27.77, Y:-2.38, Z:-3.12 [[ 9.90229458e-01 1.32373921e-01 4.38493501e-02 2.77736758e+01] [-1.32231580e-01 9.91199810e-01 -6.14377171e-03 -2.37688196e+00] [-4.42767426e-02 2.85474909e-04 9.99019263e-01 -3.11609904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.872401008 meters 0.05799335477228768 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.38, Z:-3.12 [[ 9.90195514e-01 1.32627962e-01 4.38482258e-02 2.78056404e+01] [-1.32485514e-01 9.91165851e-01 -6.15178232e-03 -2.38149853e+00] [-4.42767624e-02 2.82212514e-04 9.99019263e-01 -3.11841779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902401008000002 meters 0.05854293799776518 Centerline is valid? [True, True] Translation: X:27.84, Y:-2.40, Z:-3.12 [[ 9.90646360e-01 1.28738094e-01 4.52359678e-02 2.78351856e+01] [-1.28581838e-01 9.91678511e-01 -6.35935353e-03 -2.39642244e+00] [-4.56782282e-02 4.83346551e-04 9.98956088e-01 -3.12143311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932401008000003 meters 0.058638478913777686 Centerline is valid? [True, True] Translation: X:27.87, Y:-2.42, Z:-3.12 [[ 9.91463266e-01 1.21383666e-01 4.76088094e-02 2.78650317e+01] [-1.21201484e-01 9.92605276e-01 -6.70566330e-03 -2.41648029e+00] [-4.80707134e-02 8.78160504e-04 9.98843549e-01 -3.11751520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962401008 meters 0.059101264558766346 Centerline is valid? [True, True] Translation: X:27.90, Y:-2.43, Z:-3.12 [[ 9.91908683e-01 1.17762755e-01 4.74246506e-02 2.78958136e+01] [-1.17577130e-01 9.93041188e-01 -6.69461391e-03 -2.42791608e+00] [-4.78830075e-02 1.06439137e-03 9.98852384e-01 -3.11990398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.992401008 meters 0.05951982174393794 Centerline is valid? [True, True] Translation: X:27.93, Y:-2.44, Z:-3.12 [[ 9.92158672e-01 1.15172471e-01 4.85435057e-02 2.79265309e+01] [-1.14974894e-01 9.93344764e-01 -6.85226658e-03 -2.43868813e+00] [-4.90096296e-02 1.21725129e-03 9.98797564e-01 -3.12272165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022401008000003 meters 0.060430906654501584 Centerline is valid? [True, True] Translation: X:27.96, Y:-2.45, Z:-3.13 [[ 9.92372354e-01 1.13089780e-01 4.90694627e-02 2.79564477e+01] [-1.12884662e-01 9.93583858e-01 -6.94040735e-03 -2.45056996e+00] [-4.95395153e-02 1.34827865e-03 9.98771254e-01 -3.12539210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.052401008 meters 0.06070023484358814 Centerline is valid? [True, True] Translation: X:27.99, Y:-2.46, Z:-3.12 [[ 9.92654866e-01 1.09816063e-01 5.07616863e-02 2.79868939e+01] [-1.09592040e-01 9.93950689e-01 -7.18413874e-03 -2.46393166e+00] [-5.12435470e-02 1.56829351e-03 9.98684955e-01 -3.12428827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082401008 meters 0.06033959278510188 Centerline is valid? [True, True] Translation: X:28.02, Y:-2.47, Z:-3.13 [[ 9.92640627e-01 1.09535580e-01 5.16385832e-02 2.80193986e+01] [-1.09302796e-01 9.93981554e-01 -7.31912884e-03 -2.47003817e+00] [-5.21295042e-02 1.62102309e-03 9.98639017e-01 -3.12527450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112401008000003 meters 0.060466395549048535 Centerline is valid? [True, True] Translation: X:28.05, Y:-2.48, Z:-3.13 [[ 9.92640604e-01 1.09271670e-01 5.21951557e-02 2.80515455e+01] [-1.09032725e-01 9.94010525e-01 -7.41218379e-03 -2.47690547e+00] [-5.26924758e-02 1.66665454e-03 9.98609396e-01 -3.12655536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142401008 meters 0.05963681142334982 Centerline is valid? [True, True] Translation: X:28.08, Y:-2.48, Z:-3.13 [[ 9.92364876e-01 1.11278328e-01 5.31891601e-02 2.80839665e+01] [-1.11032114e-01 9.93787980e-01 -7.57098116e-03 -2.48001178e+00] [-5.37012341e-02 1.60747087e-03 9.98555754e-01 -3.12739722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172401008 meters 0.06066248177696985 Centerline is valid? [True, True] Translation: X:28.11, Y:-2.49, Z:-3.13 [[ 9.92175624e-01 1.12863078e-01 5.33803099e-02 2.81142683e+01] [-1.12617275e-01 9.93609374e-01 -7.60013011e-03 -2.48865652e+00] [-5.38969504e-02 1.52911881e-03 9.98545332e-01 -3.13261415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202401008000002 meters 0.0595135035094495 Centerline is valid? [True, True] Translation: X:28.15, Y:-2.49, Z:-3.13 [[ 9.92095149e-01 1.13877891e-01 5.27166110e-02 2.81467892e+01] [-1.13638940e-01 9.93493669e-01 -7.51798986e-03 -2.48918038e+00] [-5.32297521e-02 1.46790150e-03 9.98581213e-01 -3.13296033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232401008000004 meters 0.05978581311487877 Centerline is valid? [True, True] Translation: X:28.18, Y:-2.49, Z:-3.14 [[ 9.92148623e-01 1.13902727e-01 5.16456954e-02 2.81777063e+01] [-1.13672790e-01 9.93490850e-01 -7.37747801e-03 -2.49418692e+00] [-5.21498407e-02 1.44884435e-03 9.98638220e-01 -3.13728827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262401008 meters 0.06020195212115698 Centerline is valid? [True, True] Translation: X:28.21, Y:-2.50, Z:-3.14 [[ 9.92572315e-01 1.11007274e-01 4.97753442e-02 2.82079482e+01] [-1.10789337e-01 9.93818374e-01 -7.12482001e-03 -2.50034105e+00] [-5.02585585e-02 1.55732173e-03 9.98735026e-01 -3.14232881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292401008000002 meters 0.060575984146272834 Centerline is valid? [True, True] Translation: X:28.24, Y:-2.51, Z:-3.14 [[ 9.92896005e-01 1.08506996e-01 4.88237171e-02 2.82388427e+01] [-1.08294480e-01 9.94094319e-01 -6.98495825e-03 -2.50671772e+00] [-4.92932966e-02 1.64799811e-03 9.98782987e-01 -3.14462884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322401008000003 meters 0.061180289577259746 Centerline is valid? [True, True] Translation: X:28.27, Y:-2.51, Z:-3.15 [[ 9.93144152e-01 1.06057326e-01 4.91582827e-02 2.82689421e+01] [-1.05838227e-01 9.94358397e-01 -7.04613572e-03 -2.51398763e+00] [-4.96282455e-02 1.79500297e-03 9.98766146e-01 -3.14720589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352401008 meters 0.0624972929888986 Centerline is valid? [True, True] Translation: X:28.30, Y:-2.52, Z:-3.15 [[ 9.93432516e-01 1.03610057e-01 4.85467973e-02 2.82981745e+01] [-1.03393098e-01 9.94616179e-01 -6.96591449e-03 -2.52242890e+00] [-4.90071688e-02 1.90076217e-03 9.98796618e-01 -3.15096971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382401008000002 meters 0.06267639520219961 Centerline is valid? [True, True] Translation: X:28.33, Y:-2.53, Z:-3.15 [[ 9.93892082e-01 9.92175499e-02 4.83157063e-02 2.83285470e+01] [-9.89973987e-02 9.95063531e-01 -6.93428444e-03 -2.52744057e+00] [-4.87652001e-02 2.10880115e-03 9.98808044e-01 -3.15095565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412401008000003 meters 0.06296844490101679 Centerline is valid? [True, True] Translation: X:28.36, Y:-2.53, Z:-3.15 [[ 9.94025063e-01 9.79691954e-02 4.81270346e-02 2.83595724e+01] [-9.77494812e-02 9.95187108e-01 -6.90352289e-03 -2.53250288e+00] [-4.85717370e-02 2.15788211e-03 9.98817366e-01 -3.15244014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442401008 meters 0.06335793518122967 Centerline is valid? [True, True] Translation: X:28.39, Y:-2.54, Z:-3.15 [[ 9.94122054e-01 9.69747922e-02 4.81376204e-02 2.83912938e+01] [-9.67533292e-02 9.95284369e-01 -6.91509978e-03 -2.53700486e+00] [-4.85812115e-02 2.21697816e-03 9.98816775e-01 -3.15489355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472401008000002 meters 0.061688929251545684 Centerline is valid? [True, True] Translation: X:28.42, Y:-2.54, Z:-3.15 [[ 9.94116475e-01 9.72894410e-02 4.76151202e-02 2.84244434e+01] [-9.70726532e-02 9.95253726e-01 -6.84981783e-03 -2.53516799e+00] [-4.80555408e-02 2.18739070e-03 9.98842270e-01 -3.15453333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502401008000003 meters 0.06357659279067568 Centerline is valid? [True, True] Translation: X:28.45, Y:-2.54, Z:-3.16 [[ 9.94058027e-01 9.77660491e-02 4.78585201e-02 2.84541135e+01] [-9.75468779e-02 9.95207015e-01 -6.89952154e-03 -2.54250170e+00] [-4.83036739e-02 2.19007556e-03 9.98830295e-01 -3.16092971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532401008 meters 0.06162056401601579 Centerline is valid? [True, True] Translation: X:28.49, Y:-2.54, Z:-3.16 [[ 9.93714605e-01 1.01794084e-01 4.65751953e-02 2.84868751e+01] [-1.01590242e-01 9.94803569e-01 -6.72914851e-03 -2.53506321e+00] [-4.70181580e-02 1.95526780e-03 9.98892121e-01 -3.16361349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562401008000002 meters 0.06259864780557098 Centerline is valid? [True, True] Translation: X:28.52, Y:-2.54, Z:-3.17 [[ 9.93447326e-01 1.04456177e-01 4.63823008e-02 2.85171920e+01] [-1.04256841e-01 9.94527819e-01 -6.70286843e-03 -2.53879398e+00] [-4.68286445e-02 1.82327457e-03 9.98901273e-01 -3.16966400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592401008000003 meters 0.0603537519777186 Centerline is valid? [True, True] Translation: X:28.55, Y:-2.53, Z:-3.17 [[ 9.93198417e-01 1.07006263e-01 4.58973290e-02 2.85503663e+01] [-1.06813960e-01 9.94256925e-01 -6.62917531e-03 -2.53283984e+00] [-4.63431004e-02 1.68161095e-03 9.98924166e-01 -3.16910256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622401008 meters 0.060234156035596946 Centerline is valid? [True, True] Translation: X:28.58, Y:-2.53, Z:-3.17 [[ 9.92809076e-01 1.10809133e-01 4.52932114e-02 2.85809357e+01] [-1.10625058e-01 9.93840573e-01 -6.55838371e-03 -2.53089691e+00] [-4.57409600e-02 1.50065871e-03 9.98952207e-01 -3.17265198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.652401008000002 meters 0.06021000621642074 Centerline is valid? [True, True] Translation: X:28.61, Y:-2.53, Z:-3.17 [[ 9.92729434e-01 1.11635855e-01 4.50078443e-02 2.86130347e+01] [-1.11455163e-01 9.93748126e-01 -6.51221210e-03 -2.53414201e+00] [-4.54534573e-02 1.44850800e-03 9.98965407e-01 -3.17446741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682401008000003 meters 0.06022835464093356 Centerline is valid? [True, True] Translation: X:28.64, Y:-2.54, Z:-3.18 [[ 9.92761135e-01 1.11349679e-01 4.50175353e-02 2.86449393e+01] [-1.11168129e-01 9.93780197e-01 -6.52430668e-03 -2.53732632e+00] [-4.54640146e-02 1.47256292e-03 9.98964892e-01 -3.17590259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712401008 meters 0.060289542194472384 Centerline is valid? [True, True] Translation: X:28.68, Y:-2.54, Z:-3.18 [[ 9.92806325e-01 1.11098462e-01 4.46400418e-02 2.86769242e+01] [-1.10919218e-01 9.93808299e-01 -6.48010872e-03 -2.54090061e+00] [-4.50835741e-02 1.48205439e-03 9.98982119e-01 -3.17770663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742401008 meters 0.06087666550455078 Centerline is valid? [True, True] Translation: X:28.71, Y:-2.54, Z:-3.18 [[ 9.92945543e-01 1.09283521e-01 4.60028294e-02 2.87092519e+01] [-1.09090681e-01 9.94009294e-01 -6.68936523e-03 -2.54387147e+00] [-4.64582774e-02 1.62369539e-03 9.98918912e-01 -3.17920120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772401008000003 meters 0.06031905550013282 Centerline is valid? [True, True] Translation: X:28.74, Y:-2.54, Z:-3.18 [[ 9.93010535e-01 1.08491036e-01 4.64733451e-02 2.87418510e+01] [-1.08292847e-01 9.94095993e-01 -6.76875004e-03 -2.54452870e+00] [-4.69333149e-02 1.68870925e-03 9.98896597e-01 -3.18001448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802401008 meters 0.06126446137486227 Centerline is valid? [True, True] Translation: X:28.77, Y:-2.55, Z:-3.18 [[ 9.92962985e-01 1.08737726e-01 4.69107397e-02 2.87724516e+01] [-1.08535493e-01 9.94069012e-01 -6.84443477e-03 -2.54959717e+00] [-4.73767610e-02 1.70479013e-03 9.98875636e-01 -3.18320873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832401008 meters 0.06115136591834104 Centerline is valid? [True, True] Translation: X:28.80, Y:-2.55, Z:-3.19 [[ 9.92851862e-01 1.09389215e-01 4.77407501e-02 2.88040236e+01] [-1.09179993e-01 9.93997516e-01 -6.97619255e-03 -2.55206126e+00] [-4.82173073e-02 1.71399101e-03 9.98835399e-01 -3.18526060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862401008000003 meters 0.06109445220086111 Centerline is valid? [True, True] Translation: X:28.83, Y:-2.55, Z:-3.19 [[ 9.92697960e-01 1.11342807e-01 4.64062526e-02 2.88346877e+01] [-1.11146755e-01 9.93780795e-01 -6.79189274e-03 -2.55324104e+00] [-4.68738710e-02 1.58439368e-03 9.98899559e-01 -3.18813409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.892401008 meters 0.060430935525967545 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.55, Z:-3.19 [[ 9.92527647e-01 1.13078104e-01 4.58498796e-02 2.88665871e+01] [-1.12888153e-01 9.93584980e-01 -6.71959317e-03 -2.55373064e+00] [-4.63155905e-02 1.49347378e-03 9.98925741e-01 -3.19025308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922401008 meters 0.06069271479003699 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.56, Z:-3.19 [[ 9.92264833e-01 1.15533019e-01 4.54161013e-02 2.88977345e+01] [-1.15348735e-01 9.93302687e-01 -6.66648409e-03 -2.55714452e+00] [-4.58821345e-02 1.37622790e-03 9.98945912e-01 -3.19447625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952401008000002 meters 0.059656223464926855 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.55, Z:-3.20 [[ 9.91643858e-01 1.20467766e-01 4.61516610e-02 2.89300178e+01] [-1.20282060e-01 9.92716535e-01 -6.79015983e-03 -2.55343501e+00] [-4.66335124e-02 1.18220343e-03 9.98911366e-01 -3.19565174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982401008000004 meters 0.05908939890375406 Centerline is valid? [True, True] Translation: X:28.96, Y:-2.56, Z:-3.20 [[ 9.91218623e-01 1.23319729e-01 4.77271949e-02 2.89614140e+01] [-1.23124329e-01 9.92366397e-01 -7.02381401e-03 -2.55507771e+00] [-4.82290392e-02 1.08575641e-03 9.98835713e-01 -3.19723542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012401008 meters 0.058480407767011404 Centerline is valid? [True, True] Translation: X:28.99, Y:-2.56, Z:-3.20 [[ 9.90847434e-01 1.26272968e-01 4.77126836e-02 2.89939699e+01] [-1.26081252e-01 9.91995089e-01 -7.01865132e-03 -2.55591022e+00] [-4.82170138e-02 9.38737762e-04 9.98836442e-01 -3.19705293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042401008000002 meters 0.05811483800251194 Centerline is valid? [True, True] Translation: X:29.03, Y:-2.56, Z:-3.20 [[ 9.90465310e-01 1.28952305e-01 4.84744605e-02 2.90261360e+01] [-1.28757052e-01 9.91650447e-01 -7.14226025e-03 -2.55764546e+00] [-4.89907314e-02 8.32732368e-04 9.98798886e-01 -3.19883646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072401008000003 meters 0.05796145119488559 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.56, Z:-3.20 [[ 9.90211202e-01 1.31149203e-01 4.77667378e-02 2.90568086e+01] [-1.30961616e-01 9.91362376e-01 -7.04938836e-03 -2.55870026e+00] [-4.82786684e-02 7.24774135e-04 9.98833642e-01 -3.20259762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102401008 meters 0.05804429903633092 Centerline is valid? [True, True] Translation: X:29.09, Y:-2.56, Z:-3.20 [[ 9.90304031e-01 1.30473247e-01 4.76933802e-02 2.90882197e+01] [-1.30284970e-01 9.91451534e-01 -7.04855924e-03 -2.56389586e+00] [-4.82053234e-02 7.66486006e-04 9.98837154e-01 -3.20488149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132401008000002 meters 0.058182265464325734 Centerline is valid? [True, True] Translation: X:29.12, Y:-2.57, Z:-3.21 [[ 9.90382726e-01 1.30043629e-01 4.72304028e-02 2.91191903e+01] [-1.29857992e-01 9.91507957e-01 -6.99086816e-03 -2.56962021e+00] [-4.77384381e-02 7.90389807e-04 9.98859558e-01 -3.20823716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162401008000003 meters 0.05884535506382804 Centerline is valid? [True, True] Translation: X:29.15, Y:-2.58, Z:-3.21 [[ 9.91081853e-01 1.24830263e-01 4.66279493e-02 2.91480206e+01] [-1.24642836e-01 9.92177563e-01 -6.91717371e-03 -2.57986547e+00] [-4.71266777e-02 1.04364551e-03 9.98888376e-01 -3.21145736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192401008 meters 0.05948390859053078 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.59, Z:-3.21 [[ 9.91489478e-01 1.21730274e-01 4.61557806e-02 2.91792799e+01] [-1.21543266e-01 9.92562517e-01 -6.84720673e-03 -2.58750707e+00] [-4.66460101e-02 1.17900911e-03 9.98910787e-01 -3.21426457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222401008000002 meters 0.06023759545045728 Centerline is valid? [True, True] Translation: X:29.21, Y:-2.60, Z:-3.22 [[ 9.91984609e-01 1.18227857e-01 4.45949507e-02 2.92077410e+01] [-1.18049643e-01 9.92985640e-01 -6.61813780e-03 -2.59574597e+00] [-4.50645939e-02 1.30067282e-03 9.98983228e-01 -3.21809399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252401008000003 meters 0.060178995994851915 Centerline is valid? [True, True] Translation: X:29.24, Y:-2.60, Z:-3.22 [[ 9.92444950e-01 1.14785329e-01 4.33283872e-02 2.92383522e+01] [-1.14613616e-01 9.93389305e-01 -6.43489392e-03 -2.60110558e+00] [-4.37805879e-02 1.42025483e-03 9.99040161e-01 -3.21880644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282401008 meters 0.061779174407031096 Centerline is valid? [True, True] Translation: X:29.27, Y:-2.61, Z:-3.22 [[ 9.93233214e-01 1.08190549e-01 4.22207083e-02 2.92671805e+01] [-1.08021566e-01 9.94128777e-01 -6.27017879e-03 -2.61101680e+00] [-4.26511952e-02 1.66700281e-03 9.99088633e-01 -3.22286666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312401008000002 meters 0.062257973844483235 Centerline is valid? [True, True] Translation: X:29.30, Y:-2.62, Z:-3.22 [[ 9.93508486e-01 1.05569127e-01 4.23798008e-02 2.92979371e+01] [-1.05396469e-01 9.94410362e-01 -6.29421260e-03 -2.61764139e+00] [-4.28073876e-02 1.78667226e-03 9.99081746e-01 -3.22451422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342401008000003 meters 0.06277634845302729 Centerline is valid? [True, True] Translation: X:29.33, Y:-2.62, Z:-3.23 [[ 9.93712301e-01 1.03699054e-01 4.22181102e-02 2.93290800e+01] [-1.03525788e-01 9.94606970e-01 -6.27580138e-03 -2.62424131e+00] [-4.26412214e-02 1.86567790e-03 9.99088708e-01 -3.22682463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372401008 meters 0.060401094993801786 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.62, Z:-3.22 [[ 9.93833524e-01 1.02734300e-01 4.17203799e-02 2.93616201e+01] [-1.02564339e-01 9.94707052e-01 -6.19971871e-03 -2.62255468e+00] [-4.21364799e-02 1.88246510e-03 9.99110091e-01 -3.22422830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402401008000002 meters 0.06098889707005777 Centerline is valid? [True, True] Translation: X:29.39, Y:-2.63, Z:-3.23 [[ 9.93928095e-01 1.02352093e-01 4.03855375e-02 2.93922060e+01] [-1.02192162e-01 9.94746520e-01 -6.01025743e-03 -2.62630430e+00] [-4.07885354e-02 1.84667831e-03 9.99166095e-01 -3.22841107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432401008000003 meters 0.06081218659910438 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.63, Z:-3.23 [[ 9.93747727e-01 1.04491936e-01 3.93305249e-02 2.94238122e+01] [-1.04341605e-01 9.94524245e-01 -5.86137410e-03 -2.62903150e+00] [-3.97276269e-02 1.72091711e-03 9.99209064e-01 -3.23088578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462401008 meters 0.06511203270591005 Centerline is valid? [True, True] Translation: X:29.45, Y:-2.64, Z:-3.24 [[ 9.93429508e-01 1.07471639e-01 3.93403148e-02 2.94515094e+01] [-1.07322897e-01 9.94206833e-01 -5.87957668e-03 -2.64280296e+00] [-3.97442975e-02 1.61882840e-03 9.99208572e-01 -3.24192957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492401008 meters 0.06383753558930234 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.64, Z:-3.24 [[ 9.92863615e-01 1.12097356e-01 4.06942876e-02 2.94823528e+01] [-1.11942036e-01 9.93696121e-01 -6.08275718e-03 -2.64243035e+00] [-4.11196167e-02 1.48394689e-03 9.99153129e-01 -3.24411808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522401008000003 meters 0.05866299406343138 Centerline is valid? [True, True] Translation: X:29.52, Y:-2.63, Z:-3.24 [[ 9.91555073e-01 1.22191703e-01 4.34479515e-02 2.95160766e+01] [-1.22024261e-01 9.92505865e-01 -6.49528376e-03 -2.62788109e+00] [-4.39160165e-02 1.13872741e-03 9.99034577e-01 -3.23665986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552401008 meters 0.05814875075243467 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.63, Z:-3.24 [[ 9.90902642e-01 1.26543703e-01 4.58109822e-02 2.95467302e+01] [-1.26362160e-01 9.91960531e-01 -6.84901185e-03 -2.62858176e+00] [-4.63093856e-02 9.97929250e-04 9.98926646e-01 -3.23778268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582401008 meters 0.05778197779306447 Centerline is valid? [True, True] Translation: X:29.58, Y:-2.63, Z:-3.24 [[ 9.90286678e-01 1.30818011e-01 4.71056604e-02 2.95788936e+01] [-1.30630913e-01 9.91406060e-01 -7.04195371e-03 -2.62977496e+00] [-4.76220515e-02 8.20097542e-04 9.98865090e-01 -3.23888476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612401008000003 meters 0.05751588680749714 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.63, Z:-3.24 [[ 9.89799519e-01 1.33755449e-01 4.90550007e-02 2.96093677e+01] [-1.33555968e-01 9.91014115e-01 -7.33674971e-03 -2.63135037e+00] [-4.95955284e-02 7.10323202e-04 9.98769132e-01 -3.24019164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642401008 meters 0.057056396022754696 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.63, Z:-3.24 [[ 9.88881425e-01 1.39473547e-01 5.15815624e-02 2.96402837e+01] [-1.39260773e-01 9.90225697e-01 -7.71397534e-03 -2.63055836e+00] [-5.21532841e-02 4.44918693e-04 9.98638992e-01 -3.24169362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.672401008 meters 0.057017730287747745 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.63, Z:-3.24 [[ 9.88566871e-01 1.41401587e-01 5.23558326e-02 2.96728080e+01] [-1.41184774e-01 9.89952254e-01 -7.83541972e-03 -2.63318049e+00] [-5.29377153e-02 3.53989968e-04 9.98597753e-01 -3.24420038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702401008000002 meters 0.05679387709000785 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.64, Z:-3.24 [[ 9.88298784e-01 1.43134351e-01 5.27074153e-02 2.97047250e+01] [-1.42916991e-01 9.89703232e-01 -7.88960903e-03 -2.63660056e+00] [-5.32939734e-02 2.64505800e-04 9.98578831e-01 -3.24403019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732401008000004 meters 0.05697840102270592 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.64, Z:-3.25 [[ 9.87550063e-01 1.48381947e-01 5.22271094e-02 2.97365934e+01] [-1.48175211e-01 9.88930128e-01 -7.83000703e-03 -2.64073006e+00] [-5.28107936e-02 -6.23900980e-06 9.98604536e-01 -3.24829025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762401008 meters 0.05697840102270592 Centerline is valid? [True, True] Translation: X:29.77, Y:-2.65, Z:-3.25 [[ 9.87511445e-01 1.48639438e-01 5.22251321e-02 2.97685104e+01] [-1.48432366e-01 9.88891459e-01 -7.84316913e-03 -2.64564657e+00] [-5.28107913e-02 -6.68062161e-06 9.98604536e-01 -3.25061018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792401008000002 meters 0.05723945042864888 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.65, Z:-3.25 [[ 9.87133782e-01 1.51814327e-01 5.01926897e-02 2.98002761e+01] [-1.51626495e-01 9.88409017e-01 -7.55119197e-03 -2.64970495e+00] [-5.07572862e-02 -1.56504928e-04 9.98711006e-01 -3.25428504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822401008000003 meters 0.057577799177420695 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.65, Z:-3.26 [[ 9.86826645e-01 1.54469694e-01 4.80862348e-02 2.98315104e+01] [-1.54299918e-01 9.87997490e-01 -7.24530744e-03 -2.65334561e+00] [-4.86282598e-02 -2.69839650e-04 9.98816910e-01 -3.25881633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852401008 meters 0.057698407640383545 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.66, Z:-3.26 [[ 9.86639560e-01 1.56259602e-01 4.61011424e-02 2.98621903e+01] [-1.56105069e-01 9.87715964e-01 -6.95571164e-03 -2.65694035e+00] [-4.66217310e-02 -3.33841753e-04 9.98912560e-01 -3.26414826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882401008000002 meters 0.05784917827715807 Centerline is valid? [True, True] Translation: X:29.89, Y:-2.66, Z:-3.27 [[ 9.86325263e-01 1.58377098e-01 4.55979274e-02 2.98938086e+01] [-1.58227757e-01 9.87378609e-01 -6.88901575e-03 -2.66154013e+00] [-4.61134805e-02 -4.20047496e-04 9.98936119e-01 -3.26762567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912401008000003 meters 0.058470799844685915 Centerline is valid? [True, True] Translation: X:29.92, Y:-2.67, Z:-3.27 [[ 9.85985597e-01 1.60579809e-01 4.52385723e-02 2.99237924e+01] [-1.60434617e-01 9.87022729e-01 -6.84591984e-03 -2.66853057e+00] [-4.57508156e-02 -5.07854666e-04 9.98952754e-01 -3.27376576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942401008 meters 0.05855881283105816 Centerline is valid? [True, True] Translation: X:29.95, Y:-2.68, Z:-3.28 [[ 9.85815788e-01 1.61680456e-01 4.50184681e-02 2.99544856e+01] [-1.61537383e-01 9.86843012e-01 -6.82223441e-03 -2.67657289e+00] [-4.55291827e-02 -5.46699122e-04 9.98962859e-01 -3.27563722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972401008000002 meters 0.05860816671002016 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.68, Z:-3.28 [[ 9.85652914e-01 1.62711682e-01 4.48691579e-02 2.99858865e+01] [-1.62570159e-01 9.86673487e-01 -6.80983987e-03 -2.68469002e+00] [-4.53792489e-02 -5.82247615e-04 9.98969662e-01 -3.27679303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002401008000003 meters 0.05919880627066709 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.69, Z:-3.28 [[ 9.85196248e-01 1.65231371e-01 4.56831053e-02 3.00168964e+01] [-1.65086876e-01 9.86254583e-01 -6.94405694e-03 -2.69311812e+00] [-4.62025480e-02 -7.00422310e-04 9.98931847e-01 -3.28075148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032401008 meters 0.05893416675018409 Centerline is valid? [True, True] Translation: X:30.05, Y:-2.70, Z:-3.28 [[ 9.84885023e-01 1.66598618e-01 4.73961170e-02 3.00485180e+01] [-1.66443873e-01 9.86024491e-01 -7.22083096e-03 -2.70276158e+00] [-4.79367126e-02 -7.77105015e-04 9.98850073e-01 -3.28062321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062401008000002 meters 0.05921637838266898 Centerline is valid? [True, True] Translation: X:30.08, Y:-2.71, Z:-3.28 [[ 9.84802493e-01 1.66839408e-01 4.82561995e-02 3.00789641e+01] [-1.66679224e-01 9.85983757e-01 -7.35306838e-03 -2.71047054e+00] [-4.88066105e-02 -8.01985818e-04 9.98807925e-01 -3.28368867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092401008000003 meters 0.05926462700792127 Centerline is valid? [True, True] Translation: X:30.11, Y:-2.72, Z:-3.29 [[ 9.84690364e-01 1.67188618e-01 4.93239642e-02 3.01100700e+01] [-1.67021145e-01 9.85924583e-01 -7.52689180e-03 -2.71981025e+00] [-4.98881195e-02 -8.26487155e-04 9.98754471e-01 -3.28511130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122401008 meters 0.05900012915665649 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.73, Z:-3.29 [[ 9.84619911e-01 1.67274481e-01 5.04269636e-02 3.01408941e+01] [-1.67098935e-01 9.85910009e-01 -7.70711440e-03 -2.73138586e+00] [-5.10056517e-02 -8.37713610e-04 9.98698013e-01 -3.28517850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152401008000002 meters 0.05900800115310126 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.75, Z:-3.29 [[ 9.84913052e-01 1.65080571e-01 5.19103580e-02 3.01694668e+01] [-1.64890797e-01 9.86279813e-01 -7.94709720e-03 -2.74791974e+00] [-5.25100495e-02 -7.32340546e-04 9.98620127e-01 -3.28726805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182401008000003 meters 0.059046701053903035 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.76, Z:-3.29 [[ 9.85310670e-01 1.62762084e-01 5.16854604e-02 3.01990696e+01] [-1.62570164e-01 9.86665166e-01 -7.92410302e-03 -2.75904903e+00] [-5.22859869e-02 -5.94810506e-04 9.98631975e-01 -3.29024581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212401008 meters 0.05863524061372389 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.78, Z:-3.29 [[ 9.86021026e-01 1.58085467e-01 5.26452400e-02 3.02279522e+01] [-1.57879079e-01 9.87425373e-01 -8.08259699e-03 -2.77985971e+00] [-5.32609869e-02 -3.41971423e-04 9.98580568e-01 -3.29119499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242401008 meters 0.05855891530861648 Centerline is valid? [True, True] Translation: X:30.26, Y:-2.79, Z:-3.29 [[ 9.86413469e-01 1.55784842e-01 5.21493266e-02 3.02591266e+01] [-1.55578523e-01 9.87790991e-01 -8.01760772e-03 -2.79251992e+00] [-5.27616567e-02 -2.04638938e-04 9.98607113e-01 -3.29336633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272401008000003 meters 0.05853224371698708 Centerline is valid? [True, True] Translation: X:30.29, Y:-2.80, Z:-3.30 [[ 9.86852630e-01 1.53276451e-01 5.12661329e-02 3.02883463e+01] [-1.53072935e-01 9.88183347e-01 -7.89620617e-03 -2.80451803e+00] [-5.18706412e-02 -5.50655926e-05 9.98653811e-01 -3.29607761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302401008 meters 0.05861461039617309 Centerline is valid? [True, True] Translation: X:30.32, Y:-2.82, Z:-3.30 [[ 9.87241739e-01 1.50863524e-01 5.09308010e-02 3.03193400e+01] [-1.50658946e-01 9.88554597e-01 -7.85437050e-03 -2.81672085e+00] [-5.15328154e-02 8.09815660e-05 9.98671298e-01 -3.29879151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332401008 meters 0.059088427198301034 Centerline is valid? [True, True] Translation: X:30.35, Y:-2.84, Z:-3.31 [[ 9.88188237e-01 1.45486926e-01 4.81410788e-02 3.03471539e+01] [-1.45296949e-01 9.89360109e-01 -7.44116235e-03 -2.83581617e+00] [-4.87114549e-02 3.58517221e-04 9.98812828e-01 -3.30547918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362401008000003 meters 0.0591882292150444 Centerline is valid? [True, True] Translation: X:30.38, Y:-2.85, Z:-3.31 [[ 9.88533366e-01 1.43566629e-01 4.68017926e-02 3.03774310e+01] [-1.43385051e-01 9.89640556e-01 -7.23160585e-03 -2.84733097e+00] [-4.73551693e-02 4.38006261e-04 9.98878019e-01 -3.30729720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392401008000004 meters 0.059437337531143344 Centerline is valid? [True, True] Translation: X:30.41, Y:-2.86, Z:-3.31 [[ 9.88847743e-01 1.41188695e-01 4.73908592e-02 3.04067338e+01] [-1.40999224e-01 9.89982539e-01 -7.33429841e-03 -2.85829310e+00] [-4.79516431e-02 5.70430064e-04 9.98849495e-01 -3.30993673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422401008 meters 0.059747034913891724 Centerline is valid? [True, True] Translation: X:30.44, Y:-2.87, Z:-3.31 [[ 9.89227293e-01 1.38496396e-01 4.74142466e-02 3.04376990e+01] [-1.38303173e-01 9.90362682e-01 -7.34776815e-03 -2.86959242e+00] [-4.79749398e-02 7.11072063e-04 9.98848287e-01 -3.31235829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452401008000002 meters 0.06024891865696591 Centerline is valid? [True, True] Translation: X:30.47, Y:-2.89, Z:-3.31 [[ 9.89784975e-01 1.34285295e-01 4.78869704e-02 3.04662342e+01] [-1.34082603e-01 9.90942269e-01 -7.43478849e-03 -2.88621647e+00] [-4.84516058e-02 9.38032309e-04 9.98825091e-01 -3.31457947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482401008000004 meters 0.060489001265833835 Centerline is valid? [True, True] Translation: X:30.50, Y:-2.90, Z:-3.32 [[ 9.90054870e-01 1.32207318e-01 4.80892838e-02 3.04973221e+01] [-1.32000304e-01 9.91221533e-01 -7.46936331e-03 -2.89718835e+00] [-4.86546381e-02 1.04727945e-03 9.98815113e-01 -3.31599080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.512401008 meters 0.06074031670774857 Centerline is valid? [True, True] Translation: X:30.53, Y:-2.91, Z:-3.32 [[ 9.90168928e-01 1.30831945e-01 4.94822823e-02 3.05285572e+01] [-1.30610485e-01 9.91403884e-01 -7.69679163e-03 -2.90725959e+00] [-5.00639131e-02 1.15821902e-03 9.98745344e-01 -3.31746269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542401008000002 meters 0.061099659651669996 Centerline is valid? [True, True] Translation: X:30.56, Y:-2.92, Z:-3.32 [[ 9.90231879e-01 1.30044491e-01 5.02917089e-02 3.05596902e+01] [-1.29814029e-01 9.91507395e-01 -7.83598535e-03 -2.91717956e+00] [-5.08836280e-02 1.23087315e-03 9.98703831e-01 -3.31919433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572401008000003 meters 0.06086282702951846 Centerline is valid? [True, True] Translation: X:30.59, Y:-2.93, Z:-3.32 [[ 9.90490402e-01 1.28080104e-01 5.02419195e-02 3.05904814e+01] [-1.27846897e-01 9.91762916e-01 -7.84151855e-03 -2.92628753e+00] [-5.08324151e-02 1.34367534e-03 9.98706293e-01 -3.31889559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602401008 meters 0.06180064863122655 Centerline is valid? [True, True] Translation: X:30.62, Y:-2.94, Z:-3.32 [[ 9.90512833e-01 1.27476227e-01 5.13238728e-02 3.06208942e+01] [-1.27231416e-01 9.91840615e-01 -8.02256943e-03 -2.93802917e+00] [-5.19277884e-02 1.41644898e-03 9.98649838e-01 -3.32361779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632401008000002 meters 0.061925750493475124 Centerline is valid? [True, True] Translation: X:30.65, Y:-2.95, Z:-3.33 [[ 9.90515177e-01 1.27670785e-01 5.07922654e-02 3.06519500e+01] [-1.27430600e-01 9.91815606e-01 -7.95267318e-03 -2.94580628e+00] [-5.13918856e-02 1.40475463e-03 9.98677576e-01 -3.32637544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662401008000003 meters 0.0617671623594593 Centerline is valid? [True, True] Translation: X:30.68, Y:-2.95, Z:-3.33 [[ 9.90444346e-01 1.28800898e-01 4.92983292e-02 3.06839061e+01] [-1.28575554e-01 9.91669600e-01 -7.72856266e-03 -2.95331005e+00] [-4.98831003e-02 1.31615122e-03 9.98754196e-01 -3.33013541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.692401008 meters 0.06171489452200775 Centerline is valid? [True, True] Translation: X:30.71, Y:-2.96, Z:-3.34 [[ 9.90131629e-01 1.31892142e-01 4.73689708e-02 3.07143178e+01] [-1.31686903e-01 9.91263429e-01 -7.44135345e-03 -2.96004825e+00] [-4.79365845e-02 1.13004634e-03 9.98849742e-01 -3.33762711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722401008000002 meters 0.06131448038262831 Centerline is valid? [True, True] Translation: X:30.75, Y:-2.96, Z:-3.34 [[ 9.89680781e-01 1.35429328e-01 4.68065042e-02 3.07462015e+01] [-1.35232874e-01 9.90786556e-01 -7.35327674e-03 -2.96358492e+00] [-4.73711044e-02 9.47618592e-04 9.98876910e-01 -3.34223993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752401008000003 meters 0.06004680644350855 Centerline is valid? [True, True] Translation: X:30.78, Y:-2.96, Z:-3.34 [[ 9.89127260e-01 1.39617164e-01 4.61986112e-02 3.07784011e+01] [-1.39429902e-01 9.90205277e-01 -7.26723141e-03 -2.96373963e+00] [-4.67607388e-02 7.46748874e-04 9.98905839e-01 -3.34083661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782401008 meters 0.05990334176994159 Centerline is valid? [True, True] Translation: X:30.81, Y:-2.97, Z:-3.34 [[ 9.88026973e-01 1.46321993e-01 4.89139611e-02 3.08085176e+01] [-1.46119430e-01 9.89236904e-01 -7.71103440e-03 -2.97000369e+00] [-4.95157893e-02 4.71429858e-04 9.98773230e-01 -3.34462876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812401008000002 meters 0.05928051361898867 Centerline is valid? [True, True] Translation: X:30.84, Y:-2.97, Z:-3.34 [[ 9.87617729e-01 1.48783454e-01 4.97464107e-02 3.08406979e+01] [-1.48577113e-01 9.88869738e-01 -7.84104045e-03 -2.97466693e+00] [-5.03593372e-02 3.52772446e-04 9.98731101e-01 -3.34217965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842401008000003 meters 0.058944308648251675 Centerline is valid? [True, True] Translation: X:30.87, Y:-2.98, Z:-3.34 [[ 9.87294044e-01 1.50142863e-01 5.20345124e-02 3.08727433e+01] [-1.49918147e-01 9.88664262e-01 -8.21742046e-03 -2.98114029e+00] [-5.26784498e-02 3.12092589e-04 9.98611478e-01 -3.34161238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872401008 meters 0.0589602098062603 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.99, Z:-3.34 [[ 9.87272349e-01 1.49884675e-01 5.31779457e-02 3.09024771e+01] [-1.49649464e-01 9.88703430e-01 -8.40037356e-03 -2.98943227e+00] [-5.38363046e-02 3.35405449e-04 9.98549718e-01 -3.34361918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902401008000002 meters 0.05886861156784249 Centerline is valid? [True, True] Translation: X:30.93, Y:-3.00, Z:-3.34 [[ 9.87364342e-01 1.48715007e-01 5.47311889e-02 3.09333505e+01] [-1.48463353e-01 9.88880007e-01 -8.65824486e-03 -2.99746196e+00] [-5.54101894e-02 4.23266396e-04 9.98463586e-01 -3.34410971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932401008000003 meters 0.059234164108689744 Centerline is valid? [True, True] Translation: X:30.96, Y:-3.01, Z:-3.35 [[ 9.87824716e-01 1.45109072e-01 5.60864249e-02 3.09621699e+01] [-1.44838171e-01 9.89415448e-01 -8.88687236e-03 -3.01043780e+00] [-5.67823410e-02 6.55216985e-04 9.98386366e-01 -3.34625851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962401008 meters 0.05913184242902766 Centerline is valid? [True, True] Translation: X:30.99, Y:-3.02, Z:-3.35 [[ 9.87594955e-01 1.46219157e-01 5.72377717e-02 3.09934584e+01] [-1.45938122e-01 9.89252030e-01 -9.08219788e-03 -3.01513381e+00] [-5.79505732e-02 6.16359872e-04 9.98319263e-01 -3.34691882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.992401008 meters 0.05901954644003077 Centerline is valid? [True, True] Translation: X:31.03, Y:-3.02, Z:-3.35 [[ 9.87512910e-01 1.47248184e-01 5.60020012e-02 3.10254175e+01] [-1.46980120e-01 9.89099420e-01 -8.89837425e-03 -3.02079209e+00] [-5.67018164e-02 5.56078579e-04 9.98391003e-01 -3.34758585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022401008000003 meters 0.05952047012869637 Centerline is valid? [True, True] Translation: X:31.05, Y:-3.03, Z:-3.36 [[ 9.87651942e-01 1.46661791e-01 5.50814065e-02 3.10546772e+01] [-1.46400672e-01 9.89186516e-01 -8.76807908e-03 -3.03142264e+00] [-5.57717268e-02 5.95855405e-04 9.98443368e-01 -3.35570171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.052401008 meters 0.0591954379820209 Centerline is valid? [True, True] Translation: X:31.09, Y:-3.03, Z:-3.36 [[ 9.87756199e-01 1.46237057e-01 5.43361221e-02 3.10865607e+01] [-1.45981657e-01 9.89249379e-01 -8.66148224e-03 -3.03381630e+00] [-5.50186047e-02 6.23355636e-04 9.98485135e-01 -3.35677323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082401008 meters 0.059588481642278694 Centerline is valid? [True, True] Translation: X:31.12, Y:-3.04, Z:-3.36 [[ 9.88038499e-01 1.45008692e-01 5.24633557e-02 3.11171899e+01] [-1.44768241e-01 9.89430148e-01 -8.37491073e-03 -3.03985791e+00] [-5.31232607e-02 6.79706519e-04 9.98587731e-01 -3.36205408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112401008000003 meters 0.05965222922221226 Centerline is valid? [True, True] Translation: X:31.15, Y:-3.05, Z:-3.37 [[ 9.88333423e-01 1.43552880e-01 5.08882699e-02 3.11485139e+01] [-1.43324218e-01 9.89642367e-01 -8.13345414e-03 -3.04502854e+00] [-5.15287686e-02 7.45043098e-04 9.98671233e-01 -3.36513121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142401008000004 meters 0.060748549433448276 Centerline is valid? [True, True] Translation: X:31.18, Y:-3.06, Z:-3.37 [[ 9.89160603e-01 1.38481523e-01 4.88279498e-02 3.11772568e+01] [-1.38264224e-01 9.90364532e-01 -7.81654135e-03 -3.05661770e+00] [-4.94399162e-02 9.80656183e-04 9.98776618e-01 -3.37168331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172401008 meters 0.061319783167244686 Centerline is valid? [True, True] Translation: X:31.21, Y:-3.07, Z:-3.37 [[ 9.89570764e-01 1.35452094e-01 4.90146269e-02 3.12078628e+01] [-1.35228859e-01 9.90783232e-01 -7.85762663e-03 -3.06530090e+00] [-4.96272025e-02 1.14748552e-03 9.98767152e-01 -3.37444049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202401008000002 meters 0.06135886221286914 Centerline is valid? [True, True] Translation: X:31.24, Y:-3.07, Z:-3.38 [[ 9.89935853e-01 1.33078510e-01 4.81364346e-02 3.12393035e+01] [-1.32860073e-01 9.91104710e-01 -7.72363585e-03 -3.07248808e+00] [-4.87360970e-02 1.25049386e-03 9.98810908e-01 -3.37614261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232401008000004 meters 0.062332407080639245 Centerline is valid? [True, True] Translation: X:31.27, Y:-3.08, Z:-3.38 [[ 9.90531203e-01 1.28786274e-01 4.75608091e-02 3.12674947e+01] [-1.28567856e-01 9.91671314e-01 -7.63613263e-03 -3.08498645e+00] [-4.81481192e-02 1.44903636e-03 9.98839156e-01 -3.37643387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262401008 meters 0.062436526451503264 Centerline is valid? [True, True] Translation: X:31.30, Y:-3.09, Z:-3.38 [[ 9.90528595e-01 1.28447516e-01 4.85215196e-02 3.12992309e+01] [-1.28220068e-01 9.91715190e-01 -7.78436611e-03 -3.09191018e+00] [-4.91194105e-02 1.48920468e-03 9.98791803e-01 -3.37762688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292401008000002 meters 0.062382915210097915 Centerline is valid? [True, True] Translation: X:31.33, Y:-3.10, Z:-3.38 [[ 9.90379507e-01 1.29303493e-01 4.92852844e-02 3.13293419e+01] [-1.29069132e-01 9.91603955e-01 -7.92187396e-03 -3.09693381e+00] [-4.98958089e-02 1.48445274e-03 9.98753325e-01 -3.37997142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322401008000003 meters 0.06226957482876087 Centerline is valid? [True, True] Translation: X:31.36, Y:-3.10, Z:-3.38 [[ 9.90206912e-01 1.30307367e-01 5.01025024e-02 3.13613438e+01] [-1.30065885e-01 9.91472558e-01 -8.06426556e-03 -3.10103469e+00] [-5.07260894e-02 1.46866517e-03 9.98711523e-01 -3.38207690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.352401008 meters 0.06154934165899071 Centerline is valid? [True, True] Translation: X:31.39, Y:-3.10, Z:-3.38 [[ 9.89665857e-01 1.33758857e-01 5.16726303e-02 3.13916879e+01] [-1.33505807e-01 9.91012991e-01 -8.33373759e-03 -3.10242460e+00] [-5.23229591e-02 1.34901936e-03 9.98629305e-01 -3.38328513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382401008000002 meters 0.06123505562900361 Centerline is valid? [True, True] Translation: X:31.42, Y:-3.11, Z:-3.39 [[ 9.89374886e-01 1.35742477e-01 5.20702973e-02 3.14235909e+01] [-1.35488417e-01 9.90743365e-01 -8.39483078e-03 -3.10545129e+00] [-5.27278367e-02 1.25071259e-03 9.98608137e-01 -3.38597663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412401008000003 meters 0.06095608887081267 Centerline is valid? [True, True] Translation: X:31.45, Y:-3.11, Z:-3.39 [[ 9.89102258e-01 1.37454337e-01 5.27544239e-02 3.14548396e+01] [-1.37195316e-01 9.90507393e-01 -8.51757702e-03 -3.10901747e+00] [-5.34244248e-02 1.18709480e-03 9.98571190e-01 -3.38694802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442401008 meters 0.06027923182588582 Centerline is valid? [True, True] Translation: X:31.49, Y:-3.11, Z:-3.39 [[ 9.88751255e-01 1.39517281e-01 5.39062453e-02 3.14873433e+01] [-1.39249188e-01 9.90219012e-01 -8.71615197e-03 -3.11114349e+00] [-5.45950428e-02 1.11170533e-03 9.98507960e-01 -3.38687393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472401008000002 meters 0.059956764847270784 Centerline is valid? [True, True] Translation: X:31.52, Y:-3.11, Z:-3.39 [[ 9.88197596e-01 1.43088046e-01 5.46929843e-02 3.15186024e+01] [-1.42816774e-01 9.89709516e-01 -8.85684521e-03 -3.11265226e+00] [-5.53974756e-02 9.41237547e-04 9.98463937e-01 -3.38845790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502401008000003 meters 0.05979635011549493 Centerline is valid? [True, True] Translation: X:31.55, Y:-3.11, Z:-3.39 [[ 9.87972339e-01 1.44439117e-01 5.52086837e-02 3.15512708e+01] [-1.44164003e-01 9.89513291e-01 -8.95471988e-03 -3.11482522e+00] [-5.59231382e-02 8.87910700e-04 9.98434682e-01 -3.38990002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.532401008 meters 0.05922595078424444 Centerline is valid? [True, True] Translation: X:31.58, Y:-3.12, Z:-3.39 [[ 9.87679265e-01 1.46482595e-01 5.50683190e-02 3.15834411e+01] [-1.46211938e-01 9.89212946e-01 -8.93398865e-03 -3.11512218e+00] [-5.57829679e-02 7.72269700e-04 9.98442619e-01 -3.39020796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562401008000002 meters 0.05927663786342397 Centerline is valid? [True, True] Translation: X:31.61, Y:-3.12, Z:-3.39 [[ 9.87425488e-01 1.48031993e-01 5.54746288e-02 3.16148113e+01] [-1.47758989e-01 9.88982322e-01 -9.01371888e-03 -3.11753601e+00] [-5.61977460e-02 7.03500725e-04 9.98419410e-01 -3.39374462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592401008000003 meters 0.05937551213818475 Centerline is valid? [True, True] Translation: X:31.65, Y:-3.12, Z:-3.40 [[ 9.86900851e-01 1.51807264e-01 5.46009529e-02 3.16457461e+01] [-1.51547825e-01 9.88409991e-01 -8.88518500e-03 -3.11798158e+00] [-5.53169630e-02 4.94140999e-04 9.98468722e-01 -3.40029323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622401008 meters 0.05900586516981003 Centerline is valid? [True, True] Translation: X:31.68, Y:-3.12, Z:-3.40 [[ 9.86665283e-01 1.53163826e-01 5.50677910e-02 3.16778096e+01] [-1.52901369e-01 9.88200716e-01 -8.97312065e-03 -3.11894889e+00] [-5.57923880e-02 4.33525978e-04 9.98442298e-01 -3.39809540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652401008000002 meters 0.058984508217495485 Centerline is valid? [True, True] Translation: X:31.71, Y:-3.12, Z:-3.40 [[ 9.86413158e-01 1.54880706e-01 5.47818341e-02 3.17103102e+01] [-1.54622879e-01 9.87933118e-01 -8.93976201e-03 -3.12295094e+00] [-5.55053848e-02 3.47773991e-04 9.98458327e-01 -3.40108493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682401008000003 meters 0.058984508217495485 Centerline is valid? [True, True] Translation: X:31.74, Y:-3.13, Z:-3.40 [[ 9.86369696e-01 1.55158136e-01 5.47793358e-02 3.17420964e+01] [-1.54899888e-01 9.87889585e-01 -8.95504053e-03 -3.12831431e+00] [-5.55053827e-02 3.47667632e-04 9.98458327e-01 -3.40340498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712401008 meters 0.059077472357401864 Centerline is valid? [True, True] Translation: X:31.77, Y:-3.13, Z:-3.41 [[ 9.86178122e-01 1.56327005e-01 5.49051898e-02 3.17736827e+01] [-1.56068475e-01 9.87705310e-01 -8.99180378e-03 -3.13296562e+00] [-5.56358092e-02 2.98550903e-04 9.98451084e-01 -3.40848355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742401008 meters 0.05899781986285285 Centerline is valid? [True, True] Translation: X:31.81, Y:-3.14, Z:-3.41 [[ 9.86061794e-01 1.57320899e-01 5.41504583e-02 3.18064958e+01] [-1.57070163e-01 9.87547503e-01 -8.88218788e-03 -3.13646690e+00] [-5.48735037e-02 2.52964808e-04 9.98493282e-01 -3.40930979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772401008000003 meters 0.05912741837795725 Centerline is valid? [True, True] Translation: X:31.84, Y:-3.14, Z:-3.42 [[ 9.85962607e-01 1.58306059e-01 5.30747569e-02 3.18371441e+01] [-1.58065769e-01 9.87390069e-01 -8.72152619e-03 -3.13924091e+00] [-5.37861583e-02 2.09796436e-04 9.98552455e-01 -3.41513282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802401008000004 meters 0.059157117581657204 Centerline is valid? [True, True] Translation: X:31.87, Y:-3.14, Z:-3.42 [[ 9.85899703e-01 1.59027897e-01 5.20759411e-02 3.18687470e+01] [-1.58796977e-01 9.87274073e-01 -8.56877023e-03 -3.14414063e+00] [-5.27759001e-02 1.78445982e-04 9.98606365e-01 -3.41895483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832401008 meters 0.05936688467406896 Centerline is valid? [True, True] Translation: X:31.90, Y:-3.15, Z:-3.42 [[ 9.85773465e-01 1.59908689e-01 5.17676235e-02 3.18997434e+01] [-1.59681078e-01 9.87131800e-01 -8.53010483e-03 -3.14943682e+00] [-5.24655052e-02 1.42441085e-04 9.98622727e-01 -3.42477684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862401008000003 meters 0.05939839805027551 Centerline is valid? [True, True] Translation: X:31.93, Y:-3.15, Z:-3.43 [[ 9.85580947e-01 1.61764834e-01 4.96219263e-02 3.19312974e+01] [-1.61557440e-01 9.86829334e-01 -8.18891225e-03 -3.15431972e+00] [-5.02930505e-02 5.40445232e-05 9.98734502e-01 -3.42595594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892401008000004 meters 0.059663938252532425 Centerline is valid? [True, True] Translation: X:31.96, Y:-3.16, Z:-3.43 [[ 9.85221552e-01 1.64299190e-01 4.84176517e-02 3.19621024e+01] [-1.64104237e-01 9.86410550e-01 -8.00170420e-03 -3.15835622e+00] [-4.90743560e-02 -6.20903440e-05 9.98795126e-01 -3.42920510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922401008 meters 0.05971941686202267 Centerline is valid? [True, True] Translation: X:31.99, Y:-3.16, Z:-3.43 [[ 9.84944110e-01 1.65984359e-01 4.83145185e-02 3.19940990e+01] [-1.65791790e-01 9.86128376e-01 -7.99428401e-03 -3.16251687e+00] [-4.89712438e-02 -1.36227541e-04 9.98800180e-01 -3.43235326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952401008000002 meters 0.05985434280688047 Centerline is valid? [True, True] Translation: X:32.03, Y:-3.17, Z:-3.43 [[ 9.84494017e-01 1.68592977e-01 4.84555368e-02 3.20264772e+01] [-1.68401794e-01 9.85685723e-01 -8.03069900e-03 -3.16637646e+00] [-4.91158502e-02 -2.53824209e-04 9.98793056e-01 -3.43447202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982401008000004 meters 0.06003412280088269 Centerline is valid? [True, True] Translation: X:32.06, Y:-3.17, Z:-3.44 [[ 9.83939059e-01 1.71216396e-01 5.04863801e-02 3.20576142e+01] [-1.71011421e-01 9.85233372e-01 -8.38426170e-03 -3.17017689e+00] [-5.11763896e-02 -3.84145044e-04 9.98689556e-01 -3.43582056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012401008000005 meters 0.059761576340238876 Centerline is valid? [True, True] Translation: X:32.09, Y:-3.18, Z:-3.44 [[ 9.84057946e-01 1.70348040e-01 5.11028842e-02 3.20885746e+01] [-1.70136594e-01 9.85383900e-01 -8.49167883e-03 -3.17753550e+00] [-5.18025002e-02 -3.38166623e-04 9.98657292e-01 -3.43670862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042401008 meters 0.059655101521477745 Centerline is valid? [True, True] Translation: X:32.12, Y:-3.18, Z:-3.44 [[ 9.84060459e-01 1.69669674e-01 5.32655089e-02 3.21196787e+01] [-1.69438246e-01 9.85500944e-01 -8.86401078e-03 -3.18469395e+00] [-5.39971631e-02 -3.02491881e-04 9.98541043e-01 -3.43730344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072401008 meters 0.0595157401036701 Centerline is valid? [True, True] Translation: X:32.15, Y:-3.19, Z:-3.44 [[ 9.84081056e-01 1.69298967e-01 5.40586294e-02 3.21499762e+01] [-1.69059310e-01 9.85564704e-01 -9.00913950e-03 -3.19117173e+00] [-5.48035151e-02 -2.73391075e-04 9.98497121e-01 -3.43826214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102401008 meters 0.05946652805091014 Centerline is valid? [True, True] Translation: X:32.18, Y:-3.20, Z:-3.44 [[ 9.83934700e-01 1.69405987e-01 5.63393112e-02 3.21804359e+01] [-1.69145108e-01 9.85546313e-01 -9.40203601e-03 -3.19680259e+00] [-5.71177616e-02 -2.78529401e-04 9.98367409e-01 -3.43825532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132401008 meters 0.059467386102069454 Centerline is valid? [True, True] Translation: X:32.21, Y:-3.20, Z:-3.44 [[ 9.84138168e-01 1.68471629e-01 5.55821590e-02 3.22111383e+01] [-1.68215602e-01 9.85706481e-01 -9.28682516e-03 -3.20337163e+00] [-5.63522609e-02 -2.10267238e-04 9.98410927e-01 -3.44154902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162401008 meters 0.05972805289681086 Centerline is valid? [True, True] Translation: X:32.24, Y:-3.21, Z:-3.45 [[ 9.84230066e-01 1.68144149e-01 5.49429004e-02 3.22430349e+01] [-1.67892748e-01 9.85762402e-01 -9.19300287e-03 -3.20938617e+00] [-5.57063952e-02 -1.76484710e-04 9.98447178e-01 -3.44653173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192401008000004 meters 0.05972373902854629 Centerline is valid? [True, True] Translation: X:32.27, Y:-3.21, Z:-3.45 [[ 9.84276361e-01 1.68188630e-01 5.39687807e-02 3.22738973e+01] [-1.67945367e-01 9.85754817e-01 -9.04406324e-03 -3.21495191e+00] [-5.47210941e-02 -1.61949025e-04 9.98501665e-01 -3.45072338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222401008000006 meters 0.06014274326670227 Centerline is valid? [True, True] Translation: X:32.30, Y:-3.22, Z:-3.45 [[ 9.83951853e-01 1.70349724e-01 5.31010522e-02 3.23043628e+01] [-1.70116721e-01 9.85383631e-01 -8.91069403e-03 -3.21776552e+00] [-5.38428419e-02 -2.65682960e-04 9.98549387e-01 -3.45428843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252401008 meters 0.0598729154814097 Centerline is valid? [True, True] Translation: X:32.34, Y:-3.22, Z:-3.45 [[ 9.83960941e-01 1.70434759e-01 5.26579475e-02 3.23365593e+01] [-1.70205232e-01 9.85368929e-01 -8.84606677e-03 -3.22470704e+00] [-5.33951826e-02 -2.58473956e-04 9.98573426e-01 -3.45316082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282401008 meters 0.0599989442160667 Centerline is valid? [True, True] Translation: X:32.37, Y:-3.23, Z:-3.46 [[ 9.84091810e-01 1.69605453e-01 5.28895108e-02 3.23663081e+01] [-1.69371882e-01 9.85512025e-01 -8.90028118e-03 -3.23047069e+00] [-5.36327851e-02 -1.99302190e-04 9.98560707e-01 -3.45777476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312401008 meters 0.05996249242040227 Centerline is valid? [True, True] Translation: X:32.40, Y:-3.24, Z:-3.46 [[ 9.84334054e-01 1.67951513e-01 5.36540781e-02 3.23978082e+01] [-1.67708036e-01 9.85795252e-01 -9.04074558e-03 -3.23737465e+00] [-5.44103424e-02 -9.91063106e-05 9.98518655e-01 -3.46149120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342401008 meters 0.0599080556965681 Centerline is valid? [True, True] Translation: X:32.43, Y:-3.25, Z:-3.46 [[ 9.84718154e-01 1.65774322e-01 5.33763103e-02 3.24297338e+01] [-1.65529583e-01 9.86163715e-01 -9.00466680e-03 -3.24502301e+00] [-5.41305230e-02 3.17005090e-05 9.98533868e-01 -3.46247484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372401008000004 meters 0.06021621026371921 Centerline is valid? [True, True] Translation: X:32.46, Y:-3.26, Z:-3.47 [[ 9.85826201e-01 1.59492749e-01 5.20457928e-02 3.24596013e+01] [-1.59250557e-01 9.87199026e-01 -8.79446869e-03 -3.25774189e+00] [-5.27822099e-02 3.81496193e-04 9.98605975e-01 -3.46667349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402401008000005 meters 0.06060130412156244 Centerline is valid? [True, True] Translation: X:32.49, Y:-3.27, Z:-3.47 [[ 9.86361122e-01 1.56666168e-01 5.04722618e-02 3.24891673e+01] [-1.56434086e-01 9.87651473e-01 -8.54074972e-03 -3.26768095e+00] [-5.11870502e-02 5.28681362e-04 9.98688944e-01 -3.47024771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432401008 meters 0.06087937689925694 Centerline is valid? [True, True] Translation: X:32.52, Y:-3.28, Z:-3.47 [[ 9.86860382e-01 1.53443189e-01 5.06139628e-02 3.25195495e+01] [-1.53204993e-01 9.88157217e-01 -8.57583705e-03 -3.27776520e+00] [-5.13304564e-02 7.08842025e-04 9.98681472e-01 -3.47256200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462401008 meters 0.061218929737590064 Centerline is valid? [True, True] Translation: X:32.55, Y:-3.29, Z:-3.47 [[ 9.87267743e-01 1.51069497e-01 4.98037291e-02 3.25505097e+01] [-1.50835265e-01 9.88522796e-01 -8.45018246e-03 -3.28724447e+00] [-5.05086863e-02 8.30433905e-04 9.98723276e-01 -3.47393215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492401008 meters 0.06178838717490089 Centerline is valid? [True, True] Translation: X:32.58, Y:-3.30, Z:-3.47 [[ 9.87929447e-01 1.46070465e-01 5.15638157e-02 3.25813021e+01] [-1.45811899e-01 9.89273535e-01 -8.76149594e-03 -3.29918726e+00] [-5.22905140e-02 1.13712193e-03 9.98631268e-01 -3.47216387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522401008 meters 0.062001832138397245 Centerline is valid? [True, True] Translation: X:32.61, Y:-3.31, Z:-3.47 [[ 9.88041491e-01 1.45184406e-01 5.19181989e-02 3.26124435e+01] [-1.44920385e-01 9.89403880e-01 -8.83431933e-03 -3.30545520e+00] [-5.26506728e-02 1.20466870e-03 9.98612265e-01 -3.47362443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552401008000004 meters 0.06216238435316856 Centerline is valid? [True, True] Translation: X:32.64, Y:-3.31, Z:-3.48 [[ 9.88022700e-01 1.45236314e-01 5.21302006e-02 3.26448166e+01] [-1.44969568e-01 9.89396244e-01 -8.88235861e-03 -3.31006880e+00] [-5.28674657e-02 1.21867926e-03 9.98600794e-01 -3.47614002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582401008000005 meters 0.06229649051599742 Centerline is valid? [True, True] Translation: X:32.68, Y:-3.31, Z:-3.48 [[ 9.87977753e-01 1.45500698e-01 5.22446724e-02 3.26767321e+01] [-1.45232363e-01 9.89357394e-01 -8.91665671e-03 -3.31422305e+00] [-5.29860328e-02 1.22184122e-03 9.98594506e-01 -3.47959627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612401008 meters 0.06256100606494883 Centerline is valid? [True, True] Translation: X:32.71, Y:-3.32, Z:-3.48 [[ 9.87868483e-01 1.45520060e-01 5.42196722e-02 3.27076957e+01] [-1.45230224e-01 9.89354470e-01 -9.26896985e-03 -3.31626441e+00] [-5.49912961e-02 1.28218803e-03 9.98486011e-01 -3.48246060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642401008 meters 0.06263128460657748 Centerline is valid? [True, True] Translation: X:32.74, Y:-3.32, Z:-3.49 [[ 9.87855002e-01 1.45661218e-01 5.40860936e-02 3.27400584e+01] [-1.45372421e-01 9.89333698e-01 -9.25705804e-03 -3.32053156e+00] [-5.48575893e-02 1.28200473e-03 9.98493366e-01 -3.48594835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672401008 meters 0.06293370871578488 Centerline is valid? [True, True] Translation: X:32.77, Y:-3.33, Z:-3.49 [[ 9.87977264e-01 1.44431774e-01 5.51397172e-02 3.27719680e+01] [-1.44128701e-01 9.89513779e-01 -9.45509003e-03 -3.32572086e+00] [-5.59271254e-02 1.39419817e-03 9.98433880e-01 -3.48647333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702401008 meters 0.06262080935259158 Centerline is valid? [True, True] Translation: X:32.80, Y:-3.33, Z:-3.49 [[ 9.88082370e-01 1.43914737e-01 5.46056589e-02 3.28041625e+01] [-1.43616611e-01 9.89589084e-01 -9.36552782e-03 -3.32965152e+00] [-5.53850014e-02 1.41163325e-03 9.98464075e-01 -3.48687223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.732401008000004 meters 0.06325985898536599 Centerline is valid? [True, True] Translation: X:32.83, Y:-3.34, Z:-3.49 [[ 9.88134983e-01 1.43585704e-01 5.45197316e-02 3.28339121e+01] [-1.43287284e-01 9.89636837e-01 -9.36403683e-03 -3.33645712e+00] [-5.52992765e-02 1.44094812e-03 9.98468785e-01 -3.48999000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762401008000005 meters 0.062357423032491664 Centerline is valid? [True, True] Translation: X:32.87, Y:-3.34, Z:-3.49 [[ 9.88212556e-01 1.42924543e-01 5.48499633e-02 3.28663510e+01] [-1.42620700e-01 9.89732450e-01 -9.43468866e-03 -3.33777149e+00] [-5.56352372e-02 1.50073766e-03 9.98450033e-01 -3.49149495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792401008 meters 0.06256182291470183 Centerline is valid? [True, True] Translation: X:32.90, Y:-3.34, Z:-3.50 [[ 9.88522822e-01 1.41655102e-01 5.25020168e-02 3.28977203e+01] [-1.41374852e-01 9.89914927e-01 -9.03263549e-03 -3.33955130e+00] [-5.32520490e-02 1.50650145e-03 9.98579967e-01 -3.49543530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822401008 meters 0.06288254574976145 Centerline is valid? [True, True] Translation: X:32.93, Y:-3.34, Z:-3.50 [[ 9.88585961e-01 1.41185098e-01 5.25791355e-02 3.29279716e+01] [-1.40902717e-01 9.89982009e-01 -9.05795120e-03 -3.34408653e+00] [-5.33312459e-02 1.54602034e-03 9.98575680e-01 -3.49826397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852401008 meters 0.06280343412847637 Centerline is valid? [True, True] Translation: X:32.96, Y:-3.35, Z:-3.50 [[ 9.88534151e-01 1.41193278e-01 5.35228036e-02 3.29603175e+01] [-1.40899894e-01 9.89980776e-01 -9.23483336e-03 -3.34791032e+00] [-5.42904431e-02 1.58759081e-03 9.98523924e-01 -3.50055007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882401008 meters 0.0627787793690885 Centerline is valid? [True, True] Translation: X:32.99, Y:-3.35, Z:-3.50 [[ 9.88398817e-01 1.42040493e-01 5.37798984e-02 3.29915879e+01] [-1.41745417e-01 9.89859634e-01 -9.28130161e-03 -3.35181798e+00] [-5.45528712e-02 1.55057338e-03 9.98509679e-01 -3.50319647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.912401008 meters 0.062136762090673675 Centerline is valid? [True, True] Translation: X:33.02, Y:-3.35, Z:-3.50 [[ 9.88226319e-01 1.43083062e-01 5.41846820e-02 3.30244105e+01] [-1.42784389e-01 9.89709521e-01 -9.36385068e-03 -3.35192976e+00] [-5.49669041e-02 1.51687696e-03 9.98487025e-01 -3.50451868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942401008000004 meters 0.06244898525088928 Centerline is valid? [True, True] Translation: X:33.06, Y:-3.36, Z:-3.51 [[ 9.87944432e-01 1.44742924e-01 5.49116207e-02 3.30553929e+01] [-1.44437916e-01 9.89468220e-01 -9.50416827e-03 -3.35550407e+00] [-5.57089648e-02 1.45827008e-03 9.98445985e-01 -3.50806330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972401008000006 meters 0.062289072486642574 Centerline is valid? [True, True] Translation: X:33.09, Y:-3.36, Z:-3.51 [[ 9.87573831e-01 1.47714709e-01 5.36497164e-02 3.30861425e+01] [-1.47427638e-01 9.89029201e-01 -9.29144185e-03 -3.35744773e+00] [-5.44336188e-02 1.26653384e-03 9.98516588e-01 -3.51243211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002401008 meters 0.06163799188138951 Centerline is valid? [True, True] Translation: X:33.12, Y:-3.36, Z:-3.52 [[ 9.87103258e-01 1.51180903e-01 5.26449630e-02 3.31190508e+01] [-1.50908714e-01 9.88505535e-01 -9.13051995e-03 -3.35717305e+00] [-5.34201976e-02 1.06818233e-03 9.98571551e-01 -3.51526582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.032401008 meters 0.06103783802280515 Centerline is valid? [True, True] Translation: X:33.15, Y:-3.35, Z:-3.52 [[ 9.86091804e-01 1.58021254e-01 5.14998775e-02 3.31506117e+01] [-1.57769833e-01 9.87435472e-01 -8.93695487e-03 -3.35390463e+00] [-5.22650346e-02 6.87530890e-04 9.98633012e-01 -3.51920585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062401008 meters 0.06076708797759897 Centerline is valid? [True, True] Translation: X:33.18, Y:-3.35, Z:-3.52 [[ 9.85571583e-01 1.61457771e-01 5.07941163e-02 3.31834329e+01] [-1.61217721e-01 9.86879496e-01 -8.81518650e-03 -3.35497497e+00] [-5.15509523e-02 4.99085662e-04 9.98670241e-01 -3.52166519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.092401008 meters 0.06061271177565952 Centerline is valid? [True, True] Translation: X:33.22, Y:-3.36, Z:-3.52 [[ 9.85074611e-01 1.64194200e-01 5.16553543e-02 3.32159233e+01] [-1.63949482e-01 9.86427965e-01 -8.96864171e-03 -3.35754667e+00] [-5.24268850e-02 3.65912684e-04 9.98624698e-01 -3.52431521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122401008000004 meters 0.06049542898027605 Centerline is valid? [True, True] Translation: X:33.25, Y:-3.36, Z:-3.53 [[ 9.84633737e-01 1.66583894e-01 5.24042989e-02 3.32466237e+01] [-1.66335235e-01 9.86027254e-01 -9.10184440e-03 -3.36104391e+00] [-5.31882876e-02 2.45301720e-04 9.98584471e-01 -3.52625582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152401008000005 meters 0.060494726176027795 Centerline is valid? [True, True] Translation: X:33.28, Y:-3.36, Z:-3.53 [[ 9.84124912e-01 1.69399049e-01 5.29350529e-02 3.32780497e+01] [-1.69148783e-01 9.85547539e-01 -9.20533276e-03 -3.36291162e+00] [-5.37293857e-02 1.05297500e-04 9.98555528e-01 -3.52835728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182401008 meters 0.06039500858192485 Centerline is valid? [True, True] Translation: X:33.31, Y:-3.37, Z:-3.53 [[ 9.83931249e-01 1.70371995e-01 5.34104995e-02 3.33095527e+01] [-1.70118050e-01 9.85379815e-01 -9.29891438e-03 -3.36714202e+00] [-5.42139027e-02 6.34024249e-05 9.98529343e-01 -3.52915640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212401008 meters 0.06039269102941526 Centerline is valid? [True, True] Translation: X:33.34, Y:-3.37, Z:-3.53 [[ 9.83785578e-01 1.70948628e-01 5.42448372e-02 3.33410184e+01] [-1.70686834e-01 9.85279942e-01 -9.45728238e-03 -3.37305425e+00] [-5.50630595e-02 4.50585118e-05 9.98482878e-01 -3.53096929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242401008 meters 0.060325831660298465 Centerline is valid? [True, True] Translation: X:33.37, Y:-3.38, Z:-3.53 [[ 9.83659260e-01 1.71491458e-01 5.48191671e-02 3.33727552e+01] [-1.71224194e-01 9.85185606e-01 -9.57058542e-03 -3.37957723e+00] [-5.56483280e-02 2.78272479e-05 9.98450431e-01 -3.53243051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272401008 meters 0.06043233024560388 Centerline is valid? [True, True] Translation: X:33.40, Y:-3.39, Z:-3.53 [[ 9.83518157e-01 1.72141402e-01 5.53115999e-02 3.34027686e+01] [-1.71869583e-01 9.85072250e-01 -9.66998351e-03 -3.38577818e+00] [-5.61505267e-02 4.22273708e-06 9.98422315e-01 -3.53427379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302401008000004 meters 0.06052194168134124 Centerline is valid? [True, True] Translation: X:33.43, Y:-3.39, Z:-3.54 [[ 9.83454742e-01 1.72504414e-01 5.53082046e-02 3.34347007e+01] [-1.72232571e-01 9.85008745e-01 -9.68060568e-03 -3.39180058e+00] [-5.61490124e-02 -5.43672847e-06 9.98422400e-01 -3.53717490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332401008000005 meters 0.06053133970649623 Centerline is valid? [True, True] Translation: X:33.47, Y:-3.40, Z:-3.54 [[ 9.83287307e-01 1.73657297e-01 5.46737189e-02 3.34663942e+01] [-1.73392648e-01 9.84806143e-01 -9.58382959e-03 -3.39815015e+00] [-5.55073162e-02 -5.63628923e-05 9.98458279e-01 -3.53946742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362401008 meters 0.0606260687473566 Centerline is valid? [True, True] Translation: X:33.50, Y:-3.40, Z:-3.54 [[ 9.83184777e-01 1.74180226e-01 5.48538315e-02 3.34976798e+01] [-1.73913793e-01 9.84713788e-01 -9.63062335e-03 -3.40456818e+00] [-5.56927884e-02 -7.11556128e-05 9.98447950e-01 -3.54255235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392401008 meters 0.06076043809733204 Centerline is valid? [True, True] Translation: X:33.53, Y:-3.41, Z:-3.55 [[ 9.82820057e-01 1.76522626e-01 5.38934008e-02 3.35276554e+01] [-1.76268199e-01 9.84296565e-01 -9.47597291e-03 -3.40966194e+00] [-5.47198129e-02 -1.86516480e-04 9.98501731e-01 -3.54701991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422401008 meters 0.061085764872318336 Centerline is valid? [True, True] Translation: X:33.56, Y:-3.42, Z:-3.55 [[ 9.82736110e-01 1.77234197e-01 5.30827468e-02 3.35582949e+01] [-1.76987809e-01 9.84168682e-01 -9.34456843e-03 -3.41516609e+00] [-5.38985541e-02 -2.11754236e-04 9.98546394e-01 -3.55133840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452401008 meters 0.06115035659437715 Centerline is valid? [True, True] Translation: X:33.59, Y:-3.42, Z:-3.55 [[ 9.82481241e-01 1.79115368e-01 5.14616068e-02 3.35898526e+01] [-1.78885857e-01 9.83828033e-01 -9.06932016e-03 -3.42013835e+00] [-5.22538260e-02 -2.95316686e-04 9.98633792e-01 -3.55477366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482401008000004 meters 0.06168102311964877 Centerline is valid? [True, True] Translation: X:33.62, Y:-3.42, Z:-3.56 [[ 9.81559175e-01 1.84198637e-01 5.11121150e-02 3.36217299e+01] [-1.83978520e-01 9.82888884e-01 -9.01917302e-03 -3.42318593e+00] [-5.18988491e-02 -5.50679223e-04 9.98652195e-01 -3.55707475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512401008000005 meters 0.061961615055827514 Centerline is valid? [True, True] Translation: X:33.65, Y:-3.43, Z:-3.56 [[ 9.80946631e-01 1.87455469e-01 5.10309177e-02 3.36532311e+01] [-1.87239850e-01 9.82272845e-01 -9.01642201e-03 -3.42692182e+00] [-5.18164623e-02 -7.10392590e-04 9.98656372e-01 -3.55872974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542401008 meters 0.06241705416406621 Centerline is valid? [True, True] Translation: X:33.68, Y:-3.43, Z:-3.56 [[ 9.80316711e-01 1.90996056e-01 4.99965259e-02 3.36847934e+01] [-1.90793097e-01 9.81590420e-01 -8.84537994e-03 -3.43038361e+00] [-5.07655436e-02 -8.67718235e-04 9.98710222e-01 -3.56096396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572401008 meters 0.06241705416406621 Centerline is valid? [True, True] Translation: X:33.72, Y:-3.44, Z:-3.56 [[ 9.80264392e-01 1.91264900e-01 4.99945996e-02 3.37165250e+01] [-1.91061736e-01 9.81538069e-01 -8.85625147e-03 -3.43618482e+00] [-5.07654928e-02 -8.70587023e-04 9.98710222e-01 -3.56328259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602401008 meters 0.0634169005992447 Centerline is valid? [True, True] Translation: X:33.75, Y:-3.44, Z:-3.57 [[ 9.79695271e-01 1.94544418e-01 4.84731487e-02 3.37475654e+01] [-1.94356740e-01 9.80893205e-01 -8.60103315e-03 -3.43723915e+00] [-4.92202652e-02 -9.94691659e-04 9.98787453e-01 -3.56847149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632401008 meters 0.06487431096937976 Centerline is valid? [True, True] Translation: X:33.78, Y:-3.44, Z:-3.57 [[ 9.78661898e-01 2.00163899e-01 4.64252417e-02 3.37792287e+01] [-1.99997558e-01 9.79761677e-01 -8.24825155e-03 -3.43674967e+00] [-4.71366748e-02 -1.21268546e-03 9.98887713e-01 -3.57450206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662401008 meters 0.06671553705366721 Centerline is valid? [True, True] Translation: X:33.81, Y:-3.44, Z:-3.58 [[ 9.78316347e-01 2.02115193e-01 4.52390822e-02 3.38103430e+01] [-2.01958962e-01 9.79360938e-01 -8.04549622e-03 -3.43723823e+00] [-4.59315070e-02 -1.26539761e-03 9.98943790e-01 -3.58228557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692401008000004 meters 0.0632279256240859 Centerline is valid? [True, True] Translation: X:33.84, Y:-3.46, Z:-3.57 [[ 9.79546303e-01 1.95402879e-01 4.80286996e-02 3.38387595e+01] [-1.95218033e-01 9.80722552e-01 -8.55546766e-03 -3.45758599e+00] [-4.87745918e-02 -9.95591531e-04 9.98809315e-01 -3.57374265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722401008000006 meters 0.06222506983131179 Centerline is valid? [True, True] Translation: X:33.87, Y:-3.47, Z:-3.57 [[ 9.80685474e-01 1.88963973e-01 5.04838323e-02 3.38670887e+01] [-1.88750772e-01 9.81983770e-01 -9.00117253e-03 -3.47008355e+00] [-5.12752013e-02 -7.01543183e-04 9.98684315e-01 -3.57332047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752401008 meters 0.06108776522481213 Centerline is valid? [True, True] Translation: X:33.90, Y:-3.49, Z:-3.58 [[ 9.82669019e-01 1.79001107e-01 4.81684725e-02 3.38963676e+01] [-1.78795131e-01 9.83848857e-01 -8.58649917e-03 -3.48666134e+00] [-4.89274895e-02 -1.74601648e-04 9.98802318e-01 -3.57692830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782401008 meters 0.06137882845287307 Centerline is valid? [True, True] Translation: X:33.93, Y:-3.49, Z:-3.58 [[ 9.83173808e-01 1.76589024e-01 4.67501752e-02 3.39271635e+01] [-1.76391767e-01 9.84284672e-01 -8.34444652e-03 -3.49345336e+00] [-4.74890185e-02 -4.23047472e-05 9.98871759e-01 -3.58317350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812401008 meters 0.061357120880239834 Centerline is valid? [True, True] Translation: X:33.96, Y:-3.50, Z:-3.59 [[ 9.83329575e-01 1.76084627e-01 4.53558285e-02 3.39583587e+01] [-1.75897959e-01 9.84375032e-01 -8.10578990e-03 -3.49776214e+00] [-4.60744501e-02 -7.33472316e-06 9.98938009e-01 -3.58645965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842401008 meters 0.0615103854286523 Centerline is valid? [True, True] Translation: X:33.99, Y:-3.50, Z:-3.59 [[ 9.83023786e-01 1.77722568e-01 4.55952393e-02 3.39901151e+01] [-1.77535171e-01 9.84080629e-01 -8.15962934e-03 -3.50070139e+00] [-4.63195420e-02 -7.36488799e-05 9.98926671e-01 -3.59095843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872401008000004 meters 0.06147835283989685 Centerline is valid? [True, True] Translation: X:34.02, Y:-3.50, Z:-3.59 [[ 9.82342741e-01 1.80607656e-01 4.88222734e-02 3.40216046e+01] [-1.80395605e-01 9.83555199e-01 -8.75186615e-03 -3.50414713e+00] [-4.96000549e-02 -2.09991382e-04 9.98769138e-01 -3.59042744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902401008000005 meters 0.06135893911052172 Centerline is valid? [True, True] Translation: X:34.05, Y:-3.51, Z:-3.59 [[ 9.82126276e-01 1.81438418e-01 5.00807121e-02 3.40529331e+01] [-1.81215726e-01 9.83402278e-01 -8.99002463e-03 -3.51096900e+00] [-5.08806222e-02 -2.46073203e-04 9.98704712e-01 -3.58868316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932401008 meters 0.061216155818767826 Centerline is valid? [True, True] Translation: X:34.08, Y:-3.52, Z:-3.59 [[ 9.82031228e-01 1.81586581e-01 5.13904663e-02 3.40844575e+01] [-1.81351612e-01 9.83374930e-01 -9.23799497e-03 -3.51850612e+00] [-5.22135921e-02 -2.47744352e-04 9.98635909e-01 -3.58792037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962401008 meters 0.060970511610124026 Centerline is valid? [True, True] Translation: X:34.12, Y:-3.53, Z:-3.59 [[ 9.81905017e-01 1.81815116e-01 5.29698186e-02 3.41160945e+01] [-1.81565094e-01 9.83332700e-01 -9.53509788e-03 -3.52571678e+00] [-5.38205796e-02 -2.54909645e-04 9.98550590e-01 -3.58757493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.992401008 meters 0.06114220206963811 Centerline is valid? [True, True] Translation: X:34.15, Y:-3.53, Z:-3.59 [[ 9.81907957e-01 1.81439049e-01 5.41907342e-02 3.41466123e+01] [-1.81175949e-01 9.83402167e-01 -9.77007193e-03 -3.53154163e+00] [-5.50639580e-02 -2.24746339e-04 9.98482804e-01 -3.59094387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022401008 meters 0.06108793479934658 Centerline is valid? [True, True] Translation: X:34.18, Y:-3.54, Z:-3.59 [[ 9.81973002e-01 1.80772059e-01 5.52312005e-02 3.41774938e+01] [-1.80497342e-01 9.83525001e-01 -9.96399143e-03 -3.53821988e+00] [-5.61224778e-02 -1.84714293e-04 9.98423875e-01 -3.59331674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052401008000004 meters 0.06100626209582045 Centerline is valid? [True, True] Translation: X:34.21, Y:-3.55, Z:-3.60 [[ 9.82124413e-01 1.80203635e-01 5.43901357e-02 3.42090771e+01] [-1.79935690e-01 9.83629316e-01 -9.82427763e-03 -3.54552016e+00] [-5.52701025e-02 -1.38063708e-04 9.98471430e-01 -3.59627240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082401008000005 meters 0.06116005210845111 Centerline is valid? [True, True] Translation: X:34.24, Y:-3.56, Z:-3.60 [[ 9.82704895e-01 1.77501952e-01 5.27650041e-02 3.42398969e+01] [-1.77245122e-01 9.84120448e-01 -9.54517731e-03 -3.55664159e+00] [-5.36214071e-02 2.77529012e-05 9.98561337e-01 -3.59954444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112401008 meters 0.061217149837027106 Centerline is valid? [True, True] Translation: X:34.27, Y:-3.57, Z:-3.60 [[ 9.83073912e-01 1.75513091e-01 5.25436769e-02 3.42697380e+01] [-1.75254904e-01 9.84477086e-01 -9.51763461e-03 -3.56687154e+00] [-5.33985154e-02 1.48001220e-04 9.98573271e-01 -3.60372789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142401008 meters 0.06110158697474279 Centerline is valid? [True, True] Translation: X:34.30, Y:-3.58, Z:-3.60 [[ 9.83430499e-01 1.73846442e-01 5.13991076e-02 3.43008167e+01] [-1.73596428e-01 9.84772742e-01 -9.32343187e-03 -3.57676453e+00] [-5.22372856e-02 2.46245782e-04 9.98634671e-01 -3.60271181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.172401008 meters 0.06146236340585152 Centerline is valid? [True, True] Translation: X:34.33, Y:-3.59, Z:-3.61 [[ 9.83938769e-01 1.70967905e-01 5.13271369e-02 3.43304909e+01] [-1.70714000e-01 9.85276513e-01 -9.32331356e-03 -3.58801723e+00] [-5.21654099e-02 4.11308831e-04 9.98638373e-01 -3.60623778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202401008 meters 0.06204160679185657 Centerline is valid? [True, True] Translation: X:34.36, Y:-3.60, Z:-3.61 [[ 9.84881473e-01 1.65576046e-01 5.09220602e-02 3.43599935e+01] [-1.65318330e-01 9.86196775e-01 -9.26126297e-03 -3.60053736e+00] [-5.17526148e-02 7.02896393e-04 9.98659688e-01 -3.61002701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232401008000004 meters 0.06247607499389312 Centerline is valid? [True, True] Translation: X:34.39, Y:-3.61, Z:-3.61 [[ 9.85229849e-01 1.63673540e-01 5.03300721e-02 3.43895299e+01] [-1.63418750e-01 9.86514230e-01 -9.16442484e-03 -3.60933523e+00] [-5.11513062e-02 8.04187441e-04 9.98690591e-01 -3.61448279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262401008000005 meters 0.06246824834773864 Centerline is valid? [True, True] Translation: X:34.42, Y:-3.62, Z:-3.61 [[ 9.85521265e-01 1.61863320e-01 5.04787245e-02 3.44208301e+01] [-1.61604117e-01 9.86812766e-01 -9.20182897e-03 -3.61524928e+00] [-5.13024884e-02 9.11028435e-04 9.98682745e-01 -3.61496422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292401008 meters 0.06244382898311081 Centerline is valid? [True, True] Translation: X:34.45, Y:-3.62, Z:-3.62 [[ 9.85820210e-01 1.60230833e-01 4.98457091e-02 3.44524521e+01] [-1.59975415e-01 9.87079070e-01 -9.09815463e-03 -3.62200655e+00] [-5.06594611e-02 9.95056702e-04 9.98715489e-01 -3.61609208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322401008 meters 0.06301014579769272 Centerline is valid? [True, True] Translation: X:34.48, Y:-3.63, Z:-3.62 [[ 9.86269112e-01 1.57358590e-01 5.01149997e-02 3.44817530e+01] [-1.57096037e-01 9.87540847e-01 -9.16027197e-03 -3.63203211e+00] [-5.09320567e-02 1.16162548e-03 9.98701445e-01 -3.61790558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352401008 meters 0.06323110779003153 Centerline is valid? [True, True] Translation: X:34.51, Y:-3.64, Z:-3.62 [[ 9.86434678e-01 1.56195811e-01 5.04925148e-02 3.45119705e+01] [-1.55927072e-01 9.87725327e-01 -9.24270548e-03 -3.63905145e+00] [-5.13164076e-02 1.24417521e-03 9.98681670e-01 -3.62013564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382401008 meters 0.06289046052279196 Centerline is valid? [True, True] Translation: X:34.54, Y:-3.64, Z:-3.62 [[ 9.86538096e-01 1.55195134e-01 5.15466267e-02 3.45443936e+01] [-1.54913277e-01 9.87882938e-01 -9.44340075e-03 -3.64350599e+00] [-5.23876028e-02 1.33101772e-03 9.98625940e-01 -3.61936026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.412401008 meters 0.06377173583116728 Centerline is valid? [True, True] Translation: X:34.57, Y:-3.65, Z:-3.62 [[ 9.86693774e-01 1.54172770e-01 5.16348063e-02 3.45740710e+01] [-1.53888446e-01 9.88042927e-01 -9.46152252e-03 -3.65316013e+00] [-5.24761143e-02 1.38962528e-03 9.98621213e-01 -3.62310309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442401008000004 meters 0.06505247441074533 Centerline is valid? [True, True] Translation: X:34.60, Y:-3.66, Z:-3.62 [[ 9.86927106e-01 1.52098242e-01 5.33011391e-02 3.46039298e+01] [-1.51791518e-01 9.88364147e-01 -9.78000847e-03 -3.66301503e+00] [-5.41684570e-02 1.56149466e-03 9.98530590e-01 -3.62490126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472401008000006 meters 0.0629487429072285 Centerline is valid? [True, True] Translation: X:34.64, Y:-3.66, Z:-3.62 [[ 9.86943862e-01 1.51808257e-01 5.38151070e-02 3.46380141e+01] [-1.51494449e-01 9.88408658e-01 -9.88717013e-03 -3.66119196e+00] [-5.46922718e-02 1.60539190e-03 9.98501967e-01 -3.62136000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502401008 meters 0.06274570436632285 Centerline is valid? [True, True] Translation: X:34.67, Y:-3.67, Z:-3.62 [[ 9.86935054e-01 1.51458777e-01 5.49494061e-02 3.46702090e+01] [-1.51130797e-01 9.88462175e-01 -1.01000200e-02 -3.66533061e+00] [-5.58451461e-02 1.66351627e-03 9.98438056e-01 -3.62151443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.532401008 meters 0.0626772083103526 Centerline is valid? [True, True] Translation: X:34.70, Y:-3.67, Z:-3.62 [[ 9.86854065e-01 1.52007924e-01 5.48875746e-02 3.47030239e+01] [-1.51680667e-01 9.88377904e-01 -1.01041155e-02 -3.67060451e+00] [-5.57855716e-02 1.64590348e-03 9.98441416e-01 -3.62340514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562401008 meters 0.06286217226229346 Centerline is valid? [True, True] Translation: X:34.73, Y:-3.67, Z:-3.62 [[ 9.86641452e-01 1.53030468e-01 5.58598359e-02 3.47343063e+01] [-1.52692194e-01 9.88220122e-01 -1.02996910e-02 -3.67411339e+00] [-5.67779804e-02 1.63274113e-03 9.98385494e-01 -3.62492095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592401008 meters 0.06228828355985357 Centerline is valid? [True, True] Translation: X:34.77, Y:-3.68, Z:-3.63 [[ 9.86445014e-01 1.54215305e-01 5.60702644e-02 3.47666398e+01] [-1.53875679e-01 9.88035999e-01 -1.03508861e-02 -3.67607277e+00] [-5.69957047e-02 1.58273002e-03 9.98373169e-01 -3.62632424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622401008000004 meters 0.062132687160825116 Centerline is valid? [True, True] Translation: X:34.80, Y:-3.68, Z:-3.63 [[ 9.86272935e-01 1.55695495e-01 5.49964666e-02 3.47972075e+01] [-1.55370326e-01 9.87803988e-01 -1.01658105e-02 -3.67912095e+00] [-5.59085000e-02 1.48144482e-03 9.98434798e-01 -3.62981109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652401008000005 meters 0.0617436188744587 Centerline is valid? [True, True] Translation: X:34.83, Y:-3.68, Z:-3.63 [[ 9.86146765e-01 1.57017463e-01 5.34796660e-02 3.48300348e+01] [-1.56711373e-01 9.87594865e-01 -9.89584557e-03 -3.68149594e+00] [-5.43700641e-02 1.37788419e-03 9.98519903e-01 -3.63164992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682401008 meters 0.061639948810587715 Centerline is valid? [True, True] Translation: X:34.86, Y:-3.68, Z:-3.64 [[ 9.86137842e-01 1.58098699e-01 5.03682222e-02 3.48617855e+01] [-1.57827913e-01 9.87422516e-01 -9.33400485e-03 -3.68154549e+00] [-5.12104107e-02 1.25510399e-03 9.98687097e-01 -3.63753030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712401008 meters 0.0618006036914583 Centerline is valid? [True, True] Translation: X:34.89, Y:-3.69, Z:-3.64 [[ 9.86136323e-01 1.58038708e-01 5.05857624e-02 3.48934712e+01] [-1.57764964e-01 9.87432096e-01 -9.38466731e-03 -3.68528944e+00] [-5.14331461e-02 1.27390031e-03 9.98675627e-01 -3.64215021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742401008 meters 0.061892790922290504 Centerline is valid? [True, True] Translation: X:34.92, Y:-3.69, Z:-3.65 [[ 9.86106581e-01 1.58449210e-01 4.98764330e-02 3.49249728e+01] [-1.58182930e-01 9.87366340e-01 -9.26667283e-03 -3.68970106e+00] [-5.07146081e-02 1.24832675e-03 9.98712406e-01 -3.64550372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.772401008 meters 0.06175599357696844 Centerline is valid? [True, True] Translation: X:34.96, Y:-3.69, Z:-3.65 [[ 9.86107743e-01 1.58702664e-01 4.90406266e-02 3.49564906e+01] [-1.58444928e-01 9.87325660e-01 -9.12391139e-03 -3.69360341e+00] [-4.98670581e-02 1.22692112e-03 9.98755111e-01 -3.64793221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802401008000004 meters 0.06156533813841697 Centerline is valid? [True, True] Translation: X:34.99, Y:-3.70, Z:-3.65 [[ 9.86214368e-01 1.58420132e-01 4.77941562e-02 3.49886586e+01] [-1.58174327e-01 9.87371037e-01 -8.90602568e-03 -3.69811311e+00] [-4.86014594e-02 1.22344201e-03 9.98817502e-01 -3.64937797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832401008000005 meters 0.06188738165668341 Centerline is valid? [True, True] Translation: X:35.02, Y:-3.70, Z:-3.65 [[ 9.86326945e-01 1.57737206e-01 4.77297650e-02 3.50186138e+01] [-1.57491216e-01 9.87480327e-01 -8.89503792e-03 -3.70390265e+00] [-4.85352823e-02 1.25639688e-03 9.98820679e-01 -3.65342251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862401008 meters 0.06218757493709047 Centerline is valid? [True, True] Translation: X:35.05, Y:-3.71, Z:-3.66 [[ 9.86464953e-01 1.56886083e-01 4.76828395e-02 3.50496157e+01] [-1.56639082e-01 9.87615840e-01 -8.89663113e-03 -3.70937959e+00] [-4.84880852e-02 1.30721863e-03 9.98822906e-01 -3.65637833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.892401008 meters 0.0626277534669613 Centerline is valid? [True, True] Translation: X:35.08, Y:-3.71, Z:-3.66 [[ 9.86840111e-01 1.54221847e-01 4.86026508e-02 3.50803018e+01] [-1.53961404e-01 9.88035140e-01 -9.08005976e-03 -3.71419225e+00] [-4.94214705e-02 1.47763481e-03 9.98776919e-01 -3.65856114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922401008 meters 0.06152242700862151 Centerline is valid? [True, True] Translation: X:35.11, Y:-3.71, Z:-3.66 [[ 9.86994829e-01 1.53375419e-01 4.81371843e-02 3.51127597e+01] [-1.53118473e-01 9.88166831e-01 -9.00261814e-03 -3.71469773e+00] [-4.89483492e-02 1.51484538e-03 9.98800162e-01 -3.65745238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.952401008 meters 0.06226917650244862 Centerline is valid? [True, True] Translation: X:35.14, Y:-3.72, Z:-3.66 [[ 9.87041432e-01 1.52966837e-01 4.84804887e-02 3.51424166e+01] [-1.52705138e-01 9.88230095e-01 -9.07857070e-03 -3.72217351e+00] [-4.92985981e-02 1.55770572e-03 9.98782870e-01 -3.66145287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982401008000004 meters 0.06155571506327226 Centerline is valid? [True, True] Translation: X:35.17, Y:-3.72, Z:-3.66 [[ 9.86892958e-01 1.54030674e-01 4.81335751e-02 3.51749967e+01] [-1.53773416e-01 9.88064920e-01 -9.02496574e-03 -3.72475527e+00] [-4.89492186e-02 1.50501086e-03 9.98800135e-01 -3.66187211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012401008000005 meters 0.061894125315507066 Centerline is valid? [True, True] Translation: X:35.21, Y:-3.73, Z:-3.67 [[ 9.86666485e-01 1.55872263e-01 4.68303838e-02 3.52051172e+01] [-1.55630296e-01 9.87776248e-01 -8.79177364e-03 -3.72938513e+00] [-4.76283344e-02 1.38632191e-03 9.98864165e-01 -3.66510030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042401008000006 meters 0.06181041483793853 Centerline is valid? [True, True] Translation: X:35.24, Y:-3.73, Z:-3.67 [[ 9.86526278e-01 1.56901318e-01 4.63452138e-02 3.52365404e+01] [-1.56665014e-01 9.87613386e-01 -8.71047850e-03 -3.73368738e+00] [-4.71378391e-02 1.33244238e-03 9.98887506e-01 -3.66744756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072401008 meters 0.06102417495558945 Centerline is valid? [True, True] Translation: X:35.27, Y:-3.73, Z:-3.67 [[ 9.86051466e-01 1.59353976e-01 4.80501515e-02 3.52688470e+01] [-1.59102136e-01 9.87220687e-01 -9.04568545e-03 -3.73342009e+00] [-4.88775695e-02 1.27462965e-03 9.98803964e-01 -3.66896831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102401008 meters 0.06068500346984338 Centerline is valid? [True, True] Translation: X:35.30, Y:-3.74, Z:-3.67 [[ 9.85747429e-01 1.61242585e-01 4.79878688e-02 3.53015162e+01] [-1.60993527e-01 9.86914096e-01 -9.03612843e-03 -3.73587661e+00] [-4.88169129e-02 1.18160409e-03 9.98807045e-01 -3.67102192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.132401008 meters 0.06006898226002253 Centerline is valid? [True, True] Translation: X:35.33, Y:-3.74, Z:-3.67 [[ 9.85434799e-01 1.63170201e-01 4.78930296e-02 3.53334139e+01] [-1.62924233e-01 9.86597336e-01 -9.02170998e-03 -3.73776828e+00] [-4.87232096e-02 1.08737185e-03 9.98811727e-01 -3.67175859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162401008 meters 0.060165177273043054 Centerline is valid? [True, True] Translation: X:35.36, Y:-3.74, Z:-3.67 [[ 9.85219920e-01 1.64595940e-01 4.74329638e-02 3.53637142e+01] [-1.64355771e-01 9.86360552e-01 -8.94656686e-03 -3.74234082e+00] [-4.82585729e-02 1.01845454e-03 9.98834357e-01 -3.67433657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192401008000004 meters 0.05959031827483007 Centerline is valid? [True, True] Translation: X:35.40, Y:-3.74, Z:-3.68 [[ 9.84386563e-01 1.69569630e-01 4.72147829e-02 3.53955544e+01] [-1.69336676e-01 9.85517896e-01 -8.92001741e-03 -3.74189090e+00] [-4.80435775e-02 7.85550907e-04 9.98844932e-01 -3.67734968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222401008000006 meters 0.059400077299576845 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.74, Z:-3.68 [[ 9.83962812e-01 1.71976328e-01 4.73426658e-02 3.54277780e+01] [-1.71745035e-01 9.85100857e-01 -8.94121927e-03 -3.74462681e+00] [-4.81749787e-02 6.66959476e-04 9.98838689e-01 -3.68004431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252401008 meters 0.0592722830822636 Centerline is valid? [True, True] Translation: X:35.46, Y:-3.75, Z:-3.68 [[ 9.83443611e-01 1.74801294e-01 4.77825412e-02 3.54594446e+01] [-1.74568461e-01 9.84603581e-01 -9.03557717e-03 -3.74784036e+00] [-4.86262917e-02 5.44655976e-04 9.98816894e-01 -3.68221872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282401008 meters 0.059000005601440926 Centerline is valid? [True, True] Translation: X:35.49, Y:-3.75, Z:-3.68 [[ 9.83063148e-01 1.77061361e-01 4.72876374e-02 3.54907355e+01] [-1.76835417e-01 9.84199716e-01 -8.95285014e-03 -3.75204183e+00] [-4.81256831e-02 4.39087949e-04 9.98841191e-01 -3.68374675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312401008 meters 0.05906499029250337 Centerline is valid? [True, True] Translation: X:35.52, Y:-3.76, Z:-3.69 [[ 9.82655225e-01 1.79135805e-01 4.79486497e-02 3.55209826e+01] [-1.78905391e-01 9.83824292e-01 -9.08971492e-03 -3.75675367e+00] [-4.88013397e-02 3.53783959e-04 9.98808442e-01 -3.68687950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342401008 meters 0.058608560532353866 Centerline is valid? [True, True] Translation: X:35.55, Y:-3.76, Z:-3.69 [[ 9.81802218e-01 1.83460399e-01 4.90579862e-02 3.55537384e+01] [-1.83224061e-01 9.83027090e-01 -9.31045060e-03 -3.75758957e+00] [-4.99334284e-02 1.52417587e-04 9.98752537e-01 -3.68677481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372401008000004 meters 0.058658812946494915 Centerline is valid? [True, True] Translation: X:35.59, Y:-3.76, Z:-3.69 [[ 9.81410981e-01 1.85681056e-01 4.85286711e-02 3.55858482e+01] [-1.85451873e-01 9.82610066e-01 -9.22280754e-03 -3.76064912e+00] [-4.93972614e-02 5.16316539e-05 9.98779209e-01 -3.69147010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402401008000005 meters 0.05876049951374494 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.76, Z:-3.70 [[ 9.81055221e-01 1.87781638e-01 4.76309669e-02 3.56161572e+01] [-1.87563007e-01 9.82210799e-01 -9.05890995e-03 -3.76404034e+00] [-4.84847470e-02 -4.65164856e-05 9.98823922e-01 -3.69539616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432401008 meters 0.058752995716223666 Centerline is valid? [True, True] Translation: X:35.65, Y:-3.77, Z:-3.70 [[ 9.80761372e-01 1.89521222e-01 4.67850133e-02 3.56476355e+01] [-1.89311816e-01 9.81876617e-01 -8.90754672e-03 -3.76970494e+00] [-4.76252798e-02 -1.20778089e-04 9.98865265e-01 -3.69830586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462401008 meters 0.058898716355862676 Centerline is valid? [True, True] Translation: X:35.68, Y:-3.78, Z:-3.70 [[ 9.80719070e-01 1.89817249e-01 4.64706070e-02 3.56779031e+01] [-1.89610493e-01 9.81819432e-01 -8.85800624e-03 -3.77934707e+00] [-4.73071473e-02 -1.24099072e-04 9.98880382e-01 -3.70189345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492401008 meters 0.058898716355862676 Centerline is valid? [True, True] Translation: X:35.71, Y:-3.79, Z:-3.70 [[ 9.80671011e-01 1.90065890e-01 4.64685534e-02 3.57095790e+01] [-1.89858903e-01 9.81771329e-01 -8.86876276e-03 -3.78554147e+00] [-4.73071427e-02 -1.25130060e-04 9.98880383e-01 -3.70421323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522401008 meters 0.05878652290606904 Centerline is valid? [True, True] Translation: X:35.74, Y:-3.80, Z:-3.71 [[ 9.80910135e-01 1.88809975e-01 4.65413902e-02 3.57413664e+01] [-1.88600344e-01 9.82013641e-01 -8.89493342e-03 -3.79544321e+00] [-4.73837322e-02 -5.25918521e-05 9.98876759e-01 -3.70649430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552401008000004 meters 0.0586990851052669 Centerline is valid? [True, True] Translation: X:35.77, Y:-3.81, Z:-3.71 [[ 9.81361406e-01 1.86316547e-01 4.70737130e-02 3.57708971e+01] [-1.86098474e-01 9.82489764e-01 -9.01224715e-03 -3.80605674e+00] [-4.79285719e-02 8.39253777e-05 9.98850762e-01 -3.70849101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582401008000005 meters 0.058808779179495056 Centerline is valid? [True, True] Translation: X:35.80, Y:-3.82, Z:-3.71 [[ 9.82029221e-01 1.82272628e-01 4.89417757e-02 3.58015991e+01] [-1.82031637e-01 9.83247985e-01 -9.37454794e-03 -3.81817739e+00] [-4.98306258e-02 2.97128468e-04 9.98757638e-01 -3.70987090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612401008 meters 0.05957368741940234 Centerline is valid? [True, True] Translation: X:35.83, Y:-3.84, Z:-3.71 [[ 9.83759461e-01 1.71892673e-01 5.16742933e-02 3.58303068e+01] [-1.71608850e-01 9.85115286e-01 -9.91343356e-03 -3.83905963e+00] [-5.26091828e-02 8.84668014e-04 9.98614786e-01 -3.70913788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642401008 meters 0.05959153961938517 Centerline is valid? [True, True] Translation: X:35.86, Y:-3.85, Z:-3.71 [[ 9.84474962e-01 1.67275209e-01 5.31794429e-02 3.58613556e+01] [-1.66967692e-01 9.85909550e-01 -1.02053383e-02 -3.84938763e+00] [-5.41372207e-02 1.16765119e-03 9.98532823e-01 -3.70670456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.672401008 meters 0.06004701481283517 Centerline is valid? [True, True] Translation: X:35.89, Y:-3.86, Z:-3.71 [[ 9.85039908e-01 1.63308088e-01 5.50168032e-02 3.58915621e+01] [-1.62972591e-01 9.86574075e-01 -1.05607678e-02 -3.86038131e+00] [-5.60028105e-02 1.43654680e-03 9.98429578e-01 -3.70652101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702401008 meters 0.061897167553684615 Centerline is valid? [True, True] Translation: X:35.92, Y:-3.88, Z:-3.71 [[ 9.86048463e-01 1.56666627e-01 5.62494090e-02 3.59197092e+01] [-1.56304348e-01 9.87649775e-01 -1.08107293e-02 -3.87566559e+00] [-5.72483967e-02 1.86787580e-03 9.98358218e-01 -3.71032902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.732401008000004 meters 0.06279825044606878 Centerline is valid? [True, True] Translation: X:35.95, Y:-3.88, Z:-3.71 [[ 9.86270218e-01 1.55505250e-01 5.55803411e-02 3.59494506e+01] [-1.55149143e-01 9.87833196e-01 -1.06920869e-02 -3.88408429e+00] [-5.65667816e-02 1.92204459e-03 9.98396968e-01 -3.71411392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762401008000005 meters 0.0629288424450567 Centerline is valid? [True, True] Translation: X:35.98, Y:-3.89, Z:-3.72 [[ 9.86441759e-01 1.54308501e-01 5.58707725e-02 3.59802784e+01] [-1.53946082e-01 9.88020666e-01 -1.07595412e-02 -3.88954767e+00] [-5.68617666e-02 2.01257419e-03 9.98380032e-01 -3.71753290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792401008000006 meters 0.062389295908972874 Centerline is valid? [True, True] Translation: X:36.01, Y:-3.89, Z:-3.72 [[ 9.86582868e-01 1.53864905e-01 5.45878744e-02 3.60108038e+01] [-1.53517568e-01 9.88089862e-01 -1.05252384e-02 -3.89321355e+00] [-5.55571901e-02 2.00382214e-03 9.98453496e-01 -3.71921288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822401008 meters 0.06240870147428015 Centerline is valid? [True, True] Translation: X:36.04, Y:-3.90, Z:-3.72 [[ 9.86568096e-01 1.54627615e-01 5.26658550e-02 3.60422117e+01] [-1.54304828e-01 9.87970992e-01 -1.01655434e-02 -3.90044328e+00] [-5.36042108e-02 1.90240507e-03 9.98560449e-01 -3.72071221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.852401008 meters 0.06289199166769766 Centerline is valid? [True, True] Translation: X:36.07, Y:-3.91, Z:-3.72 [[ 9.86561186e-01 1.54361761e-01 5.35674593e-02 3.60745784e+01] [-1.54026781e-01 9.88012449e-01 -1.03513984e-02 -3.90696162e+00] [-5.45231767e-02 1.96146453e-03 9.98510579e-01 -3.72431988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882401008 meters 0.06305718587213763 Centerline is valid? [True, True] Translation: X:36.11, Y:-3.91, Z:-3.73 [[ 9.86616043e-01 1.54449065e-01 5.22902486e-02 3.61059212e+01] [-1.54129282e-01 9.87998880e-01 -1.01181583e-02 -3.91175481e+00] [-5.32254471e-02 1.92327889e-03 9.98580669e-01 -3.72783993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912401008 meters 0.06337098132429365 Centerline is valid? [True, True] Translation: X:36.14, Y:-3.92, Z:-3.73 [[ 9.86800450e-01 1.53524348e-01 5.15281063e-02 3.61370854e+01] [-1.53211958e-01 9.88142930e-01 -9.98232446e-03 -3.91576086e+00] [-5.24496638e-02 1.95584022e-03 9.98621654e-01 -3.73300193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942401008000004 meters 0.0643013322590967 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.92, Z:-3.74 [[ 9.86978614e-01 1.53280948e-01 4.87664497e-02 3.61674390e+01] [-1.53000310e-01 9.88180873e-01 -9.45870504e-03 -3.91842905e+00] [-4.96399121e-02 1.87425769e-03 9.98765421e-01 -3.74060023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972401008000006 meters 0.06407993333642256 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.92, Z:-3.74 [[ 9.86779862e-01 1.55022244e-01 4.72610637e-02 3.61992301e+01] [-1.54760549e-01 9.87909458e-01 -9.16924300e-03 -3.92219191e+00] [-4.81110884e-02 1.73387619e-03 9.98840486e-01 -3.74427812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002401008 meters 0.0637172542671133 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.93, Z:-3.75 [[ 9.86393820e-01 1.57667999e-01 4.65621591e-02 3.62314129e+01] [-1.57416457e-01 9.87490897e-01 -9.04368446e-03 -3.92569483e+00] [-4.74056079e-02 1.59098434e-03 9.98874455e-01 -3.74637127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032401008 meters 0.06345345929337 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.93, Z:-3.75 [[ 9.86009642e-01 1.60069403e-01 4.65056065e-02 3.62625264e+01] [-1.59820466e-01 9.87104641e-01 -9.04687261e-03 -3.92859266e+00] [-4.73540275e-02 1.48775591e-03 9.98877061e-01 -3.74864669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062401008 meters 0.06092995402328692 Centerline is valid? [True, True] Translation: X:36.30, Y:-3.92, Z:-3.75 [[ 9.85491312e-01 1.63058281e-01 4.71048850e-02 3.62958589e+01] [-1.62806186e-01 9.86615496e-01 -9.16560131e-03 -3.92474556e+00] [-4.79689367e-02 1.36365379e-03 9.98847897e-01 -3.74520344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092401008 meters 0.06171920617353648 Centerline is valid? [True, True] Translation: X:36.33, Y:-3.93, Z:-3.75 [[ 9.84789491e-01 1.66921721e-01 4.82368923e-02 3.63256702e+01] [-1.66661817e-01 9.85969412e-01 -9.38918130e-03 -3.92688373e+00] [-4.91273587e-02 1.20711895e-03 9.98791793e-01 -3.75175437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122401008000004 meters 0.06176017281415776 Centerline is valid? [True, True] Translation: X:36.36, Y:-3.93, Z:-3.75 [[ 9.84558470e-01 1.67926161e-01 4.94512259e-02 3.63565298e+01] [-1.67654326e-01 9.85798864e-01 -9.62426003e-03 -3.93046673e+00] [-5.03651274e-02 1.18493476e-03 9.98730169e-01 -3.75486007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152401008000005 meters 0.060186073029909436 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.93, Z:-3.75 [[ 9.84494917e-01 1.68033305e-01 5.03444745e-02 3.63896679e+01] [-1.67751486e-01 9.85780583e-01 -9.80214809e-03 -3.92847743e+00] [-5.12756928e-02 1.20480458e-03 9.98683810e-01 -3.75184489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182401008 meters 0.060615911287037395 Centerline is valid? [True, True] Translation: X:36.42, Y:-3.93, Z:-3.75 [[ 9.84493102e-01 1.67386761e-01 5.24881292e-02 3.64197002e+01] [-1.67078770e-01 9.85890445e-01 -1.02330051e-02 -3.93438964e+00] [-5.34604146e-02 1.30467088e-03 9.98569117e-01 -3.75344673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.212401008 meters 0.06026582434752026 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.94, Z:-3.75 [[ 9.84511172e-01 1.66168349e-01 5.59091329e-02 3.64519659e+01] [-1.65816160e-01 9.86096298e-01 -1.09129183e-02 -3.93990588e+00] [-5.69451706e-02 1.47325233e-03 9.98376220e-01 -3.75019747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242401008 meters 0.06039349191249163 Centerline is valid? [True, True] Translation: X:36.48, Y:-3.95, Z:-3.75 [[ 9.84543988e-01 1.65714187e-01 5.66740211e-02 3.64835326e+01] [-1.65350753e-01 9.86172630e-01 -1.10757133e-02 -3.94583026e+00] [-5.77257712e-02 1.53343480e-03 9.98331300e-01 -3.75200573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.272401008 meters 0.06013121422937981 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.95, Z:-3.75 [[ 9.84497217e-01 1.65759313e-01 5.73505037e-02 3.65160371e+01] [-1.65386371e-01 9.86164999e-01 -1.12224066e-02 -3.94945015e+00] [-5.84172779e-02 1.56343643e-03 9.98291028e-01 -3.75368801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302401008000004 meters 0.060121879834545304 Centerline is valid? [True, True] Translation: X:36.55, Y:-3.95, Z:-3.76 [[ 9.84362872e-01 1.66496198e-01 5.75217567e-02 3.65480287e+01] [-1.66121328e-01 9.86040893e-01 -1.12721324e-02 -3.95308761e+00] [-5.85955716e-02 1.54027798e-03 9.98280615e-01 -3.75666059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332401008000005 meters 0.06037820044649371 Centerline is valid? [True, True] Translation: X:36.58, Y:-3.96, Z:-3.76 [[ 9.84104146e-01 1.68013207e-01 5.75377381e-02 3.65790840e+01] [-1.67639891e-01 9.85783657e-01 -1.12893211e-02 -3.95670392e+00] [-5.86165169e-02 1.46424755e-03 9.98279500e-01 -3.76016161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362401008 meters 0.060135251444949425 Centerline is valid? [True, True] Translation: X:36.61, Y:-3.96, Z:-3.76 [[ 9.83903465e-01 1.69115859e-01 5.77390496e-02 3.66104739e+01] [-1.68741072e-01 9.85595161e-01 -1.13414932e-02 -3.96116693e+00] [-5.88253543e-02 1.41598537e-03 9.98267285e-01 -3.76242191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.392401008 meters 0.05980379598073519 Centerline is valid? [True, True] Translation: X:36.64, Y:-3.96, Z:-3.76 [[ 9.83816305e-01 1.69551933e-01 5.79449716e-02 3.66430251e+01] [-1.69174448e-01 9.85520249e-01 -1.13949927e-02 -3.96352421e+00] [-5.90379859e-02 1.40777104e-03 9.98254744e-01 -3.76426370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422401008 meters 0.059833265778070556 Centerline is valid? [True, True] Translation: X:36.67, Y:-3.97, Z:-3.77 [[ 9.83774963e-01 1.69628135e-01 5.84219040e-02 3.66747033e+01] [-1.69243556e-01 9.85507102e-01 -1.15052456e-02 -3.96772919e+00] [-5.95268146e-02 1.43104180e-03 9.98225681e-01 -3.76734808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452401008 meters 0.0604209519501221 Centerline is valid? [True, True] Translation: X:36.70, Y:-3.97, Z:-3.77 [[ 9.83851093e-01 1.69562947e-01 5.73187030e-02 3.67048985e+01] [-1.69191727e-01 9.85518331e-01 -1.13039329e-02 -3.97171245e+00] [-5.84053607e-02 1.42353643e-03 9.98291935e-01 -3.77287721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482401008000004 meters 0.06019648945343593 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.98, Z:-3.78 [[ 9.83926063e-01 1.69687932e-01 5.56372964e-02 3.67370252e+01] [-1.69338083e-01 9.85496881e-01 -1.09777826e-02 -3.97552861e+00] [-5.66931792e-02 1.37981330e-03 9.98390695e-01 -3.77553275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512401008000005 meters 0.060215173539346356 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.98, Z:-3.78 [[ 9.83894222e-01 1.70681514e-01 5.31034895e-02 3.67690641e+01] [-1.70363643e-01 9.85325428e-01 -1.04895574e-02 -3.97950211e+00] [-5.41145920e-02 1.27371095e-03 9.98533920e-01 -3.77996915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542401008000006 meters 0.060379397624397986 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.98, Z:-3.78 [[ 9.83804469e-01 1.71458434e-01 5.22567818e-02 3.68005558e+01] [-1.71151093e-01 9.85190596e-01 -1.03340897e-02 -3.98424499e+00] [-5.32547568e-02 1.22291828e-03 9.98580210e-01 -3.78398984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572401008 meters 0.060201555352537586 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.99, Z:-3.79 [[ 9.83679729e-01 1.72727760e-01 5.03915922e-02 3.68327182e+01] [-1.72443013e-01 9.84968962e-01 -9.97757484e-03 -3.98765468e+00] [-5.13575584e-02 1.12506012e-03 9.98679696e-01 -3.78675472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602401008 meters 0.060481558697059463 Centerline is valid? [True, True] Translation: X:36.86, Y:-3.99, Z:-3.79 [[ 9.83537472e-01 1.73825690e-01 4.93829061e-02 3.68641144e+01] [-1.73553055e-01 9.84775869e-01 -9.78905667e-03 -3.99360014e+00] [-5.03326838e-02 1.05734984e-03 9.98731948e-01 -3.79129416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632401008 meters 0.06031315871777155 Centerline is valid? [True, True] Translation: X:36.90, Y:-4.00, Z:-3.79 [[ 9.83340591e-01 1.75200593e-01 4.84358702e-02 3.68963329e+01] [-1.74939407e-01 9.84532271e-01 -9.61307492e-03 -3.99791262e+00] [-4.93708937e-02 9.79584342e-04 9.98780033e-01 -3.79325241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662401008 meters 0.06051558608276548 Centerline is valid? [True, True] Translation: X:36.93, Y:-4.01, Z:-3.80 [[ 9.83486037e-01 1.74283891e-01 4.87887287e-02 3.69277166e+01] [-1.74017054e-01 9.84694891e-01 -9.69719969e-03 -4.00553471e+00] [-4.97320776e-02 1.04698966e-03 9.98762046e-01 -3.79561137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692401008000004 meters 0.06106057267268481 Centerline is valid? [True, True] Translation: X:36.96, Y:-4.01, Z:-3.80 [[ 9.83731221e-01 1.72986565e-01 4.84616620e-02 3.69573550e+01] [-1.72721145e-01 9.84923551e-01 -9.64387646e-03 -4.01477591e+00] [-4.93992932e-02 1.11662861e-03 9.98778485e-01 -3.79850691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722401008000006 meters 0.061229077681844345 Centerline is valid? [True, True] Translation: X:36.99, Y:-4.02, Z:-3.80 [[ 9.84088667e-01 1.70887582e-01 4.86510972e-02 3.69881505e+01] [-1.70617008e-01 9.85289756e-01 -9.69186654e-03 -4.02290433e+00] [-4.95916474e-02 1.23695137e-03 9.98768811e-01 -3.79980220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752401008 meters 0.06128851305342605 Centerline is valid? [True, True] Translation: X:37.02, Y:-4.03, Z:-3.80 [[ 9.84564497e-01 1.67852861e-01 4.95799248e-02 3.70188177e+01] [-1.67567398e-01 9.85811025e-01 -9.88888291e-03 -4.03094874e+00] [-5.05363138e-02 1.42826405e-03 9.98721203e-01 -3.79948949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782401008 meters 0.06319428786735753 Centerline is valid? [True, True] Translation: X:37.05, Y:-4.04, Z:-3.80 [[ 9.85124038e-01 1.63541333e-01 5.27717954e-02 3.70473223e+01] [-1.63210909e-01 9.86534894e-01 -1.05405277e-02 -4.04479747e+00] [-5.37850295e-02 1.77079449e-03 9.98550968e-01 -3.80095013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812401008 meters 0.06226656440673879 Centerline is valid? [True, True] Translation: X:37.08, Y:-4.05, Z:-3.80 [[ 9.85252204e-01 1.62213963e-01 5.44492890e-02 3.70797147e+01] [-1.61860013e-01 9.86753770e-01 -1.08780886e-02 -4.04834292e+00] [-5.54926191e-02 1.90449811e-03 9.98457281e-01 -3.79925025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842401008 meters 0.061984689612551776 Centerline is valid? [True, True] Translation: X:37.11, Y:-4.05, Z:-3.80 [[ 9.85269707e-01 1.61617298e-01 5.58878651e-02 3.71124819e+01] [-1.61242683e-01 9.86851478e-01 -1.11784267e-02 -4.05224243e+00] [-5.69596494e-02 2.00225583e-03 9.98374473e-01 -3.79828114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872401008000004 meters 0.06147532389932362 Centerline is valid? [True, True] Translation: X:37.15, Y:-4.06, Z:-3.80 [[ 9.85198452e-01 1.62255506e-01 5.52915976e-02 3.71450355e+01] [-1.61889015e-01 9.86746833e-01 -1.10740189e-02 -4.05629871e+00] [-5.63556294e-02 1.95900400e-03 9.98408837e-01 -3.79878772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902401008000005 meters 0.061913757843575196 Centerline is valid? [True, True] Translation: X:37.18, Y:-4.06, Z:-3.80 [[ 9.85058105e-01 1.62719985e-01 5.64157425e-02 3.71750324e+01] [-1.62338214e-01 9.86670285e-01 -1.13160157e-02 -4.06253580e+00] [-5.75050786e-02 1.98850211e-03 9.98343233e-01 -3.80060605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.932401008 meters 0.06143333007328039 Centerline is valid? [True, True] Translation: X:37.21, Y:-4.07, Z:-3.80 [[ 9.84917438e-01 1.63726369e-01 5.59581729e-02 3.72070171e+01] [-1.63351571e-01 9.86503907e-01 -1.12385954e-02 -4.06544544e+00] [-5.70430106e-02 1.92823314e-03 9.98369860e-01 -3.80254417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962401008 meters 0.061290482400065786 Centerline is valid? [True, True] Translation: X:37.24, Y:-4.07, Z:-3.81 [[ 9.84590404e-01 1.65424887e-01 5.67128116e-02 3.72383485e+01] [-1.65042530e-01 9.86220642e-01 -1.13933258e-02 -4.06527365e+00] [-5.78160851e-02 1.85773339e-03 9.98325523e-01 -3.80745118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992401008 meters 0.060765744848702986 Centerline is valid? [True, True] Translation: X:37.27, Y:-4.07, Z:-3.81 [[ 9.84403212e-01 1.66999452e-01 5.53308243e-02 3.72702972e+01] [-1.66637336e-01 9.85955464e-01 -1.11274963e-02 -4.06675393e+00] [-5.64120144e-02 1.73376188e-03 9.98406069e-01 -3.81034600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022401008 meters 0.06128688632083802 Centerline is valid? [True, True] Translation: X:37.30, Y:-4.07, Z:-3.81 [[ 9.84329856e-01 1.67740792e-01 5.43853025e-02 3.73013051e+01] [-1.67391378e-01 9.85829712e-01 -1.09501281e-02 -4.07210848e+00] [-5.54514303e-02 1.67490724e-03 9.98459981e-01 -3.81480931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052401008000004 meters 0.061212847527253325 Centerline is valid? [True, True] Translation: X:37.33, Y:-4.08, Z:-3.82 [[ 9.84210862e-01 1.68667684e-01 5.36674120e-02 3.73327293e+01] [-1.68328048e-01 9.85671651e-01 -1.08196232e-02 -4.07642076e+00] [-5.47233674e-02 1.61505994e-03 9.98500248e-01 -3.81758623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082401008000005 meters 0.06095959567774636 Centerline is valid? [True, True] Translation: X:37.36, Y:-4.08, Z:-3.82 [[ 9.84060259e-01 1.69588882e-01 5.35258657e-02 3.73644470e+01] [-1.69251716e-01 9.85513643e-01 -1.08035508e-02 -4.08027920e+00] [-5.45826330e-02 1.57200039e-03 9.98508019e-01 -3.81914221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112401008 meters 0.06024546263354909 Centerline is valid? [True, True] Translation: X:37.40, Y:-4.08, Z:-3.82 [[ 9.83556419e-01 1.72582171e-01 5.32180832e-02 3.73968839e+01] [-1.72252400e-01 9.84994110e-01 -1.07570177e-02 -4.08000620e+00] [-5.42759680e-02 1.41319124e-03 9.98524973e-01 -3.82079267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142401008 meters 0.06016367265376855 Centerline is valid? [True, True] Translation: X:37.43, Y:-4.08, Z:-3.82 [[ 9.83346058e-01 1.73924257e-01 5.27340850e-02 3.74287530e+01] [-1.73602417e-01 9.84758140e-01 -1.06586687e-02 -4.08263239e+00] [-5.37841204e-02 1.32639522e-03 9.98551706e-01 -3.82475786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172401008 meters 0.05999343510832452 Centerline is valid? [True, True] Translation: X:37.46, Y:-4.09, Z:-3.83 [[ 9.83090501e-01 1.75637059e-01 5.18139984e-02 3.74610757e+01] [-1.75328104e-01 9.84454228e-01 -1.04846681e-02 -4.08571663e+00] [-5.28500061e-02 1.22292754e-03 9.98601713e-01 -3.82802744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202401008 meters 0.060111387236856224 Centerline is valid? [True, True] Translation: X:37.49, Y:-4.09, Z:-3.83 [[ 9.82863258e-01 1.77285398e-01 5.04945947e-02 3.74915751e+01] [-1.76993553e-01 9.84158849e-01 -1.02294820e-02 -4.08931499e+00] [-5.15082400e-02 1.11696432e-03 9.98671945e-01 -3.83237089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232401008000004 meters 0.06011517383562381 Centerline is valid? [True, True] Translation: X:37.52, Y:-4.09, Z:-3.84 [[ 9.82539676e-01 1.79892482e-01 4.74813652e-02 3.75229353e+01] [-1.79637031e-01 9.83685838e-01 -9.62853419e-03 -4.09060880e+00] [-4.84388474e-02 9.31005377e-04 9.98825716e-01 -3.83843213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262401008000005 meters 0.05933639484494587 Centerline is valid? [True, True] Translation: X:37.56, Y:-4.09, Z:-3.84 [[ 9.82440975e-01 1.80868444e-01 4.57857739e-02 3.75555342e+01] [-1.80631591e-01 9.83506923e-01 -9.29307733e-03 -4.09265284e+00] [-4.67114500e-02 8.59542763e-04 9.98908055e-01 -3.83839386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292401008000006 meters 0.059381673536722406 Centerline is valid? [True, True] Translation: X:37.59, Y:-4.10, Z:-3.84 [[ 9.82353197e-01 1.81505489e-01 4.51436923e-02 3.75864766e+01] [-1.81275327e-01 9.83389581e-01 -9.17536408e-03 -4.09856950e+00] [-4.60592156e-02 8.30010663e-04 9.98938366e-01 -3.84131293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322401008 meters 0.05947904387111081 Centerline is valid? [True, True] Translation: X:37.62, Y:-4.10, Z:-3.84 [[ 9.82299482e-01 1.81966635e-01 4.44507624e-02 3.76167037e+01] [-1.81743673e-01 9.83304378e-01 -9.04086133e-03 -4.10400773e+00] [-4.53537644e-02 8.02188566e-04 9.98970667e-01 -3.84349740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352401008 meters 0.059200038250203556 Centerline is valid? [True, True] Translation: X:37.65, Y:-4.11, Z:-3.84 [[ 9.81653511e-01 1.84915599e-01 4.65038244e-02 3.76485398e+01] [-1.84674116e-01 9.82754147e-01 -9.47400576e-03 -4.10542115e+00] [-4.74537178e-02 7.12138349e-04 9.98873184e-01 -3.84493915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382401008 meters 0.05909292607670895 Centerline is valid? [True, True] Translation: X:37.68, Y:-4.11, Z:-3.85 [[ 9.81355846e-01 1.86492287e-01 4.64901165e-02 3.76801866e+01] [-1.86252864e-01 9.82456221e-01 -9.46805310e-03 -4.10921420e+00] [-4.74402230e-02 6.32611920e-04 9.98873878e-01 -3.84706285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412401008 meters 0.05909292607670895 Centerline is valid? [True, True] Translation: X:37.71, Y:-4.12, Z:-3.85 [[ 9.81307183e-01 1.86748679e-01 4.64881097e-02 3.77118031e+01] [-1.86509077e-01 9.82407519e-01 -9.47789335e-03 -4.11578288e+00] [-4.74402526e-02 6.30270358e-04 9.98873879e-01 -3.84938212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442401008000004 meters 0.05892797226024228 Centerline is valid? [True, True] Translation: X:37.74, Y:-4.12, Z:-3.85 [[ 9.80915763e-01 1.88835091e-01 4.63203462e-02 3.77434961e+01] [-1.88598907e-01 9.82008664e-01 -9.45705185e-03 -4.12033921e+00] [-4.72728045e-02 5.40604544e-04 9.98881870e-01 -3.85157812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472401008000006 meters 0.05888119755455396 Centerline is valid? [True, True] Translation: X:37.77, Y:-4.13, Z:-3.85 [[ 9.80337329e-01 1.91928159e-01 4.58508813e-02 3.77744227e+01] [-1.91699599e-01 9.81408897e-01 -9.37233566e-03 -4.12536167e+00] [-4.67972780e-02 3.98454964e-04 9.98904328e-01 -3.85273039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502401008 meters 0.058649636196421585 Centerline is valid? [True, True] Translation: X:37.81, Y:-4.13, Z:-3.85 [[ 9.79945003e-01 1.93842213e-01 4.61842841e-02 3.78063861e+01] [-1.93611974e-01 9.81032668e-01 -9.45032756e-03 -4.13089262e+00] [-4.71401638e-02 3.18970864e-04 9.98888234e-01 -3.85457029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532401008 meters 0.058609345926889184 Centerline is valid? [True, True] Translation: X:37.84, Y:-4.14, Z:-3.86 [[ 9.79708894e-01 1.94966816e-01 4.64588454e-02 3.78378781e+01] [-1.94734571e-01 9.80809800e-01 -9.51750007e-03 -4.13582377e+00] [-4.74228875e-02 2.77236132e-04 9.98874863e-01 -3.85666949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562401008 meters 0.058342724289541625 Centerline is valid? [True, True] Translation: X:37.87, Y:-4.14, Z:-3.86 [[ 9.79299278e-01 1.97093950e-01 4.61183093e-02 3.78700403e+01] [-1.96867001e-01 9.80384589e-01 -9.45740731e-03 -4.14032809e+00] [-4.70776774e-02 1.82458922e-04 9.98891215e-01 -3.85763613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592401008 meters 0.0582779520297942 Centerline is valid? [True, True] Translation: X:37.90, Y:-4.14, Z:-3.86 [[ 9.78428395e-01 2.01270127e-01 4.65640704e-02 3.79008132e+01] [-2.01042820e-01 9.79535776e-01 -9.56288197e-03 -4.14227842e+00] [-4.75358953e-02 -4.77676182e-06 9.98869530e-01 -3.85987409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622401008000004 meters 0.058321595570342305 Centerline is valid? [True, True] Translation: X:37.93, Y:-4.15, Z:-3.86 [[ 9.77987056e-01 2.03342925e-01 4.68291959e-02 3.79325570e+01] [-2.03114933e-01 9.79107576e-01 -9.62696161e-03 -4.14717370e+00] [-4.78083950e-02 -9.66651383e-05 9.98856520e-01 -3.86271475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652401008000005 meters 0.058257305832868096 Centerline is valid? [True, True] Translation: X:37.96, Y:-4.15, Z:-3.86 [[ 9.77651117e-01 2.04725649e-01 4.78090075e-02 3.79638715e+01] [-2.04489041e-01 9.78819383e-01 -9.84110946e-03 -4.15307215e+00] [-4.88111108e-02 -1.55246454e-04 9.98808015e-01 -3.86326189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682401008 meters 0.05822486860880667 Centerline is valid? [True, True] Translation: X:38.00, Y:-4.16, Z:-3.86 [[ 9.77506552e-01 2.05321411e-01 4.82084887e-02 3.79956879e+01] [-2.05081039e-01 9.78694583e-01 -9.93378616e-03 -4.16053627e+00] [-4.92210058e-02 -1.76305908e-04 9.98787896e-01 -3.86415530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712401008 meters 0.05825579764075295 Centerline is valid? [True, True] Translation: X:38.03, Y:-4.17, Z:-3.87 [[ 9.77702771e-01 2.04362960e-01 4.83018863e-02 3.80267914e+01] [-2.04119832e-01 9.78895177e-01 -9.96630201e-03 -4.17115455e+00] [-4.93192265e-02 -1.15291813e-04 9.98783060e-01 -3.86722332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742401008 meters 0.05845406498182865 Centerline is valid? [True, True] Translation: X:38.06, Y:-4.18, Z:-3.87 [[ 9.78075532e-01 2.02905666e-01 4.68779800e-02 3.80560235e+01] [-2.02674350e-01 9.79198289e-01 -9.68596474e-03 -4.18028318e+00] [-4.78681749e-02 -2.73589988e-05 9.98853661e-01 -3.87360749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772401008 meters 0.05835723375532505 Centerline is valid? [True, True] Translation: X:38.09, Y:-4.19, Z:-3.87 [[ 9.78384331e-01 2.01592772e-01 4.60918082e-02 3.80864849e+01] [-2.01367262e-01 9.79469424e-01 -9.53278272e-03 -4.19041678e+00] [-4.70672569e-02 4.53440440e-05 9.98891721e-01 -3.87295397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802401008000004 meters 0.05893827395373531 Centerline is valid? [True, True] Translation: X:38.11, Y:-4.21, Z:-3.88 [[ 9.79357146e-01 1.97262620e-01 4.41252753e-02 3.81145270e+01] [-1.97051077e-01 9.80350649e-01 -9.13663891e-03 -4.20766807e+00] [-4.50605596e-02 2.53099574e-04 9.98984225e-01 -3.88044631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832401008000005 meters 0.058846114126644665 Centerline is valid? [True, True] Translation: X:38.14, Y:-4.22, Z:-3.88 [[ 9.79890100e-01 1.94859523e-01 4.29552954e-02 3.81449149e+01] [-1.94656356e-01 9.80831094e-01 -8.90326601e-03 -4.21844851e+00] [-4.38667755e-02 3.62700949e-04 9.99037324e-01 -3.87957860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862401008 meters 0.059028755480410075 Centerline is valid? [True, True] Translation: X:38.17, Y:-4.23, Z:-3.88 [[ 9.80364789e-01 1.92421809e-01 4.31129552e-02 3.81736269e+01] [-1.92214308e-01 9.81312189e-01 -8.94689713e-03 -4.23016630e+00] [-4.40288465e-02 4.84296069e-04 9.99030143e-01 -3.88252544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892401008 meters 0.05958483289803389 Centerline is valid? [True, True] Translation: X:38.20, Y:-4.24, Z:-3.89 [[ 9.80899772e-01 1.89710759e-01 4.29588829e-02 3.82026507e+01] [-1.89501720e-01 9.81839830e-01 -8.92448067e-03 -4.24237577e+00] [-4.38718123e-02 6.13238869e-04 9.99036980e-01 -3.88632749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922401008 meters 0.06026533372014913 Centerline is valid? [True, True] Translation: X:38.23, Y:-4.26, Z:-3.89 [[ 9.82219679e-01 1.82690218e-01 4.32294592e-02 3.82314281e+01] [-1.82471107e-01 9.83170071e-01 -8.99484833e-03 -4.26029190e+00] [-4.41451812e-02 9.46789756e-04 9.99024678e-01 -3.88698405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952401008 meters 0.060158373717256027 Centerline is valid? [True, True] Translation: X:38.26, Y:-4.27, Z:-3.89 [[ 9.83007437e-01 1.78523355e-01 4.27292664e-02 3.82614133e+01] [-1.78305468e-01 9.83935039e-01 -8.88812657e-03 -4.27058000e+00] [-4.36295606e-02 1.11823267e-03 9.99047152e-01 -3.88564352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982401008000004 meters 0.06142109997021614 Centerline is valid? [True, True] Translation: X:38.29, Y:-4.28, Z:-3.89 [[ 9.83906809e-01 1.73268367e-01 4.36516176e-02 3.82888830e+01] [-1.73035218e-01 9.84873663e-01 -9.09294340e-03 -4.28442442e+00] [-4.45668480e-02 1.39334176e-03 9.99005433e-01 -3.88881055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012401008000005 meters 0.06168580364552763 Centerline is valid? [True, True] Translation: X:38.32, Y:-4.29, Z:-3.89 [[ 9.84744557e-01 1.68268065e-01 4.43172210e-02 3.83186961e+01] [-1.68022610e-01 9.85739899e-01 -9.23331451e-03 -4.29418848e+00] [-4.52389249e-02 1.64616108e-03 9.98974839e-01 -3.88899680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042401008000006 meters 0.0638335371287107 Centerline is valid? [True, True] Translation: X:38.35, Y:-4.31, Z:-3.89 [[ 9.86464750e-01 1.56991595e-01 4.73385218e-02 3.83471606e+01] [-1.56697861e-01 9.87597202e-01 -9.87660311e-03 -4.31065838e+00] [-4.83019354e-02 2.32507572e-03 9.98830074e-01 -3.88901269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072401008 meters 0.06508268125832448 Centerline is valid? [True, True] Translation: X:38.38, Y:-4.32, Z:-3.89 [[ 9.87272237e-01 1.51390557e-01 4.87281093e-02 3.83764178e+01] [-1.51072337e-01 9.88470395e-01 -1.01698878e-02 -4.32204206e+00] [-4.97059184e-02 2.67897850e-03 9.98760304e-01 -3.89032447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102401008 meters 0.06702498577665275 Centerline is valid? [True, True] Translation: X:38.40, Y:-4.33, Z:-3.89 [[ 9.88083017e-01 1.45767348e-01 4.94351330e-02 3.84049005e+01] [-1.45432712e-01 9.89314328e-01 -1.03192423e-02 -4.33357569e+00] [-5.04110940e-02 3.00678259e-03 9.98724026e-01 -3.89205350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132401008 meters 0.06854366116047518 Centerline is valid? [True, True] Translation: X:38.44, Y:-4.34, Z:-3.89 [[ 9.88729643e-01 1.41276053e-01 4.95456257e-02 3.84350513e+01] [-1.40934277e-01 9.89964927e-01 -1.03427931e-02 -4.34262108e+00] [-5.05096207e-02 3.24354923e-03 9.98718307e-01 -3.89418049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162401008 meters 0.07190700551404353 Centerline is valid? [True, True] Translation: X:38.46, Y:-4.35, Z:-3.90 [[ 9.89306661e-01 1.36961942e-01 5.01373726e-02 3.84636932e+01] [-1.36606384e-01 9.90570105e-01 -1.04672323e-02 -4.35051852e+00] [-5.10981950e-02 3.50621750e-03 9.98687479e-01 -3.89894907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192401008000004 meters 0.06798636901538216 Centerline is valid? [True, True] Translation: X:38.50, Y:-4.35, Z:-3.90 [[ 9.89226952e-01 1.37423336e-01 5.04466384e-02 3.84975947e+01] [-1.37064001e-01 9.90506211e-01 -1.05311931e-02 -4.34511622e+00] [-5.14149404e-02 3.50332191e-03 9.98671233e-01 -3.89783463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222401008000006 meters 0.06787403267781882 Centerline is valid? [True, True] Translation: X:38.53, Y:-4.35, Z:-3.90 [[ 9.88890467e-01 1.39479417e-01 5.13919868e-02 3.85277273e+01] [-1.39108341e-01 9.90218866e-01 -1.07455997e-02 -4.34706766e+00] [-5.23881049e-02 3.47716710e-03 9.98620747e-01 -3.89962341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252401008 meters 0.06690804255400057 Centerline is valid? [True, True] Translation: X:38.56, Y:-4.34, Z:-3.90 [[ 9.88280826e-01 1.43885643e-01 5.09698981e-02 3.85605122e+01] [-1.43526470e-01 9.89589093e-01 -1.06573701e-02 -4.34011026e+00] [-5.19726978e-02 3.21694503e-03 9.98643325e-01 -3.90221032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282401008 meters 0.06671149888045744 Centerline is valid? [True, True] Translation: X:38.59, Y:-4.34, Z:-3.91 [[ 9.88110777e-01 1.45345189e-01 5.01185371e-02 3.85932935e+01] [-1.44999950e-01 9.89376198e-01 -1.04763085e-02 -4.33993604e+00] [-5.11087687e-02 3.08456800e-03 9.98688329e-01 -3.90545829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312401008 meters 0.06691651286355395 Centerline is valid? [True, True] Translation: X:38.63, Y:-4.34, Z:-3.91 [[ 9.88072844e-01 1.45887285e-01 4.92844276e-02 3.86265428e+01] [-1.45553579e-01 9.89296620e-01 -1.03127624e-02 -4.34042816e+00] [-5.02614185e-02 3.01623564e-03 9.98731542e-01 -3.90977057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342401008 meters 0.06729599040846576 Centerline is valid? [True, True] Translation: X:38.66, Y:-4.34, Z:-3.91 [[ 9.88134512e-01 1.46003206e-01 4.76786137e-02 3.86589952e+01] [-1.45690405e-01 9.89279793e-01 -9.98989060e-03 -4.34199808e+00] [-4.86260452e-02 2.92503915e-03 9.98812771e-01 -3.91309468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372401008000004 meters 0.06683992602312579 Centerline is valid? [True, True] Translation: X:38.69, Y:-4.34, Z:-3.92 [[ 9.88168332e-01 1.46082292e-01 4.67259283e-02 3.86913611e+01] [-1.45781456e-01 9.89268269e-01 -9.80094094e-03 -4.34258031e+00] [-4.76562222e-02 2.87320557e-03 9.98859664e-01 -3.91575687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402401008000005 meters 0.06775292453152128 Centerline is valid? [True, True] Translation: X:38.72, Y:-4.34, Z:-3.92 [[ 9.88381000e-01 1.45121395e-01 4.51971255e-02 3.87228902e+01] [-1.44838232e-01 9.89409784e-01 -9.49553584e-03 -4.34077831e+00] [-4.60964836e-02 2.83893544e-03 9.98932958e-01 -3.91963967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432401008 meters 0.067651794118345 Centerline is valid? [True, True] Translation: X:38.76, Y:-4.34, Z:-3.92 [[ 9.88381534e-01 1.45379091e-01 4.43493309e-02 3.87553071e+01] [-1.45106884e-01 9.89372147e-01 -9.31375991e-03 -4.34192487e+00] [-4.52320187e-02 2.77015509e-03 9.98972668e-01 -3.92173143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462401008 meters 0.06715326100127625 Centerline is valid? [True, True] Translation: X:38.79, Y:-4.34, Z:-3.92 [[ 9.88219066e-01 1.46634875e-01 4.38325381e-02 3.87882172e+01] [-1.46369756e-01 9.89187026e-01 -9.21535628e-03 -4.34167389e+00] [-4.47098706e-02 2.69103286e-03 9.98996389e-01 -3.92459854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492401008 meters 0.06383065684603001 Centerline is valid? [True, True] Translation: X:38.82, Y:-4.33, Z:-3.93 [[ 9.87495602e-01 1.52329890e-01 4.05960652e-02 3.88232559e+01] [-1.52106687e-01 9.88327103e-01 -8.54946565e-03 -4.32598148e+00] [-4.14245306e-02 2.26762675e-03 9.99139062e-01 -3.92509379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522401008 meters 0.06573145341894442 Centerline is valid? [True, True] Translation: X:38.85, Y:-4.33, Z:-3.93 [[ 9.86782660e-01 1.56974710e-01 4.02358302e-02 3.88531595e+01] [-1.56759237e-01 9.87600483e-01 -8.47508261e-03 -4.32899766e+00] [-4.10672990e-02 2.05572650e-03 9.99154268e-01 -3.93183970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552401008000004 meters 0.06464285100717655 Centerline is valid? [True, True] Translation: X:38.89, Y:-4.32, Z:-3.94 [[ 9.85938018e-01 1.62172352e-01 4.03280705e-02 3.88852614e+01] [-1.61960230e-01 9.86760726e-01 -8.49433037e-03 -4.32456154e+00] [-4.11717017e-02 1.84333967e-03 9.99150386e-01 -3.93535039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582401008000005 meters 0.06349462392970122 Centerline is valid? [True, True] Translation: X:38.92, Y:-4.32, Z:-3.94 [[ 9.84863163e-01 1.68690046e-01 3.98524516e-02 3.89177943e+01] [-1.68488183e-01 9.85667924e-01 -8.39502819e-03 -4.32098767e+00] [-4.06974410e-02 1.55328685e-03 9.99170309e-01 -3.93802545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612401008000006 meters 0.060795834005174736 Centerline is valid? [True, True] Translation: X:38.95, Y:-4.31, Z:-3.94 [[ 9.82556524e-01 1.81490194e-01 4.05461022e-02 3.89527530e+01] [-1.81292073e-01 9.83392202e-01 -8.54168946e-03 -4.30660407e+00] [-4.14229536e-02 1.04200578e-03 9.99141158e-01 -3.93816682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642401008 meters 0.05900738553721482 Centerline is valid? [True, True] Translation: X:38.99, Y:-4.30, Z:-3.94 [[ 9.81196608e-01 1.88492206e-01 4.15199328e-02 3.89862744e+01] [-1.88290643e-01 9.82074387e-01 -8.74826491e-03 -4.29983624e+00] [-4.24246423e-02 7.65953031e-04 9.99099376e-01 -3.93515955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672401008 meters 0.058631093531454535 Centerline is valid? [True, True] Translation: X:39.02, Y:-4.30, Z:-3.94 [[ 9.79941621e-01 1.94902363e-01 4.15630524e-02 3.90186399e+01] [-1.94706059e-01 9.80822526e-01 -8.75914597e-03 -4.29639166e+00] [-4.24731563e-02 4.90873572e-04 9.99097488e-01 -3.93746692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702401008 meters 0.058533282449072126 Centerline is valid? [True, True] Translation: X:39.05, Y:-4.29, Z:-3.94 [[ 9.78658894e-01 2.01080514e-01 4.23485025e-02 3.90504589e+01] [-2.00882654e-01 9.79574692e-01 -8.92090770e-03 -4.29375383e+00] [-4.32773420e-02 2.23446093e-04 9.99063072e-01 -3.94180837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732401008000004 meters 0.05824503794805658 Centerline is valid? [True, True] Translation: X:39.08, Y:-4.29, Z:-3.94 [[ 9.76797423e-01 2.09669398e-01 4.36524672e-02 3.90846557e+01] [-2.09467269e-01 9.77772326e-01 -9.20556045e-03 -4.28711680e+00] [-4.46122986e-02 -1.51795375e-04 9.99004364e-01 -3.94155140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762401008000005 meters 0.0582630160782174 Centerline is valid? [True, True] Translation: X:39.12, Y:-4.29, Z:-3.94 [[ 9.76051576e-01 2.13093927e-01 4.37526998e-02 3.91164864e+01] [-2.12893807e-01 9.77031673e-01 -9.23782389e-03 -4.29002467e+00] [-4.47162976e-02 -2.98086273e-04 9.98999682e-01 -3.94391486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792401008000006 meters 0.05836741691899961 Centerline is valid? [True, True] Translation: X:39.15, Y:-4.30, Z:-3.95 [[ 9.75551573e-01 2.15246577e-01 4.43625872e-02 3.91495414e+01] [-2.15042479e-01 9.76559655e-01 -9.37939173e-03 -4.29503800e+00] [-4.53415948e-02 -3.89760350e-04 9.98971465e-01 -3.94576912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822401008 meters 0.05841199191418113 Centerline is valid? [True, True] Translation: X:39.18, Y:-4.30, Z:-3.95 [[ 9.75344803e-01 2.16214925e-01 4.41997938e-02 3.91818300e+01] [-2.16013025e-01 9.76345699e-01 -9.35142547e-03 -4.30077708e+00] [-4.51761963e-02 -4.26866938e-04 9.98978943e-01 -3.94850958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852401008 meters 0.058415488718644125 Centerline is valid? [True, True] Translation: X:39.21, Y:-4.31, Z:-3.95 [[ 9.75517058e-01 2.15296276e-01 4.48774225e-02 3.92121730e+01] [-2.15086498e-01 9.76548704e-01 -9.50927030e-03 -4.30790778e+00] [-4.58722993e-02 -3.76072252e-04 9.98947241e-01 -3.95379999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882401008 meters 0.058592913936795915 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.32, Z:-3.96 [[ 9.75860118e-01 2.13896597e-01 4.41052731e-02 3.92436911e+01] [-2.13692166e-01 9.76856263e-01 -9.35417882e-03 -4.31662899e+00] [-4.50853392e-02 -2.96581277e-04 9.98983095e-01 -3.95773714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912401008 meters 0.05856333126001705 Centerline is valid? [True, True] Translation: X:39.27, Y:-4.33, Z:-3.96 [[ 9.76232024e-01 2.12264373e-01 4.37592419e-02 3.92747956e+01] [-2.12060952e-01 9.77212256e-01 -9.29300846e-03 -4.32692640e+00] [-4.47346421e-02 -2.07494015e-04 9.98998883e-01 -3.96174011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942401008000004 meters 0.0585684989558245 Centerline is valid? [True, True] Translation: X:39.31, Y:-4.34, Z:-3.96 [[ 9.76768341e-01 2.09806966e-01 4.36422370e-02 3.93059618e+01] [-2.09601643e-01 9.77742824e-01 -9.28013830e-03 -4.33862192e+00] [-4.46179217e-02 -8.29392874e-05 9.99004121e-01 -3.96390355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972401008000006 meters 0.05879334881425962 Centerline is valid? [True, True] Translation: X:39.33, Y:-4.35, Z:-3.97 [[ 9.77329246e-01 2.07399273e-01 4.25803574e-02 3.93337728e+01] [-2.07200965e-01 9.78256377e-01 -9.06753026e-03 -4.35456329e+00] [-4.35351054e-02 3.92713512e-05 9.99051897e-01 -3.96805973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002401008 meters 0.058926748449296344 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.36, Z:-3.97 [[ 9.77489897e-01 2.06775683e-01 4.19203828e-02 3.93632443e+01] [-2.06582491e-01 9.78388374e-01 -8.93660949e-03 -4.36470591e+00] [-4.28622887e-02 7.54283667e-05 9.99080987e-01 -3.97147293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032401008 meters 0.058696623146534684 Centerline is valid? [True, True] Translation: X:39.40, Y:-4.37, Z:-3.97 [[ 9.77686032e-01 2.05802260e-01 4.21361226e-02 3.93950880e+01] [-2.05605843e-01 9.78593590e-01 -8.99019235e-03 -4.37421141e+00] [-4.30843414e-02 1.26152478e-04 9.99071431e-01 -3.97164819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062401008 meters 0.058837679370754715 Centerline is valid? [True, True] Translation: X:39.42, Y:-4.38, Z:-3.98 [[ 9.77707943e-01 2.05396245e-01 4.35839571e-02 3.94249314e+01] [-2.05185034e-01 9.78678883e-01 -9.31375355e-03 -4.38333900e+00] [-4.45677084e-02 1.63355112e-04 9.99006353e-01 -3.97567186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092401008 meters 0.05874853556337591 Centerline is valid? [True, True] Translation: X:39.46, Y:-4.39, Z:-3.98 [[ 9.77725840e-01 2.05178248e-01 4.42048375e-02 3.94560600e+01] [-2.04960111e-01 9.78724604e-01 -9.46056048e-03 -4.39321939e+00] [-4.52054633e-02 1.89606037e-04 9.98977693e-01 -3.97838966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122401008000004 meters 0.05883586951122792 Centerline is valid? [True, True] Translation: X:39.48, Y:-4.41, Z:-3.98 [[ 9.78099987e-01 2.03171766e-01 4.51846052e-02 3.94848747e+01] [-2.02941674e-01 9.79143069e-01 -9.67094249e-03 -4.40781211e+00] [-4.62070554e-02 2.89309293e-04 9.98931842e-01 -3.98163828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152401008000005 meters 0.058757348250700836 Centerline is valid? [True, True] Translation: X:39.52, Y:-4.42, Z:-3.98 [[ 9.78367686e-01 2.01339697e-01 4.75289156e-02 3.95151293e+01] [-2.01082395e-01 9.79521394e-01 -1.01837535e-02 -4.41826485e+00] [-4.86059836e-02 4.06227170e-04 9.98817948e-01 -3.98187832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182401008 meters 0.05877323620934422 Centerline is valid? [True, True] Translation: X:39.55, Y:-4.43, Z:-3.99 [[ 9.78818441e-01 1.98971075e-01 4.82179464e-02 3.95457506e+01] [-1.98702839e-01 9.80005213e-01 -1.03423659e-02 -4.42963062e+00] [-4.93116705e-02 5.42255634e-04 9.98783292e-01 -3.98549969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212401008 meters 0.05944369564664783 Centerline is valid? [True, True] Translation: X:39.57, Y:-4.45, Z:-3.99 [[ 9.80186502e-01 1.92219802e-01 4.78118072e-02 3.95746602e+01] [-1.91947167e-01 9.81351493e-01 -1.02729280e-02 -4.44574810e+00] [-4.88948486e-02 8.92044406e-04 9.98803533e-01 -3.98846821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242401008 meters 0.05997791616059919 Centerline is valid? [True, True] Translation: X:39.60, Y:-4.46, Z:-3.99 [[ 9.80999073e-01 1.88277571e-01 4.68228012e-02 3.96043621e+01] [-1.88011579e-01 9.82115278e-01 -1.00612025e-02 -4.45757378e+00] [-4.78796871e-02 1.06680157e-03 9.98852540e-01 -3.99228802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272401008 meters 0.06069927733477123 Centerline is valid? [True, True] Translation: X:39.63, Y:-4.47, Z:-4.00 [[ 9.81821874e-01 1.84041843e-01 4.64155971e-02 3.96340547e+01] [-1.83775412e-01 9.82917591e-01 -9.98039281e-03 -4.46895680e+00] [-4.74595167e-02 1.26892252e-03 9.98872356e-01 -3.99632744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302401008000004 meters 0.06069927733477123 Centerline is valid? [True, True] Translation: X:39.67, Y:-4.48, Z:-4.00 [[ 9.81774805e-01 1.84292567e-01 4.64163919e-02 3.96656223e+01] [-1.84026590e-01 9.82870632e-01 -9.97670097e-03 -4.47587651e+00] [-4.74599403e-02 1.25302335e-03 9.98872356e-01 -3.99864001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332401008000005 meters 0.062124072944388195 Centerline is valid? [True, True] Translation: X:39.69, Y:-4.49, Z:-4.00 [[ 9.83236134e-01 1.76614843e-01 4.53200034e-02 3.96943550e+01] [-1.76352321e-01 9.84278735e-01 -9.75859708e-03 -4.49011629e+00] [-4.63310287e-02 1.60271747e-03 9.98924856e-01 -4.00165588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362401008000006 meters 0.06293245124565068 Centerline is valid? [True, True] Translation: X:39.72, Y:-4.50, Z:-4.00 [[ 9.83873645e-01 1.72944425e-01 4.56385482e-02 3.97240486e+01] [-1.72674197e-01 9.84929959e-01 -9.82839501e-03 -4.50093866e+00] [-4.66505395e-02 1.78929917e-03 9.98909668e-01 -4.00226772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392401008 meters 0.06347284016084072 Centerline is valid? [True, True] Translation: X:39.75, Y:-4.51, Z:-4.00 [[ 9.84301196e-01 1.70042847e-01 4.72925574e-02 3.97549606e+01] [-1.69749275e-01 9.85434645e-01 -1.01854980e-02 -4.51148655e+00] [-4.83356956e-02 1.99772052e-03 9.98829149e-01 -4.00246656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422401008 meters 0.0643720142888796 Centerline is valid? [True, True] Translation: X:39.78, Y:-4.52, Z:-4.00 [[ 9.84720896e-01 1.67035381e-01 4.92335091e-02 3.97843727e+01] [-1.66713423e-01 9.85948371e-01 -1.06039664e-02 -4.52164087e+00] [-5.03129357e-02 2.23406045e-03 9.98731004e-01 -4.00255144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452401008 meters 0.06349567526530658 Centerline is valid? [True, True] Translation: X:39.82, Y:-4.52, Z:-4.00 [[ 9.85198617e-01 1.63740613e-01 5.07217608e-02 3.98158175e+01] [-1.63393757e-01 9.86500285e-01 -1.09392455e-02 -4.52497773e+00] [-5.18282302e-02 2.48971047e-03 9.98652911e-01 -4.00186802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482401008000004 meters 0.06723475757474968 Centerline is valid? [True, True] Translation: X:39.84, Y:-4.53, Z:-4.01 [[ 9.85975144e-01 1.59115207e-01 5.03524160e-02 3.98444614e+01] [-1.58767315e-01 9.87256291e-01 -1.08607160e-02 -4.53450596e+00] [-5.14388445e-02 2.71407811e-03 9.98672458e-01 -4.00920672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512401008000005 meters 0.0655694117103786 Centerline is valid? [True, True] Translation: X:39.88, Y:-4.54, Z:-4.01 [[ 9.86298345e-01 1.57516082e-01 4.90332393e-02 3.98761145e+01] [-1.57184077e-01 9.87512657e-01 -1.05791582e-02 -4.53509993e+00] [-5.00873320e-02 2.72696182e-03 9.98741119e-01 -4.00951853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542401008000006 meters 0.06632355259848713 Centerline is valid? [True, True] Translation: X:39.91, Y:-4.54, Z:-4.01 [[ 9.86373198e-01 1.57154725e-01 4.86857897e-02 3.99064894e+01] [-1.56826971e-01 9.87570232e-01 -1.05042252e-02 -4.54221316e+00] [-4.97314253e-02 2.72584130e-03 9.98758907e-01 -4.01183856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572401008 meters 0.0666240631696591 Centerline is valid? [True, True] Translation: X:39.94, Y:-4.54, Z:-4.01 [[ 9.86278517e-01 1.58363557e-01 4.66440784e-02 3.99397610e+01] [-1.58063681e-01 9.87377549e-01 -1.00721873e-02 -4.54457696e+00] [-4.76503832e-02 2.56124719e-03 9.98860792e-01 -4.01497575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602401008 meters 0.0663786936848641 Centerline is valid? [True, True] Translation: X:39.97, Y:-4.55, Z:-4.02 [[ 9.86056178e-01 1.60070615e-01 4.55039870e-02 3.99718677e+01] [-1.59786458e-01 9.87102574e-01 -9.83852481e-03 -4.54681200e+00] [-4.64919614e-02 2.43041725e-03 9.98915707e-01 -4.01810815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632401008 meters 0.06600872906823979 Centerline is valid? [True, True] Translation: X:40.00, Y:-4.55, Z:-4.02 [[ 9.85639974e-01 1.63010082e-01 4.40630748e-02 4.00037268e+01] [-1.62745906e-01 9.86621875e-01 -9.54181977e-03 -4.54760159e+00] [-4.50290063e-02 2.23371396e-03 9.98983183e-01 -4.02123925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662401008 meters 0.0650733282060885 Centerline is valid? [True, True] Translation: X:40.04, Y:-4.55, Z:-4.02 [[ 9.84871012e-01 1.67616834e-01 4.39737143e-02 4.00360847e+01] [-1.67358227e-01 9.85850148e-01 -9.52419232e-03 -4.54594019e+00] [-4.49479077e-02 2.02073805e-03 9.98987288e-01 -4.02446115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692401008000004 meters 0.06309331816391947 Centerline is valid? [True, True] Translation: X:40.07, Y:-4.54, Z:-4.03 [[ 9.83093972e-01 1.77320553e-01 4.56471646e-02 4.00685852e+01] [-1.77052206e-01 9.84151784e-01 -9.88850923e-03 -4.53553993e+00] [-4.66771744e-02 1.63940265e-03 9.98908681e-01 -4.02603873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722401008000006 meters 0.06045149844600862 Centerline is valid? [True, True] Translation: X:40.10, Y:-4.53, Z:-4.02 [[ 9.82219536e-01 1.81567237e-01 4.77296683e-02 4.01016267e+01] [-1.81278901e-01 9.83377386e-01 -1.03381750e-02 -4.52970447e+00] [-4.88133503e-02 1.50197568e-03 9.98806789e-01 -4.02252792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752401008 meters 0.05992978414644805 Centerline is valid? [True, True] Translation: X:40.13, Y:-4.53, Z:-4.02 [[ 9.81329996e-01 1.85956452e-01 4.91084282e-02 4.01322330e+01] [-1.85656568e-01 9.82557096e-01 -1.06391759e-02 -4.53130470e+00] [-5.02302580e-02 1.32324024e-03 9.98736787e-01 -4.02227855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782401008 meters 0.0604835347355568 Centerline is valid? [True, True] Translation: X:40.16, Y:-4.54, Z:-4.03 [[ 9.80700110e-01 1.89182813e-01 4.93675699e-02 4.01614771e+01] [-1.88883821e-01 9.81941193e-01 -1.06955512e-02 -4.53665785e+00] [-5.04994649e-02 1.16439298e-03 9.98723409e-01 -4.02711445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812401008 meters 0.060236777565901 Centerline is valid? [True, True] Translation: X:40.19, Y:-4.54, Z:-4.03 [[ 9.80243170e-01 1.91477872e-01 4.95938652e-02 4.01923860e+01] [-1.91179211e-01 9.81496371e-01 -1.07416481e-02 -4.53878569e+00] [-5.07329866e-02 1.04811113e-03 9.98711703e-01 -4.02913210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842401008 meters 0.058965660377784716 Centerline is valid? [True, True] Translation: X:40.23, Y:-4.53, Z:-4.03 [[ 9.80458147e-01 1.90490590e-01 4.91442561e-02 4.02266191e+01] [-1.90195632e-01 9.81688407e-01 -1.06532649e-02 -4.53481416e+00] [-5.02736932e-02 1.09805753e-03 9.98734875e-01 -4.02876717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872401008000004 meters 0.05947026875193678 Centerline is valid? [True, True] Translation: X:40.26, Y:-4.54, Z:-4.03 [[ 9.80903673e-01 1.87889370e-01 5.02550450e-02 4.02571099e+01] [-1.87576809e-01 9.82189373e-01 -1.09075856e-02 -4.54190899e+00] [-5.14093905e-02 1.27260975e-03 9.98676852e-01 -4.03236652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902401008000005 meters 0.06200310781104461 Centerline is valid? [True, True] Translation: X:40.28, Y:-4.56, Z:-4.04 [[ 9.81369281e-01 1.85580920e-01 4.97398785e-02 4.02849530e+01] [-1.85271082e-01 9.82627998e-01 -1.08094208e-02 -4.55602331e+00] [-5.08818195e-02 1.39267243e-03 9.98703710e-01 -4.03955428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932401008 meters 0.059980770668272364 Centerline is valid? [True, True] Translation: X:40.32, Y:-4.55, Z:-4.04 [[ 9.81811878e-01 1.83396830e-01 4.91023325e-02 4.03185833e+01] [-1.83091811e-01 9.83037829e-01 -1.06778333e-02 -4.55411627e+00] [-5.02277311e-02 1.49338861e-03 9.98736674e-01 -4.03529256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962401008 meters 0.060084968201149135 Centerline is valid? [True, True] Translation: X:40.35, Y:-4.56, Z:-4.04 [[ 9.81728207e-01 1.83806339e-01 4.92438617e-02 4.03501538e+01] [-1.83500094e-01 9.82961368e-01 -1.07081791e-02 -4.55936864e+00] [-5.03730448e-02 1.47626824e-03 9.98729381e-01 -4.03710991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992401008 meters 0.06006632831812314 Centerline is valid? [True, True] Translation: X:40.38, Y:-4.56, Z:-4.04 [[ 9.81253675e-01 1.86616510e-01 4.81196702e-02 4.03807586e+01] [-1.86326818e-01 9.82431957e-01 -1.04769551e-02 -4.56327318e+00] [-4.92294746e-02 1.31456568e-03 9.98786629e-01 -4.04024324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022401008 meters 0.059733086294836354 Centerline is valid? [True, True] Translation: X:40.41, Y:-4.57, Z:-4.04 [[ 9.80684637e-01 1.90166900e-01 4.57623451e-02 4.04130348e+01] [-1.89908339e-01 9.81751172e-01 -9.97295596e-03 -4.56564193e+00] [-4.68237620e-02 1.08967374e-03 9.98902572e-01 -4.04319761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052401008000004 meters 0.05896260338714283 Centerline is valid? [True, True] Translation: X:40.45, Y:-4.56, Z:-4.05 [[ 9.79381705e-01 1.97625842e-01 4.18987132e-02 4.04470848e+01] [-1.97415566e-01 9.80277290e-01 -9.13946028e-03 -4.55929494e+00] [-4.28785506e-02 6.79562021e-04 9.99080061e-01 -4.04649010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082401008000005 meters 0.05904374385199005 Centerline is valid? [True, True] Translation: X:40.48, Y:-4.56, Z:-4.05 [[ 9.78497208e-01 2.02198037e-01 4.07328938e-02 4.04783615e+01] [-2.02002821e-01 9.79344540e-01 -8.89567758e-03 -4.56061383e+00] [-4.16902257e-02 4.76236205e-04 9.99130471e-01 -4.05089764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112401008000006 meters 0.05910464039062115 Centerline is valid? [True, True] Translation: X:40.51, Y:-4.56, Z:-4.05 [[ 9.77812182e-01 2.05794212e-01 3.91417954e-02 4.05106031e+01] [-2.05616506e-01 9.78595239e-01 -8.55635426e-03 -4.56273128e+00] [-4.00648228e-02 3.18308208e-04 9.99197032e-01 -4.05485413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142401008 meters 0.05909518054799765 Centerline is valid? [True, True] Translation: X:40.54, Y:-4.57, Z:-4.06 [[ 9.76886530e-01 2.10179038e-01 3.89548300e-02 4.05424074e+01] [-2.10006118e-01 9.77662902e-01 -8.52526290e-03 -4.56561886e+00] [-3.98765237e-02 1.47461894e-04 9.99204604e-01 -4.05832233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172401008 meters 0.05902589545502788 Centerline is valid? [True, True] Translation: X:40.57, Y:-4.57, Z:-4.06 [[ 9.75407256e-01 2.16913370e-01 3.91059348e-02 4.05734911e+01] [-2.16744090e-01 9.76190850e-01 -8.56875706e-03 -4.56686908e+00] [-4.00335338e-02 -1.17952439e-04 9.99198330e-01 -4.06058728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202401008 meters 0.05870506344982575 Centerline is valid? [True, True] Translation: X:40.61, Y:-4.57, Z:-4.06 [[ 9.74875398e-01 2.19274869e-01 3.91980897e-02 4.06061220e+01] [-2.19106414e-01 9.75663102e-01 -8.59600505e-03 -4.57290363e+00] [-4.01290176e-02 -2.08519010e-04 9.99194485e-01 -4.05978288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232401008000004 meters 0.05877201370418389 Centerline is valid? [True, True] Translation: X:40.64, Y:-4.58, Z:-4.06 [[ 9.74405794e-01 2.21107976e-01 4.05538007e-02 4.06366353e+01] [-2.20928648e-01 9.75249294e-01 -8.90774051e-03 -4.57890089e+00] [-4.15196380e-02 -2.79742411e-04 9.99137649e-01 -4.06276085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262401008000005 meters 0.058660161167031696 Centerline is valid? [True, True] Translation: X:40.67, Y:-4.59, Z:-4.06 [[ 9.73943377e-01 2.22677011e-01 4.30028810e-02 4.06677635e+01] [-2.22476271e-01 9.74892211e-01 -9.45967205e-03 -4.58921114e+00] [-4.40296252e-02 -3.53935661e-04 9.99030163e-01 -4.06443789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292401008000006 meters 0.05861070024863622 Centerline is valid? [True, True] Translation: X:40.70, Y:-4.60, Z:-4.07 [[ 9.73889909e-01 2.22748962e-01 4.38331589e-02 4.06972231e+01] [-2.22540295e-01 9.74875772e-01 -9.64608110e-03 -4.59846069e+00] [-4.48805392e-02 -3.60423086e-04 9.98992296e-01 -4.06767492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322401008 meters 0.05852488740270309 Centerline is valid? [True, True] Translation: X:40.73, Y:-4.61, Z:-4.07 [[ 9.73864796e-01 2.22740955e-01 4.44277609e-02 4.07277915e+01] [-2.22526112e-01 9.74877603e-01 -9.78715093e-03 -4.60892757e+00] [-4.54916284e-02 -3.54975155e-04 9.98964657e-01 -4.07005545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352401008 meters 0.058555438180088085 Centerline is valid? [True, True] Translation: X:40.76, Y:-4.62, Z:-4.07 [[ 9.73891134e-01 2.22518385e-01 4.49625189e-02 4.07569339e+01] [-2.22297547e-01 9.74928436e-01 -9.91695772e-03 -4.61996622e+00] [-4.60419436e-02 -3.37020466e-04 9.98939451e-01 -4.07317298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382401008 meters 0.05857247486550265 Centerline is valid? [True, True] Translation: X:40.79, Y:-4.63, Z:-4.08 [[ 9.73813437e-01 2.22932497e-01 4.45925154e-02 4.07874237e+01] [-2.22715287e-01 9.74833823e-01 -9.84468605e-03 -4.63187798e+00] [-4.56649927e-02 -3.44547318e-04 9.98956751e-01 -4.07523634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412401008 meters 0.058571441915729515 Centerline is valid? [True, True] Translation: X:40.82, Y:-4.65, Z:-4.08 [[ 9.73541215e-01 2.24238302e-01 4.39850798e-02 4.08159668e+01] [-2.24027632e-01 9.74534266e-01 -9.72547892e-03 -4.64511899e+00] [-4.50457923e-02 -3.85718699e-04 9.98984849e-01 -4.07886865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442401008000004 meters 0.05855960903478857 Centerline is valid? [True, True] Translation: X:40.85, Y:-4.65, Z:-4.08 [[ 9.73258112e-01 2.25286329e-01 4.48856095e-02 4.08465331e+01] [-2.25067894e-01 9.74292501e-01 -9.92806296e-03 -4.65363815e+00] [-4.59683696e-02 -4.39741779e-04 9.98942799e-01 -4.08212984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472401008000006 meters 0.0586909300219012 Centerline is valid? [True, True] Translation: X:40.88, Y:-4.66, Z:-4.09 [[ 9.72912813e-01 2.26497389e-01 4.62557181e-02 4.08767452e+01] [-2.26266192e-01 9.74011644e-01 -1.02434103e-02 -4.66161013e+00] [-4.73737137e-02 -5.00160134e-04 9.98877110e-01 -4.08514726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502401008 meters 0.058738101402668476 Centerline is valid? [True, True] Translation: X:40.91, Y:-4.67, Z:-4.09 [[ 9.72766110e-01 2.26876421e-01 4.74677153e-02 4.09078348e+01] [-2.26632702e-01 9.73923416e-01 -1.05260329e-02 -4.67137244e+00] [-4.86180281e-02 -5.18368465e-04 9.98817310e-01 -4.08812621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532401008 meters 0.05855603450384105 Centerline is valid? [True, True] Translation: X:40.94, Y:-4.69, Z:-4.09 [[ 9.73269865e-01 2.24785267e-01 4.70887801e-02 4.09362424e+01] [-2.24542967e-01 9.74408239e-01 -1.04422536e-02 -4.69035853e+00] [-4.82309600e-02 -4.10323608e-04 9.98836126e-01 -4.08688407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562401008 meters 0.05852273423234154 Centerline is valid? [True, True] Translation: X:40.97, Y:-4.70, Z:-4.09 [[ 9.73702358e-01 2.22977921e-01 4.67393299e-02 4.09656541e+01] [-2.22736581e-01 9.74823447e-01 -1.03760975e-02 -4.70332464e+00] [-4.78762353e-02 -3.07327885e-04 9.98853228e-01 -4.09031979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592401008 meters 0.05859328975422031 Centerline is valid? [True, True] Translation: X:41.00, Y:-4.72, Z:-4.09 [[ 9.74460804e-01 2.19735637e-01 4.62859664e-02 4.09954176e+01] [-2.19494614e-01 9.75559446e-01 -1.02898962e-02 -4.71637469e+00] [-4.74157686e-02 -1.32419775e-04 9.98875231e-01 -4.09321272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622401008000004 meters 0.05862690020056735 Centerline is valid? [True, True] Translation: X:41.03, Y:-4.73, Z:-4.10 [[ 9.75311667e-01 2.15994603e-01 4.59726374e-02 4.10252285e+01] [-2.15752391e-01 9.76394556e-01 -1.02262873e-02 -4.73000585e+00] [-4.70962557e-02 5.51108352e-05 9.98890354e-01 -4.09696419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652401008000005 meters 0.059079187893573824 Centerline is valid? [True, True] Translation: X:41.05, Y:-4.75, Z:-4.10 [[ 9.77403431e-01 2.06704274e-01 4.42252963e-02 4.10517259e+01] [-2.06470069e-01 9.78403341e-01 -9.84955068e-03 -4.75199427e+00] [-4.53061219e-02 4.95784657e-04 9.98973027e-01 -4.10097351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682401008 meters 0.05913726634544654 Centerline is valid? [True, True] Translation: X:41.08, Y:-4.77, Z:-4.10 [[ 9.78206215e-01 2.02693246e-01 4.50338630e-02 4.10819713e+01] [-2.02445687e-01 9.79242030e-01 -1.00394891e-02 -4.76542060e+00] [-4.61339881e-02 7.03779323e-04 9.98935013e-01 -4.09999874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712401008 meters 0.05954811287122772 Centerline is valid? [True, True] Translation: X:41.11, Y:-4.78, Z:-4.10 [[ 9.78965521e-01 1.98601865e-01 4.67312310e-02 4.11103611e+01] [-1.98330003e-01 9.80079798e-01 -1.04307425e-02 -4.77990804e+00] [-4.78719003e-02 9.43132067e-04 9.98853038e-01 -4.10256281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742401008 meters 0.06030346269215801 Centerline is valid? [True, True] Translation: X:41.14, Y:-4.80, Z:-4.10 [[ 9.79956840e-01 1.93355749e-01 4.79389766e-02 4.11378471e+01] [-1.93062793e-01 9.81127928e-01 -1.07119880e-02 -4.79824667e+00] [-4.91054933e-02 1.24205321e-03 9.98792825e-01 -4.10396319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772401008 meters 0.06004367297469403 Centerline is valid? [True, True] Translation: X:41.17, Y:-4.81, Z:-4.10 [[ 9.80068847e-01 1.92894707e-01 4.75046019e-02 4.11691510e+01] [-1.92606009e-01 9.81218648e-01 -1.06249762e-02 -4.80681974e+00] [-4.86619030e-02 1.26353637e-03 9.98814509e-01 -4.10445571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802401008000004 meters 0.06011819307005991 Centerline is valid? [True, True] Translation: X:41.20, Y:-4.81, Z:-4.11 [[ 9.80086088e-01 1.92908475e-01 4.70911816e-02 4.12002614e+01] [-1.92624246e-01 9.81215942e-01 -1.05439678e-02 -4.81491738e+00] [-4.82406388e-02 1.26309283e-03 9.98834944e-01 -4.10788990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832401008000005 meters 0.06019674889126418 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.82, Z:-4.11 [[ 9.79767764e-01 1.94599666e-01 4.67557362e-02 4.12306197e+01] [-1.94320831e-01 9.80882037e-01 -1.04806587e-02 -4.82244193e+00] [-4.79013944e-02 1.18299804e-03 9.98851369e-01 -4.11155921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862401008000006 meters 0.05995595872814509 Centerline is valid? [True, True] Translation: X:41.26, Y:-4.83, Z:-4.12 [[ 9.78829409e-01 1.99949926e-01 4.37380384e-02 4.12604638e+01] [-1.99710873e-01 9.79805730e-01 -9.81315088e-03 -4.82950159e+00] [-4.48169195e-02 8.70438847e-04 9.98994838e-01 -4.11595842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892401008 meters 0.05960573793056504 Centerline is valid? [True, True] Translation: X:41.29, Y:-4.83, Z:-4.12 [[ 9.77964542e-01 2.04456548e-01 4.22241001e-02 4.12906673e+01] [-2.04237570e-01 9.78875425e-01 -9.48246937e-03 -4.83467663e+00] [-4.32708869e-02 6.49771195e-04 9.99063165e-01 -4.11975146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922401008 meters 0.059491155054170186 Centerline is valid? [True, True] Translation: X:41.32, Y:-4.84, Z:-4.12 [[ 9.77328169e-01 2.07520259e-01 4.20118141e-02 4.13227177e+01] [-2.07305745e-01 9.78230580e-01 -9.44779914e-03 -4.84006524e+00] [-4.30578510e-02 5.24309802e-04 9.99072443e-01 -4.12286536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952401008 meters 0.05934547720162739 Centerline is valid? [True, True] Translation: X:41.35, Y:-4.85, Z:-4.13 [[ 9.76118165e-01 2.13116149e-01 4.21287817e-02 4.13531637e+01] [-2.12905644e-01 9.77026832e-01 -9.47401888e-03 -4.84549313e+00] [-4.31800165e-02 2.78306533e-04 9.99067269e-01 -4.12689588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982401008000004 meters 0.05932253875359388 Centerline is valid? [True, True] Translation: X:41.38, Y:-4.85, Z:-4.13 [[ 9.75723341e-01 2.14770840e-01 4.28654608e-02 4.13844252e+01] [-2.14553966e-01 9.76664445e-01 -9.65182935e-03 -4.85462933e+00] [-4.39381030e-02 2.20560552e-04 9.99034231e-01 -4.12869098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012401008000005 meters 0.059106018305502064 Centerline is valid? [True, True] Translation: X:41.42, Y:-4.86, Z:-4.13 [[ 9.75310834e-01 2.16418126e-01 4.39542024e-02 4.14155523e+01] [-2.16191625e-01 9.76300759e-01 -9.89999725e-03 -4.86422369e+00] [-4.50550600e-02 1.53044143e-04 9.98984493e-01 -4.12853145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042401008000006 meters 0.05892083546242804 Centerline is valid? [True, True] Translation: X:41.45, Y:-4.87, Z:-4.13 [[ 9.74944372e-01 2.17599886e-01 4.61926449e-02 4.14464565e+01] [-2.17350487e-01 9.76038051e-01 -1.04158278e-02 -4.87321958e+00] [-4.73522620e-02 1.14858811e-04 9.98878246e-01 -4.12913152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072401008 meters 0.058666750269428074 Centerline is valid? [True, True] Translation: X:41.48, Y:-4.88, Z:-4.13 [[ 9.74348876e-01 2.19587946e-01 4.92483611e-02 4.14769507e+01] [-2.19306339e-01 9.75592709e-01 -1.11174030e-02 -4.88098271e+00] [-5.04875897e-02 3.17513720e-05 9.98724688e-01 -4.13005384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102401008 meters 0.058640969955442185 Centerline is valid? [True, True] Translation: X:41.51, Y:-4.89, Z:-4.13 [[ 9.74060280e-01 2.20782796e-01 4.96137834e-02 4.15087229e+01] [-2.20497850e-01 9.75323001e-01 -1.12134539e-02 -4.88835422e+00] [-5.08652018e-02 -1.71525230e-05 9.98705528e-01 -4.13110141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132401008 meters 0.0589342293945529 Centerline is valid? [True, True] Translation: X:41.54, Y:-4.90, Z:-4.14 [[ 9.73760465e-01 2.22293650e-01 4.87451502e-02 4.15384813e+01] [-2.22020277e-01 9.74979756e-01 -1.10214207e-02 -4.89573992e+00] [-4.99755265e-02 -9.01879974e-05 9.98750439e-01 -4.13716336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162401008 meters 0.05903874175186696 Centerline is valid? [True, True] Translation: X:41.57, Y:-4.90, Z:-4.14 [[ 9.73439793e-01 2.23906312e-01 4.77591091e-02 4.15696552e+01] [-2.23645334e-01 9.74610660e-01 -1.08086395e-02 -4.90414777e+00] [-4.89666595e-02 -1.59542063e-04 9.98800401e-01 -4.14100853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192401008000004 meters 0.059711837940499224 Centerline is valid? [True, True] Translation: X:41.60, Y:-4.91, Z:-4.15 [[ 9.72820889e-01 2.27205495e-01 4.46898316e-02 4.15983165e+01] [-2.26979894e-01 9.73846794e-01 -1.01266923e-02 -4.91445042e+00] [-4.58218894e-02 -2.92235409e-04 9.98949583e-01 -4.14599958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222401008000006 meters 0.059711837940499224 Centerline is valid? [True, True] Translation: X:41.63, Y:-4.92, Z:-4.15 [[ 9.72765674e-01 2.27441757e-01 4.46899407e-02 4.16297964e+01] [-2.27216428e-01 9.73791638e-01 -1.01262144e-02 -4.92173756e+00] [-4.58218146e-02 -3.03854947e-04 9.98949583e-01 -4.14831370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.252401008 meters 0.05955819913347754 Centerline is valid? [True, True] Translation: X:41.66, Y:-4.93, Z:-4.15 [[ 9.72445167e-01 2.29133488e-01 4.29911849e-02 4.16604757e+01] [-2.28926157e-01 9.73394943e-01 -9.75186678e-03 -4.93303875e+00] [-4.40818812e-02 -3.58651008e-04 9.99027857e-01 -4.14608627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282401008 meters 0.05987111418370598 Centerline is valid? [True, True] Translation: X:41.69, Y:-4.94, Z:-4.15 [[ 9.72342375e-01 2.29729410e-01 4.21272273e-02 4.16902250e+01] [-2.29530433e-01 9.73254470e-01 -9.56647851e-03 -4.94190827e+00] [-4.31982137e-02 -3.67588277e-04 9.99066454e-01 -4.15157633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.312401008 meters 0.05985902146201 Centerline is valid? [True, True] Translation: X:41.72, Y:-4.95, Z:-4.16 [[ 9.72131627e-01 2.30691452e-01 4.17319186e-02 4.17206587e+01] [-2.30496697e-01 9.73026873e-01 -9.48562781e-03 -4.95333671e+00] [-4.27945315e-02 -3.97790597e-04 9.99083815e-01 -4.15542243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342401008 meters 0.06005633120501192 Centerline is valid? [True, True] Translation: X:41.75, Y:-4.96, Z:-4.16 [[ 9.71857150e-01 2.31836139e-01 4.17813944e-02 4.17506332e+01] [-2.31641561e-01 9.72754754e-01 -9.50661157e-03 -4.96241739e+00] [-4.28470261e-02 -4.39238985e-04 9.99081548e-01 -4.15873175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372401008000004 meters 0.06024833102479619 Centerline is valid? [True, True] Translation: X:41.78, Y:-4.97, Z:-4.16 [[ 9.71526559e-01 2.33048040e-01 4.27171710e-02 4.17812979e+01] [-2.32845290e-01 9.72465099e-01 -9.73148343e-03 -4.97259583e+00] [-4.38088611e-02 -4.92097489e-04 9.99039810e-01 -4.16118733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402401008000005 meters 0.06057978112177719 Centerline is valid? [True, True] Translation: X:41.81, Y:-4.99, Z:-4.16 [[ 9.71203072e-01 2.34698401e-01 4.10031006e-02 4.18109396e+01] [-2.34512681e-01 9.72068091e-01 -9.35030437e-03 -4.98762743e+00] [-4.20523072e-02 -5.34702707e-04 9.99115267e-01 -4.16302438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432401008 meters 0.061268589275363765 Centerline is valid? [True, True] Translation: X:41.84, Y:-5.00, Z:-4.17 [[ 9.71086473e-01 2.35058709e-01 4.16948989e-02 4.18401394e+01] [-2.34866438e-01 9.71981021e-01 -9.52112541e-03 -4.99640290e+00] [-4.27646739e-02 -5.46896321e-04 9.99085023e-01 -4.17062460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462401008 meters 0.06064402451245448 Centerline is valid? [True, True] Translation: X:41.87, Y:-5.01, Z:-4.16 [[ 9.70983353e-01 2.35479618e-01 4.17214252e-02 4.18713541e+01] [-2.35287420e-01 9.71879124e-01 -9.52884500e-03 -5.01107075e+00] [-4.27920309e-02 -5.64176622e-04 9.99083842e-01 -4.16485591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492401008 meters 0.06111346522710646 Centerline is valid? [True, True] Translation: X:41.90, Y:-5.02, Z:-4.17 [[ 9.71076923e-01 2.34697178e-01 4.38958421e-02 4.19003010e+01] [-2.34482952e-01 9.72068382e-01 -1.00402073e-02 -5.02347749e+00] [-4.50261685e-02 -5.43013003e-04 9.98985660e-01 -4.17064011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522401008 meters 0.06100081321155253 Centerline is valid? [True, True] Translation: X:41.93, Y:-5.04, Z:-4.17 [[ 9.71175518e-01 2.34346165e-01 4.35888422e-02 4.19312277e+01] [-2.34134193e-01 9.72153079e-01 -9.97846654e-03 -5.03686340e+00] [-4.47134425e-02 -5.14795980e-04 9.98999721e-01 -4.17053628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552401008000004 meters 0.06101050888588185 Centerline is valid? [True, True] Translation: X:41.96, Y:-5.05, Z:-4.17 [[ 9.71277100e-01 2.33884654e-01 4.38036837e-02 4.19611260e+01] [-2.33669529e-01 9.72264231e-01 -1.00407236e-02 -5.04967783e+00] [-4.49371260e-02 -4.83261271e-04 9.98989700e-01 -4.17205602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582401008000005 meters 0.06096252531937763 Centerline is valid? [True, True] Translation: X:41.99, Y:-5.06, Z:-4.17 [[ 9.71303560e-01 2.33751033e-01 4.39300350e-02 4.19919820e+01] [-2.33534097e-01 9.72296372e-01 -1.00792502e-02 -5.06320063e+00] [-4.50690488e-02 -4.69149394e-04 9.98983764e-01 -4.17229487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612401008000006 meters 0.061068397638908305 Centerline is valid? [True, True] Translation: X:42.02, Y:-5.08, Z:-4.18 [[ 9.71546161e-01 2.32771387e-01 4.37668604e-02 4.20204370e+01] [-2.32554499e-01 9.72531395e-01 -1.00544304e-02 -5.07986065e+00] [-4.49050295e-02 -4.09837023e-04 9.98991176e-01 -4.17526089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642401008 meters 0.06122683811774523 Centerline is valid? [True, True] Translation: X:42.05, Y:-5.09, Z:-4.18 [[ 9.71819394e-01 2.31844988e-01 4.26024370e-02 4.20490805e+01] [-2.31638095e-01 9.72752683e-01 -9.79853147e-03 -5.09135912e+00] [-4.37133753e-02 -3.45944436e-04 9.99044054e-01 -4.17970289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.672401008 meters 0.061475614657818305 Centerline is valid? [True, True] Translation: X:42.08, Y:-5.10, Z:-4.18 [[ 9.71929548e-01 2.31421932e-01 4.23891897e-02 4.20801937e+01] [-2.31216352e-01 9.72853426e-01 -9.75754961e-03 -5.10322864e+00] [-4.34965794e-02 -3.17423032e-04 9.99053526e-01 -4.18415747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702401008 meters 0.06137238229614081 Centerline is valid? [True, True] Translation: X:42.11, Y:-5.12, Z:-4.18 [[ 9.72186604e-01 2.30430971e-01 4.18900291e-02 4.21111978e+01] [-2.30228832e-01 9.73088640e-01 -9.65320594e-03 -5.11584120e+00] [-4.29871090e-02 -2.59574981e-04 9.99075593e-01 -4.18490490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732401008000004 meters 0.06164465803768511 Centerline is valid? [True, True] Translation: X:42.14, Y:-5.13, Z:-4.19 [[ 9.72698918e-01 2.28172770e-01 4.23556589e-02 4.21389894e+01] [-2.27963382e-01 9.73620647e-01 -9.77401436e-03 -5.13293428e+00] [-4.34685080e-02 -1.48366051e-04 9.99054787e-01 -4.18917135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762401008000005 meters 0.061649814998310765 Centerline is valid? [True, True] Translation: X:42.17, Y:-5.15, Z:-4.19 [[ 9.72957464e-01 2.26803277e-01 4.37498267e-02 4.21685940e+01] [-2.26578039e-01 9.73940587e-01 -1.01056965e-02 -5.14714979e+00] [-4.49017369e-02 -8.03370945e-05 9.98991405e-01 -4.18932404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792401008000006 meters 0.06171406256677838 Centerline is valid? [True, True] Translation: X:42.20, Y:-5.16, Z:-4.19 [[ 9.73180665e-01 2.25702078e-01 4.44743286e-02 4.21981851e+01] [-2.25467661e-01 9.74196372e-01 -1.02840716e-02 -5.16114267e+00] [-4.56478659e-02 -1.92631994e-05 9.98957593e-01 -4.18999549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822401008 meters 0.061833027487729376 Centerline is valid? [True, True] Translation: X:42.23, Y:-5.17, Z:-4.19 [[ 9.73370373e-01 2.24815847e-01 4.48101695e-02 4.22286898e+01] [-2.24576469e-01 9.74401270e-01 -1.03718564e-02 -5.17413204e+00] [-4.59948437e-02 3.23481322e-05 9.98941677e-01 -4.19165574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852401008 meters 0.06201196931846233 Centerline is valid? [True, True] Translation: X:42.26, Y:-5.19, Z:-4.20 [[ 9.73491264e-01 2.24336933e-01 4.45836119e-02 4.22578854e+01] [-2.24098886e-01 9.74511640e-01 -1.03321563e-02 -5.18805319e+00] [-4.57651330e-02 6.71260915e-05 9.98952225e-01 -4.19754628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882401008 meters 0.06207294702994605 Centerline is valid? [True, True] Translation: X:42.29, Y:-5.20, Z:-4.20 [[ 9.73132673e-01 2.25837633e-01 4.48348465e-02 4.22895606e+01] [-2.25597968e-01 9.74164957e-01 -1.04015939e-02 -5.19680891e+00] [-4.60256077e-02 7.48057863e-06 9.98940260e-01 -4.19939102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912401008 meters 0.0620396537085939 Centerline is valid? [True, True] Translation: X:42.32, Y:-5.21, Z:-4.20 [[ 9.72564209e-01 2.28191223e-01 4.52506954e-02 4.23194721e+01] [-2.27948998e-01 9.73616330e-01 -1.05117409e-02 -5.20520159e+00] [-4.64555030e-02 -9.15077345e-05 9.98920356e-01 -4.20336163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942401008000004 meters 0.062674014259729 Centerline is valid? [True, True] Translation: X:42.35, Y:-5.21, Z:-4.21 [[ 9.71213767e-01 2.34005389e-01 4.45566646e-02 4.23496848e+01] [-2.33776166e-01 9.72235235e-01 -1.03610396e-02 -5.21244060e+00] [-4.57440984e-02 -3.53501970e-04 9.98953128e-01 -4.20935806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972401008000006 meters 0.06274750061722668 Centerline is valid? [True, True] Translation: X:42.38, Y:-5.22, Z:-4.21 [[ 9.70404133e-01 2.37349051e-01 4.45111890e-02 4.23805942e+01] [-2.37123186e-01 9.71424305e-01 -1.03640852e-02 -5.21896391e+00] [-4.56991566e-02 -4.97283818e-04 9.98955124e-01 -4.21056513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002401008 meters 0.06319983670737309 Centerline is valid? [True, True] Translation: X:42.41, Y:-5.22, Z:-4.21 [[ 9.69702573e-01 2.40280089e-01 4.40726617e-02 4.24104601e+01] [-2.40061413e-01 9.70703400e-01 -1.02678001e-02 -5.22490647e+00] [-4.52486305e-02 -6.23433283e-04 9.98975562e-01 -4.21440438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032401008 meters 0.0630812052766835 Centerline is valid? [True, True] Translation: X:42.44, Y:-5.24, Z:-4.21 [[ 9.69337695e-01 2.41825442e-01 4.36450283e-02 4.24409873e+01] [-2.41612457e-01 9.70319527e-01 -1.01703879e-02 -5.23573695e+00] [-4.48090818e-02 -6.86642193e-04 9.98995333e-01 -4.21372968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062401008 meters 0.06309064911192629 Centerline is valid? [True, True] Translation: X:42.47, Y:-5.25, Z:-4.21 [[ 9.69253864e-01 2.42044550e-01 4.42875116e-02 4.24698833e+01] [-2.41824928e-01 9.70264888e-01 -1.03320845e-02 -5.24641791e+00] [-4.54714422e-02 -6.95411486e-04 9.98965397e-01 -4.21487378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092401008 meters 0.06274249199568972 Centerline is valid? [True, True] Translation: X:42.50, Y:-5.26, Z:-4.22 [[ 9.69786562e-01 2.39559955e-01 4.60982822e-02 4.24987832e+01] [-2.39318466e-01 9.70881395e-01 -1.07698302e-02 -5.26410646e+00] [-4.73359846e-02 -5.87733564e-04 9.98878851e-01 -4.21522937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122401008000004 meters 0.0626857141556158 Centerline is valid? [True, True] Translation: X:42.53, Y:-5.28, Z:-4.22 [[ 9.70581205e-01 2.36223201e-01 4.65910264e-02 4.25281122e+01] [-2.35972712e-01 9.71698726e-01 -1.08841524e-02 -5.27557079e+00] [-4.78435303e-02 -4.30257065e-04 9.98854750e-01 -4.22100235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152401008000005 meters 0.062413055420988864 Centerline is valid? [True, True] Translation: X:42.56, Y:-5.30, Z:-4.22 [[ 9.72338303e-01 2.29005123e-01 4.59878048e-02 4.25561165e+01] [-2.28752463e-01 9.73425215e-01 -1.07545764e-02 -5.29556595e+00] [-4.72285419e-02 -6.27370963e-05 9.98884108e-01 -4.22461468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18240100800001 meters 0.062725810683763 Centerline is valid? [True, True] Translation: X:42.58, Y:-5.31, Z:-4.23 [[ 9.73140510e-01 2.25454850e-01 4.65581261e-02 4.25846715e+01] [-2.25191230e-01 9.74253610e-01 -1.09001903e-02 -5.30863133e+00] [-4.78169232e-02 1.22935061e-04 9.98856109e-01 -4.22906558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212401008 meters 0.06257399363713267 Centerline is valid? [True, True] Translation: X:42.61, Y:-5.32, Z:-4.23 [[ 9.73623281e-01 2.23517796e-01 4.57985006e-02 4.26148588e+01] [-2.23260122e-01 9.74699823e-01 -1.07318630e-02 -5.32070295e+00] [-4.70385527e-02 2.23812821e-04 9.98893050e-01 -4.22952172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242401008 meters 0.0626611291838351 Centerline is valid? [True, True] Translation: X:42.65, Y:-5.33, Z:-4.23 [[ 9.73938718e-01 2.22146554e-01 4.57633359e-02 4.26451636e+01] [-2.21887260e-01 9.75013240e-01 -1.07343009e-02 -5.33341371e+00] [-4.70044464e-02 3.00249978e-04 9.98894635e-01 -4.22988060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272401008 meters 0.06256422949204007 Centerline is valid? [True, True] Translation: X:42.68, Y:-5.35, Z:-4.23 [[ 9.73963607e-01 2.22098123e-01 4.54677563e-02 4.26755258e+01] [-2.21841484e-01 9.75024269e-01 -1.06784998e-02 -5.34584319e+00] [-4.67038406e-02 3.13835662e-04 9.98908731e-01 -4.23034488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302401008000004 meters 0.06253915784336639 Centerline is valid? [True, True] Translation: X:42.70, Y:-5.36, Z:-4.23 [[ 9.73865587e-01 2.22682845e-01 4.47008764e-02 4.27042059e+01] [-2.22434828e-01 9.74890899e-01 -1.05110955e-02 -5.36116890e+00] [-4.59191182e-02 2.93362461e-04 9.98945118e-01 -4.23166610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332401008000005 meters 0.06237948116787118 Centerline is valid? [True, True] Translation: X:42.73, Y:-5.37, Z:-4.23 [[ 9.73545332e-01 2.23978919e-01 4.51987843e-02 4.27341100e+01] [-2.23726230e-01 9.74593958e-01 -1.06391027e-02 -5.36898877e+00] [-4.64333968e-02 2.45495134e-04 9.98921358e-01 -4.23451109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362401008000006 meters 0.06225539982885732 Centerline is valid? [True, True] Translation: X:42.77, Y:-5.38, Z:-4.24 [[ 9.73095551e-01 2.25803575e-01 4.58016903e-02 4.27651697e+01] [-2.25545636e-01 9.74172837e-01 -1.07911860e-02 -5.37529995e+00] [-4.70554510e-02 1.70483749e-04 9.98892264e-01 -4.23917365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392401008 meters 0.062464460627935 Centerline is valid? [True, True] Translation: X:42.80, Y:-5.38, Z:-4.24 [[ 9.72387732e-01 2.28936847e-01 4.52771349e-02 4.27974549e+01] [-2.28687716e-01 9.73441277e-01 -1.06775159e-02 -5.37891857e+00] [-4.65191088e-02 2.83608470e-05 9.98917400e-01 -4.24383508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422401008 meters 0.06302368957394773 Centerline is valid? [True, True] Translation: X:42.83, Y:-5.37, Z:-4.25 [[ 9.69870506e-01 2.39630654e-01 4.39129918e-02 4.28309240e+01] [-2.39406658e-01 9.70864018e-01 -1.03687510e-02 -5.37346916e+00] [-4.51182142e-02 -4.56716809e-04 9.98981550e-01 -4.24731471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452401008 meters 0.06346206418945302 Centerline is valid? [True, True] Translation: X:42.86, Y:-5.38, Z:-4.25 [[ 9.68936025e-01 2.43318050e-01 4.42640456e-02 4.28621931e+01] [-2.43093823e-01 9.69946358e-01 -1.04620694e-02 -5.37669273e+00] [-4.54793601e-02 -6.23240104e-04 9.98965084e-01 -4.25069585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482401008000004 meters 0.0636221765113542 Centerline is valid? [True, True] Translation: X:42.89, Y:-5.38, Z:-4.25 [[ 9.67771872e-01 2.47898955e-01 4.43137816e-02 4.28937864e+01] [-2.47678558e-01 9.68785539e-01 -1.04839004e-02 -5.38120406e+00] [-4.55294987e-02 -8.29549614e-04 9.98962650e-01 -4.24994121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512401008000005 meters 0.06372230716776842 Centerline is valid? [True, True] Translation: X:42.92, Y:-5.39, Z:-4.25 [[ 9.67458165e-01 2.49089545e-01 4.44870454e-02 4.29237328e+01] [-2.48868205e-01 9.68480060e-01 -1.05352144e-02 -5.38819202e+00] [-4.57090282e-02 -8.79031980e-04 9.98954409e-01 -4.25175659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542401008000006 meters 0.06362634754742154 Centerline is valid? [True, True] Translation: X:42.95, Y:-5.40, Z:-4.25 [[ 9.67559188e-01 2.48684814e-01 4.45542483e-02 4.29539282e+01] [-2.48461855e-01 9.68584091e-01 -1.05624752e-02 -5.39837246e+00] [-4.57812633e-02 -8.50211261e-04 9.98951126e-01 -4.25283713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.572401008 meters 0.06347646667681482 Centerline is valid? [True, True] Translation: X:42.98, Y:-5.41, Z:-4.26 [[ 9.67947166e-01 2.47024630e-01 4.53554480e-02 4.29838496e+01] [-2.46791193e-01 9.69008892e-01 -1.07644733e-02 -5.40772960e+00] [-4.66089224e-02 -7.73883741e-04 9.98912914e-01 -4.25607396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602401008 meters 0.06310806456225551 Centerline is valid? [True, True] Translation: X:43.01, Y:-5.42, Z:-4.26 [[ 9.68715642e-01 2.44208271e-01 4.41851160e-02 4.30142849e+01] [-2.43983309e-01 9.69722613e-01 -1.04975376e-02 -5.41906836e+00] [-4.54108917e-02 -6.11301892e-04 9.98968206e-01 -4.25961256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632401008 meters 0.06334973891882481 Centerline is valid? [True, True] Translation: X:43.04, Y:-5.43, Z:-4.26 [[ 9.68671896e-01 2.44494874e-01 4.35547277e-02 4.30449296e+01] [-2.44276078e-01 9.69650396e-01 -1.03589190e-02 -5.42532955e+00] [-4.47655615e-02 -6.04984332e-04 9.98997337e-01 -4.26337775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662401008 meters 0.06326892768055552 Centerline is valid? [True, True] Translation: X:43.08, Y:-5.43, Z:-4.27 [[ 9.68603159e-01 2.44860902e-01 4.30239330e-02 4.30757941e+01] [-2.44647365e-01 9.69558029e-01 -1.02418203e-02 -5.43368699e+00] [-4.42220210e-02 -6.05432351e-04 9.99021544e-01 -4.26574950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692401008000004 meters 0.06332479604950521 Centerline is valid? [True, True] Translation: X:43.11, Y:-5.44, Z:-4.27 [[ 9.68717264e-01 2.44408135e-01 4.30293686e-02 4.31058954e+01] [-2.44193594e-01 9.69672282e-01 -1.02544757e-02 -5.44204027e+00] [-4.42306634e-02 -5.73808537e-04 9.99021181e-01 -4.26786136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722401008000006 meters 0.0629633010139571 Centerline is valid? [True, True] Translation: X:43.14, Y:-5.45, Z:-4.27 [[ 9.68751620e-01 2.44274932e-01 4.30122937e-02 4.31358402e+01] [-2.44060027e-01 9.69705855e-01 -1.02595076e-02 -5.45300774e+00] [-4.42154135e-02 -5.58666987e-04 9.99021864e-01 -4.26784482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.752401008 meters 0.06268868192077341 Centerline is valid? [True, True] Translation: X:43.17, Y:-5.46, Z:-4.27 [[ 9.69169847e-01 2.42457213e-01 4.38669249e-02 4.31658684e+01] [-2.42231251e-01 9.70161984e-01 -1.04759158e-02 -5.46455901e+00] [-4.50979843e-02 -4.72998428e-04 9.98982456e-01 -4.26850376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782401008 meters 0.06215144417782301 Centerline is valid? [True, True] Translation: X:43.20, Y:-5.48, Z:-4.27 [[ 9.69943895e-01 2.39361395e-01 4.37603014e-02 4.31959319e+01] [-2.39132892e-01 9.70930493e-01 -1.04612853e-02 -5.47789422e+00] [-4.49922388e-02 -3.17667578e-04 9.98987286e-01 -4.26899486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812401008 meters 0.06181405620423762 Centerline is valid? [True, True] Translation: X:43.23, Y:-5.49, Z:-4.27 [[ 9.70846839e-01 2.35412529e-01 4.51370849e-02 4.32253246e+01] [-2.35164594e-01 9.71895532e-01 -1.08022662e-02 -5.49052937e+00] [-4.64115199e-02 -1.27298290e-04 9.98922397e-01 -4.26824612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842401008 meters 0.06168530601391694 Centerline is valid? [True, True] Translation: X:43.26, Y:-5.50, Z:-4.27 [[ 9.71530049e-01 2.32260722e-01 4.67367223e-02 4.32559973e+01] [-2.31990671e-01 9.72653564e-01 -1.11969988e-02 -5.50147670e+00] [-4.80592625e-02 3.57372533e-05 9.98844485e-01 -4.26909843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872401008000004 meters 0.061975558789871696 Centerline is valid? [True, True] Translation: X:43.29, Y:-5.51, Z:-4.27 [[ 9.72535059e-01 2.27651754e-01 4.84792522e-02 4.32853908e+01] [-2.27354700e-01 9.73742572e-01 -1.16294671e-02 -5.51184882e+00] [-4.98537803e-02 2.88078626e-04 9.98756486e-01 -4.27440327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902401008000005 meters 0.06214625383650649 Centerline is valid? [True, True] Translation: X:43.32, Y:-5.52, Z:-4.28 [[ 9.72845426e-01 2.26334325e-01 4.84205593e-02 4.33152871e+01] [-2.26036100e-01 9.74049610e-01 -1.16205829e-02 -5.51977682e+00] [-4.97941637e-02 3.60236525e-04 9.98759436e-01 -4.27816918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93240100800001 meters 0.06192065040564576 Centerline is valid? [True, True] Translation: X:43.35, Y:-5.53, Z:-4.28 [[ 9.72602916e-01 2.27424858e-01 4.81819578e-02 4.33468759e+01] [-2.27130443e-01 9.73795583e-01 -1.15726113e-02 -5.52703242e+00] [-4.95512771e-02 3.11966068e-04 9.98771532e-01 -4.28005146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962401008 meters 0.062200243058424844 Centerline is valid? [True, True] Translation: X:43.38, Y:-5.54, Z:-4.28 [[ 9.72491799e-01 2.27990801e-01 4.77482451e-02 4.33786946e+01] [-2.27701705e-01 9.73663242e-01 -1.14815218e-02 -5.53500293e+00] [-4.91083924e-02 2.93328959e-04 9.98793412e-01 -4.28220471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992401008 meters 0.061673327343008615 Centerline is valid? [True, True] Translation: X:43.41, Y:-5.54, Z:-4.28 [[ 9.71716986e-01 2.31559600e-01 4.63276517e-02 4.34098179e+01] [-2.31290899e-01 9.72820712e-01 -1.11527226e-02 -5.54271448e+00] [-4.76510191e-02 1.22125758e-04 9.98864038e-01 -4.28186510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022401008 meters 0.06179871747256757 Centerline is valid? [True, True] Translation: X:43.44, Y:-5.55, Z:-4.29 [[ 9.71211541e-01 2.33959367e-01 4.48459332e-02 4.34403813e+01] [-2.33709628e-01 9.72246375e-01 -1.08071847e-02 -5.54912419e+00] [-4.61297381e-02 1.51361716e-05 9.98935457e-01 -4.28617570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052401008000004 meters 0.0618164747036711 Centerline is valid? [True, True] Translation: X:43.47, Y:-5.56, Z:-4.29 [[ 9.70804665e-01 2.35760171e-01 4.42203983e-02 4.34712607e+01] [-2.35518760e-01 9.71811267e-01 -1.06665629e-02 -5.55528868e+00] [-4.54886320e-02 -5.95842832e-05 9.98964855e-01 -4.28829609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082401008000005 meters 0.06189456134113992 Centerline is valid? [True, True] Translation: X:43.50, Y:-5.56, Z:-4.29 [[ 9.71286636e-01 2.33982569e-01 4.30630641e-02 4.35014394e+01] [-2.33751485e-01 9.72240791e-01 -1.03964955e-02 -5.56452929e+00] [-4.43002663e-02 3.19219972e-05 9.99018261e-01 -4.29289151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112401008000006 meters 0.06189456134113992 Centerline is valid? [True, True] Translation: X:43.53, Y:-5.57, Z:-4.30 [[ 9.71224147e-01 2.34242223e-01 4.30608529e-02 4.35327420e+01] [-2.34010988e-01 9.72178266e-01 -1.04056437e-02 -5.57228294e+00] [-4.43002664e-02 2.94997310e-05 9.99018261e-01 -4.29521033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142401008 meters 0.061856512861970206 Centerline is valid? [True, True] Translation: X:43.56, Y:-5.58, Z:-4.30 [[ 9.71441141e-01 2.33352680e-01 4.29957780e-02 4.35638918e+01] [-2.33120734e-01 9.72392164e-01 -1.04020901e-02 -5.58083234e+00] [-4.42361132e-02 8.18109914e-05 9.99021101e-01 -4.29845417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.172401008 meters 0.0621751859093755 Centerline is valid? [True, True] Translation: X:43.60, Y:-5.59, Z:-4.30 [[ 9.71824564e-01 2.31665066e-01 4.34547234e-02 4.35950969e+01] [-2.31425723e-01 9.72795593e-01 -1.05294239e-02 -5.58978743e+00] [-4.47118631e-02 1.76211961e-04 9.98999909e-01 -4.30158248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202401008 meters 0.062384071399197515 Centerline is valid? [True, True] Translation: X:43.62, Y:-5.60, Z:-4.30 [[ 9.72453046e-01 2.28765301e-01 4.47382473e-02 4.36244165e+01] [-2.28508352e-01 9.73481552e-01 -1.08443528e-02 -5.60146853e+00] [-4.60326701e-02 3.22560743e-04 9.98939883e-01 -4.30305724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.232401008000004 meters 0.0624578063890868 Centerline is valid? [True, True] Translation: X:43.65, Y:-5.61, Z:-4.30 [[ 9.72540241e-01 2.28107438e-01 4.61787472e-02 4.36538697e+01] [-2.27832406e-01 9.73635895e-01 -1.12044443e-02 -5.61108723e+00] [-4.75171029e-02 3.75757911e-04 9.98870354e-01 -4.30494387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262401008000005 meters 0.062098585508711064 Centerline is valid? [True, True] Translation: X:43.68, Y:-5.62, Z:-4.30 [[ 9.72472778e-01 2.28242986e-01 4.69237138e-02 4.36849211e+01] [-2.27958663e-01 9.73604124e-01 -1.13954718e-02 -5.61950484e+00] [-4.82860578e-02 3.85119088e-04 9.98833474e-01 -4.30278868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292401008000006 meters 0.06191688721293855 Centerline is valid? [True, True] Translation: X:43.72, Y:-5.63, Z:-4.30 [[ 9.72492357e-01 2.28030615e-01 4.75463460e-02 4.37155097e+01] [-2.27737867e-01 9.73653875e-01 -1.15583577e-02 -5.62797227e+00] [-4.89293435e-02 4.12311156e-04 9.98802157e-01 -4.30331984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322401008 meters 0.06183917289277466 Centerline is valid? [True, True] Translation: X:43.75, Y:-5.64, Z:-4.30 [[ 9.72482844e-01 2.27864656e-01 4.85264479e-02 4.37466676e+01] [-2.27558903e-01 9.73692715e-01 -1.18085428e-02 -5.63625684e+00] [-4.99405983e-02 4.40980050e-04 9.98752092e-01 -4.30436363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.352401008 meters 0.061773255792063206 Centerline is valid? [True, True] Translation: X:43.78, Y:-5.64, Z:-4.31 [[ 9.72449135e-01 2.27822282e-01 4.93931957e-02 4.37776749e+01] [-2.27504831e-01 9.73702621e-01 -1.20315470e-02 -5.64213911e+00] [-5.08353386e-02 4.62876793e-04 9.98706941e-01 -4.30662884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382401008 meters 0.061624690402093944 Centerline is valid? [True, True] Translation: X:43.81, Y:-5.65, Z:-4.31 [[ 9.72261941e-01 2.28558978e-01 4.96740518e-02 4.38085521e+01] [-2.28238244e-01 9.73529969e-01 -1.21120942e-02 -5.64880511e+00] [-5.11275060e-02 4.38609867e-04 9.98692037e-01 -4.30948989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.412401008 meters 0.0619877120458995 Centerline is valid? [True, True] Translation: X:43.84, Y:-5.66, Z:-4.31 [[ 9.72285139e-01 2.28369286e-01 5.00907039e-02 4.38387841e+01] [-2.28042269e-01 9.73574473e-01 -1.22257712e-02 -5.65712813e+00] [-5.15590213e-02 4.64137869e-04 9.98669841e-01 -4.31399190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442401008000004 meters 0.061719331860962026 Centerline is valid? [True, True] Translation: X:43.87, Y:-5.66, Z:-4.31 [[ 9.72489305e-01 2.27546404e-01 4.98716845e-02 4.38703250e+01] [-2.27220488e-01 9.73767100e-01 -1.21854207e-02 -5.66467585e+00] [-5.13361543e-02 5.18322772e-04 9.98681296e-01 -4.31263470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472401008000006 meters 0.06208200382302623 Centerline is valid? [True, True] Translation: X:43.90, Y:-5.68, Z:-4.32 [[ 9.72728502e-01 2.26478131e-01 5.00691231e-02 4.39003621e+01] [-2.26147571e-01 9.74016072e-01 -1.22461017e-02 -5.67626021e+00] [-5.15416048e-02 5.89121615e-04 9.98670674e-01 -4.31773916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502401008 meters 0.06250113653156232 Centerline is valid? [True, True] Translation: X:43.93, Y:-5.69, Z:-4.32 [[ 9.73189300e-01 2.24552827e-01 4.97856825e-02 4.39294014e+01] [-2.24222746e-01 9.74461665e-01 -1.21911542e-02 -5.68667599e+00] [-5.12517972e-02 7.01218433e-04 9.98685517e-01 -4.32046475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532401008 meters 0.062017102551406605 Centerline is valid? [True, True] Translation: X:43.96, Y:-5.69, Z:-4.32 [[ 9.73349782e-01 2.23873673e-01 4.97069472e-02 4.39606936e+01] [-2.23543226e-01 9.74617885e-01 -1.21821033e-02 -5.69209654e+00] [-5.11725320e-02 7.45796285e-04 9.98689549e-01 -4.31915576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562401008 meters 0.06294924070068246 Centerline is valid? [True, True] Translation: X:43.99, Y:-5.70, Z:-4.32 [[ 9.74801626e-01 2.17502956e-01 4.95404328e-02 4.39891407e+01] [-2.17165837e-01 9.76059054e-01 -1.21540868e-02 -5.70327752e+00] [-5.09979378e-02 1.08933404e-03 9.98698164e-01 -4.32365376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.592401008 meters 0.06348983791451071 Centerline is valid? [True, True] Translation: X:44.02, Y:-5.71, Z:-4.33 [[ 9.75659046e-01 2.13563313e-01 4.98009771e-02 4.40194275e+01] [-2.13217159e-01 9.76928349e-01 -1.22247629e-02 -5.71208417e+00] [-5.12627472e-02 1.30877767e-03 9.98684343e-01 -4.32521419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622401008000004 meters 0.06411776095658459 Centerline is valid? [True, True] Translation: X:44.05, Y:-5.72, Z:-4.33 [[ 9.76440372e-01 2.09900666e-01 5.00590632e-02 4.40495244e+01] [-2.09545500e-01 9.77721534e-01 -1.22997790e-02 -5.72207935e+00] [-5.15255559e-02 1.52034933e-03 9.98670519e-01 -4.32756227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.652401008000005 meters 0.06523632515937262 Centerline is valid? [True, True] Translation: X:44.08, Y:-5.73, Z:-4.33 [[ 9.77264022e-01 2.06054538e-01 4.99655697e-02 4.40781208e+01] [-2.05695014e-01 9.78538975e-01 -1.22896559e-02 -5.73285518e+00] [-5.14255968e-02 1.73257005e-03 9.98675326e-01 -4.32991835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68240100800001 meters 0.06615159116028023 Centerline is valid? [True, True] Translation: X:44.11, Y:-5.74, Z:-4.33 [[ 9.78459916e-01 1.99759670e-01 5.20794232e-02 4.41082088e+01] [-1.99359615e-01 9.79842541e-01 -1.28194647e-02 -5.74285071e+00] [-5.35904464e-02 2.16079859e-03 9.98560662e-01 -4.32952949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.712401008 meters 0.06650425385077147 Centerline is valid? [True, True] Translation: X:44.14, Y:-5.75, Z:-4.33 [[ 9.78619097e-01 1.99051080e-01 5.18008709e-02 4.41391822e+01] [-1.98654222e-01 9.79986670e-01 -1.27524822e-02 -5.75130878e+00] [-5.33025584e-02 2.18936089e-03 9.98576008e-01 -4.33186319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742401008 meters 0.0665344565213247 Centerline is valid? [True, True] Translation: X:44.17, Y:-5.76, Z:-4.33 [[ 9.78584355e-01 1.99278316e-01 5.15830685e-02 4.41701946e+01] [-1.98884460e-01 9.79940509e-01 -1.27110259e-02 -5.75767280e+00] [-5.30813702e-02 2.17974034e-03 9.98587811e-01 -4.33467438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.772401008 meters 0.06561434277515851 Centerline is valid? [True, True] Translation: X:44.20, Y:-5.76, Z:-4.34 [[ 9.77803885e-01 2.03178941e-01 5.11652368e-02 4.42026214e+01] [-2.02795877e-01 9.79139644e-01 -1.26249661e-02 -5.75915547e+00] [-5.26630390e-02 1.96864182e-03 9.98610399e-01 -4.33741176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802401008000004 meters 0.06529560879381989 Centerline is valid? [True, True] Translation: X:44.23, Y:-5.76, Z:-4.34 [[ 9.77397591e-01 2.05109611e-01 5.12249676e-02 4.42345680e+01] [-2.04728340e-01 9.78737230e-01 -1.26388847e-02 -5.76311020e+00] [-5.27281396e-02 1.86601288e-03 9.98607161e-01 -4.33993145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.832401008000005 meters 0.06378012143807082 Centerline is valid? [True, True] Translation: X:44.27, Y:-5.76, Z:-4.34 [[ 9.76835543e-01 2.07908957e-01 5.06575531e-02 4.42670860e+01] [-2.07539237e-01 9.78146692e-01 -1.25105877e-02 -5.76369847e+00] [-5.21515812e-02 1.70735687e-03 9.98637721e-01 -4.34143437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862401008000006 meters 0.06345602128822796 Centerline is valid? [True, True] Translation: X:44.30, Y:-5.77, Z:-4.34 [[ 9.76484401e-01 2.09631793e-01 5.03262003e-02 4.42990265e+01] [-2.09268533e-01 9.77779063e-01 -1.24412387e-02 -5.76770881e+00] [-5.18159842e-02 1.61698541e-03 9.98655341e-01 -4.34425102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.892401008 meters 0.06330358290658283 Centerline is valid? [True, True] Translation: X:44.33, Y:-5.77, Z:-4.35 [[ 9.76132592e-01 2.11103585e-01 5.09945005e-02 4.43317424e+01] [-2.10731769e-01 9.77462427e-01 -1.26224225e-02 -5.77099953e+00] [-5.25098468e-02 1.57499671e-03 9.98619164e-01 -4.34641158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922401008 meters 0.06381607127358604 Centerline is valid? [True, True] Translation: X:44.36, Y:-5.78, Z:-4.35 [[ 9.75960667e-01 2.11662304e-01 5.19600442e-02 4.43619612e+01] [-2.11276845e-01 9.77341587e-01 -1.28653042e-02 -5.77939551e+00] [-5.35058120e-02 1.57807668e-03 9.98566291e-01 -4.34881124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.952401008 meters 0.06344602354428948 Centerline is valid? [True, True] Translation: X:44.39, Y:-5.78, Z:-4.35 [[ 9.75912912e-01 2.11647978e-01 5.29067273e-02 4.43935004e+01] [-2.11247975e-01 9.77344632e-01 -1.31058772e-02 -5.78482451e+00] [-5.44819384e-02 1.61375580e-03 9.98513452e-01 -4.34895974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982401008000004 meters 0.06330687919847652 Centerline is valid? [True, True] Translation: X:44.43, Y:-5.79, Z:-4.35 [[ 9.75724260e-01 2.12575596e-01 5.26667295e-02 4.44254376e+01] [-2.12179858e-01 9.77143366e-01 -1.30594593e-02 -5.79052822e+00] [-5.42390678e-02 1.56761211e-03 9.98526748e-01 -4.35066812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.012401008000005 meters 0.06267171103991122 Centerline is valid? [True, True] Translation: X:44.46, Y:-5.79, Z:-4.35 [[ 9.75103671e-01 2.15406767e-01 5.26569620e-02 4.44584852e+01] [-2.15014603e-01 9.76523375e-01 -1.30697839e-02 -5.78977067e+00] [-5.42360741e-02 1.42237847e-03 9.98527128e-01 -4.35292205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042401008000006 meters 0.06243911109784657 Centerline is valid? [True, True] Translation: X:44.49, Y:-5.79, Z:-4.36 [[ 9.74755582e-01 2.16984925e-01 5.26222089e-02 4.44906457e+01] [-2.16594866e-01 9.76174026e-01 -1.30741856e-02 -5.79357839e+00] [-5.42053347e-02 1.34643513e-03 9.98528902e-01 -4.35624171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.072401008 meters 0.06243498360707148 Centerline is valid? [True, True] Translation: X:44.52, Y:-5.80, Z:-4.36 [[ 9.74463137e-01 2.18226842e-01 5.29021786e-02 4.45224632e+01] [-2.17833729e-01 9.75897209e-01 -1.31568663e-02 -5.79858571e+00] [-5.44982698e-02 1.29700238e-03 9.98513023e-01 -4.35923499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102401008 meters 0.062144401401142364 Centerline is valid? [True, True] Translation: X:44.56, Y:-5.80, Z:-4.36 [[ 9.73798765e-01 2.21077014e-01 5.33002818e-02 4.45555625e+01] [-2.20681359e-01 9.75255661e-01 -1.32715009e-02 -5.80005437e+00] [-5.49154254e-02 1.16139260e-03 9.98490334e-01 -4.36224402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.132401008 meters 0.061826865008646086 Centerline is valid? [True, True] Translation: X:44.59, Y:-5.80, Z:-4.36 [[ 9.73357702e-01 2.22979715e-01 5.34306196e-02 4.45872398e+01] [-2.22584863e-01 9.74822510e-01 -1.33061195e-02 -5.80433846e+00] [-5.50523654e-02 1.05876668e-03 9.98482907e-01 -4.36453941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162401008 meters 0.06172104367331855 Centerline is valid? [True, True] Translation: X:44.62, Y:-5.81, Z:-4.37 [[ 9.73028531e-01 2.24634894e-01 5.24846798e-02 4.46191535e+01] [-2.24255632e-01 9.74442529e-01 -1.30831601e-02 -5.80966488e+00] [-5.40822384e-02 9.60303032e-04 9.98536023e-01 -4.36694194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192401008000004 meters 0.061809106602249454 Centerline is valid? [True, True] Translation: X:44.65, Y:-5.82, Z:-4.37 [[ 9.72721048e-01 2.26110215e-01 5.18452893e-02 4.46495337e+01] [-2.25741558e-01 9.74101327e-01 -1.29364889e-02 -5.81739628e+00] [-5.34276374e-02 8.79958639e-04 9.98571336e-01 -4.37022339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222401008000006 meters 0.06175463306920164 Centerline is valid? [True, True] Translation: X:44.68, Y:-5.82, Z:-4.37 [[ 9.72582888e-01 2.26822499e-01 5.13232917e-02 4.46813001e+01] [-2.26461438e-01 9.73935746e-01 -1.28210860e-02 -5.82369978e+00] [-5.28936992e-02 8.46822428e-04 9.98599789e-01 -4.37271351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.252401008 meters 0.061608666863715494 Centerline is valid? [True, True] Translation: X:44.71, Y:-5.83, Z:-4.37 [[ 9.72603709e-01 2.26649111e-01 5.16933839e-02 4.47136455e+01] [-2.26282396e-01 9.73976094e-01 -1.29168963e-02 -5.83020628e+00] [-5.32757232e-02 8.65718469e-04 9.98579465e-01 -4.37373140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282401008 meters 0.06172678143201651 Centerline is valid? [True, True] Translation: X:44.75, Y:-5.84, Z:-4.38 [[ 9.72593966e-01 2.26577631e-01 5.21876869e-02 4.47453888e+01] [-2.26202947e-01 9.73992700e-01 -1.30555196e-02 -5.83830649e+00] [-5.37885147e-02 8.92710960e-04 9.98551951e-01 -4.37602783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.312401008 meters 0.061979509299761565 Centerline is valid? [True, True] Translation: X:44.78, Y:-5.85, Z:-4.38 [[ 9.72535863e-01 2.26679331e-01 5.28249493e-02 4.47750400e+01] [-2.26294696e-01 9.73969017e-01 -1.32311934e-02 -5.84769728e+00] [-5.44491020e-02 9.13804284e-04 9.98516129e-01 -4.37806444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342401008 meters 0.061777512007054475 Centerline is valid? [True, True] Translation: X:44.81, Y:-5.85, Z:-4.38 [[ 9.72550036e-01 2.26283597e-01 5.42416943e-02 4.48058733e+01] [-2.25876714e-01 9.74060976e-01 -1.35986882e-02 -5.85482911e+00] [-5.59118778e-02 9.73469057e-04 9.98435233e-01 -4.37857786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372401008000004 meters 0.0618897979647358 Centerline is valid? [True, True] Translation: X:44.84, Y:-5.86, Z:-4.38 [[ 9.72508600e-01 2.26484455e-01 5.41462405e-02 4.48364221e+01] [-2.26078598e-01 9.74014294e-01 -1.35875778e-02 -5.86324627e+00] [-5.58165874e-02 9.72730120e-04 9.98440565e-01 -4.38078827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402401008000005 meters 0.06202706829780284 Centerline is valid? [True, True] Translation: X:44.87, Y:-5.87, Z:-4.38 [[ 9.72646352e-01 2.25924209e-01 5.40122735e-02 4.48665532e+01] [-2.25518702e-01 9.74144352e-01 -1.35682063e-02 -5.87450800e+00] [-5.56811375e-02 1.01628858e-03 9.98448085e-01 -4.38193390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43240100800001 meters 0.06225686010496846 Centerline is valid? [True, True] Translation: X:44.90, Y:-5.88, Z:-4.38 [[ 9.72737473e-01 2.25418323e-01 5.44829261e-02 4.48966459e+01] [-2.25004192e-01 9.74261485e-01 -1.36993603e-02 -5.88440740e+00] [-5.61687033e-02 1.06699435e-03 9.98420722e-01 -4.38497933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462401008 meters 0.06239807122189668 Centerline is valid? [True, True] Translation: X:44.93, Y:-5.89, Z:-4.39 [[ 9.72624300e-01 2.25843871e-01 5.47404566e-02 4.49275105e+01] [-2.25425589e-01 9.74162931e-01 -1.37799775e-02 -5.89376202e+00] [-5.64382472e-02 1.06284134e-03 9.98405526e-01 -4.38720136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492401008 meters 0.06238017661628111 Centerline is valid? [True, True] Translation: X:44.96, Y:-5.90, Z:-4.39 [[ 9.72485146e-01 2.26591180e-01 5.41209650e-02 4.49589259e+01] [-2.26183215e-01 9.73989431e-01 -1.36286932e-02 -5.90204116e+00] [-5.58013896e-02 1.01244788e-03 9.98441375e-01 -4.39014386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522401008 meters 0.062396851351518644 Centerline is valid? [True, True] Translation: X:44.99, Y:-5.91, Z:-4.39 [[ 9.72277161e-01 2.27655259e-01 5.33873087e-02 4.49900135e+01] [-2.27258940e-01 9.73741326e-01 -1.34611901e-02 -5.90976201e+00] [-5.50499395e-02 9.55264555e-04 9.98483145e-01 -4.39415817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552401008000004 meters 0.06226122940150949 Centerline is valid? [True, True] Translation: X:45.02, Y:-5.92, Z:-4.40 [[ 9.71976475e-01 2.29322238e-01 5.17014884e-02 4.50218285e+01] [-2.28952893e-01 9.73350202e-01 -1.30367874e-02 -5.91564929e+00] [-5.33132795e-02 8.34245334e-04 9.98577487e-01 -4.39741503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582401008000005 meters 0.062256210570548365 Centerline is valid? [True, True] Translation: X:45.05, Y:-5.92, Z:-4.40 [[ 9.71896491e-01 2.29923008e-01 5.05234768e-02 4.50517450e+01] [-2.29570339e-01 9.73208495e-01 -1.27548121e-02 -5.92485245e+00] [-5.21025016e-02 7.97665439e-04 9.98641424e-01 -4.40133057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.612401008000006 meters 0.06282199196232835 Centerline is valid? [True, True] Translation: X:45.08, Y:-5.94, Z:-4.41 [[ 9.71940284e-01 2.29921970e-01 4.96786987e-02 4.50807413e+01] [-2.29580425e-01 9.73208742e-01 -1.25528129e-02 -5.93605269e+00] [-5.12339113e-02 7.95327718e-04 9.98686364e-01 -4.40614019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642401008 meters 0.0628212735632478 Centerline is valid? [True, True] Translation: X:45.11, Y:-5.95, Z:-4.41 [[ 9.72393779e-01 2.28152305e-01 4.89577852e-02 4.51111102e+01] [-2.27817833e-01 9.73625051e-01 -1.23812203e-02 -5.94551734e+00] [-5.04913301e-02 8.85965091e-04 9.98724106e-01 -4.40717979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.672401008 meters 0.06383564218454695 Centerline is valid? [True, True] Translation: X:45.14, Y:-5.96, Z:-4.41 [[ 9.72670138e-01 2.26630912e-01 5.05097186e-02 4.51407495e+01] [-2.26272177e-01 9.73980192e-01 -1.27862452e-02 -5.95730515e+00] [-5.20932238e-02 1.00785491e-03 9.98641718e-01 -4.41071022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702401008 meters 0.06328398320932213 Centerline is valid? [True, True] Translation: X:45.17, Y:-5.97, Z:-4.41 [[ 9.72882383e-01 2.25408083e-01 5.18754797e-02 4.51727829e+01] [-2.25027208e-01 9.74263800e-01 -1.31455105e-02 -5.96578901e+00] [-5.35035063e-02 1.11564121e-03 9.98567038e-01 -4.40965652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.732401008000004 meters 0.06413042457439799 Centerline is valid? [True, True] Translation: X:45.20, Y:-5.98, Z:-4.41 [[ 9.73627632e-01 2.21429681e-01 5.49375193e-02 4.52009210e+01] [-2.20995115e-01 9.75175291e-01 -1.39395291e-02 -5.98022508e+00] [-5.66603369e-02 1.43098731e-03 9.98392487e-01 -4.40814536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762401008000005 meters 0.06455360224721013 Centerline is valid? [True, True] Translation: X:45.23, Y:-5.99, Z:-4.41 [[ 9.73992577e-01 2.19646013e-01 5.56245335e-02 4.52310763e+01] [-2.19197198e-01 9.75578389e-01 -1.41207346e-02 -5.99055454e+00] [-5.73676558e-02 1.56074879e-03 9.98351900e-01 -4.40914810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.792401008000006 meters 0.06407898729095969 Centerline is valid? [True, True] Translation: X:45.26, Y:-6.00, Z:-4.41 [[ 9.74362451e-01 2.18045316e-01 5.54441554e-02 4.52622283e+01] [-2.17596094e-01 9.75937230e-01 -1.40876578e-02 -5.99688836e+00] [-5.71817633e-02 1.66205314e-03 9.98362401e-01 -4.40997117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822401008 meters 0.06455733162366657 Centerline is valid? [True, True] Translation: X:45.29, Y:-6.01, Z:-4.41 [[ 9.74655112e-01 2.16406167e-01 5.67078858e-02 4.52930233e+01] [-2.15932599e-01 9.76301739e-01 -1.44231398e-02 -6.00606649e+00] [-5.84852639e-02 1.81250573e-03 9.98286627e-01 -4.41254818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.852401008 meters 0.06511092411550103 Centerline is valid? [True, True] Translation: X:45.32, Y:-6.01, Z:-4.42 [[ 9.75045366e-01 2.14717692e-01 5.64167330e-02 4.53238423e+01] [-2.14245349e-01 9.76674273e-01 -1.43629458e-02 -6.01488425e+00] [-5.81847503e-02 1.91750112e-03 9.98303991e-01 -4.41595166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882401008 meters 0.06504384441074784 Centerline is valid? [True, True] Translation: X:45.35, Y:-6.02, Z:-4.42 [[ 9.74886703e-01 2.15488674e-01 5.62187435e-02 4.53544201e+01] [-2.15020138e-01 9.76504534e-01 -1.43260648e-02 -6.02278717e+00] [-5.79849626e-02 1.87812812e-03 9.98315690e-01 -4.41894732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.912401008 meters 0.06502528162476828 Centerline is valid? [True, True] Translation: X:45.38, Y:-6.03, Z:-4.42 [[ 9.74714289e-01 2.16472917e-01 5.54213983e-02 4.53843842e+01] [-2.16018412e-01 9.76286952e-01 -1.41362552e-02 -6.02923142e+00] [-5.71673044e-02 1.80676747e-03 9.98362978e-01 -4.42188475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942401008000004 meters 0.06446664384444364 Centerline is valid? [True, True] Translation: X:45.42, Y:-6.03, Z:-4.42 [[ 9.74573003e-01 2.17385091e-01 5.43247948e-02 4.54169732e+01] [-2.16949209e-01 9.76084388e-01 -1.38675335e-02 -6.03405198e+00] [-5.60401791e-02 1.72920254e-03 9.98427017e-01 -4.42373344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.972401008000006 meters 0.06417301195729752 Centerline is valid? [True, True] Translation: X:45.45, Y:-6.04, Z:-4.43 [[ 9.74215970e-01 2.19266948e-01 5.31530839e-02 4.54487484e+01] [-2.18851657e-01 9.75663592e-01 -1.35833871e-02 -6.03899584e+00] [-5.48379166e-02 1.60051220e-03 9.98493987e-01 -4.42663656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002401008 meters 0.06417301195729752 Centerline is valid? [True, True] Translation: X:45.48, Y:-6.05, Z:-4.43 [[ 9.74158359e-01 2.19523481e-01 5.31500910e-02 4.54799724e+01] [-2.19107934e-01 9.75605908e-01 -1.35950864e-02 -6.04711619e+00] [-5.48379835e-02 1.59816046e-03 9.98493987e-01 -4.42895595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.032401008 meters 0.0637484486924251 Centerline is valid? [True, True] Translation: X:45.51, Y:-6.05, Z:-4.43 [[ 9.73882717e-01 2.20764619e-01 5.30606839e-02 4.55118267e+01] [-2.20351465e-01 9.75325899e-01 -1.35876006e-02 -6.05304118e+00] [-5.47511206e-02 1.54072993e-03 9.98498844e-01 -4.43095524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062401008 meters 0.06377092249189034 Centerline is valid? [True, True] Translation: X:45.54, Y:-6.06, Z:-4.43 [[ 9.73675390e-01 2.21540076e-01 5.36304831e-02 4.55421555e+01] [-2.21118407e-01 9.75150072e-01 -1.37472292e-02 -6.05873503e+00] [-5.53433317e-02 1.52665175e-03 9.98466216e-01 -4.43384189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.092401008 meters 0.0637310260432659 Centerline is valid? [True, True] Translation: X:45.57, Y:-6.06, Z:-4.44 [[ 9.73332977e-01 2.23122583e-01 5.32844167e-02 4.55736675e+01] [-2.22708060e-01 9.74789332e-01 -1.36703087e-02 -6.06434457e+00] [-5.49912356e-02 1.43889322e-03 9.98485800e-01 -4.43733591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122401008000004 meters 0.06379950553603402 Centerline is valid? [True, True] Translation: X:45.60, Y:-6.07, Z:-4.44 [[ 9.72841797e-01 2.25506809e-01 5.22064915e-02 4.56045646e+01] [-2.25111665e-01 9.74240738e-01 -1.34060643e-02 -6.07004730e+00] [-5.38848496e-02 1.28968946e-03 9.98546323e-01 -4.44081173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152401008000005 meters 0.0629900686799357 Centerline is valid? [True, True] Translation: X:45.64, Y:-6.07, Z:-4.44 [[ 9.72444551e-01 2.27247591e-01 5.20588907e-02 4.56366240e+01] [-2.26856504e-01 9.73836274e-01 -1.33805320e-02 -6.07391636e+00] [-5.37375298e-02 1.20192746e-03 9.98554372e-01 -4.44006283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18240100800001 meters 0.0628500195254949 Centerline is valid? [True, True] Translation: X:45.67, Y:-6.08, Z:-4.44 [[ 9.72111807e-01 2.28507640e-01 5.27531405e-02 4.56680799e+01] [-2.28107023e-01 9.73541425e-01 -1.35749986e-02 -6.08043439e+00] [-5.44593584e-02 1.16305458e-03 9.98515311e-01 -4.44302189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.212401008 meters 0.06259962766738485 Centerline is valid? [True, True] Translation: X:45.70, Y:-6.09, Z:-4.44 [[ 9.71671647e-01 2.30350903e-01 5.28457373e-02 4.57004116e+01] [-2.29951341e-01 9.73107047e-01 -1.36035368e-02 -6.08568862e+00] [-5.45581464e-02 1.06622286e-03 9.98510026e-01 -4.44480935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242401008 meters 0.06229915538137693 Centerline is valid? [True, True] Translation: X:45.73, Y:-6.09, Z:-4.45 [[ 9.71105932e-01 2.32539611e-01 5.36525732e-02 4.57318177e+01] [-2.32130945e-01 9.72586452e-01 -1.38136479e-02 -6.09089238e+00] [-5.53939862e-02 9.60092902e-04 9.98464113e-01 -4.44632821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.272401008 meters 0.06205051770555441 Centerline is valid? [True, True] Translation: X:45.76, Y:-6.09, Z:-4.45 [[ 9.69534446e-01 2.39017997e-01 5.36036917e-02 4.57634498e+01] [-2.38619178e-01 9.71014950e-01 -1.38150087e-02 -6.09040127e+00] [-5.53520218e-02 6.03257948e-04 9.98466719e-01 -4.45111427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302401008000004 meters 0.06193340660158334 Centerline is valid? [True, True] Translation: X:45.80, Y:-6.09, Z:-4.45 [[ 9.68546491e-01 2.43022572e-01 5.34576831e-02 4.57956326e+01] [-2.42631422e-01 9.70020558e-01 -1.37880622e-02 -6.09281607e+00] [-5.52058619e-02 3.83865616e-04 9.98474920e-01 -4.45453590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.332401008000005 meters 0.06193470211846051 Centerline is valid? [True, True] Translation: X:45.83, Y:-6.10, Z:-4.46 [[ 9.67591862e-01 2.47131216e-01 5.18859358e-02 4.58271890e+01] [-2.46767991e-01 9.68982011e-01 -1.33948177e-02 -6.09628617e+00] [-5.35868160e-02 1.56928480e-04 9.98563182e-01 -4.45877741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362401008000006 meters 0.06208097452202199 Centerline is valid? [True, True] Translation: X:45.86, Y:-6.10, Z:-4.46 [[ 9.65554374e-01 2.55076508e-01 5.13879975e-02 4.58596502e+01] [-2.54730557e-01 9.66920837e-01 -1.32830070e-02 -6.09725993e+00] [-5.30763086e-02 -2.64627681e-04 9.98590424e-01 -4.46081949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.392401008 meters 0.062230196527878597 Centerline is valid? [True, True] Translation: X:45.89, Y:-6.10, Z:-4.46 [[ 9.64734988e-01 2.58150709e-01 5.14258120e-02 4.58901459e+01] [-2.57808496e-01 9.66104562e-01 -1.32948960e-02 -6.10317402e+00] [-5.31147984e-02 -4.31959964e-04 9.98588319e-01 -4.46186932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422401008 meters 0.06219175577314001 Centerline is valid? [True, True] Translation: X:45.92, Y:-6.11, Z:-4.46 [[ 9.64132508e-01 2.60314373e-01 5.18163583e-02 4.59223114e+01] [-2.59969449e-01 9.65523760e-01 -1.34072500e-02 -6.11097443e+00] [-5.35200249e-02 -5.44304597e-04 9.98566628e-01 -4.46230201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.452401008 meters 0.0622372797870491 Centerline is valid? [True, True] Translation: X:45.95, Y:-6.12, Z:-4.46 [[ 9.63817646e-01 2.61066761e-01 5.38487855e-02 4.59520727e+01] [-2.60694440e-01 9.65320566e-01 -1.39503971e-02 -6.11860181e+00] [-5.56233251e-02 -5.92440131e-04 9.98451649e-01 -4.46465586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482401008000004 meters 0.0623570868798554 Centerline is valid? [True, True] Translation: X:45.98, Y:-6.13, Z:-4.47 [[ 9.63861397e-01 2.60804385e-01 5.43348833e-02 4.59828279e+01] [-2.60424177e-01 9.65391500e-01 -1.40890065e-02 -6.12702017e+00] [-5.61289091e-02 -5.70267778e-04 9.98423367e-01 -4.46809070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512401008000005 meters 0.06243185040910213 Centerline is valid? [True, True] Translation: X:46.01, Y:-6.14, Z:-4.47 [[ 9.63795057e-01 2.61007086e-01 5.45379659e-02 4.60140390e+01] [-2.60623619e-01 9.65336715e-01 -1.41546803e-02 -6.13601894e+00] [-5.63419728e-02 -5.71671219e-04 9.98411366e-01 -4.47164482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542401008000006 meters 0.062447369512386545 Centerline is valid? [True, True] Translation: X:46.04, Y:-6.14, Z:-4.48 [[ 9.63779077e-01 2.61132327e-01 5.42199124e-02 4.60443327e+01] [-2.60752645e-01 9.65302851e-01 -1.40877500e-02 -6.14464411e+00] [-5.60174029e-02 -5.60506876e-04 9.98429635e-01 -4.47572978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572401008 meters 0.06262937704157392 Centerline is valid? [True, True] Translation: X:46.07, Y:-6.16, Z:-4.48 [[ 9.63352032e-01 2.62985199e-01 5.28360527e-02 4.60742958e+01] [-2.62626701e-01 9.64799657e-01 -1.37418180e-02 -6.15636055e+00] [-5.45901002e-02 -6.37949940e-04 9.98508645e-01 -4.47796759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602401008 meters 0.06287878409460618 Centerline is valid? [True, True] Translation: X:46.10, Y:-6.17, Z:-4.48 [[ 9.62812633e-01 2.65182980e-01 5.16703108e-02 4.61040694e+01] [-2.64842594e-01 9.64197827e-01 -1.34517903e-02 -6.16516215e+00] [-5.33875873e-02 -7.32945461e-04 9.98573597e-01 -4.48108544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632401008 meters 0.06304038184185447 Centerline is valid? [True, True] Translation: X:46.13, Y:-6.17, Z:-4.48 [[ 9.62321193e-01 2.67263267e-01 5.00826127e-02 4.61342758e+01] [-2.66945733e-01 9.63623208e-01 -1.30494648e-02 -6.17478427e+00] [-5.17484105e-02 -8.11563160e-04 9.98659824e-01 -4.48263427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662401008 meters 0.06373812733592374 Centerline is valid? [True, True] Translation: X:46.16, Y:-6.18, Z:-4.49 [[ 9.61213705e-01 2.71461294e-01 4.87542722e-02 4.61648585e+01] [-2.71165153e-01 9.62448840e-01 -1.27157376e-02 -6.18213019e+00] [-5.03753233e-02 -9.97918376e-04 9.98729859e-01 -4.48719285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692401008000004 meters 0.06432809395645114 Centerline is valid? [True, True] Translation: X:46.20, Y:-6.19, Z:-4.49 [[ 9.60758401e-01 2.72893720e-01 4.97223580e-02 4.61955558e+01] [-2.72586931e-01 9.62043579e-01 -1.29814343e-02 -6.18879660e+00] [-5.13776271e-02 -1.08164293e-03 9.98678712e-01 -4.49203570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722401008000006 meters 0.06460110485885723 Centerline is valid? [True, True] Translation: X:46.23, Y:-6.20, Z:-4.50 [[ 9.60444212e-01 2.73997793e-01 4.97204746e-02 4.62267105e+01] [-2.73691945e-01 9.61729656e-01 -1.29918202e-02 -6.19723226e+00] [-5.13773850e-02 -1.13017484e-03 9.98678671e-01 -4.49549772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75240100800001 meters 0.06517720271093516 Centerline is valid? [True, True] Translation: X:46.26, Y:-6.21, Z:-4.50 [[ 9.59868378e-01 2.76071895e-01 4.93660406e-02 4.62561948e+01] [-2.75773051e-01 9.61136200e-01 -1.29007880e-02 -6.20519849e+00] [-5.10090336e-02 -1.23076522e-03 9.98697434e-01 -4.49849885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782401008 meters 0.06435116118306951 Centerline is valid? [True, True] Translation: X:46.28, Y:-6.22, Z:-4.50 [[ 9.60760841e-01 2.72928865e-01 4.94817234e-02 4.62848841e+01] [-2.72623869e-01 9.62033638e-01 -1.29423815e-02 -6.22286240e+00] [-5.11354319e-02 -1.05536550e-03 9.98691170e-01 -4.50026067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.812401008 meters 0.06336695089124346 Centerline is valid? [True, True] Translation: X:46.31, Y:-6.24, Z:-4.50 [[ 9.62002262e-01 2.68383096e-01 5.02211286e-02 4.63128799e+01] [-2.68062023e-01 9.63311919e-01 -1.31491140e-02 -6.23931817e+00] [-5.19076117e-02 -8.12899920e-04 9.98651560e-01 -4.50179603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842401008 meters 0.06276194766747525 Centerline is valid? [True, True] Translation: X:46.34, Y:-6.25, Z:-4.50 [[ 9.62750625e-01 2.65717905e-01 5.00522556e-02 4.63422448e+01] [-2.65394873e-01 9.64050602e-01 -1.31148189e-02 -6.25482435e+00] [-5.17377493e-02 -6.57311972e-04 9.98660489e-01 -4.50157472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872401008000004 meters 0.06244154980021518 Centerline is valid? [True, True] Translation: X:46.37, Y:-6.27, Z:-4.50 [[ 9.63318242e-01 2.63541202e-01 5.06359559e-02 4.63711687e+01] [-2.63206884e-01 9.64647993e-01 -1.32810384e-02 -6.26793913e+00] [-5.23459740e-02 -5.33865605e-04 9.98628867e-01 -4.50338280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902401008000005 meters 0.061951717846441365 Centerline is valid? [True, True] Translation: X:46.40, Y:-6.29, Z:-4.51 [[ 9.64629668e-01 2.58609914e-01 5.10932154e-02 4.63996774e+01] [-2.58261990e-01 9.65981804e-01 -1.34126090e-02 -6.28558773e+00] [-5.28237501e-02 -2.57234919e-04 9.98603818e-01 -4.50711213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93240100800001 meters 0.06182995054802963 Centerline is valid? [True, True] Translation: X:46.43, Y:-6.30, Z:-4.51 [[ 9.65437975e-01 2.55622746e-01 5.08579183e-02 4.64303103e+01] [-2.55273271e-01 9.66776605e-01 -1.33623481e-02 -6.29948033e+00] [-5.25839657e-02 -8.21488355e-05 9.98616503e-01 -4.50867282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962401008 meters 0.061776713607329656 Centerline is valid? [True, True] Translation: X:46.46, Y:-6.31, Z:-4.51 [[ 9.66122934e-01 2.52904872e-01 5.14354167e-02 4.64589653e+01] [-2.52542681e-01 9.67491147e-01 -1.35305368e-02 -6.31238617e+00] [-5.31852489e-02 8.25238262e-05 9.98584660e-01 -4.51279526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.992401008 meters 0.0619533594409519 Centerline is valid? [True, True] Translation: X:46.49, Y:-6.33, Z:-4.51 [[ 9.67383196e-01 2.48317251e-01 5.00828849e-02 4.64873474e+01] [-2.47967128e-01 9.68678703e-01 -1.31861365e-02 -6.32834969e+00] [-5.17885692e-02 3.37137759e-04 9.98658015e-01 -4.51354111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022401008 meters 0.0618417540511109 Centerline is valid? [True, True] Translation: X:46.52, Y:-6.34, Z:-4.51 [[ 9.67611030e-01 2.47624891e-01 4.90999729e-02 4.65165347e+01] [-2.47286805e-01 9.68855907e-01 -1.29409053e-02 -6.33967743e+00] [-5.07752891e-02 3.79987284e-04 9.98710031e-01 -4.51497801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052401008000004 meters 0.06207050014717265 Centerline is valid? [True, True] Translation: X:46.55, Y:-6.35, Z:-4.52 [[ 9.68026610e-01 2.46226085e-01 4.79290794e-02 4.65450309e+01] [-2.45902004e-01 9.69212317e-01 -1.26368163e-02 -6.35178627e+00] [-4.95649679e-02 4.46917762e-04 9.98770802e-01 -4.51786309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082401008000005 meters 0.06202149262597664 Centerline is valid? [True, True] Translation: X:46.58, Y:-6.36, Z:-4.52 [[ 9.68361071e-01 2.44819408e-01 4.83765749e-02 4.65760315e+01] [-2.44486967e-01 9.69568550e-01 -1.27652059e-02 -6.36129956e+00] [-5.00295757e-02 5.33886377e-04 9.98747594e-01 -4.51842362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112401008000006 meters 0.06242887236685434 Centerline is valid? [True, True] Translation: X:46.61, Y:-6.37, Z:-4.52 [[ 9.69295521e-01 2.40652590e-01 5.05225092e-02 4.66053975e+01] [-2.40283357e-01 9.70610988e-01 -1.33498196e-02 -6.37067712e+00] [-5.22503712e-02 8.00202254e-04 9.98633696e-01 -4.52083850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142401008 meters 0.06241898637229788 Centerline is valid? [True, True] Translation: X:46.64, Y:-6.38, Z:-4.52 [[ 9.70386118e-01 2.35057412e-01 5.56668159e-02 4.66363615e+01] [-2.34599472e-01 9.71980721e-01 -1.47161661e-02 -6.38123278e+00] [-5.75662158e-02 1.22095768e-03 9.98340944e-01 -4.51526597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.172401008 meters 0.06299177436918929 Centerline is valid? [True, True] Translation: X:46.67, Y:-6.39, Z:-4.51 [[ 9.71401069e-01 2.30044941e-01 5.88157210e-02 4.66673315e+01] [-2.29523378e-01 9.73178655e-01 -1.55667905e-02 -6.39121267e+00] [-6.08192656e-02 1.62201394e-03 9.98147477e-01 -4.51371577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202401008 meters 0.06486184861121116 Centerline is valid? [True, True] Translation: X:46.70, Y:-6.40, Z:-4.52 [[ 9.73496378e-01 2.21575664e-01 5.66482756e-02 4.66968921e+01] [-2.21077319e-01 9.75140973e-01 -1.49967351e-02 -6.39844115e+00] [-5.85629661e-02 2.07561837e-03 9.98281559e-01 -4.52071480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.232401008000004 meters 0.0662628280174079 Centerline is valid? [True, True] Translation: X:46.73, Y:-6.41, Z:-4.53 [[ 9.74315132e-01 2.18721144e-01 5.35824988e-02 4.67262037e+01] [-2.18270717e-01 9.75785080e-01 -1.41905794e-02 -6.40621866e+00] [-5.53887826e-02 2.13060581e-03 9.98462590e-01 -4.52805893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262401008000005 meters 0.06598457833478248 Centerline is valid? [True, True] Translation: X:46.76, Y:-6.41, Z:-4.53 [[ 9.74642289e-01 2.17776155e-01 5.14388436e-02 4.67578333e+01] [-2.17359564e-01 9.75996483e-01 -1.36266318e-02 -6.40974503e+00] [-5.31716859e-02 2.10036696e-03 9.98583176e-01 -4.53232198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.292401008000006 meters 0.06651754133700807 Centerline is valid? [True, True] Translation: X:46.79, Y:-6.42, Z:-4.54 [[ 9.74795283e-01 2.17525977e-01 4.95641485e-02 4.67883372e+01] [-2.17138357e-01 9.76052385e-01 -1.31406036e-02 -6.41637009e+00] [-5.12356280e-02 2.04712068e-03 9.98684495e-01 -4.53648728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322401008 meters 0.0650831105637525 Centerline is valid? [True, True] Translation: X:46.82, Y:-6.42, Z:-4.54 [[ 9.74015473e-01 2.21228708e-01 4.84945160e-02 4.68205428e+01] [-2.20861664e-01 9.75220249e-01 -1.28682050e-02 -6.41600089e+00] [-5.01396504e-02 1.82325127e-03 9.98740553e-01 -4.53596769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.352401008 meters 0.06473921034431929 Centerline is valid? [True, True] Translation: X:46.85, Y:-6.42, Z:-4.54 [[ 9.73317136e-01 2.24526469e-01 4.73457123e-02 4.68508712e+01] [-2.24180126e-01 9.74466641e-01 -1.25712728e-02 -6.42039381e+00] [-4.89594008e-02 1.62186748e-03 9.98799453e-01 -4.53796642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382401008 meters 0.064054556474665 Centerline is valid? [True, True] Translation: X:46.88, Y:-6.42, Z:-4.54 [[ 9.72457741e-01 2.28414187e-01 4.63993690e-02 4.68828918e+01] [-2.28085375e-01 9.73563029e-01 -1.23324773e-02 -6.42265068e+00] [-4.79896230e-02 1.40979552e-03 9.98846839e-01 -4.54026072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412401008 meters 0.06266741013642216 Centerline is valid? [True, True] Translation: X:46.92, Y:-6.42, Z:-4.54 [[ 9.70048183e-01 2.38266991e-01 4.72796379e-02 4.69151036e+01] [-2.37937147e-01 9.71199234e-01 -1.25682476e-02 -6.41760277e+00] [-4.89125467e-02 9.42223539e-04 9.98802621e-01 -4.54267349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442401008000004 meters 0.062133468933149444 Centerline is valid? [True, True] Translation: X:46.95, Y:-6.42, Z:-4.55 [[ 9.68903562e-01 2.42635994e-01 4.85145594e-02 4.69456750e+01] [-2.42293696e-01 9.70117113e-01 -1.29055059e-02 -6.41877749e+00] [-5.01961446e-02 7.49418725e-04 9.98739098e-01 -4.54526324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472401008000006 meters 0.061832103414287146 Centerline is valid? [True, True] Translation: X:46.98, Y:-6.42, Z:-4.55 [[ 9.67488757e-01 2.48059182e-01 4.93168042e-02 4.69768659e+01] [-2.47712298e-01 9.68744761e-01 -1.31227055e-02 -6.41958174e+00] [-5.10306033e-02 4.79691160e-04 9.98696975e-01 -4.54860702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50240100800001 meters 0.061443288541743725 Centerline is valid? [True, True] Translation: X:47.01, Y:-6.42, Z:-4.55 [[ 9.66077495e-01 2.53347095e-01 5.00951453e-02 4.70095664e+01] [-2.52995754e-01 9.67375420e-01 -1.33395932e-02 -6.42042869e+00] [-5.18403595e-02 2.13221763e-04 9.98655362e-01 -4.55041078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.532401008 meters 0.06157787934286065 Centerline is valid? [True, True] Translation: X:47.04, Y:-6.42, Z:-4.55 [[ 9.63447327e-01 2.62935156e-01 5.13259328e-02 4.70436693e+01] [-2.62579070e-01 9.64813462e-01 -1.36826638e-02 -6.41727675e+00] [-5.31176043e-02 -2.94589826e-04 9.98588220e-01 -4.55224310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562401008 meters 0.061903576366468004 Centerline is valid? [True, True] Translation: X:47.07, Y:-6.42, Z:-4.55 [[ 9.62180719e-01 2.67617213e-01 5.08850766e-02 4.70744048e+01] [-2.67273579e-01 9.63525158e-01 -1.35684855e-02 -6.42038455e+00] [-5.26602117e-02 -5.44901438e-04 9.98612340e-01 -4.55451327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.592401008 meters 0.06262235837927392 Centerline is valid? [True, True] Translation: X:47.11, Y:-6.42, Z:-4.56 [[ 9.60980566e-01 2.71749586e-01 5.16576671e-02 4.71057245e+01] [-2.71401039e-01 9.62367684e-01 -1.37810289e-02 -6.42375381e+00] [-5.34586583e-02 -7.76643519e-04 9.98569762e-01 -4.55686096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622401008000004 meters 0.06318548446591529 Centerline is valid? [True, True] Translation: X:47.14, Y:-6.43, Z:-4.56 [[ 9.59712372e-01 2.75910571e-01 5.31556213e-02 4.71378982e+01] [-2.75547201e-01 9.61182763e-01 -1.41928072e-02 -6.42925333e+00] [-5.50082125e-02 -1.02587005e-03 9.98485375e-01 -4.55693723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652401008000005 meters 0.06356118793890694 Centerline is valid? [True, True] Translation: X:47.17, Y:-6.44, Z:-4.56 [[ 9.58870602e-01 2.78701135e-01 5.37851825e-02 4.71688136e+01] [-2.78332733e-01 9.60377149e-01 -1.43743391e-02 -6.43561468e+00] [-5.56602048e-02 -1.18704563e-03 9.98449064e-01 -4.55770889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68240100800001 meters 0.0654038781006795 Centerline is valid? [True, True] Translation: X:47.20, Y:-6.44, Z:-4.56 [[ 9.57703560e-01 2.82911441e-01 5.25833462e-02 4.71997508e+01] [-2.82564913e-01 9.59145033e-01 -1.40668166e-02 -6.43661253e+00] [-5.44147187e-02 -1.38636828e-03 9.98517459e-01 -4.56422839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.712401008 meters 0.0646638605689875 Centerline is valid? [True, True] Translation: X:47.23, Y:-6.45, Z:-4.57 [[ 9.57274581e-01 2.84543149e-01 5.15807450e-02 4.72294114e+01] [-2.84211888e-01 9.58662141e-01 -1.38022305e-02 -6.44807240e+00] [-5.33758376e-02 -1.44733646e-03 9.98573445e-01 -4.56657683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742401008 meters 0.06645952666777438 Centerline is valid? [True, True] Translation: X:47.26, Y:-6.45, Z:-4.57 [[ 9.57224882e-01 2.84679155e-01 5.17523269e-02 4.72609188e+01] [-2.84345104e-01 9.58621765e-01 -1.38626576e-02 -6.45186696e+00] [-5.35573166e-02 -1.44584004e-03 9.98563730e-01 -4.57450377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.772401008 meters 0.06479596837400484 Centerline is valid? [True, True] Translation: X:47.29, Y:-6.47, Z:-4.58 [[ 9.57293343e-01 2.84463422e-01 5.16722054e-02 4.72902670e+01] [-2.84129650e-01 9.58685837e-01 -1.38494499e-02 -6.46700650e+00] [-5.34770734e-02 -1.42361938e-03 9.98568063e-01 -4.57518498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802401008000004 meters 0.06585410840930483 Centerline is valid? [True, True] Translation: X:47.32, Y:-6.47, Z:-4.58 [[ 9.57555616e-01 2.83704251e-01 5.09817675e-02 4.73197007e+01] [-2.83377584e-01 9.58910880e-01 -1.36773475e-02 -6.47447601e+00] [-5.27672932e-02 -1.35026922e-03 9.98605923e-01 -4.58011042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832401008000005 meters 0.06320481590397932 Centerline is valid? [True, True] Translation: X:47.35, Y:-6.50, Z:-4.58 [[ 9.58909173e-01 2.79066187e-01 5.11396223e-02 4.73461157e+01] [-2.78730251e-01 9.60271255e-01 -1.37318619e-02 -6.49816209e+00] [-5.29400076e-02 -1.08655146e-03 9.98597103e-01 -4.57767187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862401008000006 meters 0.06277299927721498 Centerline is valid? [True, True] Translation: X:47.37, Y:-6.51, Z:-4.58 [[ 9.59558687e-01 2.76730518e-01 5.16463627e-02 4.73746281e+01] [-2.76383915e-01 9.60947088e-01 -1.38789917e-02 -6.51149933e+00] [-5.34701624e-02 -9.56516871e-04 9.98568990e-01 -4.58062361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.892401008 meters 0.06277299927721498 Centerline is valid? [True, True] Translation: X:47.41, Y:-6.52, Z:-4.58 [[ 9.59485218e-01 2.76985662e-01 5.16435750e-02 4.74057376e+01] [-2.76638870e-01 9.60873572e-01 -1.38893558e-02 -6.52004929e+00] [-5.34700988e-02 -9.59988668e-04 9.98568990e-01 -4.58294172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922401008 meters 0.06228619502937191 Centerline is valid? [True, True] Translation: X:47.43, Y:-6.53, Z:-4.59 [[ 9.60238514e-01 2.74450894e-01 5.11732680e-02 4.74346340e+01] [-2.74105998e-01 9.61600786e-01 -1.37778842e-02 -6.53402585e+00] [-5.29896073e-02 -7.96844617e-04 9.98594746e-01 -4.58511936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.952401008 meters 0.06174576836127431 Centerline is valid? [True, True] Translation: X:47.46, Y:-6.55, Z:-4.59 [[ 9.61628486e-01 2.69871716e-01 4.93954716e-02 4.74619271e+01] [-2.69543715e-01 9.62896149e-01 -1.33113858e-02 -6.55054292e+00] [-5.11550759e-02 -5.13631137e-04 9.98690590e-01 -4.59021835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982401008000004 meters 0.061623706385673695 Centerline is valid? [True, True] Translation: X:47.49, Y:-6.56, Z:-4.59 [[ 9.62118936e-01 2.68264739e-01 4.85920117e-02 4.74928368e+01] [-2.67944776e-01 9.63345141e-01 -1.31048295e-02 -6.56314946e+00] [-5.03264420e-02 -4.11571077e-04 9.98732737e-01 -4.59317843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012401008000005 meters 0.06139383275793045 Centerline is valid? [True, True] Translation: X:47.52, Y:-6.58, Z:-4.60 [[ 9.62489564e-01 2.67099332e-01 4.76632541e-02 4.75236938e+01] [-2.66789417e-01 9.63668946e-01 -1.28673925e-02 -6.57509434e+00] [-4.93684697e-02 -3.31320779e-04 9.98780579e-01 -4.59511918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042401008000006 meters 0.061262841359224315 Centerline is valid? [True, True] Translation: X:47.55, Y:-6.59, Z:-4.60 [[ 9.63604270e-01 2.63386932e-01 4.57617074e-02 4.75524637e+01] [-2.63096453e-01 9.64690266e-01 -1.23672068e-02 -6.58950876e+00] [-4.74032344e-02 -1.22649574e-04 9.98875827e-01 -4.59852064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.072401008 meters 0.06121553797791139 Centerline is valid? [True, True] Translation: X:47.58, Y:-6.60, Z:-4.60 [[ 9.64161596e-01 2.61447408e-01 4.51405562e-02 4.75815267e+01] [-2.61162097e-01 9.65217723e-01 -1.22109181e-02 -6.60019090e+00] [-4.67629777e-02 -1.57040353e-05 9.98906013e-01 -4.60226861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102401008 meters 0.061400963196939704 Centerline is valid? [True, True] Translation: X:47.61, Y:-6.61, Z:-4.60 [[ 9.64748271e-01 2.59403083e-01 4.43938557e-02 4.76117287e+01] [-2.59124534e-01 9.65769140e-01 -1.20184848e-02 -6.61092443e+00] [-4.59918479e-02 9.12752075e-05 9.98941811e-01 -4.60495938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.132401008 meters 0.06153262623942445 Centerline is valid? [True, True] Translation: X:47.64, Y:-6.62, Z:-4.61 [[ 9.65263385e-01 2.57505716e-01 4.42425562e-02 4.76405391e+01] [-2.57226440e-01 9.66276756e-01 -1.19912596e-02 -6.62119184e+00] [-4.58383716e-02 1.94368657e-04 9.98948851e-01 -4.60896851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162401008 meters 0.061626175465829165 Centerline is valid? [True, True] Translation: X:47.67, Y:-6.63, Z:-4.61 [[ 9.65957550e-01 2.54965820e-01 4.38000268e-02 4.76706952e+01] [-2.54689350e-01 9.66950015e-01 -1.18745029e-02 -6.63236140e+00] [-4.53800289e-02 3.14865417e-04 9.98969746e-01 -4.60921074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192401008000004 meters 0.061370942577037395 Centerline is valid? [True, True] Translation: X:47.70, Y:-6.64, Z:-4.61 [[ 9.66189741e-01 2.54182935e-01 4.32252154e-02 4.77017572e+01] [-2.53912446e-01 9.67156093e-01 -1.17286757e-02 -6.64046254e+00] [-4.47867596e-02 3.56706033e-04 9.98996506e-01 -4.60891535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222401008000006 meters 0.06147259461704484 Centerline is valid? [True, True] Translation: X:47.73, Y:-6.65, Z:-4.61 [[ 9.66406866e-01 2.53196010e-01 4.41537096e-02 4.77312578e+01] [-2.52912083e-01 9.67414906e-01 -1.19949200e-02 -6.64837528e+00] [-4.57520227e-02 4.24966386e-04 9.98952738e-01 -4.61165478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25240100800001 meters 0.061792809121614486 Centerline is valid? [True, True] Translation: X:47.76, Y:-6.66, Z:-4.62 [[ 9.66824532e-01 2.51557951e-01 4.43725343e-02 4.77610226e+01] [-2.51269175e-01 9.67842103e-01 -1.20609364e-02 -6.65617484e+00] [-4.59796314e-02 5.11359136e-04 9.98942247e-01 -4.61605174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282401008 meters 0.06181822157965565 Centerline is valid? [True, True] Translation: X:47.79, Y:-6.66, Z:-4.62 [[ 9.66945348e-01 2.51077866e-01 4.44589530e-02 4.77925280e+01] [-2.50787335e-01 9.67966743e-01 -1.20870502e-02 -6.66432661e+00] [-4.60695787e-02 5.37774580e-04 9.98938089e-01 -4.61877189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.312401008 meters 0.06165136736347074 Centerline is valid? [True, True] Translation: X:47.82, Y:-6.67, Z:-4.62 [[ 9.66999420e-01 2.50784531e-01 4.49359511e-02 4.78249069e+01] [-2.50486817e-01 9.68042765e-01 -1.22294993e-02 -6.67224880e+00] [-4.65668916e-02 5.70055373e-04 9.98915011e-01 -4.61895722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342401008 meters 0.061568237606499855 Centerline is valid? [True, True] Translation: X:47.86, Y:-6.68, Z:-4.62 [[ 9.67496059e-01 2.48573363e-01 4.65043970e-02 4.78563836e+01] [-2.48251053e-01 9.68612806e-01 -1.26746639e-02 -6.68126325e+00] [-4.81953383e-02 7.17921816e-04 9.98837671e-01 -4.61702649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372401008000004 meters 0.061439156980089865 Centerline is valid? [True, True] Translation: X:47.89, Y:-6.69, Z:-4.62 [[ 9.67717564e-01 2.47757533e-01 4.62484680e-02 4.78876441e+01] [-2.47437811e-01 9.68821777e-01 -1.26053258e-02 -6.68963933e+00] [-4.79295873e-02 7.54775466e-04 9.98850432e-01 -4.61770603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402401008000005 meters 0.06166189932304004 Centerline is valid? [True, True] Translation: X:47.92, Y:-6.70, Z:-4.62 [[ 9.67884811e-01 2.46813419e-01 4.77716353e-02 4.79172547e+01] [-2.46470493e-01 9.69062655e-01 -1.30332735e-02 -6.69924863e+00] [-4.95104946e-02 8.40408994e-04 9.98773250e-01 -4.61999680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43240100800001 meters 0.061638978067038615 Centerline is valid? [True, True] Translation: X:47.95, Y:-6.71, Z:-4.62 [[ 9.67946990e-01 2.46322893e-01 4.90271009e-02 4.79482341e+01] [-2.45960417e-01 9.69187403e-01 -1.33884956e-02 -6.70580010e+00] [-5.08143416e-02 9.00627874e-04 9.98707711e-01 -4.61964827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462401008 meters 0.06151646463149338 Centerline is valid? [True, True] Translation: X:47.98, Y:-6.71, Z:-4.62 [[ 9.67917777e-01 2.46177464e-01 5.03173221e-02 4.79800068e+01] [-2.45794647e-01 9.69224308e-01 -1.37561719e-02 -6.71308667e+00] [-5.21552312e-02 9.47114867e-04 9.98638541e-01 -4.62154059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492401008 meters 0.06157877040907658 Centerline is valid? [True, True] Translation: X:48.01, Y:-6.72, Z:-4.62 [[ 9.67997749e-01 2.45866846e-01 5.02976240e-02 4.80112417e+01] [-2.45483788e-01 9.69303132e-01 -1.37531382e-02 -6.72063797e+00] [-5.21350851e-02 9.65755528e-04 9.98639575e-01 -4.62387184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522401008 meters 0.06147248031444282 Centerline is valid? [True, True] Translation: X:48.04, Y:-6.73, Z:-4.63 [[ 9.68030352e-01 2.45641804e-01 5.07675278e-02 4.80430415e+01] [-2.45250548e-01 9.69360152e-01 -1.38947499e-02 -6.72764873e+00] [-5.26251499e-02 9.99775651e-04 9.98613836e-01 -4.62580129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552401008000004 meters 0.06154097685837552 Centerline is valid? [True, True] Translation: X:48.07, Y:-6.74, Z:-4.63 [[ 9.68504226e-01 2.43739803e-01 5.08966885e-02 4.80741942e+01] [-2.43343153e-01 9.69840015e-01 -1.39447545e-02 -6.73658213e+00] [-5.27605369e-02 1.12019300e-03 9.98606565e-01 -4.62676860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582401008000005 meters 0.062149045011983005 Centerline is valid? [True, True] Translation: X:48.10, Y:-6.75, Z:-4.63 [[ 9.68619100e-01 2.43630558e-01 4.92055951e-02 4.81030896e+01] [-2.43259096e-01 9.69867486e-01 -1.34933776e-02 -6.74853548e+00] [-5.10103059e-02 1.10023462e-03 9.98697521e-01 -4.63091974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.612401008000006 meters 0.062104179527353344 Centerline is valid? [True, True] Translation: X:48.13, Y:-6.76, Z:-4.63 [[ 9.68801944e-01 2.42984445e-01 4.87991112e-02 4.81338811e+01] [-2.42617737e-01 9.70029520e-01 -1.33926507e-02 -6.75711138e+00] [-5.05907843e-02 1.13529605e-03 9.98718821e-01 -4.63272237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642401008 meters 0.06175320963715924 Centerline is valid? [True, True] Translation: X:48.17, Y:-6.76, Z:-4.63 [[ 9.68903929e-01 2.42715428e-01 4.81081861e-02 4.81654178e+01] [-2.42358171e-01 9.70096858e-01 -1.32137653e-02 -6.76294553e+00] [-4.98767848e-02 1.14345712e-03 9.98754724e-01 -4.63370741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.672401008 meters 0.06200738627379934 Centerline is valid? [True, True] Translation: X:48.20, Y:-6.77, Z:-4.64 [[ 9.68770840e-01 2.43350586e-01 4.75768059e-02 4.81960001e+01] [-2.43001307e-01 9.69937760e-01 -1.30807703e-02 -6.77174416e+00] [-4.93297537e-02 1.11104279e-03 9.98781929e-01 -4.63835521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702401008 meters 0.0620911268435882 Centerline is valid? [True, True] Translation: X:48.23, Y:-6.78, Z:-4.64 [[ 9.68466850e-01 2.44776228e-01 4.64387581e-02 4.82275774e+01] [-2.44444833e-01 9.69579063e-01 -1.27735598e-02 -6.77912536e+00] [-4.81527113e-02 1.01905479e-03 9.98839466e-01 -4.64245289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.732401008000004 meters 0.06139475512572573 Centerline is valid? [True, True] Translation: X:48.26, Y:-6.78, Z:-4.64 [[ 9.67977865e-01 2.47016234e-01 4.47418507e-02 4.82604107e+01] [-2.46710502e-01 9.69010937e-01 -1.23179457e-02 -6.78338552e+00] [-4.63980753e-02 8.85214367e-04 9.98922637e-01 -4.64372556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762401008000005 meters 0.06175427135656977 Centerline is valid? [True, True] Translation: X:48.29, Y:-6.79, Z:-4.65 [[ 9.67348315e-01 2.49624325e-01 4.38740610e-02 4.82902531e+01] [-2.49332399e-01 9.68342460e-01 -1.20927246e-02 -6.79160240e+00] [-4.55037544e-02 7.58651867e-04 9.98963880e-01 -4.65067905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.792401008000006 meters 0.061451339303851014 Centerline is valid? [True, True] Translation: X:48.32, Y:-6.79, Z:-4.65 [[ 9.65673500e-01 2.56303781e-01 4.22263377e-02 4.83214834e+01] [-2.56039331e-01 9.66596183e-01 -1.16481574e-02 -6.79436877e+00] [-4.38012837e-02 4.36713704e-04 9.99040168e-01 -4.65398678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822401008 meters 0.06099241553151758 Centerline is valid? [True, True] Translation: X:48.35, Y:-6.80, Z:-4.65 [[ 9.64612054e-01 2.60319164e-01 4.19227691e-02 4.83538321e+01] [-2.60061748e-01 9.65522585e-01 -1.15769005e-02 -6.79890007e+00] [-4.34910695e-02 2.64709145e-04 9.99053781e-01 -4.65417109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.852401008 meters 0.06098196211769382 Centerline is valid? [True, True] Translation: X:48.39, Y:-6.80, Z:-4.66 [[ 9.63758989e-01 2.63497662e-01 4.16844420e-02 4.83850653e+01] [-2.63245978e-01 9.64660027e-01 -1.15146853e-02 -6.80475872e+00] [-4.32454076e-02 1.24119777e-04 9.99064472e-01 -4.65630981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882401008 meters 0.06080206889888806 Centerline is valid? [True, True] Translation: X:48.42, Y:-6.81, Z:-4.66 [[ 9.62006014e-01 2.69612295e-01 4.30539050e-02 4.84179340e+01] [-2.69349779e-01 9.62968944e-01 -1.18957822e-02 -6.80754172e+00] [-4.46668225e-02 -1.52745744e-04 9.99001928e-01 -4.65819455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.912401008 meters 0.06103831489250533 Centerline is valid? [True, True] Translation: X:48.45, Y:-6.81, Z:-4.66 [[ 9.61187750e-01 2.72407745e-01 4.37279092e-02 4.84484920e+01] [-2.72139560e-01 9.62181865e-01 -1.20879703e-02 -6.81244730e+00] [-4.53670580e-02 -2.81284951e-04 9.98970345e-01 -4.66070417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942401008000004 meters 0.06126934503059425 Centerline is valid? [True, True] Translation: X:48.48, Y:-6.82, Z:-4.66 [[ 9.60355428e-01 2.75187221e-01 4.46032008e-02 4.84805894e+01] [-2.74911038e-01 9.61390565e-01 -1.23329720e-02 -6.81915848e+00] [-4.62749727e-02 -4.17875586e-04 9.98928652e-01 -4.66253654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.972401008000006 meters 0.06131016026977746 Centerline is valid? [True, True] Translation: X:48.51, Y:-6.83, Z:-4.66 [[ 9.59639598e-01 2.77612240e-01 4.49809476e-02 4.85117162e+01] [-2.77333372e-01 9.60693066e-01 -1.24512301e-02 -6.82646837e+00] [-4.66694983e-02 -5.26024374e-04 9.98910247e-01 -4.66293208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00240100800001 meters 0.06152992558777785 Centerline is valid? [True, True] Translation: X:48.54, Y:-6.83, Z:-4.67 [[ 9.59186351e-01 2.78979258e-01 4.61748473e-02 4.85420403e+01] [-2.78686364e-01 9.60296943e-01 -1.27942370e-02 -6.83369912e+00] [-4.79108915e-02 -5.96242786e-04 9.98851436e-01 -4.66545564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032401008 meters 0.06132757279877906 Centerline is valid? [True, True] Translation: X:48.57, Y:-6.85, Z:-4.66 [[ 9.58645642e-01 2.80458931e-01 4.83871921e-02 4.85728867e+01] [-2.80138417e-01 9.59865779e-01 -1.34221051e-02 -6.84561887e+00] [-5.02095591e-02 -6.88068879e-04 9.98738468e-01 -4.66269109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062401008 meters 0.06165443617543396 Centerline is valid? [True, True] Translation: X:48.60, Y:-6.85, Z:-4.67 [[ 9.58549096e-01 2.80839114e-01 4.80938911e-02 4.86028622e+01] [-2.80522921e-01 9.59754603e-01 -1.33414019e-02 -6.85480951e+00] [-4.99051209e-02 -7.03050077e-04 9.98753716e-01 -4.66613540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092401008 meters 0.06125092659330003 Centerline is valid? [True, True] Translation: X:48.63, Y:-6.87, Z:-4.67 [[ 9.58613784e-01 2.80675768e-01 4.77569571e-02 4.86329615e+01] [-2.80363152e-01 9.59802404e-01 -1.32607878e-02 -6.86759820e+00] [-4.95592241e-02 -6.77317036e-04 9.98770957e-01 -4.66615538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122401008000004 meters 0.06112745943085735 Centerline is valid? [True, True] Translation: X:48.66, Y:-6.88, Z:-4.67 [[ 9.59164368e-01 2.78947711e-01 4.68176198e-02 4.86624072e+01] [-2.78644614e-01 9.60306126e-01 -1.30124210e-02 -6.88052240e+00] [-4.85890321e-02 -5.64427018e-04 9.98818696e-01 -4.66922137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152401008000005 meters 0.060994297730310267 Centerline is valid? [True, True] Translation: X:48.69, Y:-6.89, Z:-4.67 [[ 9.59447850e-01 2.77899330e-01 4.72417809e-02 4.86923356e+01] [-2.77588791e-01 9.60610071e-01 -1.31435835e-02 -6.89084670e+00] [-4.90335236e-02 -5.03205906e-04 9.98797007e-01 -4.67148749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18240100800001 meters 0.060939909601131374 Centerline is valid? [True, True] Translation: X:48.72, Y:-6.90, Z:-4.67 [[ 9.59663900e-01 2.77177382e-01 4.70945582e-02 4.87232763e+01] [-2.76867364e-01 9.60818657e-01 -1.31137504e-02 -6.90099076e+00] [-4.88841652e-02 -4.54153306e-04 9.98804351e-01 -4.67465924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.212401008 meters 0.06108791787219809 Centerline is valid? [True, True] Translation: X:48.75, Y:-6.91, Z:-4.68 [[ 9.59883679e-01 2.76527386e-01 4.64319795e-02 4.87541891e+01] [-2.76224638e-01 9.61005954e-01 -1.29424229e-02 -6.91103312e+00] [-4.82003431e-02 -4.02436266e-04 9.98837607e-01 -4.67832557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242401008 meters 0.06126103279895983 Centerline is valid? [True, True] Translation: X:48.78, Y:-6.92, Z:-4.68 [[ 9.60004806e-01 2.76209007e-01 4.58187390e-02 4.87845332e+01] [-2.75913205e-01 9.61097523e-01 -1.27849341e-02 -6.92111876e+00] [-4.75675905e-02 -3.68396959e-04 9.98867954e-01 -4.68374011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.272401008 meters 0.061545548296470416 Centerline is valid? [True, True] Translation: X:48.81, Y:-6.93, Z:-4.69 [[ 9.59958789e-01 2.76544894e-01 4.47442112e-02 4.88137041e+01] [-2.76262474e-01 9.61000932e-01 -1.25001911e-02 -6.92964321e+00] [-4.64560927e-02 -3.61478165e-04 9.98920267e-01 -4.68715647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302401008000004 meters 0.061432993404661185 Centerline is valid? [True, True] Translation: X:48.84, Y:-6.94, Z:-4.69 [[ 9.59648729e-01 2.77737333e-01 4.40033104e-02 4.88446346e+01] [-2.77465349e-01 9.60656966e-01 -1.22953100e-02 -6.93907777e+00] [-4.56869533e-02 -4.10215266e-04 9.98955722e-01 -4.68746430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332401008000005 meters 0.06143010253741986 Centerline is valid? [True, True] Translation: X:48.88, Y:-6.95, Z:-4.69 [[ 9.59364713e-01 2.78663639e-01 4.43387296e-02 4.88765135e+01] [-2.78388015e-01 9.60388658e-01 -1.23991168e-02 -6.94812296e+00] [-4.60375961e-02 -4.48095798e-04 9.98939607e-01 -4.68863068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362401008000006 meters 0.06217826569064301 Centerline is valid? [True, True] Translation: X:48.91, Y:-6.95, Z:-4.69 [[ 9.58470561e-01 2.81930454e-01 4.30046784e-02 4.89068094e+01] [-2.81673729e-01 9.59434674e-01 -1.20423324e-02 -6.95212558e+00] [-4.46552798e-02 -5.71067040e-04 9.99002292e-01 -4.69451029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392401008 meters 0.06217826569064301 Centerline is valid? [True, True] Translation: X:48.94, Y:-6.96, Z:-4.70 [[ 9.58396374e-01 2.82182604e-01 4.30042883e-02 4.89378288e+01] [-2.81926069e-01 9.59360537e-01 -1.20437280e-02 -6.96100470e+00] [-4.46551476e-02 -5.81364700e-04 9.99002292e-01 -4.69682382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422401008 meters 0.06299041453490058 Centerline is valid? [True, True] Translation: X:48.97, Y:-6.96, Z:-4.70 [[ 9.57004316e-01 2.86796887e-01 4.34774140e-02 4.89704661e+01] [-2.86538814e-01 9.57991085e-01 -1.21897460e-02 -6.96358524e+00] [-4.51469562e-02 -7.92327101e-04 9.98980042e-01 -4.70036988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452401008 meters 0.0632517551684732 Centerline is valid? [True, True] Translation: X:49.00, Y:-6.97, Z:-4.70 [[ 9.56170201e-01 2.89379931e-01 4.46967839e-02 4.90020766e+01] [-2.89109463e-01 9.57213870e-01 -1.25429600e-02 -6.97093693e+00] [-4.64140624e-02 -9.29058626e-04 9.98921855e-01 -4.70053312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482401008000004 meters 0.06378399737937401 Centerline is valid? [True, True] Translation: X:49.03, Y:-6.98, Z:-4.70 [[ 9.55619750e-01 2.91303673e-01 4.39666262e-02 4.90321766e+01] [-2.91043486e-01 9.56630117e-01 -1.23494494e-02 -6.97724109e+00] [-4.56572387e-02 -9.94822409e-04 9.98956669e-01 -4.70335698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512401008000005 meters 0.06411748551969304 Centerline is valid? [True, True] Translation: X:49.06, Y:-6.99, Z:-4.71 [[ 9.55150183e-01 2.92769690e-01 4.44301332e-02 4.90629466e+01] [-2.92505101e-01 9.56182394e-01 -1.24897804e-02 -6.98557044e+00] [-4.61399403e-02 -1.06642458e-03 9.98934417e-01 -4.70525495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542401008000006 meters 0.06398583976005177 Centerline is valid? [True, True] Translation: X:49.09, Y:-6.99, Z:-4.71 [[ 9.54740011e-01 2.94118147e-01 4.43398976e-02 4.90931402e+01] [-2.93855578e-01 9.55768415e-01 -1.24753910e-02 -6.99497896e+00] [-4.60479126e-02 -1.11877130e-03 9.98938606e-01 -4.70667431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572401008 meters 0.06457763668135524 Centerline is valid? [True, True] Translation: X:49.12, Y:-7.00, Z:-4.71 [[ 9.54838260e-01 2.93766275e-01 4.45564095e-02 4.91226117e+01] [-2.93500186e-01 9.55876653e-01 -1.25485078e-02 -7.00247095e+00] [-4.62767600e-02 -1.09551908e-03 9.98928056e-01 -4.71076607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602401008 meters 0.06403771043050765 Centerline is valid? [True, True] Translation: X:49.15, Y:-7.01, Z:-4.71 [[ 9.54940661e-01 2.93348838e-01 4.51086718e-02 4.91526153e+01] [-2.93075141e-01 9.56004862e-01 -1.27147778e-02 -7.01480331e+00] [-4.68539749e-02 -1.07837198e-03 9.98901167e-01 -4.71075285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632401008 meters 0.06323010010639636 Centerline is valid? [True, True] Translation: X:49.18, Y:-7.03, Z:-4.71 [[ 9.55733481e-01 2.90738642e-01 4.52167675e-02 4.91818017e+01] [-2.90460171e-01 9.56802046e-01 -1.27567154e-02 -7.02923810e+00] [-4.69723658e-02 -9.41649948e-04 9.98895745e-01 -4.71149901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662401008 meters 0.06283206973328234 Centerline is valid? [True, True] Translation: X:49.21, Y:-7.04, Z:-4.71 [[ 9.56226149e-01 2.89038685e-01 4.56967171e-02 4.92116803e+01] [-2.88751775e-01 9.57317035e-01 -1.29037651e-02 -7.04074956e+00] [-4.74759330e-02 -8.56090595e-04 9.98872015e-01 -4.71309378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692401008000004 meters 0.06234659140530846 Centerline is valid? [True, True] Translation: X:49.24, Y:-7.05, Z:-4.72 [[ 9.57151665e-01 2.85938952e-01 4.58214510e-02 4.92410030e+01] [-2.85646359e-01 9.58247586e-01 -1.29507654e-02 -7.05194429e+00] [-4.76114231e-02 -6.92883913e-04 9.98865693e-01 -4.71595214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722401008000006 meters 0.06159677641394333 Centerline is valid? [True, True] Translation: X:49.27, Y:-7.07, Z:-4.72 [[ 9.58685008e-01 2.80683580e-01 4.62578004e-02 4.92702720e+01] [-2.80378519e-01 9.59800266e-01 -1.30895001e-02 -7.06792353e+00] [-4.80722569e-02 -4.20986086e-04 9.98843772e-01 -4.71785522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75240100800001 meters 0.061383951704383856 Centerline is valid? [True, True] Translation: X:49.30, Y:-7.08, Z:-4.72 [[ 9.59715221e-01 2.77220318e-01 4.57776104e-02 4.93001695e+01] [-2.76917602e-01 9.60806347e-01 -1.29540020e-02 -7.08072071e+00] [-4.75745312e-02 -2.44473224e-04 9.98867661e-01 -4.72103743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782401008 meters 0.061226717745761834 Centerline is valid? [True, True] Translation: X:49.33, Y:-7.09, Z:-4.72 [[ 9.60413464e-01 2.74915256e-01 4.50286556e-02 4.93302094e+01] [-2.74619337e-01 9.61468454e-01 -1.27527137e-02 -7.09135783e+00] [-4.67995475e-02 -1.17861629e-04 9.98904294e-01 -4.72410008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812401008 meters 0.06124191010876015 Centerline is valid? [True, True] Translation: X:49.36, Y:-7.10, Z:-4.73 [[ 9.60406470e-01 2.75001265e-01 4.46510486e-02 4.93614306e+01] [-2.74709862e-01 9.61443858e-01 -1.26569956e-02 -7.09984083e+00] [-4.64101662e-02 -1.10222938e-04 9.98922462e-01 -4.72606493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842401008 meters 0.06124191010876015 Centerline is valid? [True, True] Translation: X:49.39, Y:-7.11, Z:-4.73 [[ 9.60333299e-01 2.75257228e-01 4.46476526e-02 4.93924132e+01] [-2.74965545e-01 9.61370608e-01 -1.26689603e-02 -7.10880843e+00] [-4.64101639e-02 -1.10141720e-04 9.98922462e-01 -4.72838548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872401008000004 meters 0.06125610859615844 Centerline is valid? [True, True] Translation: X:49.42, Y:-7.12, Z:-4.73 [[ 9.60660210e-01 2.74131767e-01 4.45391473e-02 4.94232438e+01] [-2.73839678e-01 9.61692140e-01 -1.26514164e-02 -7.11744473e+00] [-4.63011030e-02 -4.28734425e-05 9.98927528e-01 -4.73124957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902401008000005 meters 0.061469088579274196 Centerline is valid? [True, True] Translation: X:49.45, Y:-7.13, Z:-4.74 [[ 9.61859499e-01 2.69995017e-01 4.39203349e-02 4.94533945e+01] [-2.69706131e-01 9.62861705e-01 -1.24875740e-02 -7.12792677e+00] [-4.56607913e-02 1.65708054e-04 9.98956988e-01 -4.73511284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93240100800001 meters 0.06161499906539205 Centerline is valid? [True, True] Translation: X:49.48, Y:-7.14, Z:-4.74 [[ 9.62534347e-01 2.67689179e-01 4.32450393e-02 4.94825249e+01] [-2.67406285e-01 9.63505280e-01 -1.23066904e-02 -7.13896493e+00] [-4.49611915e-02 2.81616873e-04 9.98988695e-01 -4.74001820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962401008 meters 0.06206809042721153 Centerline is valid? [True, True] Translation: X:49.51, Y:-7.15, Z:-4.74 [[ 9.63312114e-01 2.64984131e-01 4.25814639e-02 4.95120924e+01] [-2.64706804e-01 9.64252686e-01 -1.21270777e-02 -7.15003094e+00] [-4.42727740e-02 4.10557634e-04 9.99019396e-01 -4.74400579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.992401008 meters 0.0625934346248868 Centerline is valid? [True, True] Translation: X:49.54, Y:-7.16, Z:-4.75 [[ 9.64533149e-01 2.60915835e-01 3.99841340e-02 4.95408353e+01] [-2.60667438e-01 9.65361384e-01 -1.13966864e-02 -7.16246021e+00] [-4.15727149e-02 5.69920066e-04 9.99135318e-01 -4.74711413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022401008 meters 0.06273291813210145 Centerline is valid? [True, True] Translation: X:49.57, Y:-7.17, Z:-4.75 [[ 9.64906542e-01 2.59494472e-01 4.02241764e-02 4.95713220e+01] [-2.59241501e-01 9.65744379e-01 -1.14733867e-02 -7.17245444e+00] [-4.18235527e-02 6.42970023e-04 9.99124806e-01 -4.74905389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052401008000004 meters 0.062923786990246 Centerline is valid? [True, True] Translation: X:49.60, Y:-7.18, Z:-4.75 [[ 9.64937589e-01 2.59262261e-01 4.09698687e-02 4.96008085e+01] [-2.58999051e-01 9.65806720e-01 -1.16991999e-02 -7.18171975e+00] [-4.26021355e-02 6.77840659e-04 9.99091887e-01 -4.75124328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082401008000005 meters 0.06253734928007895 Centerline is valid? [True, True] Translation: X:49.63, Y:-7.19, Z:-4.75 [[ 9.64688955e-01 2.60153116e-01 4.11773900e-02 4.96321621e+01] [-2.59887794e-01 9.65567158e-01 -1.17642310e-02 -7.18915910e+00] [-4.28200368e-02 6.47322637e-04 9.99082592e-01 -4.75074543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.112401008000006 meters 0.06267988049072529 Centerline is valid? [True, True] Translation: X:49.66, Y:-7.20, Z:-4.75 [[ 9.64407209e-01 2.60858447e-01 4.32620723e-02 4.96616072e+01] [-2.60566004e-01 9.65376841e-01 -1.23658088e-02 -7.19758161e+00] [-4.49899284e-02 6.53049835e-04 9.98987227e-01 -4.75444406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142401008 meters 0.06209802176097077 Centerline is valid? [True, True] Translation: X:49.69, Y:-7.20, Z:-4.75 [[ 9.63689372e-01 2.63459869e-01 4.34935880e-02 4.96935833e+01] [-2.63166770e-01 9.64670207e-01 -1.24355569e-02 -7.20259274e+00] [-4.52332388e-02 5.37946975e-04 9.98976308e-01 -4.75278270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.172401008 meters 0.06141745343274659 Centerline is valid? [True, True] Translation: X:49.72, Y:-7.21, Z:-4.75 [[ 9.62182282e-01 2.68199722e-01 4.76882139e-02 4.97242978e+01] [-2.67852376e-01 9.63363264e-01 -1.36501228e-02 -7.20559499e+00] [-4.96020326e-02 3.60504890e-04 9.98768997e-01 -4.75087236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202401008 meters 0.06114468040742003 Centerline is valid? [True, True] Translation: X:49.76, Y:-7.21, Z:-4.75 [[ 9.61486249e-01 2.70484359e-01 4.88098744e-02 4.97560786e+01] [-2.70123103e-01 9.62724336e-01 -1.39772045e-02 -7.21200511e+00] [-5.07710691e-02 2.54215179e-04 9.98710285e-01 -4.75132932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.232401008000004 meters 0.061099625265742225 Centerline is valid? [True, True] Translation: X:49.79, Y:-7.22, Z:-4.75 [[ 9.61046860e-01 2.71811251e-01 5.00757111e-02 4.97855449e+01] [-2.71432116e-01 9.62350562e-01 -1.43527978e-02 -7.22003562e+00] [-5.20916406e-02 2.01555049e-04 9.98642288e-01 -4.75427719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262401008000005 meters 0.06103042065038142 Centerline is valid? [True, True] Translation: X:49.82, Y:-7.23, Z:-4.75 [[ 9.60908408e-01 2.72088224e-01 5.12155307e-02 4.98153867e+01] [-2.71691366e-01 9.62272289e-01 -1.46916482e-02 -7.22970819e+00] [-5.32807104e-02 2.02510787e-04 9.98579554e-01 -4.75442244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292401008000006 meters 0.06094292792841584 Centerline is valid? [True, True] Translation: X:49.85, Y:-7.24, Z:-4.76 [[ 9.60999660e-01 2.71758615e-01 5.12533777e-02 4.98468006e+01] [-2.71360148e-01 9.62365420e-01 -1.47128471e-02 -7.23881219e+00] [-5.33228214e-02 2.30916909e-04 9.98577300e-01 -4.75569760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32240100800001 meters 0.06115105248324761 Centerline is valid? [True, True] Translation: X:49.88, Y:-7.25, Z:-4.76 [[ 9.61123976e-01 2.71381843e-01 5.09175699e-02 4.98781457e+01] [-2.70987297e-01 9.62471727e-01 -1.46307673e-02 -7.24790666e+00] [-5.29772460e-02 2.63966655e-04 9.98595685e-01 -4.75895767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.352401008 meters 0.061250886634571 Centerline is valid? [True, True] Translation: X:49.91, Y:-7.26, Z:-4.76 [[ 9.61054403e-01 2.71869575e-01 4.96121858e-02 4.99073820e+01] [-2.71494891e-01 9.62334076e-01 -1.42706114e-02 -7.25683055e+00] [-5.16232420e-02 2.45378983e-04 9.98666601e-01 -4.76365015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382401008 meters 0.061609234264334144 Centerline is valid? [True, True] Translation: X:49.94, Y:-7.27, Z:-4.77 [[ 9.61000631e-01 2.72758746e-01 4.56119839e-02 4.99379298e+01] [-2.72442613e-01 9.62082444e-01 -1.31298403e-02 -7.26650749e+00] [-4.74637678e-02 1.91136685e-04 9.98872942e-01 -4.76826937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412401008 meters 0.061675227504980806 Centerline is valid? [True, True] Translation: X:49.97, Y:-7.28, Z:-4.77 [[ 9.61025907e-01 2.72954896e-01 4.38728874e-02 4.99686668e+01] [-2.72662274e-01 9.62026815e-01 -1.26369553e-02 -7.27531038e+00] [-4.56562129e-02 1.81960157e-04 9.98957195e-01 -4.77193661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442401008000004 meters 0.061811908443914765 Centerline is valid? [True, True] Translation: X:50.00, Y:-7.28, Z:-4.78 [[ 9.60828560e-01 2.73685197e-01 4.36450625e-02 4.99986506e+01] [-2.73395884e-01 9.61819312e-01 -1.25818326e-02 -7.28423213e+00] [-4.54221253e-02 1.56603678e-04 9.98967870e-01 -4.77573967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472401008000006 meters 0.06170420938834653 Centerline is valid? [True, True] Translation: X:50.03, Y:-7.29, Z:-4.78 [[ 9.60694501e-01 2.74101108e-01 4.39847493e-02 5.00299008e+01] [-2.73807140e-01 9.61700868e-01 -1.26921264e-02 -7.29293228e+00] [-4.57790975e-02 1.49917614e-04 9.98951576e-01 -4.77723775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50240100800001 meters 0.061719328248766886 Centerline is valid? [True, True] Translation: X:50.06, Y:-7.30, Z:-4.78 [[ 9.60368342e-01 2.75248517e-01 4.39420130e-02 5.00602048e+01] [-2.74955827e-01 9.61373103e-01 -1.26905741e-02 -7.30086756e+00] [-4.57377311e-02 1.05513093e-04 9.98953477e-01 -4.77917852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532401008 meters 0.06153236320466882 Centerline is valid? [True, True] Translation: X:50.09, Y:-7.31, Z:-4.78 [[ 9.60049328e-01 2.76201656e-01 4.49214019e-02 5.00910582e+01] [-2.75896205e-01 9.61099703e-01 -1.29863234e-02 -7.30861713e+00] [-4.67607901e-02 7.38667397e-05 9.98906113e-01 -4.77858971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562401008 meters 0.06147500636015358 Centerline is valid? [True, True] Translation: X:50.12, Y:-7.31, Z:-4.78 [[ 9.59408403e-01 2.78111448e-01 4.67924968e-02 5.01217150e+01] [-2.77781615e-01 9.60548813e-01 -1.35407523e-02 -7.31471554e+00] [-4.87123155e-02 -6.98383012e-06 9.98812850e-01 -4.78101419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592401008 meters 0.06160272201362056 Centerline is valid? [True, True] Translation: X:50.15, Y:-7.32, Z:-4.78 [[ 9.58890990e-01 2.79974326e-01 4.62865584e-02 5.01516451e+01] [-2.79653227e-01 9.60007484e-01 -1.34053643e-02 -7.32131712e+00] [-4.81886003e-02 -8.99024032e-05 9.98838251e-01 -4.78478264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622401008000004 meters 0.06165594508921258 Centerline is valid? [True, True] Translation: X:50.18, Y:-7.33, Z:-4.79 [[ 9.58495441e-01 2.81446913e-01 4.55425573e-02 5.01826911e+01] [-2.81137232e-01 9.59576788e-01 -1.32001822e-02 -7.32883282e+00] [-4.74167314e-02 -1.51394013e-04 9.98875183e-01 -4.78685786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652401008000005 meters 0.0615983422219932 Centerline is valid? [True, True] Translation: X:50.21, Y:-7.34, Z:-4.79 [[ 9.58058388e-01 2.82898681e-01 4.57434282e-02 5.02140240e+01] [-2.82587392e-01 9.59149775e-01 -1.32693420e-02 -7.33723537e+00] [-4.76286782e-02 -2.13711648e-04 9.98865088e-01 -4.78799145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68240100800001 meters 0.06178996107630646 Centerline is valid? [True, True] Translation: X:50.24, Y:-7.35, Z:-4.79 [[ 9.58174759e-01 2.82404054e-01 4.63581831e-02 5.02439461e+01] [-2.82082912e-01 9.59295533e-01 -1.34651692e-02 -7.34672316e+00] [-4.82738164e-02 -1.74866036e-04 9.98834124e-01 -4.79050497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.712401008 meters 0.06169200044210276 Centerline is valid? [True, True] Translation: X:50.27, Y:-7.36, Z:-4.79 [[ 9.58666364e-01 2.80805351e-01 4.59037874e-02 5.02744285e+01] [-2.80488475e-01 9.59764735e-01 -1.33367237e-02 -7.35843775e+00] [-4.78018598e-02 -9.00149575e-05 9.98856834e-01 -4.79320461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742401008 meters 0.061666979096207816 Centerline is valid? [True, True] Translation: X:50.30, Y:-7.37, Z:-4.80 [[ 9.59445629e-01 2.78055899e-01 4.63573320e-02 5.03037936e+01] [-2.77728821e-01 9.60564893e-01 -1.34829103e-02 -7.37037079e+00] [-4.82782284e-02 6.13522189e-05 9.98833925e-01 -4.79632411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.772401008 meters 0.0619045375309581 Centerline is valid? [True, True] Translation: X:50.33, Y:-7.38, Z:-4.80 [[ 9.60455460e-01 2.74561619e-01 4.62733965e-02 5.03318408e+01] [-2.74231092e-01 9.61569475e-01 -1.34704384e-02 -7.38329000e+00] [-4.81935510e-02 2.48152074e-04 9.98837985e-01 -4.79964558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802401008000004 meters 0.06277523316242332 Centerline is valid? [True, True] Translation: X:50.36, Y:-7.40, Z:-4.80 [[ 9.63047393e-01 2.65266430e-01 4.66201674e-02 5.03593879e+01] [-2.64919463e-01 9.64174874e-01 -1.35827233e-02 -7.40268029e+00] [-4.85530345e-02 7.30216620e-04 9.98820339e-01 -4.80074728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832401008000005 meters 0.06312512952786353 Centerline is valid? [True, True] Translation: X:50.39, Y:-7.42, Z:-4.80 [[ 9.64372166e-01 2.60232563e-01 4.75955680e-02 5.03888491e+01] [-2.59864322e-01 9.65545434e-01 -1.38761786e-02 -7.41721173e+00] [-4.95667169e-02 1.01341046e-03 9.98770301e-01 -4.80064687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862401008000006 meters 0.06436762011306348 Centerline is valid? [True, True] Translation: X:50.42, Y:-7.43, Z:-4.80 [[ 9.65737325e-01 2.54891932e-01 4.88008354e-02 5.04157878e+01] [-2.54497298e-01 9.66968627e-01 -1.42407769e-02 -7.43382454e+00] [-5.08187359e-02 1.33316908e-03 9.98707003e-01 -4.80192995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.892401008 meters 0.06713489677785928 Centerline is valid? [True, True] Translation: X:50.44, Y:-7.45, Z:-4.80 [[ 9.68063918e-01 2.45762186e-01 4.95297810e-02 5.04416222e+01] [-2.45343097e-01 9.69328386e-01 -1.44653058e-02 -7.45455272e+00] [-5.15656478e-02 1.85155070e-03 9.98667891e-01 -4.80440501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922401008 meters 0.06845864619251373 Centerline is valid? [True, True] Translation: X:50.47, Y:-7.47, Z:-4.81 [[ 9.68799586e-01 2.42771598e-01 4.98930267e-02 5.04709420e+01] [-2.42342021e-01 9.70081348e-01 -1.45781803e-02 -7.46758150e+00] [-5.19394627e-02 2.03215806e-03 9.98648168e-01 -4.80619868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.952401008 meters 0.0667020139383697 Centerline is valid? [True, True] Translation: X:50.50, Y:-7.47, Z:-4.80 [[ 9.69244330e-01 2.40936400e-01 5.01505661e-02 5.05026742e+01] [-2.40499916e-01 9.70538543e-01 -1.46535342e-02 -7.47219043e+00] [-5.22036271e-02 2.14164806e-03 9.98634165e-01 -4.80496431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982401008000004 meters 0.06868395634962815 Centerline is valid? [True, True] Translation: X:50.53, Y:-7.49, Z:-4.81 [[ 9.69291312e-01 2.40775621e-01 5.00145196e-02 5.05309702e+01] [-2.40340674e-01 9.70578411e-01 -1.46256010e-02 -7.48512182e+00] [-5.20645011e-02 2.15594468e-03 9.98641397e-01 -4.80984198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.012401008000005 meters 0.06965952109734493 Centerline is valid? [True, True] Translation: X:50.56, Y:-7.49, Z:-4.82 [[ 9.68763188e-01 2.43324527e-01 4.78650253e-02 5.05612681e+01] [-2.42928775e-01 9.69942990e-01 -1.40074010e-02 -7.49223457e+00] [-4.98346900e-02 1.94206247e-03 9.98755592e-01 -4.81632412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042401008000006 meters 0.06707250632984368 Centerline is valid? [True, True] Translation: X:50.59, Y:-7.49, Z:-4.82 [[ 9.68081460e-01 2.46196498e-01 4.69635180e-02 5.05942591e+01] [-2.45818346e-01 9.69218318e-01 -1.37547759e-02 -7.49234783e+00] [-4.89042796e-02 1.77124924e-03 9.98801899e-01 -4.81711340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07240100800001 meters 0.06672849524335527 Centerline is valid? [True, True] Translation: X:50.62, Y:-7.50, Z:-4.82 [[ 9.67396362e-01 2.48978567e-01 4.64106918e-02 5.06245836e+01] [-2.48611931e-01 9.68507636e-01 -1.36038997e-02 -7.49827244e+00] [-4.83361889e-02 1.62211142e-03 9.98829806e-01 -4.82000880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102401008 meters 0.06605465836873622 Centerline is valid? [True, True] Translation: X:50.66, Y:-7.50, Z:-4.82 [[ 9.66705845e-01 2.51873734e-01 4.51600585e-02 5.06563332e+01] [-2.51529364e-01 9.67759026e-01 -1.32456184e-02 -7.50310811e+00] [-4.70402776e-02 1.44553600e-03 9.98891947e-01 -4.82214499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.132401008 meters 0.06516865657243301 Centerline is valid? [True, True] Translation: X:50.69, Y:-7.51, Z:-4.82 [[ 9.66064717e-01 2.54333063e-01 4.50960687e-02 5.06887387e+01] [-2.53991833e-01 9.67115770e-01 -1.32376889e-02 -7.50705182e+00] [-4.69799011e-02 1.33443103e-03 9.98894944e-01 -4.82360379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162401008 meters 0.0649738272762252 Centerline is valid? [True, True] Translation: X:50.72, Y:-7.51, Z:-4.83 [[ 9.65455850e-01 2.56531689e-01 4.56781607e-02 5.07192020e+01] [-2.56183472e-01 9.66535006e-01 -1.34205442e-02 -7.51225204e+00] [-4.75923362e-02 1.25495316e-03 9.98866054e-01 -4.82682821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192401008000004 meters 0.06358310504101158 Centerline is valid? [True, True] Translation: X:50.75, Y:-7.51, Z:-4.83 [[ 9.64363955e-01 2.60359266e-01 4.70660768e-02 5.07526773e+01] [-2.59993535e-01 9.65511171e-01 -1.38398201e-02 -7.51015281e+00] [-4.90461484e-02 1.10974797e-03 9.98795897e-01 -4.82530845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222401008000006 meters 0.06332979374109853 Centerline is valid? [True, True] Translation: X:50.78, Y:-7.52, Z:-4.83 [[ 9.63731863e-01 2.62491573e-01 4.81567284e-02 5.07834586e+01] [-2.62110806e-01 9.64933730e-01 -1.41711696e-02 -7.51594244e+00] [-5.01878642e-02 1.03480874e-03 9.98739259e-01 -4.82819714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25240100800001 meters 0.06312506098226647 Centerline is valid? [True, True] Translation: X:50.82, Y:-7.52, Z:-4.83 [[ 9.63275243e-01 2.64134626e-01 4.83084449e-02 5.08150907e+01] [-2.63752980e-01 9.64485341e-01 -1.42264815e-02 -7.52121316e+00] [-5.03504933e-02 9.62521115e-04 9.98731146e-01 -4.82996266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282401008 meters 0.0625970133611636 Centerline is valid? [True, True] Translation: X:50.85, Y:-7.53, Z:-4.83 [[ 9.62591947e-01 2.66544501e-01 4.86905725e-02 5.08477850e+01] [-2.66159147e-01 9.63822232e-01 -1.43531723e-02 -7.52577670e+00] [-5.07548154e-02 8.56806810e-04 9.98710776e-01 -4.83108818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312401008 meters 0.06207736895176005 Centerline is valid? [True, True] Translation: X:50.88, Y:-7.53, Z:-4.83 [[ 9.61510063e-01 2.70150367e-01 5.01714784e-02 5.08799271e+01] [-2.69745659e-01 9.62817894e-01 -1.47980894e-02 -7.53123102e+00] [-5.23037064e-02 6.94973429e-04 9.98630983e-01 -4.82862209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342401008 meters 0.061991132023114286 Centerline is valid? [True, True] Translation: X:50.91, Y:-7.54, Z:-4.83 [[ 9.61032238e-01 2.71884161e-01 4.99603841e-02 5.09099920e+01] [-2.71485156e-01 9.62329800e-01 -1.47365461e-02 -7.53944406e+00] [-5.20850000e-02 5.98793217e-04 9.98642476e-01 -4.83028028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372401008000004 meters 0.06189549418887865 Centerline is valid? [True, True] Translation: X:50.94, Y:-7.55, Z:-4.83 [[ 9.60715863e-01 2.73032004e-01 4.97850817e-02 5.09426246e+01] [-2.72636779e-01 9.62004796e-01 -1.46955581e-02 -7.54630433e+00] [-5.19058451e-02 5.45011531e-04 9.98651834e-01 -4.83169588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402401008000005 meters 0.062149425892022436 Centerline is valid? [True, True] Translation: X:50.97, Y:-7.55, Z:-4.84 [[ 9.60409227e-01 2.74116906e-01 4.97397013e-02 5.09737251e+01] [-2.73723094e-01 9.61696247e-01 -1.46967938e-02 -7.55080146e+00] [-5.18631238e-02 5.00031459e-04 9.98654077e-01 -4.83848176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43240100800001 meters 0.06235758868089081 Centerline is valid? [True, True] Translation: X:51.00, Y:-7.56, Z:-4.84 [[ 9.60408190e-01 2.74259319e-01 4.89687132e-02 5.10033647e+01] [-2.73877048e-01 9.61655643e-01 -1.44839919e-02 -7.55821356e+00] [-5.10634091e-02 4.99137816e-04 9.98695288e-01 -4.84335766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462401008 meters 0.062360762149711264 Centerline is valid? [True, True] Translation: X:51.03, Y:-7.57, Z:-4.84 [[ 9.60469731e-01 2.74287030e-01 4.75869945e-02 5.10341640e+01] [-2.73925499e-01 9.61647743e-01 -1.40868852e-02 -7.56593664e+00] [-4.96257758e-02 4.94735635e-04 9.98767760e-01 -4.84468104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492401008 meters 0.06266817686890937 Centerline is valid? [True, True] Translation: X:51.06, Y:-7.58, Z:-4.85 [[ 9.61367603e-01 2.71479284e-01 4.55118648e-02 5.10639162e+01] [-2.71144790e-01 9.62444080e-01 -1.34868762e-02 -7.57723496e+00] [-4.74640323e-02 6.25540824e-04 9.98872752e-01 -4.84591127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522401008 meters 0.06270562179349609 Centerline is valid? [True, True] Translation: X:51.09, Y:-7.59, Z:-4.85 [[ 9.61813538e-01 2.69875043e-01 4.56308965e-02 5.10939310e+01] [-2.69536868e-01 9.62895092e-01 -1.35247440e-02 -7.58723345e+00] [-4.75877572e-02 7.09072998e-04 9.98866809e-01 -4.84673268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552401008000004 meters 0.06302075019086242 Centerline is valid? [True, True] Translation: X:51.12, Y:-7.60, Z:-4.85 [[ 9.62293196e-01 2.68012600e-01 4.64871038e-02 5.11233346e+01] [-2.67658718e-01 9.63415049e-01 -1.37932685e-02 -7.59701651e+00] [-4.84831451e-02 8.30489855e-04 9.98823656e-01 -4.84832755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582401008000005 meters 0.06337944562419309 Centerline is valid? [True, True] Translation: X:51.15, Y:-7.61, Z:-4.85 [[ 9.62695408e-01 2.66463714e-01 4.70599773e-02 5.11520906e+01] [-2.66098965e-01 9.63844508e-01 -1.39680448e-02 -7.60787796e+00] [-4.90804777e-02 9.24361318e-04 9.98794399e-01 -4.85082235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612401008000006 meters 0.06335341560570026 Centerline is valid? [True, True] Translation: X:51.18, Y:-7.62, Z:-4.85 [[ 9.63544682e-01 2.62753365e-01 5.04213849e-02 5.11835813e+01] [-2.62328866e-01 9.64862279e-01 -1.49782995e-02 -7.61583218e+00] [-5.25852909e-02 1.20527612e-03 9.98615709e-01 -4.85004872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642401008 meters 0.06382850308998933 Centerline is valid? [True, True] Translation: X:51.21, Y:-7.63, Z:-4.85 [[ 9.64012313e-01 2.60797253e-01 5.16241477e-02 5.12143473e+01] [-2.60348714e-01 9.65392642e-01 -1.53490761e-02 -7.62589235e+00] [-5.38405693e-02 1.35641789e-03 9.98548623e-01 -4.85214586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672401008 meters 0.06416036934167849 Centerline is valid? [True, True] Translation: X:51.24, Y:-7.64, Z:-4.85 [[ 9.64607305e-01 2.58496021e-01 5.20821844e-02 5.12448802e+01] [-2.58035416e-01 9.66011141e-01 -1.54983725e-02 -7.63542764e+00] [-5.43182380e-02 1.51079520e-03 9.98522532e-01 -4.85448080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702401008 meters 0.06458099595628898 Centerline is valid? [True, True] Translation: X:51.28, Y:-7.64, Z:-4.86 [[ 9.65397805e-01 2.55507347e-01 5.21830755e-02 5.12757577e+01] [-2.55039721e-01 9.66805623e-01 -1.55443637e-02 -7.64467244e+00] [-5.44225900e-02 1.69773755e-03 9.98516549e-01 -4.85670403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.732401008000004 meters 0.06458099595628898 Centerline is valid? [True, True] Translation: X:51.31, Y:-7.65, Z:-4.86 [[ 9.65331508e-01 2.55757729e-01 5.21829909e-02 5.13066531e+01] [-2.55290453e-01 9.66739442e-01 -1.55446497e-02 -7.65400621e+00] [-5.44230198e-02 1.68392075e-03 9.98516549e-01 -4.85901555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762401008000005 meters 0.06537761593620965 Centerline is valid? [True, True] Translation: X:51.34, Y:-7.66, Z:-4.86 [[ 9.66172800e-01 2.52558617e-01 5.21944930e-02 5.13352133e+01] [-2.52085561e-01 9.67579768e-01 -1.55647830e-02 -7.66467864e+00] [-5.44333555e-02 1.88079193e-03 9.98515635e-01 -4.86224509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.792401008000006 meters 0.06675050930239569 Centerline is valid? [True, True] Translation: X:51.36, Y:-7.68, Z:-4.87 [[ 9.67457945e-01 2.47846745e-01 5.09618962e-02 5.13639370e+01] [-2.47388874e-01 9.68796971e-01 -1.52043708e-02 -7.67606206e+00] [-5.31400845e-02 2.10218324e-03 9.98584855e-01 -4.86535918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82240100800001 meters 0.06718694238957972 Centerline is valid? [True, True] Translation: X:51.39, Y:-7.68, Z:-4.87 [[ 9.67882914e-01 2.46533235e-01 4.92344308e-02 5.13940517e+01] [-2.46103690e-01 9.69132040e-01 -1.46990619e-02 -7.68456542e+00] [-5.13384717e-02 2.11019571e-03 9.98679082e-01 -4.86878943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.852401008 meters 0.06688914494891027 Centerline is valid? [True, True] Translation: X:51.43, Y:-7.69, Z:-4.87 [[ 9.68384632e-01 2.44762363e-01 4.81932536e-02 5.14257817e+01] [-2.44348101e-01 9.69580676e-01 -1.43985261e-02 -7.68875681e+00] [-5.02514647e-02 2.16738146e-03 9.98734245e-01 -4.87229301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882401008 meters 0.06737758810969091 Centerline is valid? [True, True] Translation: X:51.46, Y:-7.69, Z:-4.88 [[ 9.68666084e-01 2.44122205e-01 4.57205195e-02 5.14569531e+01] [-2.43748044e-01 9.69742201e-01 -1.36731049e-02 -7.69493444e+00] [-4.76750258e-02 2.10038579e-03 9.98860691e-01 -4.87786080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.912401008 meters 0.06852982991644117 Centerline is valid? [True, True] Translation: X:51.49, Y:-7.70, Z:-4.88 [[ 9.69391015e-01 2.41906407e-01 4.19803545e-02 5.14871851e+01] [-2.41588922e-01 9.70297468e-01 -1.25545362e-02 -7.70009544e+00] [-4.37704544e-02 2.02826604e-03 9.99039556e-01 -4.88341379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942401008000004 meters 0.06918235561933861 Centerline is valid? [True, True] Translation: X:51.52, Y:-7.71, Z:-4.89 [[ 9.69695954e-01 2.40700319e-01 4.18701985e-02 5.15165009e+01] [-2.40383043e-01 9.70597244e-01 -1.25292616e-02 -7.70842272e+00] [-4.36548966e-02 2.08468854e-03 9.99044496e-01 -4.88587056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.972401008000006 meters 0.06987204304244996 Centerline is valid? [True, True] Translation: X:51.55, Y:-7.72, Z:-4.89 [[ 9.70291006e-01 2.38289753e-01 4.18731116e-02 5.15472513e+01] [-2.37969824e-01 9.71191612e-01 -1.25385776e-02 -7.71706614e+00] [-4.36546293e-02 2.20153208e-03 9.99044257e-01 -4.88769200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00240100800001 meters 0.07118057494886643 Centerline is valid? [True, True] Translation: X:51.58, Y:-7.73, Z:-4.89 [[ 9.71119035e-01 2.34723295e-01 4.28111587e-02 5.15765264e+01] [-2.34385392e-01 9.72059227e-01 -1.28197558e-02 -7.72627173e+00] [-4.46240771e-02 2.41519868e-03 9.99000930e-01 -4.88930214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.032401008 meters 0.07355001221874183 Centerline is valid? [True, True] Translation: X:51.61, Y:-7.73, Z:-4.89 [[ 9.72588094e-01 2.28253027e-01 4.44179550e-02 5.16061644e+01] [-2.27882233e-01 9.73597761e-01 -1.33074404e-02 -7.73373502e+00] [-4.62826851e-02 2.82059536e-03 9.98924400e-01 -4.89112509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062401008 meters 0.07121438637444359 Centerline is valid? [True, True] Translation: X:51.64, Y:-7.73, Z:-4.89 [[ 9.73058436e-01 2.26306634e-01 4.40747930e-02 5.16388032e+01] [-2.25939028e-01 9.74051788e-01 -1.32162861e-02 -7.73334690e+00] [-4.59220641e-02 2.90200285e-03 9.98940810e-01 -4.89101916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.092401008 meters 0.07470257075730936 Centerline is valid? [True, True] Translation: X:51.67, Y:-7.74, Z:-4.90 [[ 9.72980484e-01 2.26551791e-01 4.45338395e-02 5.16672615e+01] [-2.26176634e-01 9.73994735e-01 -1.33561528e-02 -7.74483625e+00] [-4.64015856e-02 2.92276209e-03 9.98918590e-01 -4.89621664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122401008000004 meters 0.07018029145836452 Centerline is valid? [True, True] Translation: X:51.70, Y:-7.73, Z:-4.89 [[ 9.72090542e-01 2.30123617e-01 4.56409772e-02 5.17036697e+01] [-2.29733239e-01 9.73157303e-01 -1.36931499e-02 -7.73348665e+00] [-4.75669675e-02 2.82573193e-03 9.98864054e-01 -4.89321181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152401008000005 meters 0.06937703064485744 Centerline is valid? [True, True] Translation: X:51.74, Y:-7.73, Z:-4.89 [[ 9.71094037e-01 2.34068267e-01 4.67805165e-02 5.17355707e+01] [-2.33662174e-01 9.72216390e-01 -1.40456325e-02 -7.73494702e+00] [-4.87684217e-02 2.70879282e-03 9.98806439e-01 -4.89406733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18240100800001 meters 0.06671741596832174 Centerline is valid? [True, True] Translation: X:51.77, Y:-7.73, Z:-4.89 [[ 9.69950120e-01 2.38652517e-01 4.73470219e-02 5.17693694e+01] [-2.38241288e-01 9.71101754e-01 -1.42292442e-02 -7.73194173e+00] [-4.93746210e-02 2.52164169e-03 9.98777146e-01 -4.89349487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212401008 meters 0.06570167545961024 Centerline is valid? [True, True] Translation: X:51.80, Y:-7.73, Z:-4.90 [[ 9.68924238e-01 2.42537023e-01 4.85964276e-02 5.18017704e+01] [-2.42108572e-01 9.70139215e-01 -1.46062977e-02 -7.73159057e+00] [-5.06878680e-02 2.38678425e-03 9.98711692e-01 -4.89560572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242401008 meters 0.06610751003367236 Centerline is valid? [True, True] Translation: X:51.83, Y:-7.73, Z:-4.90 [[ 9.68052928e-01 2.45777529e-01 4.96682360e-02 5.18330207e+01] [-2.45333695e-01 9.69323593e-01 -1.49382439e-02 -7.73388937e+00] [-5.18160776e-02 2.27571890e-03 9.98654052e-01 -4.89961714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.272401008 meters 0.06406667729811168 Centerline is valid? [True, True] Translation: X:51.87, Y:-7.72, Z:-4.90 [[ 9.66530334e-01 2.51192367e-01 5.21680752e-02 5.18691880e+01] [-2.50710321e-01 9.67934929e-01 -1.56941933e-02 -7.72286934e+00] [-5.44375637e-02 2.08983899e-03 9.98514989e-01 -4.90084945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302401008000004 meters 0.06338617639091229 Centerline is valid? [True, True] Translation: X:51.90, Y:-7.72, Z:-4.90 [[ 9.65842043e-01 2.53760878e-01 5.24839436e-02 5.19012668e+01] [-2.53275978e-01 9.67264976e-01 -1.58033440e-02 -7.72404176e+00] [-5.47761508e-02 1.97061189e-03 9.98496715e-01 -4.90324120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.332401008000005 meters 0.062444406725284334 Centerline is valid? [True, True] Translation: X:51.94, Y:-7.72, Z:-4.91 [[ 9.64220174e-01 2.59995221e-01 5.17874611e-02 5.19356128e+01] [-2.59531798e-01 9.65608577e-01 -1.55987419e-02 -7.71784803e+00] [-5.40620150e-02 1.60012873e-03 9.98536298e-01 -4.90662520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362401008000006 meters 0.06271839544887467 Centerline is valid? [True, True] Translation: X:51.97, Y:-7.72, Z:-4.91 [[ 9.63477968e-01 2.62788352e-01 5.15023105e-02 5.19663691e+01] [-2.62333966e-01 9.64852434e-01 -1.55135601e-02 -7.72312387e+00] [-5.37689125e-02 1.43616801e-03 9.98552373e-01 -4.91120038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.392401008 meters 0.062233305178652144 Centerline is valid? [True, True] Translation: X:52.00, Y:-7.73, Z:-4.91 [[ 9.62758381e-01 2.65528748e-01 5.08997467e-02 5.19988427e+01] [-2.65088128e-01 9.64102094e-01 -1.53439687e-02 -7.72629140e+00] [-5.31468172e-02 1.27961587e-03 9.98585889e-01 -4.91333214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422401008 meters 0.06207959572767404 Centerline is valid? [True, True] Translation: X:52.03, Y:-7.73, Z:-4.92 [[ 9.62261870e-01 2.67588545e-01 4.94819560e-02 5.20296143e+01] [-2.67174140e-01 9.63532592e-01 -1.49306240e-02 -7.72997926e+00] [-5.16727412e-02 1.14687116e-03 9.98663413e-01 -4.91697487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.452401008 meters 0.06163069361457704 Centerline is valid? [True, True] Translation: X:52.06, Y:-7.73, Z:-4.92 [[ 9.61904749e-01 2.69177956e-01 4.77753196e-02 5.20634596e+01] [-2.68793458e-01 9.63089908e-01 -1.44189258e-02 -7.73224712e+00] [-4.98931852e-02 1.02793982e-03 9.98754030e-01 -4.91903272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482401008000004 meters 0.06173143904532553 Centerline is valid? [True, True] Translation: X:52.09, Y:-7.74, Z:-4.92 [[ 9.61564383e-01 2.70448741e-01 4.74490868e-02 5.20942630e+01] [-2.70070261e-01 9.62733887e-01 -1.43358709e-02 -7.73657255e+00] [-4.95579620e-02 9.70275576e-04 9.98770778e-01 -4.92360316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.512401008000005 meters 0.06159941444650295 Centerline is valid? [True, True] Translation: X:52.13, Y:-7.74, Z:-4.93 [[ 9.61462535e-01 2.71162045e-01 4.53975664e-02 5.21264892e+01] [-2.70815928e-01 9.62533288e-01 -1.37259754e-02 -7.73884948e+00] [-4.74186324e-02 9.02627004e-04 9.98874696e-01 -4.92768532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542401008000006 meters 0.061814750300991324 Centerline is valid? [True, True] Translation: X:52.16, Y:-7.75, Z:-4.93 [[ 9.61632626e-01 2.70616243e-01 4.50504286e-02 5.21560313e+01] [-2.70274129e-01 9.62686851e-01 -1.36353330e-02 -7.74767282e+00] [-4.70593978e-02 9.36215765e-04 9.98891654e-01 -4.93119393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57240100800001 meters 0.06172990837208894 Centerline is valid? [True, True] Translation: X:52.19, Y:-7.76, Z:-4.93 [[ 9.61854113e-01 2.69814703e-01 4.51297164e-02 5.21866294e+01] [-2.69470330e-01 9.62911763e-01 -1.36629865e-02 -7.75634309e+00] [-4.71424095e-02 9.80680171e-04 9.98887697e-01 -4.93234454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602401008 meters 0.06209193010076257 Centerline is valid? [True, True] Translation: X:52.22, Y:-7.77, Z:-4.93 [[ 9.62055688e-01 2.68965265e-01 4.58970503e-02 5.22164072e+01] [-2.68607543e-01 9.63149304e-01 -1.39070725e-02 -7.76616408e+00] [-4.79462315e-02 1.05108429e-03 9.98849365e-01 -4.93494985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.632401008 meters 0.062424649622702146 Centerline is valid? [True, True] Translation: X:52.25, Y:-7.77, Z:-4.94 [[ 9.62366508e-01 2.67587845e-01 4.74072631e-02 5.22480451e+01] [-2.67203821e-01 9.63532758e-01 -1.43785077e-02 -7.77270773e+00] [-4.95259649e-02 1.16999242e-03 9.98772151e-01 -4.93760772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662401008 meters 0.0622525700699471 Centerline is valid? [True, True] Translation: X:52.28, Y:-7.78, Z:-4.94 [[ 9.62220043e-01 2.68097324e-01 4.75017190e-02 5.22797101e+01] [-2.67711735e-01 9.63391137e-01 -1.44202931e-02 -7.77890647e+00] [-4.96287770e-02 1.15872746e-03 9.98767061e-01 -4.93966675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692401008000004 meters 0.06158592948542804 Centerline is valid? [True, True] Translation: X:52.31, Y:-7.78, Z:-4.94 [[ 9.62040116e-01 2.68853205e-01 4.68697073e-02 5.23130579e+01] [-2.68478208e-01 9.63180519e-01 -1.42386836e-02 -7.78323840e+00] [-4.89721047e-02 1.11468977e-03 9.98799525e-01 -4.93943644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722401008000006 meters 0.061517980432273404 Centerline is valid? [True, True] Translation: X:52.34, Y:-7.79, Z:-4.94 [[ 9.61839003e-01 2.69444061e-01 4.75986363e-02 5.23440789e+01] [-2.69057257e-01 9.63015395e-01 -1.44755356e-02 -7.79027439e+00] [-4.97385667e-02 1.11637623e-03 9.98761648e-01 -4.94087159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75240100800001 meters 0.06190466995985454 Centerline is valid? [True, True] Translation: X:52.37, Y:-7.80, Z:-4.94 [[ 9.61130308e-01 2.71726533e-01 4.89205662e-02 5.23740721e+01] [-2.71320172e-01 9.62373945e-01 -1.48913967e-02 -7.79823791e+00] [-5.11262659e-02 1.03943625e-03 9.98691656e-01 -4.94383861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782401008 meters 0.061735085983892414 Centerline is valid? [True, True] Translation: X:52.41, Y:-7.80, Z:-4.95 [[ 9.60867673e-01 2.72636840e-01 4.90149762e-02 5.24063082e+01] [-2.72229324e-01 9.62116489e-01 -1.49350787e-02 -7.80417194e+00] [-5.12299695e-02 1.00732053e-03 9.98686375e-01 -4.94574790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.812401008 meters 0.06170984282682804 Centerline is valid? [True, True] Translation: X:52.44, Y:-7.81, Z:-4.95 [[ 9.60361215e-01 2.74510284e-01 4.84813442e-02 5.24371071e+01] [-2.74113908e-01 9.61583744e-01 -1.47739537e-02 -7.80951078e+00] [-5.06744747e-02 8.98921376e-04 9.98714819e-01 -4.94958657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842401008 meters 0.06128679032733228 Centerline is valid? [True, True] Translation: X:52.47, Y:-7.81, Z:-4.95 [[ 9.59660893e-01 2.77092914e-01 4.76496288e-02 5.24691945e+01] [-2.76712695e-01 9.60842828e-01 -1.45307884e-02 -7.81301354e+00] [-4.98101826e-02 7.59372144e-04 9.98758414e-01 -4.95175885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872401008000004 meters 0.060864091585630116 Centerline is valid? [True, True] Translation: X:52.50, Y:-7.81, Z:-4.95 [[ 9.57690708e-01 2.83955735e-01 4.68790821e-02 5.25030068e+01] [-2.83595371e-01 9.58837304e-01 -1.43070311e-02 -7.81213793e+00] [-4.90119762e-02 4.07020103e-04 9.98798108e-01 -4.95313643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902401008000005 meters 0.06077227829124625 Centerline is valid? [True, True] Translation: X:52.53, Y:-7.82, Z:-4.96 [[ 9.56527804e-01 2.87951884e-01 4.62414572e-02 5.25338891e+01] [-2.87605245e-01 9.57644854e-01 -1.41264252e-02 -7.81727284e+00] [-4.83506243e-02 2.13032886e-04 9.98830402e-01 -4.95615075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93240100800001 meters 0.06050300803656134 Centerline is valid? [True, True] Translation: X:52.57, Y:-7.82, Z:-4.96 [[ 9.55376709e-01 2.91779486e-01 4.60442778e-02 5.25669047e+01] [-2.91440087e-01 9.56485615e-01 -1.40692726e-02 -7.82348025e+00] [-4.81458145e-02 2.23070260e-05 9.98840318e-01 -4.95545837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962401008 meters 0.060488534585121545 Centerline is valid? [True, True] Translation: X:52.60, Y:-7.83, Z:-4.96 [[ 9.54297803e-01 2.95299630e-01 4.59764185e-02 5.25990982e+01] [-2.94964646e-01 9.55404683e-01 -1.40623315e-02 -7.82973644e+00] [-4.80786868e-02 -1.41765973e-04 9.98843541e-01 -4.95765011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.992401008 meters 0.06074998940751124 Centerline is valid? [True, True] Translation: X:52.63, Y:-7.83, Z:-4.96 [[ 9.52602591e-01 3.00843431e-01 4.51833243e-02 5.26301677e+01] [-3.00525437e-01 9.53673461e-01 -1.38344328e-02 -7.83292113e+00] [-4.72521355e-02 -4.00021719e-04 9.98882914e-01 -4.96309433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022401008 meters 0.06083894679916876 Centerline is valid? [True, True] Translation: X:52.66, Y:-7.84, Z:-4.96 [[ 9.51827447e-01 3.03358407e-01 4.47011044e-02 5.26611631e+01] [-3.03049453e-01 9.52876392e-01 -1.36971174e-02 -7.84070486e+00] [-4.67497628e-02 -5.09352928e-04 9.98906502e-01 -4.96461514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052401008000004 meters 0.060897228859786615 Centerline is valid? [True, True] Translation: X:52.69, Y:-7.85, Z:-4.97 [[ 9.51228956e-01 3.05187835e-01 4.49873256e-02 5.26927026e+01] [-3.04876441e-01 9.52291990e-01 -1.37957140e-02 -7.84974477e+00] [-4.70513539e-02 -5.92693125e-04 9.98892296e-01 -4.96728270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082401008000005 meters 0.06097403752926832 Centerline is valid? [True, True] Translation: X:52.72, Y:-7.86, Z:-4.97 [[ 9.50724172e-01 3.06903353e-01 4.39759127e-02 5.27227901e+01] [-3.06607012e-01 9.51740464e-01 -1.34992407e-02 -7.85960489e+00] [-4.59966178e-02 -6.49268796e-04 9.98941384e-01 -4.96892340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112401008000006 meters 0.06135370479961801 Centerline is valid? [True, True] Translation: X:52.75, Y:-7.87, Z:-4.97 [[ 9.50137387e-01 3.08722851e-01 4.39220504e-02 5.27514623e+01] [-3.08428622e-01 9.51151763e-01 -1.34947768e-02 -7.87220942e+00] [-4.59426816e-02 -7.24925548e-04 9.98943814e-01 -4.97243041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142401008 meters 0.06146511102169409 Centerline is valid? [True, True] Translation: X:52.78, Y:-7.88, Z:-4.98 [[ 9.49836230e-01 3.09680865e-01 4.36909355e-02 5.27815171e+01] [-3.09390272e-01 9.50840254e-01 -1.34339762e-02 -7.88318293e+00] [-4.57033456e-02 -7.57473160e-04 9.98954769e-01 -4.97501544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.172401008 meters 0.06159831532136425 Centerline is valid? [True, True] Translation: X:52.81, Y:-7.89, Z:-4.98 [[ 9.49525492e-01 3.10836895e-01 4.22109615e-02 5.28118963e+01] [-3.10566350e-01 9.50462952e-01 -1.29891968e-02 -7.89412071e+00] [-4.41574766e-02 -7.75730784e-04 9.99024282e-01 -4.97703001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202401008 meters 0.06180231667433999 Centerline is valid? [True, True] Translation: X:52.84, Y:-7.90, Z:-4.98 [[ 9.49189348e-01 3.11964662e-01 4.14443096e-02 5.28420029e+01] [-3.11704481e-01 9.50093366e-01 -1.27636970e-02 -7.90486577e+00] [-4.33577860e-02 -8.03211792e-04 9.99059286e-01 -4.98112720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232401008000004 meters 0.061811330084173055 Centerline is valid? [True, True] Translation: X:52.87, Y:-7.92, Z:-4.98 [[ 9.48650046e-01 3.13638114e-01 4.11609495e-02 5.28709112e+01] [-3.13382612e-01 9.49542199e-01 -1.26866539e-02 -7.91918189e+00] [-4.30630767e-02 -8.63931050e-04 9.99071982e-01 -4.98192415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262401008000005 meters 0.06168772585789904 Centerline is valid? [True, True] Translation: X:52.90, Y:-7.93, Z:-4.98 [[ 9.48253081e-01 3.14769590e-01 4.16677336e-02 5.29007626e+01] [-3.14508386e-01 9.49167670e-01 -1.28534265e-02 -7.93238138e+00] [-4.35955334e-02 -9.16550394e-04 9.99048842e-01 -4.98277699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292401008000006 meters 0.06190540608290574 Centerline is valid? [True, True] Translation: X:52.93, Y:-7.94, Z:-4.98 [[ 9.47999758e-01 3.15333690e-01 4.31407381e-02 5.29298325e+01] [-3.15053628e-01 9.48980367e-01 -1.33219491e-02 -7.94448352e+00] [-4.51405729e-02 -9.62441497e-04 9.98980181e-01 -4.98393700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32240100800001 meters 0.062324975195267814 Centerline is valid? [True, True] Translation: X:52.96, Y:-7.96, Z:-4.99 [[ 9.47451297e-01 3.16754335e-01 4.47518835e-02 5.29588114e+01] [-3.16453981e-01 9.48507023e-01 -1.38312900e-02 -7.95535966e+00] [-4.68285969e-02 -1.05743811e-03 9.98902380e-01 -4.98645645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.352401008 meters 0.06254802161743397 Centerline is valid? [True, True] Translation: X:52.99, Y:-7.97, Z:-4.99 [[ 9.46681672e-01 3.18737613e-01 4.69057218e-02 5.29872748e+01] [-3.18409457e-01 9.47842231e-01 -1.45093834e-02 -7.96913292e+00] [-4.90839103e-02 -1.19945809e-03 9.98793938e-01 -4.98750805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382401008 meters 0.06274586892637819 Centerline is valid? [True, True] Translation: X:53.02, Y:-7.98, Z:-4.99 [[ 9.46366461e-01 3.19560699e-01 4.76600633e-02 5.30177458e+01] [-3.19222423e-01 9.47564980e-01 -1.47530825e-02 -7.98077621e+00] [-4.98755123e-02 -1.25233840e-03 9.98754657e-01 -4.99039634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.412401008 meters 0.06284298726380982 Centerline is valid? [True, True] Translation: X:53.05, Y:-7.99, Z:-4.99 [[ 9.46321723e-01 3.19500126e-01 4.89373746e-02 5.30466235e+01] [-3.19142583e-01 9.47585385e-01 -1.51640938e-02 -7.99219840e+00] [-5.12172708e-02 -1.26788872e-03 9.98686729e-01 -4.99264288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442401008000004 meters 0.06270625739142753 Centerline is valid? [True, True] Translation: X:53.08, Y:-8.01, Z:-4.99 [[ 9.46032535e-01 3.20346202e-01 4.89974835e-02 5.30758877e+01] [-3.19988355e-01 9.47299640e-01 -1.51935741e-02 -8.00658060e+00] [-5.12825022e-02 -1.30500877e-03 9.98683334e-01 -4.99413367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.472401008000006 meters 0.06257592042854206 Centerline is valid? [True, True] Translation: X:53.10, Y:-8.02, Z:-5.00 [[ 9.46257827e-01 3.19528406e-01 4.99772293e-02 5.31040005e+01] [-3.19154248e-01 9.47575842e-01 -1.55109243e-02 -8.02033385e+00] [-5.23133961e-02 -1.27311158e-03 9.98629905e-01 -4.99676515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50240100800001 meters 0.06266624097476628 Centerline is valid? [True, True] Translation: X:53.13, Y:-8.04, Z:-5.00 [[ 9.47142076e-01 3.16943716e-01 4.96846934e-02 5.31300991e+01] [-3.16569765e-01 9.48443695e-01 -1.54318172e-02 -8.04122600e+00] [-5.20141517e-02 -1.11254830e-03 9.98645728e-01 -4.99926129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.532401008 meters 0.061639099777636 Centerline is valid? [True, True] Translation: X:53.16, Y:-8.06, Z:-5.00 [[ 9.47979093e-01 3.14488903e-01 4.93190625e-02 5.31572258e+01] [-3.14116555e-01 9.49260664e-01 -1.53291286e-02 -8.06093719e+00] [-5.16374868e-02 -9.60240541e-04 9.98665433e-01 -4.99883308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562401008 meters 0.06187554246169862 Centerline is valid? [True, True] Translation: X:53.19, Y:-8.07, Z:-5.00 [[ 9.48592669e-01 3.12788072e-01 4.83277318e-02 5.31856224e+01] [-3.12427694e-01 9.49822573e-01 -1.50338298e-02 -8.07422097e+00] [-5.06051732e-02 -8.37941040e-04 9.98718386e-01 -5.00444725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.592401008 meters 0.06168596883061977 Centerline is valid? [True, True] Translation: X:53.21, Y:-8.09, Z:-5.01 [[ 9.49139134e-01 3.11192353e-01 4.78980567e-02 5.32141044e+01] [-3.10835759e-01 9.50346663e-01 -1.49114778e-02 -8.08890271e+00] [-5.01600962e-02 -7.35361649e-04 9.98740919e-01 -5.00762388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622401008000004 meters 0.061884628498607486 Centerline is valid? [True, True] Translation: X:53.24, Y:-8.11, Z:-5.01 [[ 9.49689526e-01 3.09816689e-01 4.58630997e-02 5.32407326e+01] [-3.09487615e-01 9.50796103e-01 -1.42893631e-02 -8.10620757e+00] [-4.80335396e-02 -6.23602843e-04 9.98845529e-01 -5.01492261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.652401008000005 meters 0.061884628498607486 Centerline is valid? [True, True] Translation: X:53.27, Y:-8.12, Z:-5.02 [[ 9.49608981e-01 3.10063883e-01 4.58603555e-02 5.32715306e+01] [-3.09734672e-01 9.50715518e-01 -1.42981636e-02 -8.11594247e+00] [-4.80334958e-02 -6.26877605e-04 9.98845529e-01 -5.01724133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68240100800001 meters 0.061992495449071205 Centerline is valid? [True, True] Translation: X:53.30, Y:-8.13, Z:-5.02 [[ 9.49822582e-01 3.09558024e-01 4.48429753e-02 5.33002599e+01] [-3.09242085e-01 9.50880381e-01 -1.39940773e-02 -8.13098122e+00] [-4.69722844e-02 -5.75444564e-04 9.98896027e-01 -5.02006520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.712401008 meters 0.06223827573017883 Centerline is valid? [True, True] Translation: X:53.33, Y:-8.15, Z:-5.02 [[ 9.49913501e-01 3.09456121e-01 4.36033222e-02 5.33279260e+01] [-3.09156802e-01 9.50913568e-01 -1.36183100e-02 -8.14582392e+00] [-4.56772601e-02 -5.44047069e-04 9.98956101e-01 -5.02366544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742401008 meters 0.06224904033981926 Centerline is valid? [True, True] Translation: X:53.35, Y:-8.17, Z:-5.03 [[ 9.50181668e-01 3.08684169e-01 4.32305698e-02 5.33537597e+01] [-3.08388731e-01 9.51164465e-01 -1.35111332e-02 -8.16860585e+00] [-4.52900547e-02 -4.93789454e-04 9.98973757e-01 -5.02645487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.772401008 meters 0.0620763277252257 Centerline is valid? [True, True] Translation: X:53.38, Y:-8.18, Z:-5.03 [[ 9.50389673e-01 3.08078851e-01 4.29754638e-02 5.33828304e+01] [-3.07785793e-01 9.51360719e-01 -1.34420348e-02 -8.18421987e+00] [-4.50263747e-02 -4.52066181e-04 9.98985696e-01 -5.02771367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802401008000004 meters 0.06219157120243525 Centerline is valid? [True, True] Translation: X:53.41, Y:-8.20, Z:-5.03 [[ 9.50672516e-01 3.07315014e-01 4.21811559e-02 5.34113647e+01] [-3.07031380e-01 9.51607758e-01 -1.32063020e-02 -8.19817200e+00] [-4.41984101e-02 -3.96070187e-04 9.99022694e-01 -5.03195366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832401008000005 meters 0.062267547221339856 Centerline is valid? [True, True] Translation: X:53.44, Y:-8.21, Z:-5.04 [[ 9.50570148e-01 3.07628922e-01 4.22000064e-02 5.34405226e+01] [-3.07344887e-01 9.51506325e-01 -1.32225144e-02 -8.21137433e+00] [-4.42212008e-02 -4.01028715e-04 9.99021684e-01 -5.03598253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862401008000006 meters 0.06236192270550346 Centerline is valid? [True, True] Translation: X:53.47, Y:-8.23, Z:-5.04 [[ 9.50043645e-01 3.09074694e-01 4.34730443e-02 5.34681096e+01] [-3.08774183e-01 9.51037650e-01 -1.36341983e-02 -8.23058011e+00] [-4.55584875e-02 -4.70270306e-04 9.98961562e-01 -5.03627208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89240100800001 meters 0.06246524434109888 Centerline is valid? [True, True] Translation: X:53.50, Y:-8.24, Z:-5.04 [[ 9.49321774e-01 3.11157523e-01 4.43752827e-02 5.34982003e+01] [-3.10846178e-01 9.50358179e-01 -1.39278503e-02 -8.24491010e+00] [-4.65061682e-02 -5.71875434e-04 9.98917839e-01 -5.03607011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922401008 meters 0.06248300408653803 Centerline is valid? [True, True] Translation: X:53.53, Y:-8.26, Z:-5.03 [[ 9.48443475e-01 3.13622049e-01 4.57841172e-02 5.35287065e+01] [-3.13292819e-01 9.49547639e-01 -1.43837257e-02 -8.25844657e+00] [-4.79852539e-02 -7.01684325e-04 9.98847798e-01 -5.03489448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952401008 meters 0.06286963334110268 Centerline is valid? [True, True] Translation: X:53.56, Y:-8.27, Z:-5.04 [[ 9.46572735e-01 3.18785804e-01 4.87408261e-02 5.35584813e+01] [-3.18418655e-01 9.47826245e-01 -1.53287129e-02 -8.27179865e+00] [-5.10844103e-02 -1.01024663e-03 9.98693828e-01 -5.03566404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982401008000004 meters 0.06340763798429935 Centerline is valid? [True, True] Translation: X:53.59, Y:-8.28, Z:-5.04 [[ 9.45563290e-01 3.21858025e-01 4.81401659e-02 5.35886183e+01] [-3.21503214e-01 9.46787246e-01 -1.51523479e-02 -8.28115853e+00] [-5.04553999e-02 -1.14971413e-03 9.98725653e-01 -5.04018226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012401008000005 meters 0.06394105758868028 Centerline is valid? [True, True] Translation: X:53.62, Y:-8.29, Z:-5.04 [[ 9.44796029e-01 3.24154099e-01 4.77973275e-02 5.36188968e+01] [-3.23806725e-01 9.46003462e-01 -1.50550682e-02 -8.29234944e+00] [-5.00965993e-02 -1.25312744e-03 9.98743591e-01 -5.04391732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042401008000006 meters 0.06475549390851554 Centerline is valid? [True, True] Translation: X:53.65, Y:-8.30, Z:-5.05 [[ 9.44162979e-01 3.26011616e-01 4.76728010e-02 5.36479224e+01] [-3.25667796e-01 9.45364818e-01 -1.50281978e-02 -8.30338259e+00] [-4.99675559e-02 -1.33642806e-03 9.98749947e-01 -5.04780497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07240100800001 meters 0.06484178230007523 Centerline is valid? [True, True] Translation: X:53.68, Y:-8.32, Z:-5.05 [[ 9.44287875e-01 3.25703845e-01 4.73013217e-02 5.36767579e+01] [-3.25364239e-01 9.45470955e-01 -1.49259899e-02 -8.32218259e+00] [-4.95834781e-02 -1.29572725e-03 9.98769142e-01 -5.05083270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102401008 meters 0.06529964388376977 Centerline is valid? [True, True] Translation: X:53.71, Y:-8.34, Z:-5.06 [[ 9.44806155e-01 3.24137869e-01 4.77071494e-02 5.37051110e+01] [-3.23790212e-01 9.46009066e-01 -1.50580549e-02 -8.33504537e+00] [-5.00122817e-02 -1.22016507e-03 9.98747858e-01 -5.05619018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132401008 meters 0.06408503336194153 Centerline is valid? [True, True] Translation: X:53.73, Y:-8.36, Z:-5.06 [[ 9.45600621e-01 3.21897808e-01 4.71303218e-02 5.37324528e+01] [-3.21555195e-01 9.46773806e-01 -1.48868144e-02 -8.35512095e+00] [-4.94137870e-02 -1.07801892e-03 9.98777811e-01 -5.05667228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162401008 meters 0.06369000017500759 Centerline is valid? [True, True] Translation: X:53.76, Y:-8.37, Z:-5.06 [[ 9.46557304e-01 3.19218666e-01 4.61379881e-02 5.37606679e+01] [-3.18886459e-01 9.47680656e-01 -1.45877081e-02 -8.37339955e+00] [-4.83807475e-02 -9.04678036e-04 9.98828556e-01 -5.05923977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192401008000004 meters 0.06309859267689531 Centerline is valid? [True, True] Translation: X:53.79, Y:-8.40, Z:-5.06 [[ 9.48519842e-01 3.13682947e-01 4.37392136e-02 5.37852562e+01] [-3.13378379e-01 9.49527601e-01 -1.38321255e-02 -8.39771055e+00] [-4.58704925e-02 -5.86878319e-04 9.98947223e-01 -5.06385707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222401008000006 meters 0.06272292738139472 Centerline is valid? [True, True] Translation: X:53.81, Y:-8.42, Z:-5.07 [[ 9.49583691e-01 3.10459046e-01 4.36576881e-02 5.38135109e+01] [-3.10151690e-01 9.50586663e-01 -1.38175387e-02 -8.41539475e+00] [-4.57901959e-02 -4.19596300e-04 9.98950991e-01 -5.06607573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25240100800001 meters 0.06261862940551975 Centerline is valid? [True, True] Translation: X:53.84, Y:-8.43, Z:-5.07 [[ 9.50433439e-01 3.07971838e-01 4.27741135e-02 5.38424346e+01] [-3.07673838e-01 9.51395431e-01 -1.35478082e-02 -8.43281733e+00] [-4.48674396e-02 -2.84185722e-04 9.98992909e-01 -5.06949693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282401008 meters 0.0626157157816357 Centerline is valid? [True, True] Translation: X:53.87, Y:-8.45, Z:-5.07 [[ 9.51209176e-01 3.05613198e-01 4.24461609e-02 5.38703224e+01] [-3.05316825e-01 9.52155737e-01 -1.34568960e-02 -8.44949205e+00] [-4.45279606e-02 -1.59204152e-04 9.99008126e-01 -5.07303584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.312401008 meters 0.06241007343134072 Centerline is valid? [True, True] Translation: X:53.90, Y:-8.47, Z:-5.07 [[ 9.51693068e-01 3.04137207e-01 4.22002892e-02 5.38995316e+01] [-3.03842319e-01 9.52628235e-01 -1.33899882e-02 -8.46580662e+00] [-4.42735807e-02 -7.90747951e-05 9.99019441e-01 -5.07330163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342401008 meters 0.0625070298423887 Centerline is valid? [True, True] Translation: X:53.93, Y:-8.48, Z:-5.08 [[ 9.51783389e-01 3.03679308e-01 4.34425893e-02 5.39262063e+01] [-3.03365659e-01 9.52774305e-01 -1.37985973e-02 -8.48306369e+00] [-4.55813313e-02 -4.57140100e-05 9.98960630e-01 -5.07821364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372401008000004 meters 0.06240081695147774 Centerline is valid? [True, True] Translation: X:53.96, Y:-8.50, Z:-5.08 [[ 9.51724784e-01 3.04025160e-01 4.22922841e-02 5.39560074e+01] [-3.03727786e-01 9.52664001e-01 -1.34436947e-02 -8.49586312e+00] [-4.43775581e-02 -5.06443358e-05 9.99014830e-01 -5.08034493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402401008000005 meters 0.06237683518240556 Centerline is valid? [True, True] Translation: X:53.99, Y:-8.51, Z:-5.08 [[ 9.52024977e-01 3.03081199e-01 4.23111225e-02 5.39859443e+01] [-3.02782191e-01 9.52964735e-01 -1.34594906e-02 -8.51104813e+00] [-4.44003262e-02 2.71688268e-06 9.99013819e-01 -5.08106884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43240100800001 meters 0.062263022080257295 Centerline is valid? [True, True] Translation: X:54.01, Y:-8.53, Z:-5.08 [[ 9.52628232e-01 3.01014136e-01 4.34734579e-02 5.40134004e+01] [-3.00695522e-01 9.53619671e-01 -1.38465492e-02 -8.52666949e+00] [-4.56251517e-02 1.18339546e-04 9.98958624e-01 -5.08143608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462401008 meters 0.062179457968034604 Centerline is valid? [True, True] Translation: X:54.04, Y:-8.54, Z:-5.08 [[ 9.53632241e-01 2.97853925e-01 4.32271782e-02 5.40411862e+01] [-2.97535489e-01 9.54611421e-01 -1.37719635e-02 -8.54473801e+00] [-4.53671914e-02 2.71768799e-04 9.98970342e-01 -5.08109235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.492401008 meters 0.0623589990217724 Centerline is valid? [True, True] Translation: X:54.07, Y:-8.56, Z:-5.08 [[ 9.54098308e-01 2.96365390e-01 4.31737699e-02 5.40705851e+01] [-2.96045721e-01 9.55074569e-01 -1.37658896e-02 -8.55629708e+00] [-4.53139029e-02 3.52602129e-04 9.98972735e-01 -5.08415898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522401008 meters 0.0623674852400487 Centerline is valid? [True, True] Translation: X:54.10, Y:-8.57, Z:-5.09 [[ 9.54592996e-01 2.94840168e-01 4.26788848e-02 5.41009606e+01] [-2.94525809e-01 9.55546488e-01 -1.36182904e-02 -8.56604900e+00] [-4.47968775e-02 4.29891544e-04 9.98996023e-01 -5.08592645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552401008000004 meters 0.06269590834414748 Centerline is valid? [True, True] Translation: X:54.13, Y:-8.58, Z:-5.09 [[ 9.55116765e-01 2.93214447e-01 4.21574840e-02 5.41304353e+01] [-2.92905525e-01 9.56046560e-01 -1.34658408e-02 -8.57586894e+00] [-4.42528966e-02 5.13290345e-04 9.99020229e-01 -5.09074712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582401008000005 meters 0.0627295897928867 Centerline is valid? [True, True] Translation: X:54.16, Y:-8.59, Z:-5.09 [[ 9.55650836e-01 2.91489403e-01 4.20167433e-02 5.41604988e+01] [-2.91180764e-01 9.56573874e-01 -1.34233921e-02 -8.58557699e+00] [-4.41048955e-02 5.93608477e-04 9.99026729e-01 -5.09155639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612401008000006 meters 0.06331269378342984 Centerline is valid? [True, True] Translation: X:54.19, Y:-8.60, Z:-5.10 [[ 9.55830818e-01 2.90937675e-01 4.17458562e-02 5.41892104e+01] [-2.90631966e-01 9.56741803e-01 -1.33485291e-02 -8.59736276e+00] [-4.38235957e-02 6.26255250e-04 9.99039088e-01 -5.09778873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64240100800001 meters 0.06290120656108605 Centerline is valid? [True, True] Translation: X:54.22, Y:-8.61, Z:-5.10 [[ 9.55970677e-01 2.90580977e-01 4.10214671e-02 5.42204498e+01] [-2.90285057e-01 9.56850190e-01 -1.31263098e-02 -8.60642588e+00] [-4.30656546e-02 6.40448355e-04 9.99072039e-01 -5.09636246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.672401008 meters 0.06293644677505845 Centerline is valid? [True, True] Translation: X:54.25, Y:-8.62, Z:-5.10 [[ 9.56231369e-01 2.89865563e-01 3.99940481e-02 5.42501545e+01] [-2.89583235e-01 9.57067141e-01 -1.28077107e-02 -8.61807306e+00] [-4.19895036e-02 6.65528939e-04 9.99117830e-01 -5.09795473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702401008 meters 0.06298946988854612 Centerline is valid? [True, True] Translation: X:54.28, Y:-8.63, Z:-5.10 [[ 9.56273349e-01 2.89785371e-01 3.95691977e-02 5.42802554e+01] [-2.89508516e-01 9.57091421e-01 -1.26819444e-02 -8.62788169e+00] [-4.15463816e-02 6.71785755e-04 9.99136350e-01 -5.10028509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732401008000004 meters 0.06297411082259866 Centerline is valid? [True, True] Translation: X:54.31, Y:-8.64, Z:-5.10 [[ 9.56179010e-01 2.90164612e-01 3.90666052e-02 5.43109169e+01] [-2.89894651e-01 9.56976524e-01 -1.25309265e-02 -8.63710822e+00] [-4.10218554e-02 6.56609043e-04 9.99158034e-01 -5.10301112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762401008000005 meters 0.06394946729024474 Centerline is valid? [True, True] Translation: X:54.34, Y:-8.65, Z:-5.11 [[ 9.56192160e-01 2.90182816e-01 3.86068323e-02 5.43395541e+01] [-2.89918762e-01 9.56971003e-01 -1.23940102e-02 -8.64846406e+00] [-4.05421478e-02 6.58210384e-04 9.99177612e-01 -5.11302390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792401008000006 meters 0.06310050238024976 Centerline is valid? [True, True] Translation: X:54.37, Y:-8.66, Z:-5.11 [[ 9.56137932e-01 2.90397408e-01 3.83353703e-02 5.43720697e+01] [-2.90136923e-01 9.56905910e-01 -1.23144255e-02 -8.65568176e+00] [-4.02594197e-02 6.51782911e-04 9.99189048e-01 -5.10887180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82240100800001 meters 0.06321938400818387 Centerline is valid? [True, True] Translation: X:54.40, Y:-8.67, Z:-5.11 [[ 9.56185368e-01 2.90195670e-01 3.86783502e-02 5.44020919e+01] [-2.89929831e-01 9.56967091e-01 -1.24370363e-02 -8.66669797e+00] [-4.06230823e-02 6.78104562e-04 9.99174312e-01 -5.11184485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.852401008 meters 0.06341107837572629 Centerline is valid? [True, True] Translation: X:54.43, Y:-8.68, Z:-5.11 [[ 9.56471754e-01 2.89191028e-01 3.91194807e-02 5.44321231e+01] [-2.88917781e-01 9.57271122e-01 -1.25902289e-02 -8.67846587e+00] [-4.10889304e-02 7.39884740e-04 9.99155219e-01 -5.11387496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882401008 meters 0.06319280747844615 Centerline is valid? [True, True] Translation: X:54.46, Y:-8.69, Z:-5.11 [[ 9.56620432e-01 2.88674277e-01 3.93002653e-02 5.44636938e+01] [-2.88397647e-01 9.57427052e-01 -1.26584533e-02 -8.68870171e+00] [-4.12813070e-02 7.75231006e-04 9.99147263e-01 -5.11401406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.912401008 meters 0.06332912346142679 Centerline is valid? [True, True] Translation: X:54.49, Y:-8.70, Z:-5.12 [[ 9.56560905e-01 2.88847095e-01 3.94789902e-02 5.44934297e+01] [-2.88567573e-01 9.57374922e-01 -1.27284510e-02 -8.69891338e+00] [-4.14727713e-02 7.83182218e-04 9.99139328e-01 -5.11692872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942401008000004 meters 0.0633220452821886 Centerline is valid? [True, True] Translation: X:54.52, Y:-8.71, Z:-5.12 [[ 9.56139454e-01 2.90282368e-01 3.91598305e-02 5.45240370e+01] [-2.90008066e-01 9.56940761e-01 -1.26373373e-02 -8.70558203e+00] [-4.11420342e-02 7.26390022e-04 9.99153044e-01 -5.12104877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.972401008000006 meters 0.06276538140381216 Centerline is valid? [True, True] Translation: X:54.56, Y:-8.71, Z:-5.12 [[ 9.55832633e-01 2.91256943e-01 3.94128265e-02 5.45562104e+01] [-2.90979411e-01 9.56644606e-01 -1.27310653e-02 -8.71235866e+00] [-4.14120790e-02 7.00446676e-04 9.99141906e-01 -5.12058613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00240100800001 meters 0.06319102118806111 Centerline is valid? [True, True] Translation: X:54.58, Y:-8.72, Z:-5.13 [[ 9.55385262e-01 2.92621532e-01 4.01452378e-02 5.45848517e+01] [-2.92334657e-01 9.56228115e-01 -1.29707336e-02 -8.72274310e+00] [-4.21835210e-02 6.56203450e-04 9.99109664e-01 -5.12639653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.032401008 meters 0.06229093397912469 Centerline is valid? [True, True] Translation: X:54.62, Y:-8.73, Z:-5.12 [[ 9.54253314e-01 2.96111648e-01 4.14548518e-02 5.46161621e+01] [-2.95808557e-01 9.55153188e-01 -1.34046684e-02 -8.72862234e+00] [-4.35650123e-02 5.28749343e-04 9.99050454e-01 -5.12419041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062401008 meters 0.062181676661842544 Centerline is valid? [True, True] Translation: X:54.65, Y:-8.74, Z:-5.12 [[ 9.53770929e-01 2.97366479e-01 4.35223300e-02 5.46468910e+01] [-2.97033200e-01 9.54763281e-01 -1.40838952e-02 -8.73658619e+00] [-4.57416009e-02 5.05232880e-04 9.98953177e-01 -5.12498207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092401008 meters 0.061940488638989766 Centerline is valid? [True, True] Translation: X:54.68, Y:-8.74, Z:-5.13 [[ 9.53128818e-01 2.99472442e-01 4.31475646e-02 5.46775728e+01] [-2.99146536e-01 9.54104862e-01 -1.39736392e-02 -8.74455870e+00] [-4.53520210e-02 4.11233735e-04 9.98970983e-01 -5.12668241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122401008000004 meters 0.06191156742565479 Centerline is valid? [True, True] Translation: X:54.71, Y:-8.75, Z:-5.13 [[ 9.52555529e-01 3.01083786e-01 4.45703733e-02 5.47068306e+01] [-3.00737096e-01 9.53597622e-01 -1.44490396e-02 -8.75325998e+00] [-4.68525736e-02 3.59547930e-04 9.98901750e-01 -5.13001666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152401008000005 meters 0.061673644979118855 Centerline is valid? [True, True] Translation: X:54.74, Y:-8.76, Z:-5.13 [[ 9.52603368e-01 3.01125167e-01 4.32487756e-02 5.47363633e+01] [-3.00798612e-01 9.53584559e-01 -1.40244271e-02 -8.76437455e+00] [-4.54644726e-02 3.50544879e-04 9.98965895e-01 -5.13140383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18240100800001 meters 0.061748428544808186 Centerline is valid? [True, True] Translation: X:54.77, Y:-8.78, Z:-5.13 [[ 9.52947725e-01 3.00044507e-01 4.31732286e-02 5.47658649e+01] [-2.99717537e-01 9.53925115e-01 -1.40097460e-02 -8.77632433e+00] [-4.53875743e-02 4.10781819e-04 9.98969369e-01 -5.13389240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.212401008 meters 0.06193408753791407 Centerline is valid? [True, True] Translation: X:54.80, Y:-8.79, Z:-5.14 [[ 9.53418210e-01 2.98451789e-01 4.38206244e-02 5.47959454e+01] [-2.98112761e-01 9.54424578e-01 -1.42304693e-02 -8.78865918e+00] [-4.60705900e-02 5.04101177e-04 9.98938059e-01 -5.13628348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242401008 meters 0.06180554017757513 Centerline is valid? [True, True] Translation: X:54.83, Y:-8.80, Z:-5.14 [[ 9.53992467e-01 2.96659410e-01 4.34921490e-02 5.48264674e+01] [-2.96322979e-01 9.54983160e-01 -1.41370654e-02 -8.79969103e+00] [-4.57281634e-02 5.98930752e-04 9.98953741e-01 -5.13722927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.272401008 meters 0.06249049247866329 Centerline is valid? [True, True] Translation: X:54.85, Y:-8.81, Z:-5.14 [[ 9.55168138e-01 2.93149339e-01 4.14402360e-02 5.48543408e+01] [-2.92840141e-01 9.56066376e-01 -1.34809493e-02 -8.81330886e+00] [-4.35715476e-02 7.41208663e-04 9.99050034e-01 -5.14231652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302401008000004 meters 0.06267738068110626 Centerline is valid? [True, True] Translation: X:54.88, Y:-8.82, Z:-5.15 [[ 9.55508821e-01 2.92317033e-01 3.94163206e-02 5.48831842e+01] [-2.92036236e-01 9.56321175e-01 -1.28314457e-02 -8.82380114e+00] [-4.14455121e-02 7.49565647e-04 9.99140484e-01 -5.14532402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332401008000005 meters 0.06314463153679643 Centerline is valid? [True, True] Translation: X:54.91, Y:-8.83, Z:-5.15 [[ 9.56203401e-01 2.90058084e-01 3.92602156e-02 5.49131702e+01] [-2.89777237e-01 9.57008663e-01 -1.27895361e-02 -8.83471412e+00] [-4.12820747e-02 8.52681087e-04 9.99147168e-01 -5.14926798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362401008000006 meters 0.06360238038638666 Centerline is valid? [True, True] Translation: X:54.94, Y:-8.85, Z:-5.15 [[ 9.56707689e-01 2.88574140e-01 3.78861981e-02 5.49425650e+01] [-2.88311059e-01 9.57457136e-01 -1.23517957e-02 -8.84532567e+00] [-3.98388195e-02 8.94047973e-04 9.99205719e-01 -5.15231730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39240100800001 meters 0.06400840222810783 Centerline is valid? [True, True] Translation: X:54.97, Y:-8.86, Z:-5.15 [[ 9.58278987e-01 2.83508716e-01 3.63894497e-02 5.49726880e+01] [-2.83261851e-01 9.58969058e-01 -1.18772387e-02 -8.85631129e+00] [-3.82636570e-02 1.07396537e-03 9.99267101e-01 -5.15389493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422401008 meters 0.06485414028055855 Centerline is valid? [True, True] Translation: X:55.00, Y:-8.87, Z:-5.16 [[ 9.59001674e-01 2.81158897e-01 3.55733644e-02 5.50011044e+01] [-2.80921326e-01 9.59660549e-01 -1.16120455e-02 -8.86851277e+00] [-3.74031843e-02 1.14265436e-03 9.99299603e-01 -5.15763874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.452401008 meters 0.0642391446423547 Centerline is valid? [True, True] Translation: X:55.03, Y:-8.88, Z:-5.16 [[ 9.59698793e-01 2.78802533e-01 3.53181790e-02 5.50316962e+01] [-2.78566762e-01 9.60347669e-01 -1.15288466e-02 -8.87713287e+00] [-3.71320025e-02 1.22574942e-03 9.99309618e-01 -5.15535112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482401008000004 meters 0.06449491849997298 Centerline is valid? [True, True] Translation: X:55.06, Y:-8.89, Z:-5.15 [[ 9.60469378e-01 2.75970242e-01 3.65923370e-02 5.50613852e+01] [-2.75714731e-01 9.61165171e-01 -1.19541072e-02 -8.88795300e+00] [-3.84702577e-02 1.39250753e-03 9.99258775e-01 -5.15472924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512401008000005 meters 0.06581290119480852 Centerline is valid? [True, True] Translation: X:55.09, Y:-8.90, Z:-5.16 [[ 9.60518375e-01 2.75624111e-01 3.78919484e-02 5.50897689e+01] [-2.75349468e-01 9.61264376e-01 -1.23882687e-02 -8.90042846e+00] [-3.98386857e-02 1.46563191e-03 9.99205050e-01 -5.15846899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542401008000006 meters 0.06581290119480852 Centerline is valid? [True, True] Translation: X:55.12, Y:-8.91, Z:-5.16 [[ 9.60449399e-01 2.75864684e-01 3.78896896e-02 5.51204091e+01] [-2.75589956e-01 9.61195368e-01 -1.23951721e-02 -8.91060390e+00] [-3.98387844e-02 1.46291765e-03 9.99205050e-01 -5.16078944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57240100800001 meters 0.06570393250329627 Centerline is valid? [True, True] Translation: X:55.15, Y:-8.92, Z:-5.16 [[ 9.60214977e-01 2.76641612e-01 3.81656382e-02 5.51501596e+01] [-2.76362882e-01 9.60972060e-01 -1.25002885e-02 -8.91915714e+00] [-4.01342120e-02 1.45539853e-03 9.99193238e-01 -5.16244797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602401008 meters 0.06544008171218231 Centerline is valid? [True, True] Translation: X:55.18, Y:-8.93, Z:-5.16 [[ 9.59854608e-01 2.77738904e-01 3.92458058e-02 5.51816846e+01] [-2.77444776e-01 9.60655495e-01 -1.28614242e-02 -8.92699678e+00] [-4.12738168e-02 1.45655345e-03 9.99146811e-01 -5.16406415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632401008 meters 0.06384729561692298 Centerline is valid? [True, True] Translation: X:55.22, Y:-8.93, Z:-5.16 [[ 9.58801320e-01 2.80957543e-01 4.19867615e-02 5.52151536e+01] [-2.80623796e-01 9.59719157e-01 -1.37631529e-02 -8.92698106e+00] [-4.41623609e-02 1.41364476e-03 9.99023367e-01 -5.16313767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662401008 meters 0.06314374144951627 Centerline is valid? [True, True] Translation: X:55.25, Y:-8.93, Z:-5.16 [[ 9.57799250e-01 2.84360063e-01 4.19517797e-02 5.52465626e+01] [-2.84029923e-01 9.58716729e-01 -1.37563369e-02 -8.93245910e+00] [-4.41316259e-02 1.26024841e-03 9.99024930e-01 -5.16495299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.692401008000004 meters 0.06270619295308788 Centerline is valid? [True, True] Translation: X:55.28, Y:-8.94, Z:-5.17 [[ 9.56834324e-01 2.87547501e-01 4.22434801e-02 5.52768601e+01] [-2.87215935e-01 9.57765724e-01 -1.38500913e-02 -8.93909486e+00] [-4.44419165e-02 1.11924208e-03 9.99011343e-01 -5.16675779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722401008000006 meters 0.062360236178132314 Centerline is valid? [True, True] Translation: X:55.31, Y:-8.94, Z:-5.17 [[ 9.55869790e-01 2.90674962e-01 4.26733160e-02 5.53078890e+01] [-2.90339302e-01 9.56821342e-01 -1.40003100e-02 -8.94493024e+00] [-4.49002791e-02 9.92732577e-04 9.98990981e-01 -5.16884107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75240100800001 meters 0.061606143925531015 Centerline is valid? [True, True] Translation: X:55.34, Y:-8.95, Z:-5.17 [[ 9.54836145e-01 2.93969129e-01 4.32445047e-02 5.53399308e+01] [-2.93627166e-01 9.55814526e-01 -1.42013985e-02 -8.94981746e+00] [-4.55084985e-02 8.62247238e-04 9.98963579e-01 -5.16944524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782401008 meters 0.06119643073674651 Centerline is valid? [True, True] Translation: X:55.37, Y:-8.95, Z:-5.18 [[ 9.52848562e-01 3.00634131e-01 4.12157364e-02 5.53720348e+01] [-3.00329817e-01 9.53739405e-01 -1.35332453e-02 -8.95036348e+00] [-4.33776273e-02 5.16818723e-04 9.99058614e-01 -5.17512780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812401008 meters 0.06087622483171888 Centerline is valid? [True, True] Translation: X:55.40, Y:-8.96, Z:-5.18 [[ 9.51792834e-01 3.04009329e-01 4.08500775e-02 5.54041002e+01] [-3.03713121e-01 9.52668984e-01 -1.34219069e-02 -8.95545310e+00] [-4.29969867e-02 3.68170326e-04 9.99075134e-01 -5.17755928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842401008 meters 0.06094078806469608 Centerline is valid? [True, True] Translation: X:55.43, Y:-8.96, Z:-5.18 [[ 9.51059633e-01 3.06453472e-01 3.96464778e-02 5.54345658e+01] [-3.06176175e-01 9.51885604e-01 -1.30363860e-02 -8.96205000e+00] [-4.17339572e-02 2.59573530e-04 9.99128725e-01 -5.18271454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872401008000004 meters 0.06115432356779878 Centerline is valid? [True, True] Translation: X:55.47, Y:-8.97, Z:-5.19 [[ 9.49937752e-01 3.10104630e-01 3.81232895e-02 5.54659354e+01] [-3.09850674e-01 9.50702428e-01 -1.25480178e-02 -8.96878814e+00] [-4.01351023e-02 1.07308875e-04 9.99194256e-01 -5.18750589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902401008000005 meters 0.060828931621196944 Centerline is valid? [True, True] Translation: X:55.50, Y:-8.98, Z:-5.19 [[ 9.49475367e-01 3.11521353e-01 3.80916472e-02 5.54979690e+01] [-3.11269078e-01 9.50239151e-01 -1.25346190e-02 -8.97871006e+00] [-4.01009760e-02 4.45600853e-05 9.99195631e-01 -5.18582114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93240100800001 meters 0.06089118637369945 Centerline is valid? [True, True] Translation: X:55.53, Y:-8.99, Z:-5.19 [[ 9.49234303e-01 3.12214066e-01 3.84267484e-02 5.55271762e+01] [-3.11957355e-01 9.50011777e-01 -1.26583006e-02 -8.98866352e+00] [-4.04579630e-02 2.81863698e-05 9.99181241e-01 -5.18996152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962401008 meters 0.061302772950453686 Centerline is valid? [True, True] Translation: X:55.56, Y:-9.00, Z:-5.20 [[ 9.48978584e-01 3.13067174e-01 3.77967195e-02 5.55564636e+01] [-3.12819017e-01 9.49730985e-01 -1.24626553e-02 -8.99858994e+00] [-3.97983639e-02 3.26032029e-06 9.99207731e-01 -5.19693228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992401008 meters 0.06091856735005376 Centerline is valid? [True, True] Translation: X:55.59, Y:-9.01, Z:-5.20 [[ 9.48713008e-01 3.13738567e-01 3.88811062e-02 5.55870795e+01] [-3.13476427e-01 9.49509406e-01 -1.28225676e-02 -9.00931514e+00] [-4.09409100e-02 -2.33736471e-05 9.99161569e-01 -5.19590473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022401008 meters 0.06112496549144299 Centerline is valid? [True, True] Translation: X:55.62, Y:-9.02, Z:-5.20 [[ 9.47973400e-01 3.15741961e-01 4.06625997e-02 5.56162053e+01] [-3.15456577e-01 9.48845089e-01 -1.34217883e-02 -9.02013741e+00] [-4.28203297e-02 -1.03786256e-04 9.99082784e-01 -5.20114304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052401008000004 meters 0.060545489965156185 Centerline is valid? [True, True] Translation: X:55.65, Y:-9.03, Z:-5.20 [[ 9.47596902e-01 3.16641995e-01 4.24023505e-02 5.56461738e+01] [-3.16332111e-01 9.48545111e-01 -1.40060185e-02 -9.03184416e+00] [-4.46554358e-02 -1.41165332e-04 9.99002438e-01 -5.19645910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082401008000005 meters 0.060359729674481534 Centerline is valid? [True, True] Translation: X:55.68, Y:-9.04, Z:-5.20 [[ 9.47329360e-01 3.17350652e-01 4.30772306e-02 5.56754020e+01] [-3.17030909e-01 9.48308250e-01 -1.42431144e-02 -9.04338100e+00] [-4.53705548e-02 -1.63893081e-04 9.98970213e-01 -5.19705915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112401008000006 meters 0.06017214368251982 Centerline is valid? [True, True] Translation: X:55.70, Y:-9.06, Z:-5.20 [[ 9.47525912e-01 3.16397692e-01 4.56853074e-02 5.57039974e+01] [-3.16036692e-01 9.48626631e-01 -1.51103633e-02 -9.05763151e+00] [-4.81191834e-02 -1.20772665e-04 9.98841594e-01 -5.19776132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14240100800001 meters 0.06006685095935281 Centerline is valid? [True, True] Translation: X:55.73, Y:-9.07, Z:-5.20 [[ 9.47727733e-01 3.15616289e-01 4.68881947e-02 5.57335633e+01] [-3.15234451e-01 9.48886902e-01 -1.55205659e-02 -9.07015165e+00] [-4.93901372e-02 -7.15036053e-05 9.98779560e-01 -5.20017624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172401008 meters 0.060094094440650066 Centerline is valid? [True, True] Translation: X:55.76, Y:-9.08, Z:-5.20 [[ 9.48118399e-01 3.14570256e-01 4.60114668e-02 5.57617079e+01] [-3.14200766e-01 9.49234193e-01 -1.52422138e-02 -9.08225472e+00] [-4.84704047e-02 -5.41477688e-06 9.98824619e-01 -5.20419222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202401008 meters 0.06016637307261584 Centerline is valid? [True, True] Translation: X:55.79, Y:-9.10, Z:-5.21 [[ 9.49257378e-01 3.11275208e-01 4.49241010e-02 5.57891871e+01] [-3.10918823e-01 9.50319797e-01 -1.48919115e-02 -9.10033066e+00] [-4.73277454e-02 1.68508300e-04 9.98879400e-01 -5.20806498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232401008000004 meters 0.06034288322044012 Centerline is valid? [True, True] Translation: X:55.82, Y:-9.12, Z:-5.21 [[ 9.50118170e-01 3.08846134e-01 4.34687062e-02 5.58174137e+01] [-3.08509442e-01 9.51111971e-01 -1.44202212e-02 -9.11500380e+00] [-4.57972364e-02 2.90407869e-04 9.98950714e-01 -5.21118004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262401008000005 meters 0.06053142208591054 Centerline is valid? [True, True] Translation: X:55.85, Y:-9.13, Z:-5.21 [[ 9.50849205e-01 3.06551040e-01 4.37292604e-02 5.58451816e+01] [-3.06207389e-01 9.51854132e-01 -1.45170875e-02 -9.12935824e+00] [-4.60741055e-02 4.13338488e-04 9.98937939e-01 -5.21361564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292401008000006 meters 0.06074045188560201 Centerline is valid? [True, True] Translation: X:55.87, Y:-9.14, Z:-5.22 [[ 9.51587484e-01 3.04253279e-01 4.37173101e-02 5.58744738e+01] [-3.03906933e-01 9.52591023e-01 -1.45230426e-02 -9.14363815e+00] [-4.60634004e-02 5.33951932e-04 9.98938375e-01 -5.21649125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32240100800001 meters 0.06080825508683347 Centerline is valid? [True, True] Translation: X:55.90, Y:-9.16, Z:-5.22 [[ 9.52338368e-01 3.01826285e-01 4.41874005e-02 5.59039046e+01] [-3.01469315e-01 9.53362705e-01 -1.46903291e-02 -9.15699395e+00] [-4.65605471e-02 6.69018723e-04 9.98915246e-01 -5.21682203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352401008 meters 0.061493254163956006 Centerline is valid? [True, True] Translation: X:55.93, Y:-9.17, Z:-5.22 [[ 9.53730812e-01 2.97441189e-01 4.38893682e-02 5.59317518e+01] [-2.97083808e-01 9.54739728e-01 -1.46035034e-02 -9.17391651e+00] [-4.62466068e-02 8.88990516e-04 9.98929658e-01 -5.22019390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382401008 meters 0.061907400015322606 Centerline is valid? [True, True] Translation: X:55.96, Y:-9.19, Z:-5.22 [[ 9.54277134e-01 2.95666194e-01 4.40074319e-02 5.59613610e+01] [-2.95304610e-01 9.55290809e-01 -1.46511802e-02 -9.18716697e+00] [-4.63717539e-02 9.85688691e-04 9.98923765e-01 -5.22309044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.412401008 meters 0.06216277004377055 Centerline is valid? [True, True] Translation: X:55.99, Y:-9.20, Z:-5.23 [[ 9.54566992e-01 2.94742230e-01 4.39189657e-02 5.59911241e+01] [-2.94380604e-01 9.55576233e-01 -1.46329111e-02 -9.19900983e+00] [-4.62808566e-02 1.03920230e-03 9.98927927e-01 -5.22532493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442401008000004 meters 0.06231109069727595 Centerline is valid? [True, True] Translation: X:56.02, Y:-9.21, Z:-5.23 [[ 9.54807329e-01 2.93974772e-01 4.38383191e-02 5.60202636e+01] [-2.93613128e-01 9.55812563e-01 -1.46176690e-02 -9.21111071e+00] [-4.61984421e-02 1.08555145e-03 9.98931692e-01 -5.22668677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.472401008000006 meters 0.0631041111392662 Centerline is valid? [True, True] Translation: X:56.05, Y:-9.22, Z:-5.23 [[ 9.54845374e-01 2.93782646e-01 4.42952363e-02 5.60485204e+01] [-2.93412755e-01 9.55871598e-01 -1.47798343e-02 -9.22492540e+00] [-4.66826171e-02 1.11566909e-03 9.98909149e-01 -5.23027970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50240100800001 meters 0.06212960555379208 Centerline is valid? [True, True] Translation: X:56.08, Y:-9.23, Z:-5.23 [[ 9.54467114e-01 2.94782207e-01 4.57818600e-02 5.60796180e+01] [-2.94387551e-01 9.55563816e-01 -1.52893428e-02 -9.23330599e+00] [-4.82545150e-02 1.11556527e-03 9.98834449e-01 -5.22862700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.532401008 meters 0.061338859988637716 Centerline is valid? [True, True] Translation: X:56.11, Y:-9.24, Z:-5.23 [[ 9.54074798e-01 2.96163910e-01 4.50357517e-02 5.61116025e+01] [-2.95783086e-01 9.55136567e-01 -1.50500852e-02 -9.24005368e+00] [-4.74725854e-02 1.03809336e-03 9.98872002e-01 -5.22896198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562401008 meters 0.061178269605212034 Centerline is valid? [True, True] Translation: X:56.14, Y:-9.25, Z:-5.23 [[ 9.53784091e-01 2.96976073e-01 4.58379824e-02 5.61425745e+01] [-2.96581763e-01 9.54884366e-01 -1.53331714e-02 -9.24879271e+00] [-4.83235578e-02 1.02982535e-03 9.98831204e-01 -5.23245074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.592401008 meters 0.061056662601271725 Centerline is valid? [True, True] Translation: X:56.17, Y:-9.26, Z:-5.24 [[ 9.52986608e-01 2.99496463e-01 4.60260133e-02 5.61727602e+01] [-2.99101225e-01 9.54096969e-01 -1.54088131e-02 -9.25551898e+00] [-4.85281648e-02 9.17955549e-04 9.98821393e-01 -5.23724735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622401008000004 meters 0.060684542239794956 Centerline is valid? [True, True] Translation: X:56.20, Y:-9.26, Z:-5.24 [[ 9.52534548e-01 3.00969995e-01 4.57711407e-02 5.62035948e+01] [-3.00580306e-01 9.53633233e-01 -1.53341838e-02 -9.26392678e+00] [-4.82640100e-02 8.48436357e-04 9.98834253e-01 -5.23816522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.652401008000005 meters 0.060791752404089204 Centerline is valid? [True, True] Translation: X:56.23, Y:-9.27, Z:-5.24 [[ 9.52102174e-01 3.02233892e-01 4.64340997e-02 5.62330716e+01] [-3.01833591e-01 9.53233454e-01 -1.55712905e-02 -9.27405367e+00] [-4.89687090e-02 8.10088455e-04 9.98799985e-01 -5.24189590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68240100800001 meters 0.06059601086787902 Centerline is valid? [True, True] Translation: X:56.26, Y:-9.28, Z:-5.24 [[ 9.51668275e-01 3.03636260e-01 4.61791731e-02 5.62639216e+01] [-3.03241760e-01 9.52787739e-01 -1.54905946e-02 -9.28278681e+00] [-4.87024562e-02 7.38453725e-04 9.98813058e-01 -5.24383935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.712401008 meters 0.060035214032333695 Centerline is valid? [True, True] Translation: X:56.30, Y:-9.29, Z:-5.24 [[ 9.50850785e-01 3.06001318e-01 4.73917431e-02 5.62963605e+01] [-3.05587966e-01 9.52030867e-01 -1.59129712e-02 -9.28920374e+00] [-4.99877925e-02 6.48514802e-04 9.98749618e-01 -5.24307135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742401008 meters 0.06003790782503037 Centerline is valid? [True, True] Translation: X:56.33, Y:-9.30, Z:-5.25 [[ 9.50108180e-01 3.08116780e-01 4.85643465e-02 5.63262492e+01] [-3.07685369e-01 9.51348383e-01 -1.63085449e-02 -9.29833700e+00] [-5.12265489e-02 5.52343036e-04 9.98686906e-01 -5.24573326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.772401008 meters 0.05955982630657238 Centerline is valid? [True, True] Translation: X:56.36, Y:-9.31, Z:-5.24 [[ 9.49516942e-01 3.09623480e-01 5.05062170e-02 5.63582225e+01] [-3.09158180e-01 9.50859110e-01 -1.69756608e-02 -9.30595876e+00] [-5.32803597e-02 5.04267416e-04 9.98579466e-01 -5.24473254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802401008000004 meters 0.05925300175147525 Centerline is valid? [True, True] Translation: X:56.39, Y:-9.31, Z:-5.25 [[ 9.49009085e-01 3.10894749e-01 5.22131290e-02 5.63894370e+01] [-3.10399228e-01 9.50444240e-01 -1.75518267e-02 -9.31424179e+00] [-5.50824385e-02 4.49928045e-04 9.98481709e-01 -5.24624763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832401008000005 meters 0.059209838387114036 Centerline is valid? [True, True] Translation: X:56.42, Y:-9.32, Z:-5.25 [[ 9.48302463e-01 3.12751396e-01 5.39351825e-02 5.64196991e+01] [-3.12224789e-01 9.49834949e-01 -1.81453025e-02 -9.32182127e+00] [-5.69044899e-02 3.67334078e-04 9.98379559e-01 -5.24721636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862401008000006 meters 0.05911904039759078 Centerline is valid? [True, True] Translation: X:56.45, Y:-9.33, Z:-5.25 [[ 9.48031383e-01 3.13491066e-01 5.44044836e-02 5.64499644e+01] [-3.12955730e-01 9.49591090e-01 -1.83159350e-02 -9.33191882e+00] [-5.74038948e-02 3.37886302e-04 9.98350980e-01 -5.24849285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89240100800001 meters 0.05898666538481824 Centerline is valid? [True, True] Translation: X:56.48, Y:-9.34, Z:-5.25 [[ 9.48230072e-01 3.12739767e-01 5.52591092e-02 5.64805699e+01] [-3.12185404e-01 9.49838763e-01 -1.86171241e-02 -9.34349026e+00] [-5.83095590e-02 4.02229640e-04 9.98298469e-01 -5.24868443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922401008 meters 0.05912570765989014 Centerline is valid? [True, True] Translation: X:56.51, Y:-9.35, Z:-5.25 [[ 9.48443396e-01 3.12155234e-01 5.49020404e-02 5.65096628e+01] [-3.11605994e-01 9.50031002e-01 -1.85148400e-02 -9.35496932e+00] [-5.79381447e-02 4.52472869e-04 9.98320072e-01 -5.25097009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.952401008 meters 0.05921935452726917 Centerline is valid? [True, True] Translation: X:56.54, Y:-9.37, Z:-5.25 [[ 9.49003664e-01 3.10213087e-01 5.62128678e-02 5.65399691e+01] [-3.09633489e-01 9.50666867e-01 -1.89634077e-02 -9.36783340e+00] [-5.93224081e-02 5.90957022e-04 9.98238700e-01 -5.25305527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982401008000004 meters 0.05951910026907528 Centerline is valid? [True, True] Translation: X:56.57, Y:-9.38, Z:-5.26 [[ 9.49734923e-01 3.07955979e-01 5.62733582e-02 5.65691913e+01] [-3.07370168e-01 9.51400312e-01 -1.90006776e-02 -9.38096389e+00] [-5.93898628e-02 7.48855515e-04 9.98234583e-01 -5.25533196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012401008000005 meters 0.05960578865832241 Centerline is valid? [True, True] Translation: X:56.60, Y:-9.39, Z:-5.26 [[ 9.50405119e-01 3.05758691e-01 5.69362219e-02 5.65986113e+01] [-3.05154170e-01 9.52108604e-01 -1.92389801e-02 -9.39318715e+00] [-6.00919521e-02 9.10499619e-04 9.98192430e-01 -5.25626446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042401008000006 meters 0.060317261533564336 Centerline is valid? [True, True] Translation: X:56.63, Y:-9.41, Z:-5.26 [[ 9.52025457e-01 3.00918849e-01 5.56361043e-02 5.66277594e+01] [-3.00332544e-01 9.53648993e-01 -1.88138625e-02 -9.40530263e+00] [-5.87187606e-02 1.20194327e-03 9.98273841e-01 -5.25996018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07240100800001 meters 0.0610422486851455 Centerline is valid? [True, True] Translation: X:56.66, Y:-9.42, Z:-5.27 [[ 9.52491841e-01 2.99672935e-01 5.43638270e-02 5.66564182e+01] [-2.99110305e-01 9.54041161e-01 -1.83980752e-02 -9.41746619e+00] [-5.73787338e-02 1.26323567e-03 9.98351684e-01 -5.26508256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102401008 meters 0.061544071749863746 Centerline is valid? [True, True] Translation: X:56.69, Y:-9.43, Z:-5.27 [[ 9.52836483e-01 2.98646310e-01 5.39723771e-02 5.66863369e+01] [-2.98089789e-01 9.54362948e-01 -1.82713150e-02 -9.42854121e+00] [-5.69658977e-02 1.32096096e-03 9.98375251e-01 -5.26825459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.132401008 meters 0.0616441017403109 Centerline is valid? [True, True] Translation: X:56.72, Y:-9.44, Z:-5.27 [[ 9.52805795e-01 2.98943223e-01 5.28589264e-02 5.67171796e+01] [-2.98409174e-01 9.54270029e-01 -1.79074326e-02 -9.43797100e+00] [-5.57949949e-02 1.28871697e-03 9.98441414e-01 -5.27091853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162401008 meters 0.06194179971709354 Centerline is valid? [True, True] Translation: X:56.75, Y:-9.45, Z:-5.28 [[ 9.52804465e-01 2.99327980e-01 5.06597590e-02 5.67478271e+01] [-2.98837224e-01 9.54149492e-01 -1.71773321e-02 -9.44610276e+00] [-5.34786395e-02 1.22761704e-03 9.98568239e-01 -5.27571792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192401008000004 meters 0.06168812884819995 Centerline is valid? [True, True] Translation: X:56.78, Y:-9.45, Z:-5.28 [[ 9.52630928e-01 2.99923661e-01 5.03995368e-02 5.67798190e+01] [-2.99438717e-01 9.53962465e-01 -1.70900845e-02 -9.45360097e+00] [-5.32049870e-02 1.18897039e-03 9.98582904e-01 -5.27770989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222401008000006 meters 0.06281185727739058 Centerline is valid? [True, True] Translation: X:56.81, Y:-9.47, Z:-5.28 [[ 9.52463468e-01 3.00422517e-01 5.05930071e-02 5.68077655e+01] [-2.99933685e-01 9.53805492e-01 -1.71717287e-02 -9.46662482e+00] [-5.34146620e-02 1.18089724e-03 9.98571720e-01 -5.28389652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25240100800001 meters 0.06170191754106599 Centerline is valid? [True, True] Translation: X:56.84, Y:-9.47, Z:-5.28 [[ 9.52537549e-01 3.00300747e-01 4.99167244e-02 5.68400501e+01] [-2.99824143e-01 9.53843836e-01 -1.69534729e-02 -9.47147555e+00] [-5.27039004e-02 1.18258036e-03 9.98609483e-01 -5.28246355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282401008 meters 0.06164182691114843 Centerline is valid? [True, True] Translation: X:56.87, Y:-9.48, Z:-5.28 [[ 9.52980088e-01 2.98968642e-01 4.94641500e-02 5.68706837e+01] [-2.98498209e-01 9.54262109e-01 -1.68121243e-02 -9.48112699e+00] [-5.22280621e-02 1.25665952e-03 9.98634393e-01 -5.28266297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.312401008 meters 0.06179649563666618 Centerline is valid? [True, True] Translation: X:56.90, Y:-9.49, Z:-5.28 [[ 9.53661749e-01 2.96737744e-01 4.97592210e-02 5.69013467e+01] [-2.96257952e-01 9.54957985e-01 -1.69255359e-02 -9.49024055e+00] [-5.25404108e-02 1.39967126e-03 9.98617818e-01 -5.28452703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342401008 meters 0.06245475463049158 Centerline is valid? [True, True] Translation: X:56.93, Y:-9.50, Z:-5.29 [[ 9.53741545e-01 2.96331768e-01 5.06413720e-02 5.69310932e+01] [-2.95833418e-01 9.55083947e-01 -1.72407130e-02 -9.50175649e+00] [-5.34757324e-02 1.46177404e-03 9.98568079e-01 -5.28865921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372401008000004 meters 0.06261103325229321 Centerline is valid? [True, True] Translation: X:56.96, Y:-9.51, Z:-5.29 [[ 9.53727021e-01 2.96537327e-01 4.97029555e-02 5.69611503e+01] [-2.96057130e-01 9.55020191e-01 -1.69295828e-02 -9.51036885e+00] [-5.24875793e-02 1.43128622e-03 9.98620551e-01 -5.28993287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402401008000005 meters 0.06254412961125869 Centerline is valid? [True, True] Translation: X:56.99, Y:-9.52, Z:-5.29 [[ 9.53418802e-01 2.97678533e-01 4.87860577e-02 5.69932991e+01] [-2.97216869e-01 9.54665209e-01 -1.66274597e-02 -9.51838466e+00] [-5.15239898e-02 1.35289334e-03 9.98670841e-01 -5.29281162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43240100800001 meters 0.06237786109414117 Centerline is valid? [True, True] Translation: X:57.02, Y:-9.53, Z:-5.29 [[ 9.52932404e-01 2.99251441e-01 4.86662931e-02 5.70242920e+01] [-2.98793347e-01 9.54173433e-01 -1.66010574e-02 -9.52685603e+00] [-5.14039743e-02 1.27852093e-03 9.98677123e-01 -5.29423552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46240100800001 meters 0.06237786109414117 Centerline is valid? [True, True] Translation: X:57.05, Y:-9.54, Z:-5.30 [[ 9.52857294e-01 2.99491075e-01 4.86628499e-02 5.70547842e+01] [-2.99032779e-01 9.54098248e-01 -1.66111430e-02 -9.53741844e+00] [-5.14040290e-02 1.27626154e-03 9.98677123e-01 -5.29655481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.492401008 meters 0.06191583406315888 Centerline is valid? [True, True] Translation: X:57.09, Y:-9.54, Z:-5.30 [[ 9.52618210e-01 3.00104489e-01 4.95564447e-02 5.70863623e+01] [-2.99629252e-01 9.53905476e-01 -1.69308577e-02 -9.54331402e+00] [-5.23531904e-02 1.28008294e-03 9.98627811e-01 -5.29754893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522401008 meters 0.06214580737841244 Centerline is valid? [True, True] Translation: X:57.12, Y:-9.55, Z:-5.30 [[ 9.52353978e-01 3.00728072e-01 5.08382491e-02 5.71160340e+01] [-3.00227975e-01 9.53709052e-01 -1.73841175e-02 -9.55240724e+00] [-5.37127905e-02 1.29276889e-03 9.98555589e-01 -5.29976616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552401008000004 meters 0.06177476467047081 Centerline is valid? [True, True] Translation: X:57.15, Y:-9.56, Z:-5.30 [[ 9.51915114e-01 3.02050449e-01 5.12166201e-02 5.71481285e+01] [-3.01544469e-01 9.53291145e-01 -1.75193236e-02 -9.55724272e+00] [-5.41160699e-02 1.23282042e-03 9.98533891e-01 -5.30086677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582401008000005 meters 0.06152861036043089 Centerline is valid? [True, True] Translation: X:57.18, Y:-9.56, Z:-5.30 [[ 9.51565818e-01 3.03177736e-01 5.10465930e-02 5.71794695e+01] [-3.02676034e-01 9.52933300e-01 -1.74740858e-02 -9.56415008e+00] [-5.39417522e-02 1.17716240e-03 9.98543390e-01 -5.30296271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612401008000006 meters 0.061444442892315425 Centerline is valid? [True, True] Translation: X:57.21, Y:-9.57, Z:-5.31 [[ 9.51171957e-01 3.04297690e-01 5.17187072e-02 5.72104505e+01] [-3.03783581e-01 9.52576303e-01 -1.77178572e-02 -9.57308109e+00] [-5.46575179e-02 1.14143477e-03 9.98504508e-01 -5.30529583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64240100800001 meters 0.061621890095276605 Centerline is valid? [True, True] Translation: X:57.24, Y:-9.58, Z:-5.31 [[ 9.50930322e-01 3.04898192e-01 5.26176400e-02 5.72401745e+01] [-3.04366185e-01 9.52384268e-01 -1.80397260e-02 -9.58295270e+00] [-5.56124924e-02 1.13949215e-03 9.98451778e-01 -5.30682020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672401008 meters 0.06173280519829516 Centerline is valid? [True, True] Translation: X:57.27, Y:-9.59, Z:-5.31 [[ 9.50862110e-01 3.04806362e-01 5.43537455e-02 5.72698438e+01] [-3.04237634e-01 9.52413591e-01 -1.86497570e-02 -9.59189190e+00] [-5.74518105e-02 1.19689243e-03 9.98347563e-01 -5.30693406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702401008 meters 0.06177509526442403 Centerline is valid? [True, True] Translation: X:57.30, Y:-9.60, Z:-5.31 [[ 9.50823148e-01 3.04974223e-01 5.40931055e-02 5.73010210e+01] [-3.04410504e-01 9.52359859e-01 -1.85726873e-02 -9.60046585e+00] [-5.71802931e-02 1.19283149e-03 9.98363156e-01 -5.30914402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.732401008000004 meters 0.06189093463618936 Centerline is valid? [True, True] Translation: X:57.33, Y:-9.61, Z:-5.31 [[ 9.50722656e-01 3.05066147e-01 5.53270077e-02 5.73319245e+01] [-3.04475637e-01 9.52330371e-01 -1.90118775e-02 -9.60891028e+00] [-5.84894700e-02 1.22929672e-03 9.98287269e-01 -5.31271579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762401008000005 meters 0.06161966394667041 Centerline is valid? [True, True] Translation: X:57.36, Y:-9.61, Z:-5.32 [[ 9.50390391e-01 3.06230191e-01 5.46001295e-02 5.73642563e+01] [-3.05656257e-01 9.51956793e-01 -1.87754364e-02 -9.61354727e+00] [-5.77265697e-02 1.15512318e-03 9.98331763e-01 -5.31617885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792401008000006 meters 0.06156827007821499 Centerline is valid? [True, True] Translation: X:57.39, Y:-9.62, Z:-5.32 [[ 9.50124004e-01 3.07261682e-01 5.34287900e-02 5.73946051e+01] [-3.06713018e-01 9.51624448e-01 -1.83857270e-02 -9.62218986e+00] [-5.64933721e-02 1.08141512e-03 9.98402389e-01 -5.31978641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82240100800001 meters 0.06183847487088584 Centerline is valid? [True, True] Translation: X:57.42, Y:-9.63, Z:-5.32 [[ 9.49927699e-01 3.08125612e-01 5.19227752e-02 5.74234544e+01] [-3.07607968e-01 9.51345141e-01 -1.78818282e-02 -9.63156274e+00] [-5.49063292e-02 1.01458455e-03 9.98490994e-01 -5.32429468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.852401008 meters 0.06175552148073428 Centerline is valid? [True, True] Translation: X:57.46, Y:-9.64, Z:-5.33 [[ 9.50202112e-01 3.07636361e-01 4.97575706e-02 5.74554515e+01] [-3.07159800e-01 9.51503469e-01 -1.71466245e-02 -9.63740088e+00] [-5.26194262e-02 1.00923339e-03 9.98614128e-01 -5.32740792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882401008 meters 0.06203413775269971 Centerline is valid? [True, True] Translation: X:57.49, Y:-9.65, Z:-5.33 [[ 9.50232750e-01 3.07603281e-01 4.93755138e-02 5.74851079e+01] [-3.07133301e-01 9.51514157e-01 -1.70277799e-02 -9.64717127e+00] [-5.22193013e-02 1.01548962e-03 9.98635125e-01 -5.33101422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.912401008 meters 0.062106653372984266 Centerline is valid? [True, True] Translation: X:57.52, Y:-9.66, Z:-5.33 [[ 9.50390229e-01 3.07303972e-01 4.81942075e-02 5.75156560e+01] [-3.06855304e-01 9.51610863e-01 -1.66309579e-02 -9.65679850e+00] [-5.09728908e-02 1.01725172e-03 9.98699519e-01 -5.33327507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942401008000004 meters 0.06235278199304039 Centerline is valid? [True, True] Translation: X:57.55, Y:-9.67, Z:-5.34 [[ 9.50498127e-01 3.07146557e-01 4.70563888e-02 5.75460119e+01] [-3.06718071e-01 9.51661687e-01 -1.62498389e-02 -9.66740716e+00] [-4.97728444e-02 1.01239660e-03 9.98760051e-01 -5.33625390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.972401008000006 meters 0.06263432930691291 Centerline is valid? [True, True] Translation: X:57.58, Y:-9.67, Z:-5.34 [[ 9.50870101e-01 3.06145804e-01 4.60521222e-02 5.75758738e+01] [-3.05733571e-01 9.51984051e-01 -1.59169824e-02 -9.67409438e+00] [-4.87138032e-02 1.05530287e-03 9.98812220e-01 -5.34081451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00240100800001 meters 0.06266095670915371 Centerline is valid? [True, True] Translation: X:57.61, Y:-9.68, Z:-5.34 [[ 9.50781921e-01 3.06526740e-01 4.53331804e-02 5.76063286e+01] [-3.06127462e-01 9.51861496e-01 -1.56738270e-02 -9.68252287e+00] [-4.79553560e-02 1.02465988e-03 9.98848954e-01 -5.34310160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.032401008 meters 0.06278403135786792 Centerline is valid? [True, True] Translation: X:57.64, Y:-9.69, Z:-5.35 [[ 9.50508845e-01 3.07385522e-01 4.52446279e-02 5.76355038e+01] [-3.06988577e-01 9.51584559e-01 -1.56473624e-02 -9.69161890e+00] [-4.78638620e-02 9.83372437e-04 9.98853384e-01 -5.34643402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062401008 meters 0.06259539811851605 Centerline is valid? [True, True] Translation: X:57.67, Y:-9.70, Z:-5.35 [[ 9.50148553e-01 3.08490258e-01 4.52933472e-02 5.76670195e+01] [-3.08093228e-01 9.51227039e-01 -1.56742648e-02 -9.69949731e+00] [-4.79196146e-02 9.38306511e-04 9.98850755e-01 -5.34768130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.092401008 meters 0.061711165796733566 Centerline is valid? [True, True] Translation: X:57.70, Y:-9.70, Z:-5.35 [[ 9.48917974e-01 3.11945757e-01 4.73764073e-02 5.76997789e+01] [-3.11515003e-01 9.50099567e-01 -1.64078154e-02 -9.70161897e+00] [-5.01306525e-02 8.11209308e-04 9.98742339e-01 -5.34520804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122401008000004 meters 0.061285781494419274 Centerline is valid? [True, True] Translation: X:57.73, Y:-9.71, Z:-5.35 [[ 9.47879407e-01 3.14942147e-01 4.83329469e-02 5.77315766e+01] [-3.14497183e-01 9.49110630e-01 -1.67491456e-02 -9.70742577e+00] [-5.11483255e-02 6.75594544e-04 9.98690839e-01 -5.34727237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152401008000005 meters 0.06106975835458083 Centerline is valid? [True, True] Translation: X:57.76, Y:-9.71, Z:-5.35 [[ 9.46778576e-01 3.18092020e-01 4.92726473e-02 5.77624528e+01] [-3.17633148e-01 9.48059696e-01 -1.70878601e-02 -9.71252008e+00] [-5.21489230e-02 5.27793755e-04 9.98639180e-01 -5.34886681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18240100800001 meters 0.0608947037907227 Centerline is valid? [True, True] Translation: X:57.80, Y:-9.71, Z:-5.35 [[ 9.44476879e-01 3.24625289e-01 5.08118797e-02 5.77954702e+01] [-3.24146051e-01 9.45842687e-01 -1.76337572e-02 -9.71339341e+00] [-5.37844084e-02 1.84205830e-04 9.98552554e-01 -5.35054737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21240100800001 meters 0.06081474625985874 Centerline is valid? [True, True] Translation: X:57.83, Y:-9.72, Z:-5.35 [[ 9.43208740e-01 3.28246365e-01 5.11037905e-02 5.78280322e+01] [-3.27766113e-01 9.44592147e-01 -1.77496729e-02 -9.71894950e+00] [-5.40985048e-02 -8.44418565e-06 9.98535604e-01 -5.35215997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242401008 meters 0.06089725007096326 Centerline is valid? [True, True] Translation: X:57.86, Y:-9.72, Z:-5.35 [[ 9.42239354e-01 3.31086926e-01 5.06601087e-02 5.78598355e+01] [-3.30618829e-01 9.43600244e-01 -1.76002705e-02 -9.72486573e+00] [-5.36301104e-02 -1.65518323e-04 9.98560856e-01 -5.35463478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.272401008 meters 0.061060501166335136 Centerline is valid? [True, True] Translation: X:57.89, Y:-9.73, Z:-5.36 [[ 9.41417780e-01 3.33315051e-01 5.13190058e-02 5.78915079e+01] [-3.32837308e-01 9.42815462e-01 -1.78418204e-02 -9.73157289e+00] [-5.43312995e-02 -2.84272786e-04 9.98522924e-01 -5.35752130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302401008000004 meters 0.06134115173096012 Centerline is valid? [True, True] Translation: X:57.92, Y:-9.74, Z:-5.36 [[ 9.39800823e-01 3.37999198e-01 5.03086013e-02 5.79239958e+01] [-3.37546090e-01 9.41146248e-01 -1.75036357e-02 -9.73606151e+00] [-5.32639662e-02 -5.31540452e-04 9.98580326e-01 -5.35949645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332401008000005 meters 0.06154671367890838 Centerline is valid? [True, True] Translation: X:57.96, Y:-9.74, Z:-5.36 [[ 9.39114453e-01 3.40017715e-01 4.95176540e-02 5.79550162e+01] [-3.39580918e-01 9.40418824e-01 -1.72405459e-02 -9.74466269e+00] [-5.24294250e-02 -6.24404620e-04 9.98624437e-01 -5.36215262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362401008000006 meters 0.06170149356986911 Centerline is valid? [True, True] Translation: X:57.99, Y:-9.75, Z:-5.37 [[ 9.38712003e-01 3.41256758e-01 4.86168674e-02 5.79857463e+01] [-3.40836754e-01 9.39969881e-01 -1.69390226e-02 -9.75466533e+00] [-5.14789470e-02 -6.69551389e-04 9.98673856e-01 -5.36507025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39240100800001 meters 0.0618060946279735 Centerline is valid? [True, True] Translation: X:58.02, Y:-9.77, Z:-5.37 [[ 9.38441629e-01 3.42091945e-01 4.79625853e-02 5.80157660e+01] [-3.41683643e-01 9.39666228e-01 -1.67233005e-02 -9.76530366e+00] [-5.07897280e-02 -6.94189461e-04 9.98709128e-01 -5.36859938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422401008 meters 0.062379229046570006 Centerline is valid? [True, True] Translation: X:58.04, Y:-9.78, Z:-5.37 [[ 9.38459684e-01 3.42309330e-01 4.60189562e-02 5.80445693e+01] [-3.41933163e-01 9.39587079e-01 -1.60571984e-02 -9.77637012e+00] [-4.87353454e-02 -6.66373915e-04 9.98811505e-01 -5.37497910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.452401008 meters 0.06219522196890327 Centerline is valid? [True, True] Translation: X:58.07, Y:-9.79, Z:-5.38 [[ 9.38576679e-01 3.41931726e-01 4.64382653e-02 5.80735979e+01] [-3.41547673e-01 9.39724578e-01 -1.62143620e-02 -9.78903095e+00] [-4.91833841e-02 -6.42459365e-04 9.98789558e-01 -5.37705466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482401008000004 meters 0.06225775282651295 Centerline is valid? [True, True] Translation: X:58.10, Y:-9.80, Z:-5.38 [[ 9.38871915e-01 3.41177113e-01 4.60185226e-02 5.81025921e+01] [-3.40798524e-01 9.39998847e-01 -1.60789726e-02 -9.80144017e+00] [-4.87431356e-02 -5.86948771e-04 9.98811174e-01 -5.38078525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512401008000005 meters 0.06221612787062231 Centerline is valid? [True, True] Translation: X:58.13, Y:-9.81, Z:-5.38 [[ 9.39027472e-01 3.40744584e-01 4.60492786e-02 5.81324033e+01] [-3.40364333e-01 9.40155744e-01 -1.61027314e-02 -9.81410238e+00] [-4.87804123e-02 -5.52624875e-04 9.98809374e-01 -5.38351564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542401008000006 meters 0.0622613580349751 Centerline is valid? [True, True] Translation: X:58.16, Y:-9.83, Z:-5.39 [[ 9.39082290e-01 3.40621864e-01 4.58388387e-02 5.81613886e+01] [-3.40244306e-01 9.40200225e-01 -1.60421079e-02 -9.82812646e+00] [-4.85619792e-02 -5.31544459e-04 9.98820030e-01 -5.38660832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57240100800001 meters 0.06241182129618748 Centerline is valid? [True, True] Translation: X:58.19, Y:-9.84, Z:-5.39 [[ 9.38765706e-01 3.41390947e-01 4.65958125e-02 5.81895418e+01] [-3.41001386e-01 9.39921216e-01 -1.63145043e-02 -9.84001829e+00] [-4.93660168e-02 -5.73739518e-04 9.98780590e-01 -5.38866461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602401008 meters 0.062409488413836346 Centerline is valid? [True, True] Translation: X:58.22, Y:-9.85, Z:-5.39 [[ 9.38457704e-01 3.42192500e-01 4.69194115e-02 5.82193771e+01] [-3.41798013e-01 9.39629672e-01 -1.64377139e-02 -9.85300210e+00] [-4.97117336e-02 -6.10862423e-04 9.98763421e-01 -5.38942909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.632401008 meters 0.06244605880085104 Centerline is valid? [True, True] Translation: X:58.25, Y:-9.87, Z:-5.39 [[ 9.37992522e-01 3.43323040e-01 4.79512192e-02 5.82484790e+01] [-3.42911571e-01 9.39217143e-01 -1.68170207e-02 -9.86842563e+00] [-5.08102778e-02 -6.68788221e-04 9.98708100e-01 -5.38980822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662401008 meters 0.062486859489447495 Centerline is valid? [True, True] Translation: X:58.28, Y:-9.88, Z:-5.39 [[ 9.38010575e-01 3.43237270e-01 4.82113861e-02 5.82774085e+01] [-3.42821123e-01 9.39248494e-01 -1.69099049e-02 -9.88047451e+00] [-5.10865813e-02 -6.66211866e-04 9.98694006e-01 -5.39280164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692401008000004 meters 0.06241623887461501 Centerline is valid? [True, True] Translation: X:58.31, Y:-9.89, Z:-5.40 [[ 9.37989247e-01 3.43115796e-01 4.94744616e-02 5.83061453e+01] [-3.42676756e-01 9.39292876e-01 -1.73647218e-02 -9.89307560e+00] [-5.24291196e-02 -6.65825669e-04 9.98624426e-01 -5.39568722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722401008000006 meters 0.06209012883750266 Centerline is valid? [True, True] Translation: X:58.33, Y:-9.91, Z:-5.40 [[ 9.38909657e-01 3.40426885e-01 5.05785684e-02 5.83334604e+01] [-3.39963411e-01 9.40270850e-01 -1.77653577e-02 -9.91218476e+00] [-5.36053589e-02 -5.14796788e-04 9.98562066e-01 -5.39879419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75240100800001 meters 0.062128100679617 Centerline is valid? [True, True] Translation: X:58.36, Y:-9.93, Z:-5.40 [[ 9.38982637e-01 3.40316217e-01 4.99647926e-02 5.83624802e+01] [-3.39863150e-01 9.40310923e-01 -1.75615454e-02 -9.92695958e+00] [-5.29589190e-02 -4.91205570e-04 9.98596571e-01 -5.40203768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782401008 meters 0.06207242503910618 Centerline is valid? [True, True] Translation: X:58.39, Y:-9.94, Z:-5.41 [[ 9.39292888e-01 3.39470900e-01 4.98836453e-02 5.83911200e+01] [-3.39017334e-01 9.40616459e-01 -1.75477408e-02 -9.94136456e+00] [-5.28783252e-02 -4.28952318e-04 9.98600871e-01 -5.40530187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812401008 meters 0.06201892716140649 Centerline is valid? [True, True] Translation: X:58.42, Y:-9.96, Z:-5.41 [[ 9.39880803e-01 3.38032088e-01 4.85631808e-02 5.84186888e+01] [-3.37599606e-01 9.41134529e-01 -1.70969379e-02 -9.95961249e+00] [-5.14837999e-02 -3.25826910e-04 9.98673777e-01 -5.40952227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842401008 meters 0.06170145562334051 Centerline is valid? [True, True] Translation: X:58.45, Y:-9.98, Z:-5.41 [[ 9.40143124e-01 3.37368418e-01 4.80984177e-02 5.84475601e+01] [-3.36943156e-01 9.41372652e-01 -1.69363405e-02 -9.97553836e+00] [-5.09923214e-02 -2.83848613e-04 9.98699005e-01 -5.40863158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872401008000004 meters 0.06173308156220419 Centerline is valid? [True, True] Translation: X:58.48, Y:-9.99, Z:-5.41 [[ 9.40408136e-01 3.36632066e-01 4.80769138e-02 5.84761993e+01] [-3.36205449e-01 9.41636235e-01 -1.69439197e-02 -9.99073141e+00] [-5.09748308e-02 -2.29520399e-04 9.98699912e-01 -5.41138802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902401008000005 meters 0.061698672130893306 Centerline is valid? [True, True] Translation: X:58.50, Y:-10.01, Z:-5.42 [[ 9.40753215e-01 3.35710784e-01 4.77667049e-02 5.85043210e+01] [-3.35287686e-01 9.41965096e-01 -1.68500684e-02 -1.00054182e+01] [-5.06513184e-02 -1.63831928e-04 9.98716385e-01 -5.41533809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93240100800001 meters 0.061623200353757054 Centerline is valid? [True, True] Translation: X:58.53, Y:-10.02, Z:-5.42 [[ 9.41081361e-01 3.34859462e-01 4.72759204e-02 5.85341491e+01] [-3.34443620e-01 9.42268077e-01 -1.66834147e-02 -1.00203490e+01] [-5.01331899e-02 -1.10679362e-04 9.98742535e-01 -5.41718220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96240100800001 meters 0.06172721355863538 Centerline is valid? [True, True] Translation: X:58.56, Y:-10.04, Z:-5.42 [[ 9.42287772e-01 3.31539890e-01 4.66374946e-02 5.85616969e+01] [-3.31130414e-01 9.43441199e-01 -1.64728168e-02 -1.00381511e+01] [-4.94611297e-02 7.90409514e-05 9.98776046e-01 -5.42245646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992401008 meters 0.06183517220611304 Centerline is valid? [True, True] Translation: X:58.59, Y:-10.05, Z:-5.42 [[ 9.42823246e-01 3.30002297e-01 4.67205666e-02 5.85915035e+01] [-3.29588905e-01 9.43980113e-01 -1.65136140e-02 -1.00534375e+01] [-4.95528163e-02 1.70838814e-04 9.98771490e-01 -5.42468811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022401008 meters 0.0619007384907597 Centerline is valid? [True, True] Translation: X:58.62, Y:-10.07, Z:-5.43 [[ 9.43614514e-01 3.27785539e-01 4.63496463e-02 5.86187524e+01] [-3.27375263e-01 9.44752111e-01 -1.63977527e-02 -1.00683910e+01] [-4.91638724e-02 2.99429757e-04 9.98790681e-01 -5.42766618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052401008000004 meters 0.06196922031565608 Centerline is valid? [True, True] Translation: X:58.65, Y:-10.08, Z:-5.43 [[ 9.44263353e-01 3.25822250e-01 4.69742706e-02 5.86487739e+01] [-3.25397872e-01 9.45430953e-01 -1.66294232e-02 -1.00831194e+01] [-4.98291656e-02 4.17227174e-04 9.98757668e-01 -5.42928313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082401008000005 meters 0.06198606408609138 Centerline is valid? [True, True] Translation: X:58.68, Y:-10.10, Z:-5.43 [[ 9.45170770e-01 3.23126147e-01 4.73466768e-02 5.86764176e+01] [-3.22690844e-01 9.46355725e-01 -1.67767928e-02 -1.01020612e+01] [-5.02278191e-02 5.78595091e-04 9.98737619e-01 -5.43032360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112401008000006 meters 0.06198797998998015 Centerline is valid? [True, True] Translation: X:58.70, Y:-10.12, Z:-5.43 [[ 9.45388298e-01 3.22402930e-01 4.79303299e-02 5.87048970e+01] [-3.21955240e-01 9.46602316e-01 -1.69964121e-02 -1.01158634e+01] [-5.08506543e-02 6.36788185e-04 9.98706066e-01 -5.43128897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14240100800001 meters 0.062091490019039006 Centerline is valid? [True, True] Translation: X:58.73, Y:-10.13, Z:-5.43 [[ 9.45503696e-01 3.21847786e-01 4.93635816e-02 5.87327583e+01] [-3.21371336e-01 9.46791165e-01 -1.75200927e-02 -1.01286530e+01] [-5.23758060e-02 7.01272272e-04 9.98627199e-01 -5.43317749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172401008 meters 0.06224860740523995 Centerline is valid? [True, True] Translation: X:58.76, Y:-10.14, Z:-5.44 [[ 9.45630884e-01 3.21333030e-01 5.02724058e-02 5.87614737e+01] [-3.20837487e-01 9.46965952e-01 -1.78547627e-02 -1.01420477e+01] [-5.33435816e-02 7.54742716e-04 9.98575932e-01 -5.43525674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202401008 meters 0.061864221126725676 Centerline is valid? [True, True] Translation: X:58.79, Y:-10.15, Z:-5.43 [[ 9.45785612e-01 3.20611202e-01 5.19425938e-02 5.87918533e+01] [-3.20080232e-01 9.47210514e-01 -1.84631315e-02 -1.01538782e+01] [-5.51200578e-02 8.36366642e-04 9.98479384e-01 -5.43478244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.232401008000004 meters 0.062269878731443226 Centerline is valid? [True, True] Translation: X:58.82, Y:-10.17, Z:-5.43 [[ 9.46892350e-01 3.16825098e-01 5.49248038e-02 5.88193162e+01] [-3.16223978e-01 9.48483300e-01 -1.95403302e-02 -1.01709907e+01] [-5.82861262e-02 1.13404924e-03 9.98299274e-01 -5.43495797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262401008000005 meters 0.06252963687972476 Centerline is valid? [True, True] Translation: X:58.85, Y:-10.18, Z:-5.44 [[ 9.47533309e-01 3.14760058e-01 5.57380865e-02 5.88475361e+01] [-3.14136993e-01 9.49170401e-01 -1.98367989e-02 -1.01840708e+01] [-5.91487739e-02 1.28663281e-03 9.98248349e-01 -5.43703195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292401008000006 meters 0.06264369356884848 Centerline is valid? [True, True] Translation: X:58.88, Y:-10.20, Z:-5.44 [[ 9.47930785e-01 3.13433071e-01 5.64529672e-02 5.88772319e+01] [-3.12790717e-01 9.49609261e-01 -2.01051859e-02 -1.01961323e+01] [-5.99098906e-02 1.40036056e-03 9.98202807e-01 -5.43956879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32240100800001 meters 0.06319539127101668 Centerline is valid? [True, True] Translation: X:58.91, Y:-10.21, Z:-5.44 [[ 9.48411135e-01 3.12095431e-01 5.57921210e-02 5.89051728e+01] [-3.11464853e-01 9.50049602e-01 -1.98846371e-02 -1.02086006e+01] [-5.92111868e-02 1.48152647e-03 9.98244379e-01 -5.44365952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.352401008 meters 0.06319539127101668 Centerline is valid? [True, True] Translation: X:58.94, Y:-10.22, Z:-5.45 [[ 9.48328691e-01 3.12346589e-01 5.57880072e-02 5.89354959e+01] [-3.11715766e-01 9.49967065e-01 -1.98961713e-02 -1.02195863e+01] [-5.92112707e-02 1.47810868e-03 9.98244379e-01 -5.44597762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382401008 meters 0.0631715999535701 Centerline is valid? [True, True] Translation: X:58.97, Y:-10.23, Z:-5.45 [[ 9.48276671e-01 3.12652888e-01 5.49502190e-02 5.89658877e+01] [-3.12040462e-01 9.49866339e-01 -1.96134493e-02 -1.02310970e+01] [-5.83275650e-02 1.45228469e-03 9.98296442e-01 -5.44854475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.412401008 meters 0.06338582789841207 Centerline is valid? [True, True] Translation: X:58.99, Y:-10.24, Z:-5.45 [[ 9.48318189e-01 3.12694479e-01 5.39886544e-02 5.89946887e+01] [-3.12102357e-01 9.49852665e-01 -1.92881765e-02 -1.02420365e+01] [-5.73125735e-02 1.44134230e-03 9.98355243e-01 -5.45133134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442401008000004 meters 0.06303666221544153 Centerline is valid? [True, True] Translation: X:59.03, Y:-10.25, Z:-5.45 [[ 9.47985739e-01 3.14020237e-01 5.20992238e-02 5.90265858e+01] [-3.13470604e-01 9.49415375e-01 -1.86179063e-02 -1.02505698e+01] [-5.53102035e-02 1.31793450e-03 9.98468349e-01 -5.45485180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.472401008000006 meters 0.06364852222301852 Centerline is valid? [True, True] Translation: X:59.05, Y:-10.26, Z:-5.46 [[ 9.47637433e-01 3.15138178e-01 5.16838924e-02 5.90547452e+01] [-3.14598034e-01 9.49044965e-01 -1.84859728e-02 -1.02622440e+01] [-5.48759736e-02 1.25834884e-03 9.98492386e-01 -5.46025634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50240100800001 meters 0.06295400996846615 Centerline is valid? [True, True] Translation: X:59.09, Y:-10.27, Z:-5.46 [[ 9.47263211e-01 3.16524877e-01 5.00440990e-02 5.90869813e+01] [-3.16019850e-01 9.48583511e-01 -1.79102365e-02 -1.02690493e+01] [-5.31400426e-02 1.15077951e-03 9.98586407e-01 -5.46270497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.532401008 meters 0.06295077524428921 Centerline is valid? [True, True] Translation: X:59.12, Y:-10.28, Z:-5.47 [[ 9.46643850e-01 3.18582946e-01 4.86860073e-02 5.91173286e+01] [-3.18106930e-01 9.47894437e-01 -1.74389496e-02 -1.02778930e+01] [-5.17049474e-02 1.02111809e-03 9.98661883e-01 -5.46695300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562401008 meters 0.06258580616990227 Centerline is valid? [True, True] Translation: X:59.15, Y:-10.28, Z:-5.47 [[ 9.45674418e-01 3.21668116e-01 4.72177697e-02 5.91479608e+01] [-3.21223629e-01 9.46852111e-01 -1.69251262e-02 -1.02845820e+01] [-5.01525184e-02 8.38195580e-04 9.98741219e-01 -5.47240313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.592401008 meters 0.062377950557490784 Centerline is valid? [True, True] Translation: X:59.18, Y:-10.29, Z:-5.47 [[ 9.45011158e-01 3.23692228e-01 4.66610448e-02 5.91790013e+01] [-3.23260100e-01 9.46162145e-01 -1.67362491e-02 -1.02929642e+01] [-4.95663080e-02 7.32288086e-04 9.98770567e-01 -5.47442131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622401008000004 meters 0.062196645492643726 Centerline is valid? [True, True] Translation: X:59.21, Y:-10.30, Z:-5.48 [[ 9.44502305e-01 3.25187862e-01 4.65644773e-02 5.92086768e+01] [-3.24758722e-01 9.45649202e-01 -1.67140338e-02 -1.03017793e+01] [-4.94688617e-02 6.64223334e-04 9.98775446e-01 -5.47812198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.652401008000005 meters 0.06209988400536156 Centerline is valid? [True, True] Translation: X:59.24, Y:-10.31, Z:-5.48 [[ 9.43741608e-01 3.27364695e-01 4.67347248e-02 5.92390114e+01] [-3.26934534e-01 9.44897899e-01 -1.67860122e-02 -1.03111783e+01] [-4.96546911e-02 5.62462655e-04 9.98766287e-01 -5.48074633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68240100800001 meters 0.061471703394413595 Centerline is valid? [True, True] Translation: X:59.27, Y:-10.32, Z:-5.48 [[ 9.42420632e-01 3.31101292e-01 4.70668297e-02 5.92703736e+01] [-3.30669036e-01 9.43595141e-01 -1.69173985e-02 -1.03194664e+01] [-5.00134043e-02 3.79762194e-04 9.98748474e-01 -5.48069348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71240100800001 meters 0.06123337479492738 Centerline is valid? [True, True] Translation: X:59.30, Y:-10.33, Z:-5.48 [[ 9.42016401e-01 3.32007938e-01 4.87424901e-02 5.93000689e+01] [-3.31544866e-01 9.43276525e-01 -1.75327909e-02 -1.03301064e+01] [-5.17986725e-02 3.55854227e-04 9.98657484e-01 -5.48198975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742401008 meters 0.06108827313810274 Centerline is valid? [True, True] Translation: X:59.33, Y:-10.34, Z:-5.48 [[ 9.41550784e-01 3.33106153e-01 5.02236314e-02 5.93293339e+01] [-3.32615319e-01 9.42889278e-01 -1.80792444e-02 -1.03402367e+01] [-5.33776311e-02 3.17377497e-04 9.98574348e-01 -5.48268696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772401008 meters 0.06089738122185046 Centerline is valid? [True, True] Translation: X:59.36, Y:-10.35, Z:-5.48 [[ 9.41762891e-01 3.32110985e-01 5.27726387e-02 5.93595896e+01] [-3.31566662e-01 9.43240228e-01 -1.90110547e-02 -1.03528908e+01] [-5.60910559e-02 4.06258141e-04 9.98425575e-01 -5.48201295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802401008000004 meters 0.060919229986785846 Centerline is valid? [True, True] Translation: X:59.39, Y:-10.37, Z:-5.48 [[ 9.41912051e-01 3.31344014e-01 5.48892788e-02 5.93888309e+01] [-3.30753423e-01 9.43509892e-01 -1.97801957e-02 -1.03655633e+01] [-5.83426269e-02 4.76387878e-04 9.98296505e-01 -5.48320977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832401008000005 meters 0.06083719914525307 Centerline is valid? [True, True] Translation: X:59.42, Y:-10.38, Z:-5.48 [[ 9.42030752e-01 3.30798767e-01 5.61269774e-02 5.94183246e+01] [-3.30179358e-01 9.43701165e-01 -2.02411042e-02 -1.03783665e+01] [-5.96628263e-02 5.35773273e-04 9.98218443e-01 -5.48431126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862401008000006 meters 0.06075419041833015 Centerline is valid? [True, True] Translation: X:59.45, Y:-10.39, Z:-5.48 [[ 9.42325752e-01 3.29634147e-01 5.79957473e-02 5.94491293e+01] [-3.28969629e-01 9.44108529e-01 -2.09300869e-02 -1.03910995e+01] [-6.16535510e-02 6.44120358e-04 9.98097402e-01 -5.48429594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89240100800001 meters 0.061064880364699 Centerline is valid? [True, True] Translation: X:59.48, Y:-10.41, Z:-5.49 [[ 9.43303018e-01 3.26725209e-01 5.85666608e-02 5.94763263e+01] [-3.26040732e-01 9.45118986e-01 -2.11552483e-02 -1.04081875e+01] [-6.22644160e-02 8.60692636e-04 9.98059318e-01 -5.48630067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922401008 meters 0.060989283395410876 Centerline is valid? [True, True] Translation: X:59.51, Y:-10.42, Z:-5.49 [[ 9.43427372e-01 3.26457004e-01 5.80570300e-02 5.95051612e+01] [-3.25782994e-01 9.45211639e-01 -2.09856739e-02 -1.04209656e+01] [-6.17271007e-02 8.84466089e-04 9.98092672e-01 -5.48882692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952401008 meters 0.06106024580794872 Centerline is valid? [True, True] Translation: X:59.53, Y:-10.43, Z:-5.49 [[ 9.43620194e-01 3.25981603e-01 5.75927345e-02 5.95340149e+01] [-3.25316514e-01 9.45375662e-01 -2.08332163e-02 -1.04335992e+01] [-6.12380148e-02 9.22775982e-04 9.98122765e-01 -5.49139509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982401008000004 meters 0.061270877505413185 Centerline is valid? [True, True] Translation: X:59.56, Y:-10.45, Z:-5.49 [[ 9.43940268e-01 3.25087058e-01 5.74036216e-02 5.95627151e+01] [-3.24423821e-01 9.45683574e-01 -2.07788685e-02 -1.04458726e+01] [-6.10406033e-02 9.90908453e-04 9.98134792e-01 -5.49499301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012401008000005 meters 0.06127440044400023 Centerline is valid? [True, True] Translation: X:59.59, Y:-10.46, Z:-5.50 [[ 9.43787697e-01 3.25598092e-01 5.70146065e-02 5.95930408e+01] [-3.24943950e-01 9.45507775e-01 -2.06513050e-02 -1.04570046e+01] [-6.06317793e-02 9.63896184e-04 9.98159736e-01 -5.49862008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042401008000006 meters 0.06153177262889738 Centerline is valid? [True, True] Translation: X:59.62, Y:-10.47, Z:-5.50 [[ 9.44394917e-01 3.24176643e-01 5.50249549e-02 5.96227371e+01] [-3.23564050e-01 9.45996002e-01 -1.99466514e-02 -1.04679778e+01] [-5.85196259e-02 1.03341895e-03 9.98285723e-01 -5.50381766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07240100800001 meters 0.06214644555983008 Centerline is valid? [True, True] Translation: X:59.65, Y:-10.48, Z:-5.51 [[ 9.44962235e-01 3.22856963e-01 5.30071219e-02 5.96509168e+01] [-3.22285663e-01 9.46447146e-01 -1.92289400e-02 -1.04810597e+01] [-5.63766364e-02 1.08718677e-03 9.98408981e-01 -5.51041541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102401008 meters 0.06217307933019311 Centerline is valid? [True, True] Translation: X:59.68, Y:-10.49, Z:-5.51 [[ 9.45388976e-01 3.22004659e-01 5.05240824e-02 5.96807904e+01] [-3.21483848e-01 9.46737450e-01 -1.83394437e-02 -1.04915366e+01] [-5.37384272e-02 1.09523151e-03 9.98554446e-01 -5.51324821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.132401008 meters 0.06263651965447924 Centerline is valid? [True, True] Translation: X:59.71, Y:-10.50, Z:-5.52 [[ 9.44921357e-01 3.23759845e-01 4.79915752e-02 5.97090667e+01] [-3.23291606e-01 9.46138809e-01 -1.74324646e-02 -1.05024731e+01] [-5.10506239e-02 9.57034714e-04 9.98695608e-01 -5.51880553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162401008 meters 0.062173411989004446 Centerline is valid? [True, True] Translation: X:59.74, Y:-10.51, Z:-5.52 [[ 9.44795992e-01 3.24344480e-01 4.64886284e-02 5.97399631e+01] [-3.23905294e-01 9.45938601e-01 -1.68974616e-02 -1.05096658e+01] [-4.94559864e-02 9.06741137e-04 9.98775892e-01 -5.52024906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192401008000004 meters 0.06171615089724159 Centerline is valid? [True, True] Translation: X:59.77, Y:-10.52, Z:-5.52 [[ 9.45116042e-01 3.23319148e-01 4.71210860e-02 5.97715335e+01] [-3.22866139e-01 9.46289471e-01 -1.71374981e-02 -1.05185080e+01] [-5.01310688e-02 9.83121214e-04 9.98742164e-01 -5.51987639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222401008000006 meters 0.0625289724538714 Centerline is valid? [True, True] Translation: X:59.80, Y:-10.53, Z:-5.53 [[ 9.45511589e-01 3.21945473e-01 4.85690070e-02 5.97997919e+01] [-3.21461510e-01 9.46757568e-01 -1.76806083e-02 -1.05316799e+01] [-5.16752668e-02 1.10415372e-03 9.98663330e-01 -5.52547795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25240100800001 meters 0.06216579183921107 Centerline is valid? [True, True] Translation: X:59.83, Y:-10.54, Z:-5.52 [[ 9.46559102e-01 3.18682368e-01 4.96730843e-02 5.98308436e+01] [-3.18170821e-01 9.47860638e-01 -1.80980405e-02 -1.05395174e+01] [-5.28506877e-02 1.32633896e-03 9.98601545e-01 -5.52489418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282401008 meters 0.06247842695338223 Centerline is valid? [True, True] Translation: X:59.86, Y:-10.55, Z:-5.53 [[ 9.47130863e-01 3.16772215e-01 5.09754076e-02 5.98604484e+01] [-3.16229921e-01 9.48500480e-01 -1.85870165e-02 -1.05511493e+01] [-5.42380489e-02 1.48438786e-03 9.98526930e-01 -5.52694081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.312401008 meters 0.06470803586701125 Centerline is valid? [True, True] Translation: X:59.89, Y:-10.57, Z:-5.53 [[ 9.47510272e-01 3.15607387e-01 5.11494017e-02 5.98865163e+01] [-3.15058921e-01 9.48888567e-01 -1.86644867e-02 -1.05699671e+01] [-5.44257324e-02 1.56971749e-03 9.98516588e-01 -5.53250704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342401008 meters 0.06367921177591282 Centerline is valid? [True, True] Translation: X:59.92, Y:-10.58, Z:-5.53 [[ 9.47725453e-01 3.15012013e-01 5.08320591e-02 5.99173785e+01] [-3.14468823e-01 9.49086326e-01 -1.85608535e-02 -1.05790941e+01] [-5.40909040e-02 1.60549554e-03 9.98534725e-01 -5.53131708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372401008000004 meters 0.06332743608475579 Centerline is valid? [True, True] Translation: X:59.95, Y:-10.59, Z:-5.53 [[ 9.47827922e-01 3.14501257e-01 5.20690956e-02 5.99481270e+01] [-3.13929803e-01 9.49255558e-01 -1.90253598e-02 -1.05915547e+01] [-5.54103779e-02 1.68672632e-03 9.98462240e-01 -5.53064481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402401008000005 meters 0.06298485912553141 Centerline is valid? [True, True] Translation: X:59.98, Y:-10.60, Z:-5.53 [[ 9.48063833e-01 3.13800103e-01 5.20044711e-02 5.99788540e+01] [-3.13228142e-01 9.49487476e-01 -1.90174881e-02 -1.05993799e+01] [-5.53452837e-02 1.74052878e-03 9.98465758e-01 -5.53212731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43240100800001 meters 0.06298561786932637 Centerline is valid? [True, True] Translation: X:60.01, Y:-10.61, Z:-5.54 [[ 9.48035461e-01 3.14036819e-01 5.10846409e-02 6.00092213e+01] [-3.13484612e-01 9.49409269e-01 -1.86932438e-02 -1.06075002e+01] [-5.43705984e-02 1.70760917e-03 9.98519365e-01 -5.53606548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46240100800001 meters 0.0637380497689184 Centerline is valid? [True, True] Translation: X:60.04, Y:-10.62, Z:-5.54 [[ 9.47790586e-01 3.14859250e-01 5.05633983e-02 6.00383291e+01] [-3.14318779e-01 9.49136931e-01 -1.85146266e-02 -1.06184197e+01] [-5.38210902e-02 1.65496319e-03 9.98549223e-01 -5.54185351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.492401008 meters 0.06266092476869749 Centerline is valid? [True, True] Translation: X:60.07, Y:-10.62, Z:-5.54 [[ 9.47108565e-01 3.16975812e-01 5.01168619e-02 6.00704022e+01] [-3.16447193e-01 9.48432384e-01 -1.83626421e-02 -1.06239662e+01] [-5.33529682e-02 1.53207537e-03 9.98574541e-01 -5.54268269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522401008 meters 0.06293932076247112 Centerline is valid? [True, True] Translation: X:60.10, Y:-10.63, Z:-5.55 [[ 9.46567535e-01 3.18604543e-01 5.00104585e-02 6.00991548e+01] [-3.18079721e-01 9.47886619e-01 -1.83370788e-02 -1.06349607e+01] [-5.32465210e-02 1.44997076e-03 9.98580345e-01 -5.54568914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552401008000004 meters 0.06252266129839655 Centerline is valid? [True, True] Translation: X:60.13, Y:-10.64, Z:-5.55 [[ 9.45786951e-01 3.20640661e-01 5.17359596e-02 6.01301767e+01] [-3.20081285e-01 9.47199886e-01 -1.89828316e-02 -1.06433498e+01] [-5.50909627e-02 1.39400202e-03 9.98480367e-01 -5.54646229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582401008000005 meters 0.0610135446248651 Centerline is valid? [True, True] Translation: X:60.16, Y:-10.65, Z:-5.55 [[ 9.44294682e-01 3.24846883e-01 5.27451967e-02 6.01628168e+01] [-3.24271108e-01 9.45765878e-01 -1.93688603e-02 -1.06460426e+01] [-5.61765212e-02 1.18616841e-03 9.98420148e-01 -5.54586262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612401008000006 meters 0.06055836008309225 Centerline is valid? [True, True] Translation: X:60.19, Y:-10.65, Z:-5.55 [[ 9.43138663e-01 3.28281561e-01 5.21601301e-02 6.01943019e+01] [-3.27723683e-01 9.44579415e-01 -1.91550400e-02 -1.06536686e+01] [-5.55576316e-02 9.71748862e-04 9.98455009e-01 -5.54767901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64240100800001 meters 0.06044097974726913 Centerline is valid? [True, True] Translation: X:60.22, Y:-10.66, Z:-5.55 [[ 9.41970238e-01 3.31527069e-01 5.27434608e-02 6.02244313e+01] [-3.30960880e-01 9.43445366e-01 -1.93839579e-02 -1.06607244e+01] [-5.61868804e-02 8.03089179e-04 9.98419946e-01 -5.55260716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.672401008 meters 0.05993171406758083 Centerline is valid? [True, True] Translation: X:60.26, Y:-10.67, Z:-5.55 [[ 9.40441427e-01 3.35781197e-01 5.31122468e-02 6.02572564e+01] [-3.35212947e-01 9.41939842e-01 -1.95349548e-02 -1.06657868e+01] [-5.65880119e-02 5.67567944e-04 9.98397453e-01 -5.55470837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702401008 meters 0.059562182553508314 Centerline is valid? [True, True] Translation: X:60.29, Y:-10.67, Z:-5.56 [[ 9.37416652e-01 3.44172313e-01 5.28719150e-02 6.02901968e+01] [-3.43622251e-01 9.38906499e-01 -1.94508096e-02 -1.06667789e+01] [-5.63362148e-02 6.55463229e-05 9.98411852e-01 -5.55745580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.732401008000004 meters 0.059634203074838764 Centerline is valid? [True, True] Translation: X:60.32, Y:-10.67, Z:-5.56 [[ 9.35727424e-01 3.48633973e-01 5.35587601e-02 6.03222294e+01] [-3.48076441e-01 9.37258936e-01 -1.97098413e-02 -1.06737947e+01] [-5.70699468e-02 -1.99503554e-04 9.98370163e-01 -5.55998798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762401008000005 meters 0.059775959474953594 Centerline is valid? [True, True] Translation: X:60.35, Y:-10.68, Z:-5.56 [[ 9.34816479e-01 3.51125880e-01 5.31861603e-02 6.03518380e+01] [-3.50579150e-01 9.36328204e-01 -1.95896377e-02 -1.06818765e+01] [-5.66781307e-02 -3.33242712e-04 9.98392447e-01 -5.56306164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792401008000006 meters 0.05974999815521568 Centerline is valid? [True, True] Translation: X:60.38, Y:-10.69, Z:-5.56 [[ 9.33853153e-01 3.53825645e-01 5.22082565e-02 6.03819470e+01] [-3.53302394e-01 9.35311277e-01 -1.92414394e-02 -1.06920043e+01] [-5.56390857e-02 -4.76623170e-04 9.98450833e-01 -5.56486384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82240100800001 meters 0.05998056072160505 Centerline is valid? [True, True] Translation: X:60.41, Y:-10.70, Z:-5.57 [[ 9.33336388e-01 3.55291494e-01 5.14892362e-02 6.04105698e+01] [-3.54783975e-01 9.34755401e-01 -1.89913285e-02 -1.07016990e+01] [-5.48772991e-02 -5.42257951e-04 9.98492958e-01 -5.57119924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.852401008 meters 0.059931589729582256 Centerline is valid? [True, True] Translation: X:60.44, Y:-10.72, Z:-5.57 [[ 9.33415973e-01 3.55140467e-01 5.10868868e-02 6.04407113e+01] [-3.54640109e-01 9.34812804e-01 -1.88524612e-02 -1.07151623e+01] [-5.44519478e-02 -5.20270710e-04 9.98516257e-01 -5.57323520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882401008 meters 0.059832026480960504 Centerline is valid? [True, True] Translation: X:60.47, Y:-10.73, Z:-5.58 [[ 9.33605320e-01 3.54599094e-01 5.13866618e-02 6.04695561e+01] [-3.54091128e-01 9.35018318e-01 -1.89793957e-02 -1.07299215e+01] [-5.47775467e-02 -4.76296260e-04 9.98498469e-01 -5.57534549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.912401008 meters 0.059708561577582746 Centerline is valid? [True, True] Translation: X:60.50, Y:-10.74, Z:-5.58 [[ 9.34181375e-01 3.52906217e-01 5.25581743e-02 6.04969149e+01] [-3.52371213e-01 9.35658626e-01 -1.94284142e-02 -1.07445361e+01] [-5.60329173e-02 -3.70324910e-04 9.98428853e-01 -5.57761443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942401008000004 meters 0.05940423239544854 Centerline is valid? [True, True] Translation: X:60.53, Y:-10.76, Z:-5.58 [[ 9.34786644e-01 3.51159381e-01 5.34884931e-02 6.05256732e+01] [-3.50601907e-01 9.36315663e-01 -1.97808618e-02 -1.07608220e+01] [-5.70283490e-02 -2.62282287e-04 9.98372525e-01 -5.57785225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972401008000006 meters 0.059261483029914505 Centerline is valid? [True, True] Translation: X:60.55, Y:-10.78, Z:-5.58 [[ 9.35186965e-01 3.49645593e-01 5.63320542e-02 6.05524395e+01] [-3.49024013e-01 9.36882025e-01 -2.08400748e-02 -1.07778613e+01] [-6.00631293e-02 -1.71873368e-04 9.98194566e-01 -5.57890901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00240100800001 meters 0.059147575709795695 Centerline is valid? [True, True] Translation: X:60.58, Y:-10.79, Z:-5.58 [[ 9.35054187e-01 3.50043643e-01 5.60634943e-02 6.05826729e+01] [-3.49427904e-01 9.36733374e-01 -2.07539448e-02 -1.07918205e+01] [-5.97813326e-02 -1.84086297e-04 9.98211480e-01 -5.58149149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03240100800001 meters 0.059245377041440825 Centerline is valid? [True, True] Translation: X:60.61, Y:-10.80, Z:-5.58 [[ 9.34547740e-01 3.51307429e-01 5.66004673e-02 6.06121658e+01] [-3.50681075e-01 9.36260128e-01 -2.09703577e-02 -1.08043431e+01] [-6.03598032e-02 -2.50912303e-04 9.98176653e-01 -5.58374670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062401008 meters 0.05931240989831332 Centerline is valid? [True, True] Translation: X:60.64, Y:-10.82, Z:-5.59 [[ 9.33868417e-01 3.53251178e-01 5.57080345e-02 6.06416581e+01] [-3.52646950e-01 9.35528449e-01 -2.06555057e-02 -1.08158769e+01] [-5.94130328e-02 -3.55744039e-04 9.98233422e-01 -5.58654585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.092401008 meters 0.05968018119047136 Centerline is valid? [True, True] Translation: X:60.67, Y:-10.82, Z:-5.59 [[ 9.32136335e-01 3.57753252e-01 5.59862808e-02 6.06733147e+01] [-3.57150189e-01 9.33815941e-01 -2.07733202e-02 -1.08232967e+01] [-5.97126043e-02 -6.31944178e-04 9.98215410e-01 -5.58883565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122401008000004 meters 0.06023444936700269 Centerline is valid? [True, True] Translation: X:60.70, Y:-10.83, Z:-5.59 [[ 9.30796485e-01 3.61281728e-01 5.56185014e-02 6.07041701e+01] [-3.60691972e-01 9.32456331e-01 -2.06516620e-02 -1.08298527e+01] [-5.93228919e-02 -8.38652567e-04 9.98238494e-01 -5.59221862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152401008000005 meters 0.06090232018031033 Centerline is valid? [True, True] Translation: X:60.74, Y:-10.84, Z:-5.59 [[ 9.29503918e-01 3.64680601e-01 5.50502137e-02 6.07357908e+01] [-3.64108026e-01 9.31132103e-01 -2.04536648e-02 -1.08372723e+01] [-5.87180760e-02 -1.03246309e-03 9.98274071e-01 -5.59496203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18240100800001 meters 0.06173194475845606 Centerline is valid? [True, True] Translation: X:60.77, Y:-10.84, Z:-5.60 [[ 9.28226198e-01 3.67801396e-01 5.58413762e-02 6.07659046e+01] [-3.67216967e-01 9.29903550e-01 -2.07626471e-02 -1.08448408e+01] [-5.95636245e-02 -1.23346783e-03 9.98223749e-01 -5.59716491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21240100800001 meters 0.061307050037275386 Centerline is valid? [True, True] Translation: X:60.79, Y:-10.86, Z:-5.60 [[ 9.28572750e-01 3.66574118e-01 5.81039132e-02 6.07945715e+01] [-3.65938017e-01 9.30388093e-01 -2.16185931e-02 -1.08574543e+01] [-6.19840057e-02 -1.18799437e-03 9.98076436e-01 -5.59659145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242401008 meters 0.06091632221164737 Centerline is valid? [True, True] Translation: X:60.82, Y:-10.87, Z:-5.60 [[ 9.29228876e-01 3.64778916e-01 5.89070380e-02 6.08238561e+01] [-3.64120606e-01 9.31093549e-01 -2.19314078e-02 -1.08707410e+01] [-6.28480783e-02 -1.06996897e-03 9.98022532e-01 -5.59884770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.272401008 meters 0.06091632221164737 Centerline is valid? [True, True] Translation: X:60.85, Y:-10.88, Z:-5.60 [[ 9.29136279e-01 3.65015476e-01 5.89022654e-02 6.08540195e+01] [-3.64356829e-01 9.31000834e-01 -2.19442178e-02 -1.08821915e+01] [-6.28480373e-02 -1.07227372e-03 9.98022532e-01 -5.60116623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302401008000004 meters 0.06066535014325296 Centerline is valid? [True, True] Translation: X:60.88, Y:-10.90, Z:-5.61 [[ 9.29451426e-01 3.64270671e-01 5.85399480e-02 6.08834670e+01] [-3.63617560e-01 9.31292585e-01 -2.18263749e-02 -1.08950087e+01] [-6.24685278e-02 -9.99597793e-04 9.98046434e-01 -5.60515746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332401008000005 meters 0.060133683053318426 Centerline is valid? [True, True] Translation: X:60.91, Y:-10.91, Z:-5.61 [[ 9.30781209e-01 3.60714221e-01 5.94271966e-02 6.09100544e+01] [-3.60032914e-01 9.32676083e-01 -2.21726111e-02 -1.09120433e+01] [-6.34243011e-02 -7.57896998e-04 9.97986364e-01 -5.60759965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362401008000006 meters 0.05992811628980446 Centerline is valid? [True, True] Translation: X:60.94, Y:-10.93, Z:-5.61 [[ 9.30979188e-01 3.60131672e-01 5.98575850e-02 6.09391105e+01] [-3.59438359e-01 9.32901213e-01 -2.23470915e-02 -1.09252331e+01] [-6.38891091e-02 -7.10435014e-04 9.97956751e-01 -5.61004142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39240100800001 meters 0.059657594911171216 Centerline is valid? [True, True] Translation: X:60.97, Y:-10.94, Z:-5.61 [[ 9.30993895e-01 3.59942436e-01 6.07602652e-02 6.09677325e+01] [-3.59226632e-01 9.32974256e-01 -2.26994473e-02 -1.09396518e+01] [-6.48582576e-02 -6.93658578e-04 9.97894246e-01 -5.60987802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422401008 meters 0.05945715367513791 Centerline is valid? [True, True] Translation: X:61.00, Y:-10.95, Z:-5.61 [[ 9.31403694e-01 3.58614738e-01 6.23107438e-02 6.09964572e+01] [-3.57857776e-01 9.33485463e-01 -2.32959830e-02 -1.09529046e+01] [-6.65204564e-02 -6.00419620e-04 9.97784881e-01 -5.61112266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.452401008 meters 0.05932016326909048 Centerline is valid? [True, True] Translation: X:61.02, Y:-10.97, Z:-5.61 [[ 9.31969922e-01 3.56980773e-01 6.32201942e-02 6.10244599e+01] [-3.56196603e-01 9.34111611e-01 -2.36532796e-02 -1.09661019e+01] [-6.74984835e-02 -4.74673256e-04 9.97719264e-01 -5.61299977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482401008000004 meters 0.059304432525391575 Centerline is valid? [True, True] Translation: X:61.05, Y:-10.98, Z:-5.62 [[ 9.32252863e-01 3.56235546e-01 6.32521488e-02 6.10548247e+01] [-3.55447832e-01 9.34396099e-01 -2.36805419e-02 -1.09794605e+01] [-6.75384119e-02 -4.06586242e-04 9.97716592e-01 -5.61575554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512401008000005 meters 0.05926930094425533 Centerline is valid? [True, True] Translation: X:61.08, Y:-10.99, Z:-5.62 [[ 9.32216605e-01 3.56387453e-01 6.29300020e-02 6.10848377e+01] [-3.55606800e-01 9.34338175e-01 -2.35791900e-02 -1.09911768e+01] [-6.72012307e-02 -3.97424225e-04 9.97739363e-01 -5.61867560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542401008000006 meters 0.059328328819011025 Centerline is valid? [True, True] Translation: X:61.12, Y:-11.00, Z:-5.62 [[ 9.32154120e-01 3.56477930e-01 6.33417930e-02 6.11161940e+01] [-3.55685884e-01 9.34303663e-01 -2.37532523e-02 -1.10016337e+01] [-6.76479795e-02 -3.88089634e-04 9.97709176e-01 -5.62244666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57240100800001 meters 0.05948299651805318 Centerline is valid? [True, True] Translation: X:61.15, Y:-11.01, Z:-5.63 [[ 9.31962100e-01 3.57109586e-01 6.26050106e-02 6.11474624e+01] [-3.56336018e-01 9.34062404e-01 -2.34961162e-02 -1.10120571e+01] [-6.68676751e-02 -4.10930399e-04 9.97761768e-01 -5.62561712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602401008 meters 0.05960143754767935 Centerline is valid? [True, True] Translation: X:61.18, Y:-11.02, Z:-5.63 [[ 9.32180342e-01 3.56622752e-01 6.21290874e-02 6.11772466e+01] [-3.55858540e-01 9.34248408e-01 -2.33369302e-02 -1.10223835e+01] [-6.63664812e-02 -3.54938776e-04 9.97795252e-01 -5.63003406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632401008 meters 0.059654236281524324 Centerline is valid? [True, True] Translation: X:61.21, Y:-11.03, Z:-5.63 [[ 9.32350471e-01 3.56219902e-01 6.18868431e-02 6.12074228e+01] [-3.55459571e-01 9.34402101e-01 -2.32638469e-02 -1.10343448e+01] [-6.61142415e-02 -3.08212074e-04 9.97812012e-01 -5.63287541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662401008 meters 0.059594026476202655 Centerline is valid? [True, True] Translation: X:61.24, Y:-11.05, Z:-5.64 [[ 9.33268141e-01 3.54110352e-01 6.01368018e-02 6.12369069e+01] [-3.53386943e-01 9.35203636e-01 -2.26236343e-02 -1.10488882e+01] [-6.42514188e-02 -1.37643431e-04 9.97933733e-01 -5.63610106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692401008000004 meters 0.05953658149430052 Centerline is valid? [True, True] Translation: X:61.27, Y:-11.06, Z:-5.64 [[ 9.33969997e-01 3.52387214e-01 5.93573562e-02 6.12652965e+01] [-3.51677772e-01 9.35854290e-01 -2.23493424e-02 -1.10634625e+01] [-6.34254589e-02 -1.04751705e-06 9.97986579e-01 -5.64018042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722401008000006 meters 0.0595444488826159 Centerline is valid? [True, True] Translation: X:61.29, Y:-11.08, Z:-5.64 [[ 9.35099592e-01 3.49546594e-01 5.83603550e-02 6.12938095e+01] [-3.48854192e-01 9.36918960e-01 -2.19912592e-02 -1.10788200e+01] [-6.23658929e-02 2.04762997e-04 9.98053332e-01 -5.64183953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75240100800001 meters 0.05965735261005319 Centerline is valid? [True, True] Translation: X:61.32, Y:-11.09, Z:-5.64 [[ 9.36160864e-01 3.46701062e-01 5.83198874e-02 6.13212100e+01] [-3.46003057e-01 9.37975589e-01 -2.19926996e-02 -1.10945767e+01] [-6.23275231e-02 4.09845297e-04 9.98055666e-01 -5.64477679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78240100800001 meters 0.05988366431271464 Centerline is valid? [True, True] Translation: X:61.35, Y:-11.11, Z:-5.65 [[ 9.36976771e-01 3.44418988e-01 5.87374850e-02 6.13496702e+01] [-3.43705494e-01 9.38815863e-01 -2.21654875e-02 -1.11100964e+01] [-6.27778974e-02 5.80150533e-04 9.98027354e-01 -5.64710340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.812401008 meters 0.0602798550602974 Centerline is valid? [True, True] Translation: X:61.38, Y:-11.13, Z:-5.65 [[ 9.38707544e-01 3.39610097e-01 5.91027024e-02 6.13774356e+01] [-3.38877148e-01 9.40565857e-01 -2.23192205e-02 -1.11280236e+01] [-6.31698165e-02 9.22665404e-04 9.98002366e-01 -5.64883076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842401008 meters 0.06056403741784861 Centerline is valid? [True, True] Translation: X:61.41, Y:-11.14, Z:-5.65 [[ 9.39214530e-01 3.38220395e-01 5.90172076e-02 6.14053141e+01] [-3.37485800e-01 9.41066365e-01 -2.23031571e-02 -1.11427217e+01] [-6.30824917e-02 1.02997966e-03 9.98007785e-01 -5.65137479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872401008000004 meters 0.06053379354559386 Centerline is valid? [True, True] Translation: X:61.43, Y:-11.16, Z:-5.65 [[ 9.39660732e-01 3.37056150e-01 5.85735448e-02 6.14344767e+01] [-3.36329406e-01 9.41483888e-01 -2.21499257e-02 -1.11558882e+01] [-6.26118174e-02 1.11340993e-03 9.98037334e-01 -5.65328225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902401008000005 meters 0.060752258903243185 Centerline is valid? [True, True] Translation: X:61.46, Y:-11.17, Z:-5.66 [[ 9.39706885e-01 3.36840639e-01 5.90707545e-02 6.14642823e+01] [-3.36100067e-01 9.41560968e-01 -2.23537124e-02 -1.11695247e+01] [-6.31483556e-02 1.15225291e-03 9.98003486e-01 -5.65611107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93240100800001 meters 0.0607333262201836 Centerline is valid? [True, True] Translation: X:61.49, Y:-11.18, Z:-5.66 [[ 9.39521453e-01 3.37381823e-01 5.89317018e-02 6.14944311e+01] [-3.36644565e-01 9.41367210e-01 -2.23206758e-02 -1.11817192e+01] [-6.30069620e-02 1.13171663e-03 9.98012446e-01 -5.65856035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96240100800001 meters 0.060952766099448615 Centerline is valid? [True, True] Translation: X:61.52, Y:-11.19, Z:-5.66 [[ 9.39252024e-01 3.38204258e-01 5.85108069e-02 6.15225542e+01] [-3.37478826e-01 9.41072117e-01 -2.21655893e-02 -1.11935294e+01] [-6.25593856e-02 1.07291619e-03 9.98040667e-01 -5.66168531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992401008 meters 0.06102495363104859 Centerline is valid? [True, True] Translation: X:61.55, Y:-11.20, Z:-5.67 [[ 9.38998449e-01 3.39052842e-01 5.76635408e-02 6.15516615e+01] [-3.38349046e-01 9.40766784e-01 -2.18582257e-02 -1.12049505e+01] [-6.16590374e-02 1.01443604e-03 9.98096756e-01 -5.66601976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022401008 meters 0.0618988121804013 Centerline is valid? [True, True] Translation: X:61.58, Y:-11.22, Z:-5.67 [[ 9.39403466e-01 3.38374765e-01 5.49876978e-02 6.15789501e+01] [-3.37732799e-01 9.41010877e-01 -2.08587224e-02 -1.12199504e+01] [-5.88020870e-02 1.02360701e-03 9.98269135e-01 -5.67173494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052401008000004 meters 0.06126841557585495 Centerline is valid? [True, True] Translation: X:61.61, Y:-11.23, Z:-5.67 [[ 9.39964229e-01 3.37075841e-01 5.33584584e-02 6.16095219e+01] [-3.36468635e-01 9.41476874e-01 -2.02522399e-02 -1.12291162e+01] [-5.70622954e-02 1.08293345e-03 9.98370032e-01 -5.67232868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082401008000005 meters 0.06174169672058286 Centerline is valid? [True, True] Translation: X:61.64, Y:-11.24, Z:-5.68 [[ 9.40860015e-01 3.34746405e-01 5.22233426e-02 6.16371871e+01] [-3.34160390e-01 9.42307474e-01 -1.98357658e-02 -1.12429704e+01] [-5.58503973e-02 1.21170635e-03 9.98438413e-01 -5.67587473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112401008000006 meters 0.062351463367682394 Centerline is valid? [True, True] Translation: X:61.67, Y:-11.26, Z:-5.68 [[ 9.41790108e-01 3.32422056e-01 5.02689761e-02 6.16661732e+01] [-3.31875171e-01 9.43129822e-01 -1.91052388e-02 -1.12564254e+01] [-5.37611733e-02 1.31009987e-03 9.98552963e-01 -5.67985289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14240100800001 meters 0.06403445061994155 Centerline is valid? [True, True] Translation: X:61.69, Y:-11.27, Z:-5.69 [[ 9.43782701e-01 3.27549064e-01 4.45625921e-02 6.16935828e+01] [-3.27113335e-01 9.44833105e-01 -1.69490257e-02 -1.12711125e+01] [-4.76558498e-02 1.41917912e-03 9.98862806e-01 -5.68973575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172401008 meters 0.06421320491172884 Centerline is valid? [True, True] Translation: X:61.72, Y:-11.28, Z:-5.69 [[ 9.44713322e-01 3.25023108e-01 4.33211119e-02 6.17237571e+01] [-3.24608493e-01 9.45704873e-01 -1.64808557e-02 -1.12819102e+01] [-4.63256456e-02 1.50728307e-03 9.98925254e-01 -5.69363650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202401008 meters 0.0657760853683095 Centerline is valid? [True, True] Translation: X:61.75, Y:-11.30, Z:-5.70 [[ 9.45397605e-01 3.23248216e-01 4.16408410e-02 6.17510392e+01] [-3.22862978e-01 9.46312957e-01 -1.58519723e-02 -1.12961906e+01] [-4.45293891e-02 1.54213076e-03 9.99006885e-01 -5.69850306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232401008000004 meters 0.06547297441980202 Centerline is valid? [True, True] Translation: X:61.78, Y:-11.31, Z:-5.70 [[ 9.45876762e-01 3.22026096e-01 4.02037777e-02 6.17814829e+01] [-3.21665513e-01 9.46729519e-01 -1.53139128e-02 -1.13061910e+01] [-4.29935827e-02 1.55290545e-03 9.99074142e-01 -5.69990849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262401008000005 meters 0.06590490511648674 Centerline is valid? [True, True] Translation: X:61.81, Y:-11.32, Z:-5.70 [[ 9.46714035e-01 3.19730474e-01 3.87938103e-02 6.18116361e+01] [-3.19392412e-01 9.47507170e-01 -1.47868320e-02 -1.13155324e+01] [-4.14852142e-02 1.60845272e-03 9.99137823e-01 -5.70174097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.292401008000006 meters 0.06634151237090066 Centerline is valid? [True, True] Translation: X:61.84, Y:-11.33, Z:-5.70 [[ 9.46940788e-01 3.19084835e-01 3.85747577e-02 6.18411494e+01] [-3.18749653e-01 9.47724744e-01 -1.47128954e-02 -1.13258521e+01] [-4.12529141e-02 1.63655018e-03 9.99147396e-01 -5.70424383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32240100800001 meters 0.06646706217680141 Centerline is valid? [True, True] Translation: X:61.87, Y:-11.33, Z:-5.71 [[ 9.46958460e-01 3.19070642e-01 3.82570322e-02 6.18722357e+01] [-3.18740600e-01 9.47729530e-01 -1.46002405e-02 -1.13345015e+01] [-4.09158273e-02 1.63175184e-03 9.99161264e-01 -5.70601957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.352401008 meters 0.06522236055852922 Centerline is valid? [True, True] Translation: X:61.91, Y:-11.33, Z:-5.71 [[ 9.45594098e-01 3.23324979e-01 3.62320409e-02 6.19063742e+01] [-3.23031740e-01 9.46286984e-01 -1.38361498e-02 -1.13345556e+01] [-3.87594815e-02 1.37928241e-03 9.99247617e-01 -5.70802862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382401008 meters 0.06563619859741687 Centerline is valid? [True, True] Translation: X:61.94, Y:-11.34, Z:-5.71 [[ 9.44399050e-01 3.26862655e-01 3.56544360e-02 6.19364363e+01] [-3.26580852e-01 9.45071060e-01 -1.36249413e-02 -1.13403373e+01] [-3.81494601e-02 1.22332555e-03 9.99271296e-01 -5.71471579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.412401008 meters 0.06418939026576846 Centerline is valid? [True, True] Translation: X:61.97, Y:-11.34, Z:-5.72 [[ 9.42719970e-01 3.31819350e-01 3.42779488e-02 6.19699702e+01] [-3.31561937e-01 9.43342430e-01 -1.31050255e-02 -1.13403631e+01] [-3.66843446e-02 9.89106191e-04 9.99326413e-01 -5.71732702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442401008000004 meters 0.06384990431614301 Centerline is valid? [True, True] Translation: X:62.00, Y:-11.34, Z:-5.72 [[ 9.41111303e-01 3.36542261e-01 3.23855312e-02 6.20023110e+01] [-3.36315040e-01 9.41668051e-01 -1.23885545e-02 -1.13429853e+01] [-3.46656922e-02 7.67267459e-04 9.99398670e-01 -5.72216114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.472401008000006 meters 0.062157470486549946 Centerline is valid? [True, True] Translation: X:62.04, Y:-11.33, Z:-5.72 [[ 9.36967786e-01 3.48138319e-01 2.98509350e-02 6.20402533e+01] [-3.47950760e-01 9.37443122e-01 -1.14307693e-02 -1.13324546e+01] [-3.19630425e-02 3.23607057e-04 9.99488999e-01 -5.72424140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50240100800001 meters 0.06232428765348895 Centerline is valid? [True, True] Translation: X:62.07, Y:-11.33, Z:-5.73 [[ 9.35061601e-01 3.53355789e-01 2.82752321e-02 6.20723085e+01] [-3.53190028e-01 9.35489000e-01 -1.08229093e-02 -1.13338160e+01] [-3.02755063e-02 1.33556912e-04 9.99541583e-01 -5.72952140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53240100800001 meters 0.06256482865636044 Centerline is valid? [True, True] Translation: X:62.10, Y:-11.34, Z:-5.73 [[ 9.33385553e-01 3.57854333e-01 2.70496737e-02 6.21045206e+01] [-3.57704349e-01 9.33777423e-01 -1.03596405e-02 -1.13354745e+01] [-2.89656169e-02 -6.24711711e-06 9.99580408e-01 -5.73441228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562401008 meters 0.0626637415407254 Centerline is valid? [True, True] Translation: X:62.14, Y:-11.34, Z:-5.74 [[ 9.32007337e-01 3.61466011e-01 2.65451724e-02 6.21372590e+01] [-3.61322884e-01 9.32385280e-01 -1.01716755e-02 -1.13385553e+01] [-2.84270429e-02 -1.11302017e-04 9.99595864e-01 -5.73715783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.592401008 meters 0.06252957240785838 Centerline is valid? [True, True] Translation: X:62.17, Y:-11.34, Z:-5.74 [[ 9.30802666e-01 3.64621447e-01 2.56436678e-02 6.21707867e+01] [-3.64488893e-01 9.31155821e-01 -9.83283183e-03 -1.13392074e+01] [-2.74635119e-02 -1.94406005e-04 9.99622788e-01 -5.73802841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622401008000004 meters 0.06255780541904735 Centerline is valid? [True, True] Translation: X:62.20, Y:-11.35, Z:-5.74 [[ 9.30793274e-01 3.64644652e-01 2.56546239e-02 6.22013466e+01] [-3.64511864e-01 9.31146735e-01 -9.84172713e-03 -1.13472183e+01] [-2.74769525e-02 -1.90801369e-04 9.99622419e-01 -5.74119643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652401008000005 meters 0.06208857921942583 Centerline is valid? [True, True] Translation: X:62.23, Y:-11.36, Z:-5.74 [[ 9.31053569e-01 3.63990382e-01 2.55000725e-02 6.22324989e+01] [-3.63858788e-01 9.31402692e-01 -9.78813806e-03 -1.13569091e+01] [-2.73136243e-02 -1.65144603e-04 9.99626900e-01 -5.74085992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68240100800001 meters 0.06199670874700219 Centerline is valid? [True, True] Translation: X:62.26, Y:-11.37, Z:-5.74 [[ 9.31734088e-01 3.62245614e-01 2.54892981e-02 6.22623790e+01] [-3.62113207e-01 9.32082670e-01 -9.79392926e-03 -1.13665806e+01] [-2.73059409e-02 -1.04673732e-04 9.99627118e-01 -5.74344383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71240100800001 meters 0.06161233971770494 Centerline is valid? [True, True] Translation: X:62.29, Y:-11.38, Z:-5.74 [[ 9.33435246e-01 3.57773641e-01 2.63943593e-02 6.22930991e+01] [-3.57629515e-01 9.33808342e-01 -1.01543198e-02 -1.13781013e+01] [-2.82802209e-02 3.89981225e-05 9.99600034e-01 -5.74257997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742401008 meters 0.06161474305929838 Centerline is valid? [True, True] Translation: X:62.32, Y:-11.39, Z:-5.74 [[ 9.34747124e-01 3.54275425e-01 2.71429037e-02 6.23227506e+01] [-3.54121635e-01 9.35141113e-01 -1.04386521e-02 -1.13912370e+01] [-2.90806031e-02 1.45610612e-04 9.99577059e-01 -5.74292585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.772401008 meters 0.06102102385038158 Centerline is valid? [True, True] Translation: X:62.35, Y:-11.40, Z:-5.74 [[ 9.35911603e-01 3.51129006e-01 2.78907104e-02 6.23534774e+01] [-3.50965063e-01 9.36327056e-01 -1.07316545e-02 -1.14038351e+01] [-2.98830220e-02 2.55214979e-04 9.99553370e-01 -5.73888890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802401008000004 meters 0.061600000870705184 Centerline is valid? [True, True] Translation: X:62.38, Y:-11.42, Z:-5.74 [[ 9.37451763e-01 3.46856482e-01 2.95765703e-02 6.23814466e+01] [-3.46669493e-01 9.37918118e-01 -1.13958752e-02 -1.14174945e+01] [-3.16931344e-02 4.29788701e-04 9.99497554e-01 -5.74329865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832401008000005 meters 0.061758718840054586 Centerline is valid? [True, True] Translation: X:62.41, Y:-11.43, Z:-5.74 [[ 9.40549655e-01 3.38262441e-01 3.07386946e-02 6.24107909e+01] [-3.38055809e-01 9.41051518e-01 -1.18452760e-02 -1.14300043e+01] [-3.29335072e-02 7.49675933e-04 9.99457264e-01 -5.73933169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862401008000006 meters 0.06245996480990251 Centerline is valid? [True, True] Translation: X:62.44, Y:-11.44, Z:-5.74 [[ 9.42262782e-01 3.33438683e-01 3.09757153e-02 6.24400028e+01] [-3.33225822e-01 9.42771322e-01 -1.19493055e-02 -1.14433019e+01] [-3.31873768e-02 9.37477667e-04 9.99448708e-01 -5.74103711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89240100800001 meters 0.06328715231995657 Centerline is valid? [True, True] Translation: X:62.47, Y:-11.46, Z:-5.74 [[ 9.43614683e-01 3.29661742e-01 3.02401263e-02 6.24687078e+01] [-3.29456863e-01 9.44098533e-01 -1.16677180e-02 -1.14565471e+01] [-3.23960592e-02 1.04701287e-03 9.99474562e-01 -5.74253574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922401008 meters 0.0643866151072078 Centerline is valid? [True, True] Translation: X:62.50, Y:-11.47, Z:-5.74 [[ 9.44810112e-01 3.26261356e-01 2.97889130e-02 6.24965950e+01] [-3.26060912e-01 9.45278910e-01 -1.14919352e-02 -1.14700517e+01] [-3.19082055e-02 1.14469644e-03 9.99490148e-01 -5.74485943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952401008 meters 0.06530758182162116 Centerline is valid? [True, True] Translation: X:62.53, Y:-11.48, Z:-5.75 [[ 9.46231559e-01 3.22208814e-01 2.87631364e-02 6.25257003e+01] [-3.22019872e-01 9.46667806e-01 -1.11025794e-02 -1.14831418e+01] [-3.08064841e-02 1.24330952e-03 9.99524594e-01 -5.74568512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982401008000004 meters 0.06398475172781207 Centerline is valid? [True, True] Translation: X:62.56, Y:-11.49, Z:-5.74 [[ 9.46621193e-01 3.20980448e-01 2.96625827e-02 6.25577732e+01] [-3.20778696e-01 9.47084888e-01 -1.14561773e-02 -1.14910724e+01] [-3.17701927e-02 1.32953561e-03 9.99494316e-01 -5.74215904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012401008000005 meters 0.06394514204956903 Centerline is valid? [True, True] Translation: X:62.59, Y:-11.50, Z:-5.74 [[ 9.46909146e-01 3.20016784e-01 3.08597998e-02 6.25892767e+01] [-3.19797653e-01 9.47410803e-01 -1.19260607e-02 -1.15018361e+01] [-3.30534473e-02 1.42400437e-03 9.99452571e-01 -5.74255043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042401008000006 meters 0.064913101013378 Centerline is valid? [True, True] Translation: X:62.62, Y:-11.51, Z:-5.74 [[ 9.47737277e-01 3.17290660e-01 3.34767169e-02 6.26186947e+01] [-3.17030572e-01 9.48326883e-01 -1.29514299e-02 -1.15122740e+01] [-3.58562383e-02 1.66141018e-03 9.99355577e-01 -5.74343398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07240100800001 meters 0.0645864363436615 Centerline is valid? [True, True] Translation: X:62.65, Y:-11.52, Z:-5.74 [[ 9.47978395e-01 3.16332020e-01 3.56513180e-02 6.26491610e+01] [-3.16035998e-01 9.48646800e-01 -1.38020386e-02 -1.15218292e+01] [-3.81865355e-02 1.81693451e-03 9.99268976e-01 -5.74365353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102401008 meters 0.0652009051943588 Centerline is valid? [True, True] Translation: X:62.68, Y:-11.53, Z:-5.75 [[ 9.48615407e-01 3.14085436e-01 3.84597063e-02 6.26782521e+01] [-3.13738566e-01 9.49392467e-01 -1.49015460e-02 -1.15334904e+01] [-4.11937140e-02 2.06954307e-03 9.99149035e-01 -5.74595674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132401008 meters 0.06529172361750415 Centerline is valid? [True, True] Translation: X:62.71, Y:-11.55, Z:-5.75 [[ 9.48905737e-01 3.13091020e-01 3.93943552e-02 6.27084992e+01] [-3.12725817e-01 9.49720638e-01 -1.52732724e-02 -1.15453027e+01] [-4.21955566e-02 2.17326388e-03 9.99107007e-01 -5.74575546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162401008 meters 0.06529172361750415 Centerline is valid? [True, True] Translation: X:62.74, Y:-11.56, Z:-5.75 [[ 9.48823092e-01 3.13341789e-01 3.93911673e-02 6.27385904e+01] [-3.12976461e-01 9.49637937e-01 -1.52814882e-02 -1.15570980e+01] [-4.21956757e-02 2.17092076e-03 9.99107007e-01 -5.74807777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192401008000004 meters 0.06571893232297027 Centerline is valid? [True, True] Translation: X:62.77, Y:-11.57, Z:-5.75 [[ 9.49379385e-01 3.11574936e-01 3.99980354e-02 6.27680439e+01] [-3.11196067e-01 9.50218805e-01 -1.55316034e-02 -1.15698956e+01] [-4.28461437e-02 2.29815279e-03 9.99079039e-01 -5.74835670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222401008000006 meters 0.0665346641875616 Centerline is valid? [True, True] Translation: X:62.80, Y:-11.58, Z:-5.75 [[ 9.50295597e-01 3.08834229e-01 3.94930011e-02 6.27967857e+01] [-3.08462049e-01 9.51112849e-01 -1.53464299e-02 -1.15800675e+01] [-4.23018037e-02 2.40155270e-03 9.99101992e-01 -5.74919480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25240100800001 meters 0.0671172528510559 Centerline is valid? [True, True] Translation: X:62.83, Y:-11.59, Z:-5.75 [[ 9.50340945e-01 3.08714339e-01 3.93388631e-02 6.28276756e+01] [-3.08344890e-01 9.51151776e-01 -1.52881310e-02 -1.15899206e+01] [-4.21368948e-02 2.39899942e-03 9.99108966e-01 -5.75174005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28240100800001 meters 0.06683654276164469 Centerline is valid? [True, True] Translation: X:62.86, Y:-11.60, Z:-5.75 [[ 9.50357551e-01 3.08662062e-01 3.93479048e-02 6.28587541e+01] [-3.08291966e-01 9.51168710e-01 -1.53018982e-02 -1.15980344e+01] [-4.21496114e-02 2.41163159e-03 9.99108400e-01 -5.75341768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.312401008 meters 0.06568577809544324 Centerline is valid? [True, True] Translation: X:62.89, Y:-11.60, Z:-5.75 [[ 9.50580353e-01 3.07978682e-01 3.93207965e-02 6.28915517e+01] [-3.07608087e-01 9.51390104e-01 -1.53014684e-02 -1.16022210e+01] [-4.21219427e-02 2.44988024e-03 9.99109473e-01 -5.75391319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342401008 meters 0.0668590783270228 Centerline is valid? [True, True] Translation: X:62.92, Y:-11.61, Z:-5.76 [[ 9.50684963e-01 3.07764774e-01 3.84570583e-02 6.29204088e+01] [-3.07409554e-01 9.51459403e-01 -1.49789904e-02 -1.16140099e+01] [-4.12003353e-02 2.41823384e-03 9.99147979e-01 -5.75749398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372401008000004 meters 0.06690829546854135 Centerline is valid? [True, True] Translation: X:62.95, Y:-11.62, Z:-5.76 [[ 9.50909655e-01 3.07078209e-01 3.83901321e-02 6.29512046e+01] [-3.06723591e-01 9.51681141e-01 -1.49547863e-02 -1.16225645e+01] [-4.11274537e-02 2.44549147e-03 9.99150916e-01 -5.75999164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402401008000005 meters 0.06745125156927782 Centerline is valid? [True, True] Translation: X:62.98, Y:-11.63, Z:-5.76 [[ 9.51159782e-01 3.06310626e-01 3.83258310e-02 6.29820303e+01] [-3.05956030e-01 9.51928366e-01 -1.49430096e-02 -1.16269604e+01] [-4.10606483e-02 2.48717071e-03 9.99153560e-01 -5.76372145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43240100800001 meters 0.06700653541938288 Centerline is valid? [True, True] Translation: X:63.01, Y:-11.63, Z:-5.77 [[ 9.50961921e-01 3.06911327e-01 3.84299581e-02 6.30139866e+01] [-3.06555164e-01 9.51734907e-01 -1.49866262e-02 -1.16333858e+01] [-4.11746979e-02 2.47080875e-03 9.99148908e-01 -5.76644784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46240100800001 meters 0.06843791492077933 Centerline is valid? [True, True] Translation: X:63.04, Y:-11.64, Z:-5.77 [[ 9.50630852e-01 3.08015187e-01 3.77839696e-02 6.30427373e+01] [-3.07671241e-01 9.51378426e-01 -1.47477917e-02 -1.16443829e+01] [-4.04893974e-02 2.39466496e-03 9.99177099e-01 -5.77050061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.492401008 meters 0.06843251718218467 Centerline is valid? [True, True] Translation: X:63.07, Y:-11.65, Z:-5.77 [[ 9.50336471e-01 3.08895905e-01 3.79988429e-02 6.30742763e+01] [-3.08548427e-01 9.51092880e-01 -1.48391983e-02 -1.16528785e+01] [-4.07241965e-02 2.37774812e-03 9.99167597e-01 -5.77286245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522401008 meters 0.06528617717993704 Centerline is valid? [True, True] Translation: X:63.11, Y:-11.65, Z:-5.77 [[ 9.48877175e-01 3.13373423e-01 3.78048335e-02 6.31100272e+01] [-3.13033057e-01 9.49627492e-01 -1.47625288e-02 -1.16495470e+01] [-4.05266934e-02 2.17366402e-03 9.99176092e-01 -5.77206740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552401008000004 meters 0.06392276814017504 Centerline is valid? [True, True] Translation: X:63.14, Y:-11.65, Z:-5.77 [[ 9.47683552e-01 3.16955295e-01 3.78843733e-02 6.31427940e+01] [-3.16615827e-01 9.48438291e-01 -1.48062629e-02 -1.16524751e+01] [-4.06239137e-02 2.03685961e-03 9.99172432e-01 -5.77347587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582401008000005 meters 0.06324175210873863 Centerline is valid? [True, True] Translation: X:63.18, Y:-11.66, Z:-5.78 [[ 9.45978453e-01 3.21968058e-01 3.82274145e-02 6.31751681e+01] [-3.21626241e-01 9.46748736e-01 -1.49462931e-02 -1.16560893e+01] [-4.10039853e-02 1.84393157e-03 9.99157281e-01 -5.77598311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612401008000006 meters 0.06279281400861239 Centerline is valid? [True, True] Translation: X:63.21, Y:-11.66, Z:-5.78 [[ 9.43869637e-01 3.28082238e-01 3.83686389e-02 6.32064740e+01] [-3.27742918e-01 9.44647836e-01 -1.50015150e-02 -1.16603507e+01] [-4.11665823e-02 1.58442481e-03 9.99151041e-01 -5.77831296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64240100800001 meters 0.06137963725091404 Centerline is valid? [True, True] Translation: X:63.24, Y:-11.66, Z:-5.78 [[ 9.39543119e-01 3.40264872e-01 3.84518541e-02 6.32409717e+01] [-3.39933898e-01 9.40329033e-01 -1.50417438e-02 -1.16567429e+01] [-4.12755718e-02 1.06127827e-03 9.99147237e-01 -5.78130524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.672401008 meters 0.060884058339220205 Centerline is valid? [True, True] Translation: X:63.27, Y:-11.66, Z:-5.78 [[ 9.37515180e-01 3.45843566e-01 3.81774148e-02 6.32731792e+01] [-3.45521545e-01 9.38291830e-01 -1.49433503e-02 -1.16600504e+01] [-4.09896180e-02 8.18498361e-04 9.99159237e-01 -5.78499745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702401008 meters 0.06061086540956308 Centerline is valid? [True, True] Translation: X:63.31, Y:-11.66, Z:-5.79 [[ 9.35804035e-01 3.50465637e-01 3.80084958e-02 6.33057643e+01] [-3.50150029e-01 9.36575386e-01 -1.48829747e-02 -1.16643726e+01] [-4.08137928e-02 6.18871820e-04 9.99166578e-01 -5.78868902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.732401008000004 meters 0.060570374199809374 Centerline is valid? [True, True] Translation: X:63.34, Y:-11.67, Z:-5.79 [[ 9.34389916e-01 3.54325783e-01 3.69962681e-02 6.33381625e+01] [-3.54029416e-01 9.35121938e-01 -1.44959677e-02 -1.16701213e+01] [-3.97323170e-02 4.47118820e-04 9.99210260e-01 -5.79249534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762401008000005 meters 0.06069997097156407 Centerline is valid? [True, True] Translation: X:63.37, Y:-11.68, Z:-5.80 [[ 9.32852093e-01 3.58344228e-01 3.70996787e-02 6.33689203e+01] [-3.58048954e-01 9.33589488e-01 -1.45469905e-02 -1.16755454e+01] [-3.98487001e-02 2.86689387e-04 9.99205684e-01 -5.79655153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792401008000006 meters 0.06072511597506113 Centerline is valid? [True, True] Translation: X:63.40, Y:-11.69, Z:-5.80 [[ 9.32441573e-01 3.59341877e-01 3.77641279e-02 6.33993546e+01] [-3.59036372e-01 9.33205952e-01 -1.48166820e-02 -1.16864040e+01] [-4.05659633e-02 2.56994806e-04 9.99176829e-01 -5.79830678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82240100800001 meters 0.06045401794620944 Centerline is valid? [True, True] Translation: X:63.43, Y:-11.70, Z:-5.80 [[ 9.31915910e-01 3.60609098e-01 3.86499001e-02 6.34301515e+01] [-3.60289749e-01 9.32717016e-01 -1.51744890e-02 -1.16969941e+01] [-4.15214783e-02 2.16184921e-04 9.99137588e-01 -5.79800811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.852401008 meters 0.060289858233926505 Centerline is valid? [True, True] Translation: X:63.46, Y:-11.71, Z:-5.80 [[ 9.31672584e-01 3.61104876e-01 3.98680979e-02 6.34600936e+01] [-3.60765050e-01 9.32525187e-01 -1.56637851e-02 -1.17073333e+01] [-4.28342747e-02 2.10502818e-04 9.99082169e-01 -5.79896923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882401008 meters 0.06015467443965224 Centerline is valid? [True, True] Translation: X:63.49, Y:-11.72, Z:-5.80 [[ 9.31103367e-01 3.62434825e-01 4.10794048e-02 6.34906962e+01] [-3.62074815e-01 9.32009104e-01 -1.61510847e-02 -1.17166112e+01] [-4.41400948e-02 1.64511412e-04 9.99025338e-01 -5.79945197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.912401008 meters 0.060240475331891315 Centerline is valid? [True, True] Translation: X:63.52, Y:-11.72, Z:-5.80 [[ 9.29650859e-01 3.66130023e-01 4.12078539e-02 6.35217904e+01] [-3.65770850e-01 9.30563703e-01 -1.62135577e-02 -1.17220929e+01] [-4.42828034e-02 3.16121503e-07 9.99019036e-01 -5.80308094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942401008000004 meters 0.06030436060689424 Centerline is valid? [True, True] Translation: X:63.55, Y:-11.73, Z:-5.81 [[ 9.28734186e-01 3.68321025e-01 4.23371585e-02 6.35520321e+01] [-3.67943665e-01 9.29698668e-01 -1.66687109e-02 -1.17319545e+01] [-4.55002365e-02 -9.68876612e-05 9.98964323e-01 -5.80561046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972401008000006 meters 0.06036089203219785 Centerline is valid? [True, True] Translation: X:63.58, Y:-11.74, Z:-5.81 [[ 9.27753948e-01 3.70719750e-01 4.28891533e-02 6.35828720e+01] [-3.70334536e-01 9.28744757e-01 -1.68969609e-02 -1.17429655e+01] [-4.60971134e-02 -2.07112483e-04 9.98936942e-01 -5.80723045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00240100800001 meters 0.060641391435585425 Centerline is valid? [True, True] Translation: X:63.61, Y:-11.76, Z:-5.81 [[ 9.26659705e-01 3.73387245e-01 4.34022567e-02 6.36121021e+01] [-3.72995004e-01 9.27675512e-01 -1.71134568e-02 -1.17559549e+01] [-4.66531572e-02 -3.30474114e-04 9.98911094e-01 -5.80976843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03240100800001 meters 0.060670765329750166 Centerline is valid? [True, True] Translation: X:63.64, Y:-11.77, Z:-5.81 [[ 9.26272886e-01 3.74391807e-01 4.30036627e-02 6.36399577e+01] [-3.74007204e-01 9.27270533e-01 -1.69696694e-02 -1.17688056e+01] [-4.62293344e-02 -3.65135011e-04 9.98930786e-01 -5.81257757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062401008 meters 0.060635324461308475 Centerline is valid? [True, True] Translation: X:63.67, Y:-11.78, Z:-5.81 [[ 9.26213354e-01 3.74469905e-01 4.36017634e-02 6.36694757e+01] [-3.74074108e-01 9.27238997e-01 -1.72163963e-02 -1.17819701e+01] [-4.68762776e-02 -3.64234617e-04 9.98900637e-01 -5.81482706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.092401008 meters 0.06063060231930305 Centerline is valid? [True, True] Translation: X:63.70, Y:-11.79, Z:-5.82 [[ 9.26205507e-01 3.74640691e-01 4.22813408e-02 6.36990684e+01] [-3.74268196e-01 9.27170011e-01 -1.67059269e-02 -1.17948879e+01] [-4.54607112e-02 -3.51439620e-04 9.98966066e-01 -5.81893142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122401008000004 meters 0.06114560983475733 Centerline is valid? [True, True] Translation: X:63.73, Y:-11.81, Z:-5.83 [[ 9.26251962e-01 3.74860147e-01 3.92067940e-02 6.37261094e+01] [-3.74539531e-01 9.27081315e-01 -1.55040192e-02 -1.18083750e+01] [-4.21597251e-02 -3.23865983e-04 9.99110831e-01 -5.82601574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152401008000005 meters 0.06162914808087453 Centerline is valid? [True, True] Translation: X:63.75, Y:-11.82, Z:-5.83 [[ 9.25820005e-01 3.75913424e-01 3.93244919e-02 6.37544365e+01] [-3.75591772e-01 9.26654714e-01 -1.55518957e-02 -1.18210060e+01] [-4.22863921e-02 -3.71699460e-04 9.99105461e-01 -5.83368844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18240100800001 meters 0.061369443111060774 Centerline is valid? [True, True] Translation: X:63.78, Y:-11.84, Z:-5.83 [[ 9.25422434e-01 3.76905333e-01 3.91878690e-02 6.37825787e+01] [-3.76586325e-01 9.26251697e-01 -1.55091681e-02 -1.18369527e+01] [-4.21433183e-02 -4.05083505e-04 9.99111494e-01 -5.83055388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21240100800001 meters 0.061101949911812545 Centerline is valid? [True, True] Translation: X:63.81, Y:-11.85, Z:-5.83 [[ 9.24998182e-01 3.77915497e-01 3.94745470e-02 6.38118487e+01] [-3.77592334e-01 9.25839985e-01 -1.56317343e-02 -1.18536907e+01] [-4.24545887e-02 -4.45960536e-04 9.99098298e-01 -5.82904738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242401008 meters 0.06126213497171283 Centerline is valid? [True, True] Translation: X:63.84, Y:-11.87, Z:-5.83 [[ 9.24731667e-01 3.78527897e-01 3.98494083e-02 6.38386472e+01] [-3.78198558e-01 9.25589765e-01 -1.57935663e-02 -1.18707256e+01] [-4.28625099e-02 -4.66177923e-04 9.99080872e-01 -5.83346629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.272401008 meters 0.06128408032225259 Centerline is valid? [True, True] Translation: X:63.87, Y:-11.89, Z:-5.84 [[ 9.24679421e-01 3.78638760e-01 4.00082321e-02 6.38682697e+01] [-3.78306391e-01 9.25544421e-01 -1.58681613e-02 -1.18860492e+01] [-4.30376970e-02 -4.62407685e-04 9.99073342e-01 -5.83710414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302401008000004 meters 0.0615601556556514 Centerline is valid? [True, True] Translation: X:63.90, Y:-11.90, Z:-5.84 [[ 9.24427461e-01 3.79248039e-01 4.00598924e-02 6.38959625e+01] [-3.78914857e-01 9.25294923e-01 -1.59008410e-02 -1.19044342e+01] [-4.30975778e-02 -4.80114307e-04 9.99070752e-01 -5.84147571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332401008000005 meters 0.06167381049034628 Centerline is valid? [True, True] Translation: X:63.92, Y:-11.92, Z:-5.84 [[ 9.23897533e-01 3.80478231e-01 4.06160553e-02 6.39246335e+01] [-3.80136370e-01 9.24789723e-01 -1.61340883e-02 -1.19211064e+01] [-4.36999799e-02 -5.33395492e-04 9.99044557e-01 -5.84232453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362401008000006 meters 0.06151126806531656 Centerline is valid? [True, True] Translation: X:63.95, Y:-11.94, Z:-5.84 [[ 9.23045057e-01 3.82451178e-01 4.14598510e-02 6.39533599e+01] [-3.82096378e-01 9.23975488e-01 -1.64819835e-02 -1.19390922e+01] [-4.46114401e-02 -6.28045448e-04 9.99004217e-01 -5.83978611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39240100800001 meters 0.06164961851212572 Centerline is valid? [True, True] Translation: X:63.98, Y:-11.95, Z:-5.84 [[ 9.22482906e-01 3.83606612e-01 4.32580072e-02 6.39813821e+01] [-3.83220886e-01 9.23496334e-01 -1.72126169e-02 -1.19536405e+01] [-4.65514847e-02 -6.99026960e-04 9.98915647e-01 -5.84243238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422401008 meters 0.06180129671571139 Centerline is valid? [True, True] Translation: X:64.01, Y:-11.97, Z:-5.84 [[ 9.22002636e-01 3.84698625e-01 4.37962032e-02 6.40101800e+01] [-3.84303894e-01 9.23041929e-01 -1.74389048e-02 -1.19685799e+01] [-4.71344546e-02 -7.52335233e-04 9.98888271e-01 -5.84462101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.452401008 meters 0.06198354909094976 Centerline is valid? [True, True] Translation: X:64.04, Y:-11.99, Z:-5.85 [[ 9.22233573e-01 3.84082047e-01 4.43420503e-02 6.40364686e+01] [-3.83676045e-01 9.23298688e-01 -1.76699094e-02 -1.19871972e+01] [-4.77276518e-02 -7.17198742e-04 9.98860129e-01 -5.84923225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482401008000004 meters 0.062329638913688486 Centerline is valid? [True, True] Translation: X:64.06, Y:-12.00, Z:-5.85 [[ 9.22452999e-01 3.83504773e-01 4.47722446e-02 6.40639722e+01] [-3.83089562e-01 9.23538642e-01 -1.78539740e-02 -1.20013188e+01] [-4.81959822e-02 -6.82327697e-04 9.98837665e-01 -5.85449513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512401008000005 meters 0.062001384252411765 Centerline is valid? [True, True] Translation: X:64.09, Y:-12.02, Z:-5.85 [[ 9.22625003e-01 3.82958743e-01 4.58879618e-02 6.40914711e+01] [-3.82521345e-01 9.23765211e-01 -1.83099717e-02 -1.20195659e+01] [-4.94016665e-02 -6.59887179e-04 9.98778774e-01 -5.85340954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542401008000006 meters 0.061792385465538495 Centerline is valid? [True, True] Translation: X:64.12, Y:-12.04, Z:-5.85 [[ 9.23646429e-01 3.80380616e-01 4.67745704e-02 6.41170797e+01] [-3.79922197e-01 9.24829885e-01 -1.86763972e-02 -1.20413006e+01] [-5.03626601e-02 -5.20309978e-04 9.98730861e-01 -5.85423543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57240100800001 meters 0.06168512500718084 Centerline is valid? [True, True] Translation: X:64.14, Y:-12.06, Z:-5.86 [[ 9.24168786e-01 3.79055253e-01 4.72140832e-02 6.41445078e+01] [-3.78585781e-01 9.25373936e-01 -1.88649122e-02 -1.20571954e+01] [-5.08415261e-02 -4.40217536e-04 9.98706636e-01 -5.85739312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60240100800001 meters 0.06169564524448392 Centerline is valid? [True, True] Translation: X:64.17, Y:-12.07, Z:-5.86 [[ 9.24591526e-01 3.78136969e-01 4.62919307e-02 6.41726366e+01] [-3.77683909e-01 9.25749586e-01 -1.85086408e-02 -1.20741130e+01] [-4.98535370e-02 -3.70784906e-04 9.98756471e-01 -5.85972305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632401008 meters 0.061705993379345986 Centerline is valid? [True, True] Translation: X:64.20, Y:-12.10, Z:-5.86 [[ 9.25548617e-01 3.75961135e-01 4.48662748e-02 6.41982994e+01] [-3.75532461e-01 9.26635403e-01 -1.79499658e-02 -1.20951109e+01] [-4.83231682e-02 -2.35176559e-04 9.98831726e-01 -5.86244995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662401008 meters 0.06164271575637311 Centerline is valid? [True, True] Translation: X:64.23, Y:-12.11, Z:-5.86 [[ 9.25857008e-01 3.75302272e-01 4.40114314e-02 6.42265088e+01] [-3.74888493e-01 9.26902460e-01 -1.76195187e-02 -1.21109358e+01] [-4.74069494e-02 -1.86224367e-04 9.98875641e-01 -5.86498027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692401008000004 meters 0.061728555590941064 Centerline is valid? [True, True] Translation: X:64.25, Y:-12.13, Z:-5.87 [[ 9.25918638e-01 3.75170089e-01 4.38415395e-02 6.42545946e+01] [-3.74758819e-01 9.26955973e-01 -1.75627789e-02 -1.21253968e+01] [-4.72282062e-02 -1.68299229e-04 9.98884112e-01 -5.86879703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722401008000006 meters 0.06182872866364816 Centerline is valid? [True, True] Translation: X:64.28, Y:-12.14, Z:-5.87 [[ 9.25521948e-01 3.76191920e-01 4.34598978e-02 6.42840196e+01] [-3.75788315e-01 9.26541741e-01 -1.74225531e-02 -1.21388862e+01] [-4.68216330e-02 -2.06766490e-04 9.98903245e-01 -5.87248667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75240100800001 meters 0.06194705369811705 Centerline is valid? [True, True] Translation: X:64.31, Y:-12.15, Z:-5.88 [[ 9.25239272e-01 3.77012081e-01 4.23577560e-02 6.43116314e+01] [-3.76629004e-01 9.26208312e-01 -1.69928177e-02 -1.21515083e+01] [-4.56386032e-02 -2.30737129e-04 9.98957989e-01 -5.87651275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78240100800001 meters 0.06215825390177177 Centerline is valid? [True, True] Translation: X:64.34, Y:-12.17, Z:-5.88 [[ 9.24690808e-01 3.78442007e-01 4.15759088e-02 6.43403892e+01] [-3.78074085e-01 9.25624958e-01 -1.66859920e-02 -1.21661855e+01] [-4.47983791e-02 -2.89390313e-04 9.98996007e-01 -5.87973835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812401008 meters 0.06245832739054653 Centerline is valid? [True, True] Translation: X:64.37, Y:-12.18, Z:-5.89 [[ 9.24079384e-01 3.79946235e-01 4.14505873e-02 6.43688961e+01] [-3.79581523e-01 9.25008506e-01 -1.66472671e-02 -1.21780184e+01] [-4.46672123e-02 -3.50480707e-04 9.99001861e-01 -5.88552710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842401008 meters 0.0626801747986292 Centerline is valid? [True, True] Translation: X:64.40, Y:-12.19, Z:-5.89 [[ 9.23415924e-01 3.81602034e-01 4.10233842e-02 6.43983382e+01] [-3.81245816e-01 9.24326629e-01 -1.64897198e-02 -1.21909653e+01] [-4.42115170e-02 -4.13123726e-04 9.99022107e-01 -5.88847392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872401008000004 meters 0.0628579031933499 Centerline is valid? [True, True] Translation: X:64.43, Y:-12.21, Z:-5.89 [[ 9.21696898e-01 3.85747652e-01 4.09093827e-02 6.44273213e+01] [-3.85397521e-01 9.22604127e-01 -1.64430827e-02 -1.22061037e+01] [-4.40860458e-02 -6.10836395e-04 9.99027551e-01 -5.88718866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902401008000005 meters 0.06334091752300532 Centerline is valid? [True, True] Translation: X:64.46, Y:-12.22, Z:-5.89 [[ 9.20608673e-01 3.88348174e-01 4.08089098e-02 6.44561640e+01] [-3.88001804e-01 9.21512438e-01 -1.64142096e-02 -1.22175662e+01] [-4.39803463e-02 -7.22866898e-04 9.99032135e-01 -5.89110950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93240100800001 meters 0.06367688793407425 Centerline is valid? [True, True] Translation: X:64.49, Y:-12.23, Z:-5.89 [[ 9.19753476e-01 3.90397417e-01 4.05388810e-02 6.44858815e+01] [-3.90057190e-01 9.20646081e-01 -1.63151053e-02 -1.22301370e+01] [-4.36913368e-02 -8.06607159e-04 9.99044752e-01 -5.89398984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96240100800001 meters 0.06459993063563484 Centerline is valid? [True, True] Translation: X:64.51, Y:-12.24, Z:-5.90 [[ 9.18523159e-01 3.93167505e-01 4.16475490e-02 6.45137878e+01] [-3.92810699e-01 9.19466370e-01 -1.67734738e-02 -1.22430910e+01] [-4.48883055e-02 -9.52778710e-04 9.98991558e-01 -5.89797486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992401008 meters 0.06478910232304982 Centerline is valid? [True, True] Translation: X:64.54, Y:-12.26, Z:-5.90 [[ 9.17973491e-01 3.94274898e-01 4.32663155e-02 6.45420983e+01] [-3.93890512e-01 9.18991965e-01 -1.74365554e-02 -1.22573680e+01] [-4.66361924e-02 -1.03589549e-03 9.98911404e-01 -5.89954276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02240100800002 meters 0.06438049411857803 Centerline is valid? [True, True] Translation: X:64.57, Y:-12.27, Z:-5.90 [[ 9.17833002e-01 3.94534420e-01 4.38767852e-02 6.45702475e+01] [-3.94138866e-01 9.18880559e-01 -1.76938635e-02 -1.22745733e+01] [-4.72983631e-02 -1.05353445e-03 9.98880251e-01 -5.89899273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05240100800002 meters 0.06440159097253086 Centerline is valid? [True, True] Translation: X:64.60, Y:-12.29, Z:-5.90 [[ 9.17952696e-01 3.94184884e-01 4.45098308e-02 6.45974204e+01] [-3.93776832e-01 9.19030575e-01 -1.79613334e-02 -1.22892827e+01] [-4.79859815e-02 -1.03928574e-03 9.98847469e-01 -5.90133704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082401008 meters 0.06440159097253086 Centerline is valid? [True, True] Translation: X:64.63, Y:-12.30, Z:-5.90 [[ 9.17849012e-01 3.94426681e-01 4.45060083e-02 6.46272931e+01] [-3.94018454e-01 9.18926824e-01 -1.79707989e-02 -1.23015200e+01] [-4.79859274e-02 -1.04170859e-03 9.98847469e-01 -5.90365636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.112401008 meters 0.06426111337479415 Centerline is valid? [True, True] Translation: X:64.65, Y:-12.32, Z:-5.91 [[ 9.18748133e-01 3.92310138e-01 4.46612107e-02 6.46539810e+01] [-3.91895676e-01 9.19832546e-01 -1.80517465e-02 -1.23218797e+01] [-4.81627184e-02 -9.17526962e-04 9.98839081e-01 -5.90787484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14240100800001 meters 0.06413061856287314 Centerline is valid? [True, True] Translation: X:64.68, Y:-12.34, Z:-5.91 [[ 9.19378506e-01 3.90939074e-01 4.37012888e-02 6.46823901e+01] [-3.90540727e-01 9.20416186e-01 -1.76631124e-02 -1.23395788e+01] [-4.71285744e-02 -8.28047214e-04 9.98888488e-01 -5.91093280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17240100800001 meters 0.06381008505333079 Centerline is valid? [True, True] Translation: X:64.71, Y:-12.36, Z:-5.91 [[ 9.20372541e-01 3.88622121e-01 4.34422869e-02 6.47089818e+01] [-3.88225228e-01 9.21396966e-01 -1.75728208e-02 -1.23571412e+01] [-4.68567782e-02 -6.91850003e-04 9.98901378e-01 -5.91421596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20240100800001 meters 0.06314957718372455 Centerline is valid? [True, True] Translation: X:64.73, Y:-12.38, Z:-5.92 [[ 9.22678446e-01 3.83196754e-01 4.27168988e-02 6.47326353e+01] [-3.82806737e-01 9.23666654e-01 -1.72891309e-02 -1.23841354e+01] [-4.60813138e-02 -4.00008244e-04 9.98937612e-01 -5.91639832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23240100800001 meters 0.06300261592979169 Centerline is valid? [True, True] Translation: X:64.76, Y:-12.40, Z:-5.92 [[ 9.24126231e-01 3.79658165e-01 4.30161308e-02 6.47586512e+01] [-3.79258286e-01 9.25126819e-01 -1.74218484e-02 -1.24034583e+01] [-4.64097232e-02 -2.14236925e-04 9.98922465e-01 -5.91877496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26240100800001 meters 0.06288952435279979 Centerline is valid? [True, True] Translation: X:64.78, Y:-12.42, Z:-5.92 [[ 9.25827538e-01 3.75488942e-01 4.30281920e-02 6.47848909e+01] [-3.75083812e-01 9.26826874e-01 -1.74378612e-02 -1.24237502e+01] [-4.64274087e-02 5.27378025e-06 9.98921666e-01 -5.91890048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29240100800001 meters 0.06289506179130859 Centerline is valid? [True, True] Translation: X:64.81, Y:-12.44, Z:-5.92 [[ 9.27372596e-01 3.71588712e-01 4.36107457e-02 6.48118625e+01] [-3.71167684e-01 9.28397427e-01 -1.76852108e-02 -1.24437238e+01] [-4.70597288e-02 2.13880310e-04 9.98892054e-01 -5.92090746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32240100800001 meters 0.06352129539018934 Centerline is valid? [True, True] Translation: X:64.84, Y:-12.47, Z:-5.92 [[ 9.30080015e-01 3.64562932e-01 4.52220453e-02 6.48354946e+01] [-3.64101119e-01 9.31178555e-01 -1.83541100e-02 -1.24685712e+01] [-4.88010270e-02 6.05393670e-04 9.98808337e-01 -5.92309135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35240100800002 meters 0.06397065340911283 Centerline is valid? [True, True] Translation: X:64.86, Y:-12.49, Z:-5.93 [[ 9.30894123e-01 3.62354466e-01 4.62100998e-02 6.48616972e+01] [-3.61868865e-01 9.32040063e-01 -1.87681824e-02 -1.24853207e+01] [-4.98703990e-02 7.49194320e-04 9.98755417e-01 -5.92565904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38240100800002 meters 0.06411239362913553 Centerline is valid? [True, True] Translation: X:64.89, Y:-12.50, Z:-5.93 [[ 9.31327345e-01 3.61118667e-01 4.71453522e-02 6.48909981e+01] [-3.60610973e-01 9.32519488e-01 -1.91606245e-02 -1.25017688e+01] [-5.08832189e-02 8.43682227e-04 9.98704254e-01 -5.92727622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41240100800002 meters 0.06429561713625988 Centerline is valid? [True, True] Translation: X:64.92, Y:-12.52, Z:-5.93 [[ 9.31721634e-01 3.59901703e-01 4.86370280e-02 6.49175377e+01] [-3.59359086e-01 9.32989744e-01 -1.97784048e-02 -1.25202898e+01] [-5.24961299e-02 9.49809698e-04 9.98620676e-01 -5.92822385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44240100800002 meters 0.06425200639684754 Centerline is valid? [True, True] Translation: X:64.95, Y:-12.54, Z:-5.93 [[ 9.31653831e-01 3.59967553e-01 4.94418964e-02 6.49464018e+01] [-3.59406604e-01 9.32964322e-01 -2.01113645e-02 -1.25357425e+01] [-5.33669640e-02 9.67085707e-04 9.98574500e-01 -5.92812736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.472401008 meters 0.06425844076810507 Centerline is valid? [True, True] Translation: X:64.98, Y:-12.55, Z:-5.93 [[ 9.31890673e-01 3.59215483e-01 5.04381752e-02 6.49751591e+01] [-3.58629885e-01 9.33254065e-01 -2.05293917e-02 -1.25521779e+01] [-5.44461074e-02 1.04251170e-03 9.98516166e-01 -5.92794457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502401008 meters 0.06441179215969184 Centerline is valid? [True, True] Translation: X:65.00, Y:-12.57, Z:-5.93 [[ 9.32091495e-01 3.58698695e-01 5.04052618e-02 6.50039461e+01] [-3.58112269e-01 9.33452766e-01 -2.05313567e-02 -1.25663606e+01] [-5.44155019e-02 1.08636036e-03 9.98517788e-01 -5.92990616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53240100800001 meters 0.0637711571006738 Centerline is valid? [True, True] Translation: X:65.04, Y:-12.57, Z:-5.93 [[ 9.32305398e-01 3.58271527e-01 4.94788736e-02 6.50354061e+01] [-3.57705232e-01 9.33616784e-01 -2.01660218e-02 -1.25748048e+01] [-5.34192182e-02 1.10203899e-03 9.98571566e-01 -5.93161574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56240100800001 meters 0.06467482459126508 Centerline is valid? [True, True] Translation: X:65.06, Y:-12.59, Z:-5.94 [[ 9.32087877e-01 3.59017398e-01 4.81528503e-02 6.50624628e+01] [-3.58481369e-01 9.33330284e-01 -1.96389665e-02 -1.25886345e+01] [-5.19932441e-02 1.04334291e-03 9.98646892e-01 -5.94015054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59240100800001 meters 0.06382199708674151 Centerline is valid? [True, True] Translation: X:65.10, Y:-12.59, Z:-5.94 [[ 9.31672614e-01 3.60261144e-01 4.68833475e-02 6.50955753e+01] [-3.59754074e-01 9.32851001e-01 -1.91315335e-02 -1.25942703e+01] [-5.06275259e-02 9.57850541e-04 9.98717145e-01 -5.94085081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62240100800001 meters 0.0637186053782616 Centerline is valid? [True, True] Translation: X:65.13, Y:-12.60, Z:-5.95 [[ 9.30737952e-01 3.62950496e-01 4.46520039e-02 6.51272869e+01] [-3.62493025e-01 9.31808092e-01 -1.82342018e-02 -1.26023187e+01] [-4.82252112e-02 7.85223658e-04 9.98836179e-01 -5.94547043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65240100800001 meters 0.06345555405149785 Centerline is valid? [True, True] Translation: X:65.16, Y:-12.61, Z:-5.95 [[ 9.28439690e-01 3.69061767e-01 4.23456379e-02 6.51584289e+01] [-3.68656056e-01 9.29404757e-01 -1.73063261e-02 -1.26069780e+01] [-4.57433406e-02 4.56904159e-04 9.98953121e-01 -5.95299194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68240100800001 meters 0.0632993382145065 Centerline is valid? [True, True] Translation: X:65.19, Y:-12.61, Z:-5.96 [[ 9.27313485e-01 3.71983873e-01 4.14451325e-02 6.51903053e+01] [-3.71597750e-01 9.28239139e-01 -1.69473596e-02 -1.26149472e+01] [-4.47751385e-02 3.14597134e-04 9.98997041e-01 -5.95503541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71240100800001 meters 0.06313747361157306 Centerline is valid? [True, True] Translation: X:65.22, Y:-12.62, Z:-5.96 [[ 9.25241211e-01 3.77057710e-01 4.19068639e-02 6.52227845e+01] [-3.76667455e-01 9.26189763e-01 -1.71508457e-02 -1.26176346e+01] [-4.52805670e-02 8.37174688e-05 9.98974306e-01 -5.95959544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74240100800002 meters 0.06308103147210602 Centerline is valid? [True, True] Translation: X:65.25, Y:-12.63, Z:-5.96 [[ 9.24302558e-01 3.79381291e-01 4.16487324e-02 6.52546353e+01] [-3.78997783e-01 9.25240420e-01 -1.70541797e-02 -1.26264368e+01] [-4.50051274e-02 -2.15552821e-05 9.98986756e-01 -5.96264403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77240100800002 meters 0.06319167610487209 Centerline is valid? [True, True] Translation: X:65.29, Y:-12.64, Z:-5.97 [[ 9.23349847e-01 3.81655915e-01 4.19978865e-02 6.52857781e+01] [-3.81267712e-01 9.24304467e-01 -1.72099896e-02 -1.26359034e+01] [-4.53871284e-02 -1.21596784e-04 9.98969466e-01 -5.96525528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80240100800002 meters 0.06321036145486172 Centerline is valid? [True, True] Translation: X:65.32, Y:-12.65, Z:-5.97 [[ 9.22766733e-01 3.83081633e-01 4.18332259e-02 6.53169587e+01] [-3.82697364e-01 9.23714475e-01 -1.71550773e-02 -1.26467324e+01] [-4.52137513e-02 -1.79330634e-04 9.98977319e-01 -5.96828378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.832401008 meters 0.06324936345225696 Centerline is valid? [True, True] Translation: X:65.35, Y:-12.66, Z:-5.97 [[ 9.22246668e-01 3.84354926e-01 4.16218068e-02 6.53464071e+01] [-3.83975096e-01 9.23185377e-01 -1.70846591e-02 -1.26575793e+01] [-4.49912163e-02 -2.25467319e-04 9.98987357e-01 -5.96874977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862401008 meters 0.06303573076443776 Centerline is valid? [True, True] Translation: X:65.38, Y:-12.67, Z:-5.97 [[ 9.22118195e-01 3.84552118e-01 4.26345219e-02 6.53756839e+01] [-3.84153610e-01 9.23103251e-01 -1.75040371e-02 -1.26710460e+01] [-4.60872803e-02 -2.37414400e-04 9.98937389e-01 -5.96836957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89240100800001 meters 0.06279885522105316 Centerline is valid? [True, True] Translation: X:65.40, Y:-12.69, Z:-5.97 [[ 9.22209015e-01 3.84196818e-01 4.38558790e-02 6.54032985e+01] [-3.83774144e-01 9.23251190e-01 -1.80179797e-02 -1.26850995e+01] [-4.74124429e-02 -2.14409133e-04 9.98875375e-01 -5.96874419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92240100800001 meters 0.062490508068451474 Centerline is valid? [True, True] Translation: X:65.43, Y:-12.70, Z:-5.97 [[ 9.22654411e-01 3.83028027e-01 4.47031086e-02 6.54319463e+01] [-3.82586975e-01 9.23736710e-01 -1.83765579e-02 -1.27002454e+01] [-4.83326392e-02 -1.47614898e-04 9.98831284e-01 -5.96727134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95240100800001 meters 0.062421176801323364 Centerline is valid? [True, True] Translation: X:65.46, Y:-12.72, Z:-5.97 [[ 9.23364955e-01 3.81097456e-01 4.64961141e-02 6.54590146e+01] [-3.80617149e-01 9.24534871e-01 -1.91274078e-02 -1.27152034e+01] [-5.02766853e-02 -3.56403345e-05 9.98735327e-01 -5.97171200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98240100800001 meters 0.06230369120635054 Centerline is valid? [True, True] Translation: X:65.49, Y:-12.73, Z:-5.97 [[ 9.23610053e-01 3.80403427e-01 4.73043641e-02 6.54878338e+01] [-3.79904752e-01 9.24820649e-01 -1.94716806e-02 -1.27288399e+01] [-5.11551467e-02 1.30872694e-05 9.98690718e-01 -5.97088369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01240100800001 meters 0.06233790212525384 Centerline is valid? [True, True] Translation: X:65.52, Y:-12.74, Z:-5.97 [[ 9.23997580e-01 3.79510497e-01 4.69068793e-02 6.55164922e+01] [-3.79018392e-01 9.25187428e-01 -1.93205023e-02 -1.27425014e+01] [-5.07299885e-02 7.35274321e-05 9.98712402e-01 -5.97437692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04240100800001 meters 0.062480152817750746 Centerline is valid? [True, True] Translation: X:65.54, Y:-12.76, Z:-5.98 [[ 9.24344791e-01 3.78930922e-01 4.46997077e-02 6.55448595e+01] [-3.78482774e-01 9.25424953e-01 -1.84240547e-02 -1.27578499e+01] [-4.83476689e-02 1.12109663e-04 9.98830561e-01 -5.97895082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07240100800001 meters 0.06270403284913516 Centerline is valid? [True, True] Translation: X:65.57, Y:-12.77, Z:-5.98 [[ 9.24712601e-01 3.78058282e-01 4.44807903e-02 6.55734674e+01] [-3.77612949e-01 9.25781782e-01 -1.83453914e-02 -1.27719366e+01] [-4.81151325e-02 1.67692233e-04 9.98841782e-01 -5.98280926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10240100800002 meters 0.06264887384581577 Centerline is valid? [True, True] Translation: X:65.60, Y:-12.79, Z:-5.99 [[ 9.25103521e-01 3.77148864e-01 4.40705097e-02 6.56022802e+01] [-3.76710058e-01 9.26152624e-01 -1.81892468e-02 -1.27858551e+01] [-4.76760720e-02 2.25132044e-04 9.98862824e-01 -5.98564703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13240100800002 meters 0.06277848855052777 Centerline is valid? [True, True] Translation: X:65.63, Y:-12.80, Z:-5.99 [[ 9.25849439e-01 3.75383815e-01 4.34719240e-02 6.56305019e+01] [-3.74954369e-01 9.26869402e-01 -1.79536444e-02 -1.28011261e+01] [-4.70323037e-02 3.22383711e-04 9.98893317e-01 -5.98832367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16240100800002 meters 0.06316433786604374 Centerline is valid? [True, True] Translation: X:65.66, Y:-12.82, Z:-5.99 [[ 9.28032597e-01 3.70024145e-01 4.28676102e-02 6.56555880e+01] [-3.69600291e-01 9.29021946e-01 -1.77157838e-02 -1.28211837e+01] [-4.63802184e-02 5.96943602e-04 9.98923680e-01 -5.98950824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19240100800002 meters 0.06362184012653856 Centerline is valid? [True, True] Translation: X:65.68, Y:-12.84, Z:-5.99 [[ 9.29282454e-01 3.66881995e-01 4.27986357e-02 6.56829630e+01] [-3.66455675e-01 9.30267177e-01 -1.76979670e-02 -1.28367708e+01] [-4.63072315e-02 7.62607237e-04 9.98926954e-01 -5.99257946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222401008 meters 0.06416685297051444 Centerline is valid? [True, True] Translation: X:65.71, Y:-12.85, Z:-6.00 [[ 9.30269461e-01 3.64434206e-01 4.22662836e-02 6.57103183e+01] [-3.64015437e-01 9.31228720e-01 -1.74880504e-02 -1.28513836e+01] [-4.57328210e-02 8.83019533e-04 9.98953317e-01 -5.99592074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.252401008 meters 0.06463891190280086 Centerline is valid? [True, True] Translation: X:65.74, Y:-12.87, Z:-6.00 [[ 9.31197318e-01 3.62169325e-01 4.12908562e-02 6.57387306e+01] [-3.61767023e-01 9.32111806e-01 -1.70939038e-02 -1.28652042e+01] [-4.46785821e-02 9.80127300e-04 9.99000933e-01 -5.99892321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28240100800001 meters 0.06592925934365355 Centerline is valid? [True, True] Translation: X:65.77, Y:-12.88, Z:-6.00 [[ 9.32919130e-01 3.57780528e-01 4.06815771e-02 6.57657007e+01] [-3.57385423e-01 9.33804957e-01 -1.68511881e-02 -1.28809741e+01] [-4.40176853e-02 1.18179315e-03 9.99030053e-01 -6.00227914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31240100800001 meters 0.0661272668957214 Centerline is valid? [True, True] Translation: X:65.79, Y:-12.89, Z:-6.00 [[ 9.33029223e-01 3.57626834e-01 3.94907075e-02 6.57947841e+01] [-3.57254005e-01 9.33863853e-01 -1.63670454e-02 -1.28932083e+01] [-4.27322388e-02 1.16271822e-03 9.99085884e-01 -6.00377904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34240100800001 meters 0.0666355161807644 Centerline is valid? [True, True] Translation: X:65.82, Y:-12.91, Z:-6.01 [[ 9.33616436e-01 3.56160483e-01 3.88595113e-02 6.58226368e+01] [-3.55797811e-01 9.34424007e-01 -1.61150161e-02 -1.29052705e+01] [-4.20507921e-02 1.21911480e-03 9.99114730e-01 -6.00654004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37240100800001 meters 0.06797810831799708 Centerline is valid? [True, True] Translation: X:65.85, Y:-12.92, Z:-6.01 [[ 9.35190988e-01 3.52122513e-01 3.77829494e-02 6.58515113e+01] [-3.51775959e-01 9.35952913e-01 -1.56786300e-02 -1.29169667e+01] [-4.08838602e-02 1.37138024e-03 9.99162964e-01 -6.00910678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40240100800001 meters 0.06586816919342219 Centerline is valid? [True, True] Translation: X:65.88, Y:-12.92, Z:-6.00 [[ 9.36225928e-01 3.49422848e-01 3.72113686e-02 6.58846764e+01] [-3.49084568e-01 9.36963992e-01 -1.54416026e-02 -1.29220144e+01] [-4.02613612e-02 1.46691415e-03 9.99188106e-01 -6.00427268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43240100800001 meters 0.0704857566807237 Centerline is valid? [True, True] Translation: X:65.91, Y:-12.94, Z:-6.02 [[ 9.37352893e-01 3.46393280e-01 3.71651609e-02 6.59078040e+01] [-3.46053060e-01 9.38088013e-01 -1.54324012e-02 -1.29443561e+01] [-4.02098720e-02 1.60448827e-03 9.99189968e-01 -6.01505389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46240100800001 meters 0.06690593608610541 Centerline is valid? [True, True] Translation: X:65.94, Y:-12.95, Z:-6.01 [[ 9.38259868e-01 3.43975400e-01 3.67334299e-02 6.59424802e+01] [-3.43640877e-01 9.38977129e-01 -1.52610243e-02 -1.29467915e+01] [-3.97412675e-02 1.69569855e-03 9.99208565e-01 -6.00715437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49240100800002 meters 0.06839685996450211 Centerline is valid? [True, True] Translation: X:65.97, Y:-12.96, Z:-6.01 [[ 9.39777638e-01 3.39628029e-01 3.83509111e-02 6.59711252e+01] [-3.39259351e-01 9.40557767e-01 -1.59430090e-02 -1.29594648e+01] [-4.14859401e-02 1.97197811e-03 9.99137142e-01 -6.00833652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52240100800002 meters 0.06797813815216633 Centerline is valid? [True, True] Translation: X:66.00, Y:-12.97, Z:-6.01 [[ 9.40149759e-01 3.38498828e-01 3.92042516e-02 6.60017514e+01] [-3.38112155e-01 9.40964523e-01 -1.63075955e-02 -1.29690979e+01] [-4.24099119e-02 2.07614803e-03 9.99098138e-01 -6.00813521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55240100800002 meters 0.06881532994185469 Centerline is valid? [True, True] Translation: X:66.03, Y:-12.98, Z:-6.01 [[ 9.39991733e-01 3.38853542e-01 3.99226588e-02 6.60303279e+01] [-3.38452376e-01 9.40836771e-01 -1.66180624e-02 -1.29814277e+01] [-4.31917947e-02 2.10892256e-03 9.99064573e-01 -6.00890998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582401008 meters 0.06779065946761571 Centerline is valid? [True, True] Translation: X:66.06, Y:-12.99, Z:-6.01 [[ 9.39688730e-01 3.39562719e-01 4.10152497e-02 6.60626454e+01] [-3.39139508e-01 9.40580974e-01 -1.70828858e-02 -1.29881573e+01] [-4.43788747e-02 2.14270362e-03 9.99012475e-01 -6.00771421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.612401008 meters 0.06649953502032302 Centerline is valid? [True, True] Translation: X:66.10, Y:-12.99, Z:-6.01 [[ 9.37720414e-01 3.44609633e-01 4.38705587e-02 6.60974675e+01] [-3.44130099e-01 9.38743834e-01 -1.82890258e-02 -1.29888449e+01] [-4.74857910e-02 2.05281314e-03 9.98869804e-01 -6.00779123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64240100800001 meters 0.06604433441172332 Centerline is valid? [True, True] Translation: X:66.13, Y:-13.00, Z:-6.01 [[ 9.36590614e-01 3.47615833e-01 4.42860614e-02 6.61287852e+01] [-3.47130494e-01 9.37635084e-01 -1.84626457e-02 -1.29953702e+01] [-4.79420728e-02 1.91889833e-03 9.98848275e-01 -6.00966407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67240100800001 meters 0.06561782244949381 Centerline is valid? [True, True] Translation: X:66.16, Y:-13.00, Z:-6.01 [[ 9.35345578e-01 3.50945562e-01 4.43380460e-02 6.61592230e+01] [-3.50462289e-01 9.36394208e-01 -1.84951501e-02 -1.30021420e+01] [-4.80086803e-02 1.76054370e-03 9.98845367e-01 -6.01122490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70240100800001 meters 0.06476059124516388 Centerline is valid? [True, True] Translation: X:66.19, Y:-13.00, Z:-6.01 [[ 9.33542025e-01 3.55875677e-01 4.30324402e-02 6.61928566e+01] [-3.55425212e-01 9.34532148e-01 -1.79605919e-02 -1.30029775e+01] [-4.66069366e-02 1.47215313e-03 9.98912221e-01 -6.01444033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73240100800001 meters 0.06481569312157145 Centerline is valid? [True, True] Translation: X:66.22, Y:-13.01, Z:-6.02 [[ 9.32868998e-01 3.57689967e-01 4.25830912e-02 6.62228767e+01] [-3.57250293e-01 9.33839383e-01 -1.77829984e-02 -1.30101907e+01] [-4.61265677e-02 1.37638607e-03 9.98934655e-01 -6.01887739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76240100800001 meters 0.06403477632636513 Centerline is valid? [True, True] Translation: X:66.26, Y:-13.02, Z:-6.02 [[ 9.32082741e-01 3.59856007e-01 4.15381473e-02 6.62555769e+01] [-3.59439204e-01 9.33007015e-01 -1.73599506e-02 -1.30163465e+01] [-4.50024654e-02 1.25047175e-03 9.98986093e-01 -6.02036211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79240100800001 meters 0.06386928910738998 Centerline is valid? [True, True] Translation: X:66.29, Y:-13.02, Z:-6.02 [[ 9.30898591e-01 3.63071523e-01 4.00859311e-02 6.62867874e+01] [-3.62686354e-01 9.31760674e-01 -1.67527667e-02 -1.30214850e+01] [-4.34329467e-02 1.05650672e-03 9.99055786e-01 -6.02412245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82240100800001 meters 0.06378696895126036 Centerline is valid? [True, True] Translation: X:66.32, Y:-13.03, Z:-6.03 [[ 9.30375485e-01 3.64491547e-01 3.93366134e-02 6.63183710e+01] [-3.64121581e-01 9.31206182e-01 -1.64475090e-02 -1.30310221e+01] [-4.26254756e-02 9.79049277e-04 9.99090642e-01 -6.02702216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85240100800002 meters 0.0638103736928355 Centerline is valid? [True, True] Translation: X:66.35, Y:-13.04, Z:-6.03 [[ 9.29806037e-01 3.66052005e-01 3.82970381e-02 6.63496373e+01] [-3.65702201e-01 9.30593966e-01 -1.60240379e-02 -1.30410412e+01] [-4.15046238e-02 8.93936108e-04 9.99137912e-01 -6.03104495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88240100800002 meters 0.06353116477997979 Centerline is valid? [True, True] Translation: X:66.38, Y:-13.05, Z:-6.03 [[ 9.29213923e-01 3.67736286e-01 3.64898456e-02 6.63805816e+01] [-3.67419584e-01 9.29929782e-01 -1.52790861e-02 -1.30501333e+01] [-3.95516685e-02 7.90455632e-04 9.99217214e-01 -6.03417451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91240100800002 meters 0.06337386595963962 Centerline is valid? [True, True] Translation: X:66.41, Y:-13.06, Z:-6.04 [[ 9.29177070e-01 3.67891216e-01 3.58612106e-02 6.64118732e+01] [-3.67585092e-01 9.29868510e-01 -1.50250937e-02 -1.30584796e+01] [-3.88738105e-02 7.78926134e-04 9.99243824e-01 -6.03645330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94240100800002 meters 0.06320564518850315 Centerline is valid? [True, True] Translation: X:66.44, Y:-13.07, Z:-6.04 [[ 9.29527581e-01 3.67086446e-01 3.50145396e-02 6.64423569e+01] [-3.66793712e-01 9.30186486e-01 -1.46790404e-02 -1.30697843e+01] [-3.79585284e-02 8.01459923e-04 9.99278994e-01 -6.03685716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.972401008 meters 0.06320564518850315 Centerline is valid? [True, True] Translation: X:66.47, Y:-13.08, Z:-6.04 [[ 9.29429471e-01 3.67335064e-01 3.50115558e-02 6.64720837e+01] [-3.67042238e-01 9.30088336e-01 -1.46861522e-02 -1.30823814e+01] [-3.79585783e-02 7.99022865e-04 9.99278994e-01 -6.03917713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002401008 meters 0.06351669405227191 Centerline is valid? [True, True] Translation: X:66.50, Y:-13.09, Z:-6.04 [[ 9.30101522e-01 3.65659723e-01 3.47005131e-02 6.65005056e+01] [-3.65370438e-01 9.30748198e-01 -1.45683130e-02 -1.30946870e+01] [-3.76244853e-02 8.71468398e-04 9.99291568e-01 -6.04208514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03240100800001 meters 0.06344073344079794 Centerline is valid? [True, True] Translation: X:66.53, Y:-13.11, Z:-6.04 [[ 9.30945592e-01 3.63396334e-01 3.58247064e-02 6.65303742e+01] [-3.63085949e-01 9.31634101e-01 -1.50497664e-02 -1.31052525e+01] [-3.88445481e-02 1.00306616e-03 9.99244762e-01 -6.04239945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06240100800001 meters 0.0640982481510387 Centerline is valid? [True, True] Translation: X:66.56, Y:-13.12, Z:-6.04 [[ 9.32658261e-01 3.58858645e-01 3.70005520e-02 6.65603213e+01] [-3.58523583e-01 9.33391094e-01 -1.55533248e-02 -1.31165604e+01] [-4.01174308e-02 1.24036636e-03 9.99194202e-01 -6.04449193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09240100800001 meters 0.06476600245716677 Centerline is valid? [True, True] Translation: X:66.59, Y:-13.13, Z:-6.05 [[ 9.33447765e-01 3.56705957e-01 3.78963102e-02 6.65881109e+01] [-3.56352221e-01 9.34215696e-01 -1.59413769e-02 -1.31294379e+01] [-4.10897119e-02 1.37600829e-03 9.99154514e-01 -6.04677878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12240100800001 meters 0.0645447748697722 Centerline is valid? [True, True] Translation: X:66.62, Y:-13.14, Z:-6.05 [[ 9.34030501e-01 3.55118686e-01 3.84414143e-02 6.66182392e+01] [-3.54752958e-01 9.34820058e-01 -1.61801531e-02 -1.31409658e+01] [-4.16816799e-02 1.47555103e-03 9.99129852e-01 -6.04573155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15240100800001 meters 0.06509962177135623 Centerline is valid? [True, True] Translation: X:66.65, Y:-13.15, Z:-6.05 [[ 9.35097976e-01 3.52156724e-01 3.97167088e-02 6.66475541e+01] [-3.51763125e-01 9.35939552e-01 -1.67289843e-02 -1.31516033e+01] [-4.30636629e-02 1.67236575e-03 9.99070930e-01 -6.04523707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18240100800001 meters 0.06539791182697818 Centerline is valid? [True, True] Translation: X:66.68, Y:-13.16, Z:-6.05 [[ 9.35143773e-01 3.52028094e-01 3.97787126e-02 6.66772965e+01] [-3.51632709e-01 9.35987908e-01 -1.67652725e-02 -1.31618008e+01] [-4.31342409e-02 1.69044374e-03 9.99067855e-01 -6.04775031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21240100800001 meters 0.06497708487959897 Centerline is valid? [True, True] Translation: X:66.71, Y:-13.17, Z:-6.05 [[ 9.35009535e-01 3.52395905e-01 3.96773842e-02 6.67091042e+01] [-3.52002507e-01 9.35849515e-01 -1.67308495e-02 -1.31698026e+01] [-4.30279436e-02 1.67696512e-03 9.99072462e-01 -6.04943497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24240100800002 meters 0.06441175160712508 Centerline is valid? [True, True] Translation: X:66.74, Y:-13.18, Z:-6.05 [[ 9.34775208e-01 3.53032349e-01 3.95407448e-02 6.67411459e+01] [-3.52641659e-01 9.35609653e-01 -1.66864154e-02 -1.31770813e+01] [-4.28855469e-02 1.65433363e-03 9.99078622e-01 -6.05041905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27240100800002 meters 0.06411243154414954 Centerline is valid? [True, True] Translation: X:66.77, Y:-13.18, Z:-6.05 [[ 9.33441779e-01 3.56445496e-01 4.04110521e-02 6.67723788e+01] [-3.56040040e-01 9.34314845e-01 -1.70663549e-02 -1.31821261e+01] [-4.38398712e-02 1.54249612e-03 9.99037380e-01 -6.05202947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30240100800002 meters 0.06382752053081751 Centerline is valid? [True, True] Translation: X:66.80, Y:-13.19, Z:-6.05 [[ 9.32936468e-01 3.57777375e-01 4.03100097e-02 6.68033974e+01] [-3.57374814e-01 9.33805733e-01 -1.70321605e-02 -1.31907246e+01] [-4.37354398e-02 1.48414141e-03 9.99042045e-01 -6.05378092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.332401008 meters 0.06344879793540445 Centerline is valid? [True, True] Translation: X:66.83, Y:-13.20, Z:-6.06 [[ 9.31863440e-01 3.60655781e-01 3.94706972e-02 6.68342646e+01] [-3.60271944e-01 9.32698041e-01 -1.66880105e-02 -1.31992471e+01] [-4.28328695e-02 1.33076203e-03 9.99081365e-01 -6.05602945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362401008 meters 0.06300505663783278 Centerline is valid? [True, True] Translation: X:66.87, Y:-13.21, Z:-6.06 [[ 9.30744341e-01 3.63623075e-01 3.86423446e-02 6.68661321e+01] [-3.63257311e-01 9.31545420e-01 -1.63479748e-02 -1.32066079e+01] [-4.19416000e-02 1.17867085e-03 9.99119369e-01 -6.05895601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39240100800001 meters 0.06277222705398744 Centerline is valid? [True, True] Translation: X:66.90, Y:-13.21, Z:-6.07 [[ 9.27358622e-01 3.72322403e-01 3.71754608e-02 6.68977050e+01] [-3.71990417e-01 9.28103142e-01 -1.57381022e-02 -1.32097809e+01] [-4.03623100e-02 7.65949611e-04 9.99184816e-01 -6.06662638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42240100800001 meters 0.061651044032609084 Centerline is valid? [True, True] Translation: X:66.93, Y:-13.21, Z:-6.06 [[ 9.25212304e-01 3.77635077e-01 3.70667162e-02 6.69305141e+01] [-3.77308964e-01 9.25954349e-01 -1.56999598e-02 -1.32143343e+01] [-4.02509426e-02 5.40191729e-04 9.99189456e-01 -6.06453484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45240100800001 meters 0.06139735710990714 Centerline is valid? [True, True] Translation: X:66.96, Y:-13.22, Z:-6.07 [[ 9.22869118e-01 3.83375905e-01 3.65445902e-02 6.69607289e+01] [-3.83062924e-01 9.23592349e-01 -1.54909337e-02 -1.32214468e+01] [-3.96911546e-02 2.97226724e-04 9.99211951e-01 -6.06884055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48240100800001 meters 0.06118369841983862 Centerline is valid? [True, True] Translation: X:66.99, Y:-13.23, Z:-6.07 [[ 9.20434891e-01 3.89177376e-01 3.66139514e-02 6.69927395e+01] [-3.88867684e-01 9.21162834e-01 -1.55227872e-02 -1.32280641e+01] [-3.97685288e-02 4.97324651e-05 9.99208918e-01 -6.07155899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51240100800001 meters 0.06146060832927396 Centerline is valid? [True, True] Translation: X:67.03, Y:-13.23, Z:-6.08 [[ 9.16372301e-01 3.98583308e-01 3.73249580e-02 6.70254987e+01] [-3.98268822e-01 9.17132063e-01 -1.58343140e-02 -1.32328416e+01] [-4.05432089e-02 -3.55240321e-04 9.99177723e-01 -6.07532768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54240100800001 meters 0.06166982819466589 Centerline is valid? [True, True] Translation: X:67.06, Y:-13.24, Z:-6.08 [[ 9.14696699e-01 4.02403472e-01 3.74351981e-02 6.70555305e+01] [-4.02089845e-01 9.15462277e-01 -1.58926433e-02 -1.32439985e+01] [-4.06657665e-02 -5.15364668e-04 9.99172673e-01 -6.07639903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57240100800001 meters 0.061594766119580965 Centerline is valid? [True, True] Translation: X:67.08, Y:-13.26, Z:-6.08 [[ 9.13755130e-01 4.04529658e-01 3.75142337e-02 6.70849863e+01] [-4.04216083e-01 9.14524682e-01 -1.59362907e-02 -1.32571255e+01] [-4.07543949e-02 -6.01989216e-04 9.99169013e-01 -6.07663784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60240100800002 meters 0.06172479369774325 Centerline is valid? [True, True] Translation: X:67.11, Y:-13.27, Z:-6.08 [[ 9.13585052e-01 4.04747851e-01 3.92623245e-02 6.71123865e+01] [-4.04404031e-01 9.14428117e-01 -1.66912750e-02 -1.32709196e+01] [-4.26583311e-02 -6.28942971e-04 9.99089521e-01 -6.07880956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63240100800002 meters 0.06161701510600516 Centerline is valid? [True, True] Translation: X:67.14, Y:-13.29, Z:-6.08 [[ 9.14247328e-01 4.03140551e-01 4.03672961e-02 6.71402953e+01] [-4.02775067e-01 9.15137904e-01 -1.71715668e-02 -1.32863479e+01] [-4.38641976e-02 -5.59881335e-04 9.99037346e-01 -6.08078271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66240100800002 meters 0.06140087930933264 Centerline is valid? [True, True] Translation: X:67.17, Y:-13.30, Z:-6.08 [[ 9.15415743e-01 4.00419208e-01 4.09692027e-02 6.71681791e+01] [-4.00039320e-01 9.16331970e-01 -1.74431132e-02 -1.33036791e+01] [-4.45259478e-02 -4.21591532e-04 9.99008139e-01 -6.08283476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69240100800002 meters 0.0612713086851887 Centerline is valid? [True, True] Translation: X:67.20, Y:-13.32, Z:-6.09 [[ 9.16831863e-01 3.97211054e-01 4.05303891e-02 6.71958898e+01] [-3.96835958e-01 9.17727253e-01 -1.72601104e-02 -1.33214594e+01] [-4.40517493e-02 -2.59296593e-04 9.99029217e-01 -6.08585593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722401008 meters 0.06115560281371909 Centerline is valid? [True, True] Translation: X:67.22, Y:-13.34, Z:-6.09 [[ 9.19811235e-01 3.90446247e-01 3.87171723e-02 6.72208709e+01] [-3.90098011e-01 9.20625724e-01 -1.64868904e-02 -1.33435621e+01] [-4.20812693e-02 6.13351599e-05 9.99114189e-01 -6.08685514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.752401008 meters 0.06137170225641982 Centerline is valid? [True, True] Translation: X:67.25, Y:-13.36, Z:-6.09 [[ 9.21122587e-01 3.87511821e-01 3.69833477e-02 6.72471298e+01] [-3.87191355e-01 9.21864714e-01 -1.57576461e-02 -1.33598973e+01] [-4.01999174e-02 1.95091256e-04 9.99191638e-01 -6.09209058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78240100800001 meters 0.061595956402381885 Centerline is valid? [True, True] Translation: X:67.27, Y:-13.38, Z:-6.10 [[ 9.22403622e-01 3.84491211e-01 3.65796098e-02 6.72747843e+01] [-3.84174970e-01 9.23128593e-01 -1.55946597e-02 -1.33761751e+01] [-3.97636934e-02 3.31600082e-04 9.99209057e-01 -6.09614776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81240100800001 meters 0.061531598859623844 Centerline is valid? [True, True] Translation: X:67.30, Y:-13.39, Z:-6.10 [[ 9.22991603e-01 3.83086170e-01 3.64895490e-02 6.73035529e+01] [-3.82770003e-01 9.23712524e-01 -1.55659392e-02 -1.33914239e+01] [-3.96689494e-02 4.00126401e-04 9.99212797e-01 -6.09695783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84240100800001 meters 0.06169627348224537 Centerline is valid? [True, True] Translation: X:67.33, Y:-13.41, Z:-6.10 [[ 9.24620490e-01 3.79038073e-01 3.75111907e-02 6.73298117e+01] [-3.78700021e-01 9.25380881e-01 -1.60162007e-02 -1.34090197e+01] [-4.07828885e-02 6.03418588e-04 9.99167850e-01 -6.09855737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87240100800001 meters 0.06180446266199188 Centerline is valid? [True, True] Translation: X:67.36, Y:-13.42, Z:-6.10 [[ 9.25327083e-01 3.77156882e-01 3.90189123e-02 6.73581786e+01] [-3.76789294e-01 9.26149109e-01 -1.66629836e-02 -1.34242739e+01] [-4.24218898e-02 7.16801556e-04 9.99099529e-01 -6.10065353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90240100800001 meters 0.06187151598025692 Centerline is valid? [True, True] Translation: X:67.39, Y:-13.44, Z:-6.10 [[ 9.26137999e-01 3.75087609e-01 3.97201650e-02 6.73866891e+01] [-3.74704302e-01 9.26988989e-01 -1.69735239e-02 -1.34384718e+01] [-4.31867141e-02 8.36508830e-04 9.99066668e-01 -6.10241020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93240100800001 meters 0.06192135963996926 Centerline is valid? [True, True] Translation: X:67.41, Y:-13.45, Z:-6.11 [[ 9.26448709e-01 3.74288021e-01 4.00158227e-02 6.74143647e+01] [-3.73897734e-01 9.27312074e-01 -1.71114432e-02 -1.34524149e+01] [-4.35117637e-02 8.91049020e-04 9.99052517e-01 -6.10500669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96240100800001 meters 0.062286431126754804 Centerline is valid? [True, True] Translation: X:67.44, Y:-13.47, Z:-6.11 [[ 9.26849001e-01 3.73292771e-01 4.00429298e-02 6.74413368e+01] [-3.72900584e-01 9.27713107e-01 -1.71331626e-02 -1.34672926e+01] [-4.35440365e-02 9.47822769e-04 9.99051059e-01 -6.10844374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99240100800002 meters 0.06211488295663503 Centerline is valid? [True, True] Translation: X:67.47, Y:-13.48, Z:-6.11 [[ 9.26056376e-01 3.75259308e-01 4.00005065e-02 6.74709753e+01] [-3.74869366e-01 9.26919471e-01 -1.71246035e-02 -1.34789160e+01] [-4.35034152e-02 8.63383781e-04 9.99052905e-01 -6.11054434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02240100800002 meters 0.06163856035540084 Centerline is valid? [True, True] Translation: X:67.50, Y:-13.49, Z:-6.11 [[ 9.24752030e-01 3.78422823e-01 4.03713923e-02 6.75013744e+01] [-3.78028148e-01 9.25632558e-01 -1.72941302e-02 -1.34883559e+01] [-4.39135688e-02 7.31259357e-04 9.99035066e-01 -6.11253046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05240100800002 meters 0.061394101138846725 Centerline is valid? [True, True] Translation: X:67.53, Y:-13.50, Z:-6.12 [[ 9.23111720e-01 3.82518112e-01 3.93019932e-02 6.75317682e+01] [-3.82147347e-01 9.23947840e-01 -1.68461671e-02 -1.34976543e+01] [-4.27569558e-02 5.31741827e-04 9.99085362e-01 -6.11564200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082401008 meters 0.061073558070790644 Centerline is valid? [True, True] Translation: X:67.56, Y:-13.50, Z:-6.12 [[ 9.20343218e-01 3.89324126e-01 3.73508498e-02 6.75644356e+01] [-3.88994540e-01 9.21100798e-01 -1.60177529e-02 -1.35044233e+01] [-4.06399952e-02 2.12553586e-04 9.99173832e-01 -6.11936224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.112401008 meters 0.061251488386676003 Centerline is valid? [True, True] Translation: X:67.59, Y:-13.51, Z:-6.13 [[ 9.19159422e-01 3.92146116e-01 3.69781095e-02 6.75947218e+01] [-3.91824882e-01 9.19902938e-01 -1.58696926e-02 -1.35142380e+01] [-4.02395099e-02 9.78340462e-05 9.99190058e-01 -6.12505437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14240100800001 meters 0.061020827171490245 Centerline is valid? [True, True] Translation: X:67.63, Y:-13.53, Z:-6.13 [[ 9.18324437e-01 3.94104625e-01 3.69022009e-02 6.76255117e+01] [-3.93785886e-01 9.19065582e-01 -1.58471430e-02 -1.35254432e+01] [-4.01609751e-02 2.12528268e-05 9.99193222e-01 -6.12620805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17240100800001 meters 0.06102721023096329 Centerline is valid? [True, True] Translation: X:67.65, Y:-13.54, Z:-6.13 [[ 9.18129121e-01 3.94661550e-01 3.57935453e-02 6.76539337e+01] [-3.94361666e-01 9.18826567e-01 -1.53823096e-02 -1.35406886e+01] [-3.89588665e-02 7.34422791e-06 9.99240815e-01 -6.12706060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20240100800001 meters 0.060939616397249916 Centerline is valid? [True, True] Translation: X:67.68, Y:-13.56, Z:-6.13 [[ 9.18545901e-01 3.93749130e-01 3.51432685e-02 6.76817166e+01] [-3.93459027e-01 9.19217939e-01 -1.51120720e-02 -1.35562073e+01] [-3.82546880e-02 5.36955892e-05 9.99268020e-01 -6.12838969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23240100800001 meters 0.061110081844930504 Centerline is valid? [True, True] Translation: X:67.71, Y:-13.57, Z:-6.13 [[ 9.19493438e-01 3.91553154e-01 3.48990643e-02 6.77086635e+01] [-3.91264977e-01 9.20155477e-01 -1.50204960e-02 -1.35724455e+01] [-3.79938878e-02 1.56465931e-04 9.99277959e-01 -6.13179622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26240100800001 meters 0.0614846858198312 Centerline is valid? [True, True] Translation: X:67.73, Y:-13.59, Z:-6.14 [[ 9.20584413e-01 3.88985931e-01 3.48465873e-02 6.77349166e+01] [-3.88696694e-01 9.21243657e-01 -1.50001428e-02 -1.35887159e+01] [-3.79370421e-02 2.64144352e-04 9.99280096e-01 -6.13714144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29240100800001 meters 0.06102617311010093 Centerline is valid? [True, True] Translation: X:67.76, Y:-13.61, Z:-6.13 [[ 9.22881405e-01 3.83153093e-01 3.85177769e-02 6.77619325e+01] [-3.82794134e-01 9.23684679e-01 -1.65911317e-02 -1.36073660e+01] [-4.19352238e-02 5.67267847e-04 9.99120171e-01 -6.13085013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32240100800001 meters 0.06117394134904711 Centerline is valid? [True, True] Translation: X:67.79, Y:-13.62, Z:-6.13 [[ 9.23592837e-01 3.81126356e-01 4.14604956e-02 6.77891425e+01] [-3.80707797e-01 9.24522677e-01 -1.78715779e-02 -1.36238856e+01] [-4.51424977e-02 7.21727346e-04 9.98980297e-01 -6.13173271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35240100800002 meters 0.06110072537019861 Centerline is valid? [True, True] Translation: X:67.82, Y:-13.64, Z:-6.13 [[ 9.24073750e-01 3.79837086e-01 4.25616335e-02 6.78180821e+01] [-3.79394089e-01 9.25053037e-01 -1.83576421e-02 -1.36394563e+01] [-4.63446816e-02 8.16183046e-04 9.98925175e-01 -6.13275945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38240100800002 meters 0.06106282709101751 Centerline is valid? [True, True] Translation: X:67.85, Y:-13.65, Z:-6.13 [[ 9.24671107e-01 3.78110576e-01 4.48969516e-02 6.78469857e+01] [-3.77614795e-01 9.25759935e-01 -1.93806515e-02 -1.36539486e+01] [-4.88918283e-02 9.66975280e-04 9.98803611e-01 -6.13271430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41240100800002 meters 0.06102196485071173 Centerline is valid? [True, True] Translation: X:67.88, Y:-13.67, Z:-6.13 [[ 9.24605833e-01 3.78305025e-01 4.46022614e-02 6.78769258e+01] [-3.77815411e-01 9.25680498e-01 -1.92647400e-02 -1.36675775e+01] [-4.85753915e-02 9.60869261e-04 9.98819057e-01 -6.13480562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44240100800002 meters 0.06094044107511027 Centerline is valid? [True, True] Translation: X:67.91, Y:-13.68, Z:-6.14 [[ 9.24142000e-01 3.79425254e-01 4.46994441e-02 6.79064748e+01] [-3.78934084e-01 9.25221938e-01 -1.93216474e-02 -1.36805698e+01] [-4.86880273e-02 9.17803024e-04 9.98813613e-01 -6.13643897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.472401008 meters 0.060766418359493826 Centerline is valid? [True, True] Translation: X:67.94, Y:-13.69, Z:-6.14 [[ 9.23693177e-01 3.80533279e-01 4.45571314e-02 6.79363711e+01] [-3.80045930e-01 9.24766819e-01 -1.92722983e-02 -1.36927361e+01] [-4.85387076e-02 8.67934027e-04 9.98820925e-01 -6.13784504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502401008 meters 0.06053039224775499 Centerline is valid? [True, True] Translation: X:67.97, Y:-13.70, Z:-6.14 [[ 9.23140431e-01 3.81731527e-01 4.57469799e-02 6.79651065e+01] [-3.81218583e-01 9.24272870e-01 -1.98003625e-02 -1.37033700e+01] [-4.98411150e-02 8.38916314e-04 9.98756807e-01 -6.14048279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53240100800001 meters 0.06052784859730932 Centerline is valid? [True, True] Translation: X:68.00, Y:-13.71, Z:-6.14 [[ 9.22973421e-01 3.82126949e-01 4.58154963e-02 6.79959416e+01] [-3.81612435e-01 9.24109468e-01 -1.98403937e-02 -1.37145108e+01] [-4.99200830e-02 8.28392940e-04 9.98752872e-01 -6.14212753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56240100800001 meters 0.06046639121147854 Centerline is valid? [True, True] Translation: X:68.03, Y:-13.73, Z:-6.15 [[ 9.22654122e-01 3.82838037e-01 4.63077666e-02 6.80255014e+01] [-3.82312513e-01 9.23815120e-01 -2.00690220e-02 -1.37265294e+01] [-5.04629999e-02 8.12727259e-04 9.98725601e-01 -6.14539611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59240100800001 meters 0.06065435450353176 Centerline is valid? [True, True] Translation: X:68.05, Y:-13.74, Z:-6.15 [[ 9.22488806e-01 3.83345701e-01 4.53924652e-02 6.80537911e+01] [-3.82840755e-01 9.23604604e-01 -1.96848257e-02 -1.37398091e+01] [-4.94707832e-02 7.80945694e-04 9.98775266e-01 -6.14841495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62240100800001 meters 0.06072244172864591 Centerline is valid? [True, True] Translation: X:68.08, Y:-13.75, Z:-6.15 [[ 9.22308500e-01 3.83992407e-01 4.35529694e-02 6.80824005e+01] [-3.83527833e-01 9.23335966e-01 -1.88969891e-02 -1.37534724e+01] [-4.74703234e-02 7.25077687e-04 9.98872386e-01 -6.15125040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65240100800001 meters 0.06053811280338563 Centerline is valid? [True, True] Translation: X:68.11, Y:-13.77, Z:-6.15 [[ 9.21847101e-01 3.85262427e-01 4.20806886e-02 6.81125933e+01] [-3.84829578e-01 9.22806829e-01 -1.82688951e-02 -1.37650916e+01] [-4.58706656e-02 6.47234380e-04 9.98947177e-01 -6.15436441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68240100800001 meters 0.06078000421484534 Centerline is valid? [True, True] Translation: X:68.14, Y:-13.78, Z:-6.16 [[ 9.21248189e-01 3.86868802e-01 4.04265374e-02 6.81419082e+01] [-3.86470416e-01 9.22134601e-01 -1.75611852e-02 -1.37774346e+01] [-4.40725836e-02 5.54549342e-04 9.99028178e-01 -6.15750677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71240100800001 meters 0.060958367807172 Centerline is valid? [True, True] Translation: X:68.17, Y:-13.79, Z:-6.16 [[ 9.19665884e-01 3.90817587e-01 3.84223283e-02 6.81711393e+01] [-3.90460749e-01 9.20468080e-01 -1.67008050e-02 -1.37880061e+01] [-4.18934951e-02 3.56749474e-04 9.99122018e-01 -6.16410988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74240100800002 meters 0.06105601268638304 Centerline is valid? [True, True] Translation: X:68.20, Y:-13.80, Z:-6.17 [[ 9.18871513e-01 3.92703021e-01 3.82031316e-02 6.81997760e+01] [-3.92351464e-01 9.19665298e-01 -1.66153137e-02 -1.38002338e+01] [-4.16589783e-02 2.78283892e-04 9.99131849e-01 -6.16901438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77240100800002 meters 0.06097698562098269 Centerline is valid? [True, True] Translation: X:68.23, Y:-13.81, Z:-6.17 [[ 9.18295204e-01 3.93947595e-01 3.92327797e-02 6.82295420e+01] [-3.93577356e-01 9.19132871e-01 -1.70771708e-02 -1.38135287e+01] [-4.27876478e-02 2.40750348e-04 9.99084160e-01 -6.16927623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80240100800002 meters 0.06089569967078138 Centerline is valid? [True, True] Translation: X:68.26, Y:-13.83, Z:-6.17 [[ 9.17566153e-01 3.95548980e-01 4.01666365e-02 6.82579141e+01] [-3.95162444e-01 9.18444868e-01 -1.74833330e-02 -1.38275782e+01] [-4.38063556e-02 1.69768352e-04 9.99040026e-01 -6.17100445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.832401008 meters 0.060866754982678926 Centerline is valid? [True, True] Translation: X:68.29, Y:-13.84, Z:-6.17 [[ 9.17312161e-01 3.96024583e-01 4.12665586e-02 6.82868670e+01] [-3.95616544e-01 9.18239894e-01 -1.79735044e-02 -1.38420992e+01] [-4.50105500e-02 1.61580876e-04 9.98986499e-01 -6.17168505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862401008 meters 0.06088948991991261 Centerline is valid? [True, True] Translation: X:68.32, Y:-13.85, Z:-6.17 [[ 9.16330519e-01 3.98238162e-01 4.17701550e-02 6.83163737e+01] [-3.97821876e-01 9.17282052e-01 -1.82041905e-02 -1.38546884e+01] [-4.55646168e-02 6.39739422e-05 9.98961391e-01 -6.17334357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89240100800001 meters 0.06088948991991261 Centerline is valid? [True, True] Translation: X:68.35, Y:-13.87, Z:-6.18 [[ 9.16224841e-01 3.98481643e-01 4.17662547e-02 6.83459132e+01] [-3.98065202e-01 9.17176306e-01 -1.82131333e-02 -1.38676979e+01] [-4.55646184e-02 6.16325310e-05 9.98961392e-01 -6.17566258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92240100800001 meters 0.061111197904576156 Centerline is valid? [True, True] Translation: X:68.37, Y:-13.88, Z:-6.18 [[ 9.15729960e-01 3.99583380e-01 4.20923193e-02 6.83743022e+01] [-3.99160886e-01 9.16696854e-01 -1.83702237e-02 -1.38796694e+01] [-4.59263327e-02 2.05567956e-05 9.98944829e-01 -6.17983951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95240100800001 meters 0.06113440962123287 Centerline is valid? [True, True] Translation: X:68.40, Y:-13.89, Z:-6.18 [[ 9.14683101e-01 4.01869303e-01 4.30800253e-02 6.84036305e+01] [-4.01428752e-01 9.15697033e-01 -1.88122476e-02 -1.38924726e+01] [-4.70083162e-02 -8.63158179e-05 9.98894494e-01 -6.18065940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98240100800001 meters 0.0610835361854624 Centerline is valid? [True, True] Translation: X:68.43, Y:-13.91, Z:-6.18 [[ 9.13778299e-01 4.03817216e-01 4.40553724e-02 6.84326150e+01] [-4.03358141e-01 9.14839671e-01 -1.92506092e-02 -1.39064641e+01] [-4.80773298e-02 -1.79304209e-04 9.98843600e-01 -6.18029292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01240100800001 meters 0.06113146506190418 Centerline is valid? [True, True] Translation: X:68.46, Y:-13.92, Z:-6.18 [[ 9.12265026e-01 4.07029426e-01 4.58210540e-02 6.84606096e+01] [-4.06536154e-01 9.13414979e-01 -2.00357583e-02 -1.39198728e+01] [-5.00087803e-02 -3.49993505e-04 9.98748717e-01 -6.18088058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04240100800001 meters 0.06109954910738443 Centerline is valid? [True, True] Translation: X:68.49, Y:-13.93, Z:-6.18 [[ 9.11983549e-01 4.07542859e-01 4.68489576e-02 6.84896123e+01] [-4.07027268e-01 9.13186003e-01 -2.04969928e-02 -1.39322530e+01] [-5.11352154e-02 -3.75883019e-04 9.98691668e-01 -6.18307491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07240100800001 meters 0.061348923744307296 Centerline is valid? [True, True] Translation: X:68.52, Y:-13.94, Z:-6.19 [[ 9.11539349e-01 4.08634151e-01 4.59798431e-02 6.85192117e+01] [-4.08138301e-01 9.12698174e-01 -2.01288544e-02 -1.39441138e+01] [-5.01910562e-02 -4.17892236e-04 9.98739547e-01 -6.18751599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10240100800002 meters 0.061520758120546574 Centerline is valid? [True, True] Translation: X:68.55, Y:-13.96, Z:-6.19 [[ 9.11489936e-01 4.08883367e-01 4.47268327e-02 6.85470372e+01] [-4.08413899e-01 9.12586558e-01 -1.95923855e-02 -1.39566024e+01] [-4.88281068e-02 -4.08797953e-04 9.98807113e-01 -6.19241404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13240100800002 meters 0.06152399095383671 Centerline is valid? [True, True] Translation: X:68.58, Y:-13.97, Z:-6.20 [[ 9.11595280e-01 4.08747614e-01 4.38113432e-02 6.85753923e+01] [-4.08296538e-01 9.12647380e-01 -1.92014716e-02 -1.39711283e+01] [-4.78328633e-02 -3.84048821e-04 9.98855280e-01 -6.19548275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16240100800002 meters 0.06163864495285836 Centerline is valid? [True, True] Translation: X:68.60, Y:-13.99, Z:-6.20 [[ 9.11946782e-01 4.07731412e-01 4.59147327e-02 6.86018666e+01] [-4.07233878e-01 9.13101848e-01 -2.01390882e-02 -1.39885768e+01] [-5.01361661e-02 -3.32257961e-04 9.98742336e-01 -6.19796714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19240100800002 meters 0.06156423902606283 Centerline is valid? [True, True] Translation: X:68.63, Y:-14.00, Z:-6.20 [[ 9.12320767e-01 4.06800613e-01 4.67341456e-02 6.86293128e+01] [-4.06283648e-01 9.13516931e-01 -2.05040163e-02 -1.40047343e+01] [-5.10334796e-02 -2.81079283e-04 9.98696903e-01 -6.19913086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222401008 meters 0.061460777296122586 Centerline is valid? [True, True] Translation: X:68.65, Y:-14.03, Z:-6.20 [[ 9.14065808e-01 4.02883813e-01 4.65653441e-02 6.86548825e+01] [-4.02364871e-01 9.15251130e-01 -2.04421158e-02 -1.40269797e+01] [-5.08547813e-02 -5.08195505e-05 9.98706057e-01 -6.19996840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.252401008 meters 0.061485183104581786 Centerline is valid? [True, True] Translation: X:68.68, Y:-14.05, Z:-6.20 [[ 9.14869290e-01 4.00919719e-01 4.77237884e-02 6.86808527e+01] [-4.00371244e-01 9.16113188e-01 -2.09641011e-02 -1.40450141e+01] [-5.21253135e-02 7.21797693e-05 9.98640549e-01 -6.20120802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28240100800001 meters 0.06136597954539084 Centerline is valid? [True, True] Translation: X:68.71, Y:-14.06, Z:-6.20 [[ 9.16218494e-01 3.97817659e-01 4.77993865e-02 6.87085508e+01] [-3.97262675e-01 9.17464464e-01 -2.10077076e-02 -1.40641866e+01] [-5.22114756e-02 2.58738058e-04 9.98636017e-01 -6.20093295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31240100800001 meters 0.06162018521076153 Centerline is valid? [True, True] Translation: X:68.73, Y:-14.08, Z:-6.20 [[ 9.17394477e-01 3.95032310e-01 4.83409462e-02 6.87339612e+01] [-3.94459916e-01 9.18667123e-01 -2.12624710e-02 -1.40825210e+01] [-5.28086010e-02 4.37507912e-04 9.98604556e-01 -6.20414810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34240100800001 meters 0.062062564165911015 Centerline is valid? [True, True] Translation: X:68.76, Y:-14.11, Z:-6.21 [[ 9.19193781e-01 3.90787830e-01 4.86586587e-02 6.87590517e+01] [-3.90201272e-01 9.20480519e-01 -2.14145135e-02 -1.41054354e+01] [-5.31578786e-02 6.97417089e-04 9.98585877e-01 -6.20708296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37240100800001 meters 0.06269001080292193 Centerline is valid? [True, True] Translation: X:68.78, Y:-14.12, Z:-6.21 [[ 9.19788923e-01 3.89540591e-01 4.73968943e-02 6.87849722e+01] [-3.88981748e-01 9.21008984e-01 -2.08722599e-02 -1.41228067e+01] [-5.17835579e-02 7.61546606e-04 9.98658041e-01 -6.21312967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40240100800001 meters 0.06311125436535295 Centerline is valid? [True, True] Translation: X:68.81, Y:-14.14, Z:-6.22 [[ 9.20076814e-01 3.88939986e-01 4.67369681e-02 6.88118725e+01] [-3.88395221e-01 9.21262750e-01 -2.05936303e-02 -1.41391302e+01] [-5.10667141e-02 7.95306733e-04 9.98694927e-01 -6.21826534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43240100800001 meters 0.06269160343347756 Centerline is valid? [True, True] Translation: X:68.84, Y:-14.15, Z:-6.22 [[ 9.20026306e-01 3.89125884e-01 4.61805480e-02 6.88410403e+01] [-3.88593739e-01 9.21184254e-01 -2.03586822e-02 -1.41528050e+01] [-5.04628839e-02 7.85051311e-04 9.98725629e-01 -6.21786920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46240100800001 meters 0.06259838146047134 Centerline is valid? [True, True] Translation: X:68.87, Y:-14.17, Z:-6.22 [[ 9.19308399e-01 3.91021874e-01 4.44292932e-02 6.88678473e+01] [-3.90530867e-01 9.20381142e-01 -1.96008856e-02 -1.41709945e+01] [-4.85562587e-02 6.68248378e-04 9.98820226e-01 -6.21948212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49240100800002 meters 0.06272282056552676 Centerline is valid? [True, True] Translation: X:68.90, Y:-14.19, Z:-6.22 [[ 9.18483774e-01 3.93056075e-01 4.35256050e-02 6.88957349e+01] [-3.92587001e-01 9.19514338e-01 -1.92049429e-02 -1.41856280e+01] [-4.75710373e-02 5.51841692e-04 9.98867705e-01 -6.22410633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52240100800002 meters 0.0627188187220299 Centerline is valid? [True, True] Translation: X:68.92, Y:-14.20, Z:-6.23 [[ 9.17945609e-01 3.94491157e-01 4.18638907e-02 6.89249484e+01] [-3.94058099e-01 9.18899616e-01 -1.84854112e-02 -1.41971707e+01] [-4.57610444e-02 4.71796858e-04 9.98952303e-01 -6.22812148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55240100800002 meters 0.06284572285236013 Centerline is valid? [True, True] Translation: X:68.95, Y:-14.21, Z:-6.23 [[ 9.16478339e-01 3.97870986e-01 4.20253839e-02 6.89539709e+01] [-3.97437549e-01 9.17441322e-01 -1.85692248e-02 -1.42083007e+01] [-4.59439796e-02 3.15826673e-04 9.98943968e-01 -6.23372625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582401008 meters 0.06281359524854688 Centerline is valid? [True, True] Translation: X:68.98, Y:-14.22, Z:-6.24 [[ 9.16005882e-01 3.98868264e-01 4.28641168e-02 6.89822610e+01] [-3.98417888e-01 9.17008194e-01 -1.89514574e-02 -1.42214193e+01] [-4.68658813e-02 2.81815531e-04 9.98901151e-01 -6.23626013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.612401008 meters 0.06273630743608999 Centerline is valid? [True, True] Translation: X:69.01, Y:-14.24, Z:-6.24 [[ 9.15661499e-01 3.99471559e-01 4.45700914e-02 6.90112085e+01] [-3.98984736e-01 9.16745548e-01 -1.97175218e-02 -1.42351206e+01] [-4.87360220e-02 2.71789447e-04 9.98811657e-01 -6.23736090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64240100800001 meters 0.06270217336442985 Centerline is valid? [True, True] Translation: X:69.04, Y:-14.25, Z:-6.24 [[ 9.15313126e-01 4.00100015e-01 4.60636428e-02 6.90404061e+01] [-3.99580109e-01 9.16471446e-01 -2.03918041e-02 -1.42488474e+01] [-5.03747745e-02 2.58770546e-04 9.98730352e-01 -6.23791778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67240100800001 meters 0.06259462239168984 Centerline is valid? [True, True] Translation: X:69.07, Y:-14.26, Z:-6.24 [[ 9.14822413e-01 4.01189964e-01 4.63310311e-02 6.90698129e+01] [-4.00664743e-01 9.15994851e-01 -2.05230672e-02 -1.42622450e+01] [-5.06726345e-02 2.11751226e-04 9.98715294e-01 -6.24003281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70240100800001 meters 0.06277338407083102 Centerline is valid? [True, True] Translation: X:69.10, Y:-14.27, Z:-6.24 [[ 9.14276181e-01 4.02394690e-01 4.66645384e-02 6.90981659e+01] [-4.01862735e-01 9.15466268e-01 -2.06846342e-02 -1.42740378e+01] [-5.10431978e-02 1.58729345e-04 9.98696434e-01 -6.24446221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73240100800001 meters 0.0628282435517419 Centerline is valid? [True, True] Translation: X:69.13, Y:-14.29, Z:-6.25 [[ 9.13394778e-01 4.04422721e-01 4.63922708e-02 6.91281241e+01] [-4.03898985e-01 9.14572173e-01 -2.05754848e-02 -1.42854633e+01] [-5.07502735e-02 5.57492959e-05 9.98711373e-01 -6.24759874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76240100800001 meters 0.06275385164953061 Centerline is valid? [True, True] Translation: X:69.16, Y:-14.30, Z:-6.25 [[ 9.12372140e-01 4.06687749e-01 4.67135140e-02 6.91591693e+01] [-4.06159014e-01 9.13567223e-01 -2.07312245e-02 -1.42973627e+01] [-5.11070703e-02 -5.85231199e-05 9.98693178e-01 -6.24818150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79240100800001 meters 0.06302764160244362 Centerline is valid? [True, True] Translation: X:69.19, Y:-14.31, Z:-6.25 [[ 9.10433225e-01 4.11229772e-01 4.47372022e-02 6.91888724e+01] [-4.10749598e-01 9.11531674e-01 -1.98689510e-02 -1.43064171e+01] [-4.89500810e-02 -2.86434664e-04 9.98801185e-01 -6.25259250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82240100800001 meters 0.06343387944215934 Centerline is valid? [True, True] Translation: X:69.22, Y:-14.32, Z:-6.26 [[ 9.09680385e-01 4.13096189e-01 4.28151297e-02 6.92179560e+01] [-4.12657975e-01 9.10687328e-01 -1.90259462e-02 -1.43162011e+01] [-4.68507419e-02 -3.60474680e-04 9.98901836e-01 -6.25774331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85240100800002 meters 0.06391493555821118 Centerline is valid? [True, True] Translation: X:69.25, Y:-14.33, Z:-6.26 [[ 9.09057299e-01 4.14564988e-01 4.18413339e-02 6.92470786e+01] [-4.14147573e-01 9.10019614e-01 -1.86035119e-02 -1.43266865e+01] [-4.57887992e-02 -4.16828614e-04 9.98951056e-01 -6.26342230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88240100800002 meters 0.06425956254366325 Centerline is valid? [True, True] Translation: X:69.28, Y:-14.34, Z:-6.27 [[ 9.08613854e-01 4.15677842e-01 4.04078690e-02 6.92758849e+01] [-4.15289098e-01 9.09511810e-01 -1.79786459e-02 -1.43379020e+01] [-4.42247588e-02 -4.45300793e-04 9.99021507e-01 -6.26844976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91240100800002 meters 0.06448093569288993 Centerline is valid? [True, True] Translation: X:69.31, Y:-14.35, Z:-6.27 [[ 9.08291050e-01 4.16378784e-01 4.04484439e-02 6.93053924e+01] [-4.15989885e-01 9.09191113e-01 -1.79982209e-02 -1.43530668e+01] [-4.42694430e-02 -4.78520571e-04 9.99019513e-01 -6.27228490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94240100800002 meters 0.06434438163298022 Centerline is valid? [True, True] Translation: X:69.33, Y:-14.37, Z:-6.27 [[ 9.08709967e-01 4.15468848e-01 4.03959422e-02 6.93329359e+01] [-4.15079469e-01 9.09607310e-01 -1.79882205e-02 -1.43695798e+01] [-4.42179896e-02 -4.21450986e-04 9.99021817e-01 -6.27295122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.972401008 meters 0.06410703629268015 Centerline is valid? [True, True] Translation: X:69.36, Y:-14.39, Z:-6.27 [[ 9.09330904e-01 4.14058669e-01 4.08989775e-02 6.93598362e+01] [-4.13657585e-01 9.10250130e-01 -1.82237239e-02 -1.43870532e+01] [-4.47739904e-02 -3.46776945e-04 9.98997082e-01 -6.27339471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002401008 meters 0.06390471647390272 Centerline is valid? [True, True] Translation: X:69.39, Y:-14.40, Z:-6.27 [[ 9.09859873e-01 4.12757164e-01 4.22674303e-02 6.93870602e+01] [-4.12326800e-01 9.10841064e-01 -1.88458416e-02 -1.44047054e+01] [-4.62776674e-02 -2.80919197e-04 9.98928575e-01 -6.27420012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03240100800001 meters 0.06354081330719578 Centerline is valid? [True, True] Translation: X:69.41, Y:-14.43, Z:-6.27 [[ 9.10417324e-01 4.11182391e-01 4.54899673e-02 6.94134164e+01] [-4.10681084e-01 9.11553071e-01 -2.02989129e-02 -1.44259972e+01] [-4.98130749e-02 -2.01387099e-04 9.98758538e-01 -6.27289022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06240100800001 meters 0.06362458297927323 Centerline is valid? [True, True] Translation: X:69.44, Y:-14.44, Z:-6.28 [[ 9.10395448e-01 4.11260258e-01 4.52231012e-02 6.94412877e+01] [-4.10764661e-01 9.11517943e-01 -2.01849679e-02 -1.44422724e+01] [-4.95229433e-02 -1.99748899e-04 9.98772966e-01 -6.27547722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09240100800001 meters 0.06357081174790456 Centerline is valid? [True, True] Translation: X:69.47, Y:-14.46, Z:-6.28 [[ 9.09959750e-01 4.12119254e-01 4.61624859e-02 6.94696083e+01] [-4.11603216e-01 9.11129883e-01 -2.06186474e-02 -1.44575556e+01] [-5.05573619e-02 -2.38488412e-04 9.98721130e-01 -6.27791998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12240100800001 meters 0.06373377120037446 Centerline is valid? [True, True] Translation: X:69.50, Y:-14.47, Z:-6.28 [[ 9.09360277e-01 4.13526256e-01 4.53863593e-02 6.94977217e+01] [-4.13028581e-01 9.10492145e-01 -2.02841216e-02 -1.44718655e+01] [-4.97119405e-02 -3.00289189e-04 9.98763552e-01 -6.28240340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15240100800001 meters 0.06374546393972125 Centerline is valid? [True, True] Translation: X:69.52, Y:-14.49, Z:-6.28 [[ 9.08778558e-01 4.14632564e-01 4.69187460e-02 6.95248309e+01] [-4.14101470e-01 9.09988850e-01 -2.09824996e-02 -1.44903910e+01] [-5.13955633e-02 -3.60675916e-04 9.98678310e-01 -6.28182390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18240100800001 meters 0.06317565882115155 Centerline is valid? [True, True] Translation: X:69.55, Y:-14.51, Z:-6.28 [[ 9.10003892e-01 4.11720451e-01 4.87769159e-02 6.95514632e+01] [-4.11141480e-01 9.11310174e-01 -2.18277212e-02 -1.45082223e+01] [-5.34378190e-02 -1.90902147e-04 9.98571161e-01 -6.28083414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21240100800001 meters 0.06326938370790261 Centerline is valid? [True, True] Translation: X:69.58, Y:-14.53, Z:-6.29 [[ 9.12748535e-01 4.05813502e-01 4.69628960e-02 6.95786218e+01] [-4.05268354e-01 9.13955894e-01 -2.10282019e-02 -1.45263223e+01] [-5.14555438e-02 1.60884925e-04 9.98675273e-01 -6.28546114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24240100800002 meters 0.06380097567274633 Centerline is valid? [True, True] Translation: X:69.61, Y:-14.54, Z:-6.29 [[ 9.14910562e-01 4.01030988e-01 4.59653263e-02 6.96067515e+01] [-4.00502116e-01 9.16064386e-01 -2.05935671e-02 -1.45418602e+01] [-5.03658570e-02 4.32061607e-04 9.98730741e-01 -6.29050769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27240100800002 meters 0.06518621826513551 Centerline is valid? [True, True] Translation: X:69.63, Y:-14.56, Z:-6.30 [[ 9.16727088e-01 3.97404514e-01 4.10011931e-02 6.96330742e+01] [-3.96979695e-01 9.17643354e-01 -1.83792568e-02 -1.45585140e+01] [-4.49284719e-02 5.72121472e-04 9.98990043e-01 -6.30332442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30240100800002 meters 0.06557264086265403 Centerline is valid? [True, True] Translation: X:69.66, Y:-14.57, Z:-6.31 [[ 9.16492154e-01 3.98212886e-01 3.83226904e-02 6.96627242e+01] [-3.97842069e-01 9.17292887e-01 -1.71886043e-02 -1.45701042e+01] [-4.19978551e-02 5.06842497e-04 9.99117572e-01 -6.30875307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33240100800002 meters 0.06570363139179287 Centerline is valid? [True, True] Translation: X:69.69, Y:-14.58, Z:-6.31 [[ 9.15767202e-01 4.00045127e-01 3.65284484e-02 6.96918252e+01] [-3.99709263e-01 9.16495350e-01 -1.63944809e-02 -1.45813313e+01] [-4.00366853e-02 4.12768756e-04 9.99198125e-01 -6.31307815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362401008 meters 0.0648075741674236 Centerline is valid? [True, True] Translation: X:69.72, Y:-14.59, Z:-6.31 [[ 9.13740850e-01 4.04514585e-01 3.80211752e-02 6.97224312e+01] [-4.04154175e-01 9.14531517e-01 -1.70735931e-02 -1.45920418e+01] [-4.16780804e-02 2.34422782e-04 9.99131064e-01 -6.30841428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39240100800001 meters 0.06450225686466035 Centerline is valid? [True, True] Translation: X:69.75, Y:-14.60, Z:-6.31 [[ 9.12757555e-01 4.06681386e-01 3.85213594e-02 6.97520113e+01] [-4.06312898e-01 9.13570046e-01 -1.73089725e-02 -1.46043358e+01] [-4.22311970e-02 1.47170317e-04 9.99107854e-01 -6.30845224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42240100800001 meters 0.06446369174697056 Centerline is valid? [True, True] Translation: X:69.78, Y:-14.62, Z:-6.31 [[ 9.12382049e-01 4.07504930e-01 3.87134096e-02 6.97806157e+01] [-4.07133010e-01 9.13202999e-01 -1.74067476e-02 -1.46157010e+01] [-4.24465372e-02 1.20097055e-04 9.99098732e-01 -6.31088860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45240100800001 meters 0.06449525990812072 Centerline is valid? [True, True] Translation: X:69.81, Y:-14.63, Z:-6.32 [[ 9.11983895e-01 4.08315992e-01 3.95401920e-02 6.98110438e+01] [-4.07928331e-01 9.12840645e-01 -1.77886064e-02 -1.46260583e+01] [-4.33572668e-02 9.33580094e-05 9.99059627e-01 -6.31511676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48240100800001 meters 0.06460425305348791 Centerline is valid? [True, True] Translation: X:69.84, Y:-14.64, Z:-6.32 [[ 9.11391310e-01 4.09649383e-01 3.94114492e-02 6.98416763e+01] [-4.09265066e-01 9.12243049e-01 -1.77404672e-02 -1.46363342e+01] [-4.32201921e-02 3.87783058e-05 9.99065570e-01 -6.31937180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51240100800001 meters 0.06484753938996926 Centerline is valid? [True, True] Translation: X:69.87, Y:-14.65, Z:-6.32 [[ 9.11041261e-01 4.10306963e-01 4.06450048e-02 6.98709208e+01] [-4.09898193e-01 9.11947474e-01 -1.83105172e-02 -1.46461355e+01] [-4.45790422e-02 2.13226961e-05 9.99005860e-01 -6.32278654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54240100800001 meters 0.06473085974887319 Centerline is valid? [True, True] Translation: X:69.90, Y:-14.66, Z:-6.32 [[ 9.10568920e-01 4.11248181e-01 4.17034125e-02 6.99006409e+01] [-4.10818339e-01 9.11523413e-01 -1.87978563e-02 -1.46587434e+01] [-4.57442211e-02 -1.57828713e-05 9.98953185e-01 -6.32364672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57240100800001 meters 0.06492172155623116 Centerline is valid? [True, True] Translation: X:69.93, Y:-14.67, Z:-6.33 [[ 9.10434022e-01 4.11559237e-01 4.15798676e-02 6.99298055e+01] [-4.11131671e-01 9.11383012e-01 -1.87551246e-02 -1.46719334e+01] [-4.56140297e-02 -1.94969638e-05 9.98959138e-01 -6.32819983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60240100800002 meters 0.0645404016887969 Centerline is valid? [True, True] Translation: X:69.96, Y:-14.69, Z:-6.33 [[ 9.09981035e-01 4.12589031e-01 4.12893127e-02 6.99598815e+01] [-4.12168258e-01 9.10917278e-01 -1.86290036e-02 -1.46853530e+01] [-4.52972709e-02 -6.61040842e-05 9.98973550e-01 -6.32511730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63240100800002 meters 0.06423081933204555 Centerline is valid? [True, True] Translation: X:69.99, Y:-14.70, Z:-6.32 [[ 9.10256179e-01 4.11759768e-01 4.34463031e-02 6.99884100e+01] [-4.11292187e-01 9.11292430e-01 -1.96174400e-02 -1.46999981e+01] [-4.76699597e-02 -1.22289973e-05 9.98863141e-01 -6.32250866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66240100800002 meters 0.06412920207963346 Centerline is valid? [True, True] Translation: X:70.02, Y:-14.72, Z:-6.32 [[ 9.10870487e-01 4.10197074e-01 4.53135397e-02 7.00158730e+01] [-4.09685693e-01 9.11996904e-01 -2.04763364e-02 -1.47151439e+01] [-4.97251412e-02 8.69816102e-05 9.98762936e-01 -6.32331111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69240100800002 meters 0.06405938915125274 Centerline is valid? [True, True] Translation: X:70.04, Y:-14.73, Z:-6.33 [[ 9.11590514e-01 4.08482777e-01 4.63093438e-02 7.00445399e+01] [-4.07946172e-01 9.12766008e-01 -2.09316927e-02 -1.47299268e+01] [-5.08198308e-02 1.89412982e-04 9.98707820e-01 -6.32508393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722401008 meters 0.06417494861044716 Centerline is valid? [True, True] Translation: X:70.07, Y:-14.74, Z:-6.33 [[ 9.12335328e-01 4.06771652e-01 4.67019581e-02 7.00738586e+01] [-4.06223035e-01 9.13529821e-01 -2.11213586e-02 -1.47440183e+01] [-5.12552013e-02 2.98350459e-04 9.98685544e-01 -6.32768053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752401008 meters 0.0646847587333718 Centerline is valid? [True, True] Translation: X:70.10, Y:-14.76, Z:-6.33 [[ 9.13887430e-01 4.03094572e-01 4.82133988e-02 7.01013081e+01] [-4.02503843e-01 9.15158171e-01 -2.18214976e-02 -1.47597200e+01] [-5.29190132e-02 5.36314040e-04 9.98598663e-01 -6.33090098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78240100800001 meters 0.0646847587333718 Centerline is valid? [True, True] Translation: X:70.13, Y:-14.77, Z:-6.33 [[ 9.13781612e-01 4.03335026e-01 4.82081097e-02 7.01306165e+01] [-4.02744016e-01 9.15052223e-01 -2.18331748e-02 -1.47731792e+01] [-5.29190221e-02 5.35225951e-04 9.98598663e-01 -6.33322043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81240100800001 meters 0.06458048931037058 Centerline is valid? [True, True] Translation: X:70.16, Y:-14.79, Z:-6.33 [[ 9.14669777e-01 4.01352314e-01 4.79115792e-02 7.01591517e+01] [-4.00765022e-01 9.15923515e-01 -2.17143443e-02 -1.47880910e+01] [-5.25984444e-02 6.60169389e-04 9.98615526e-01 -6.33349890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84240100800001 meters 0.0648736170104879 Centerline is valid? [True, True] Translation: X:70.19, Y:-14.80, Z:-6.34 [[ 9.15411933e-01 3.99631327e-01 4.81227012e-02 7.01859793e+01] [-3.99035696e-01 9.16675624e-01 -2.18245953e-02 -1.48033017e+01] [-5.28346992e-02 7.75819358e-04 9.98602970e-01 -6.33617253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87240100800001 meters 0.0654972239936302 Centerline is valid? [True, True] Translation: X:70.21, Y:-14.82, Z:-6.34 [[ 9.16328418e-01 3.97623602e-01 4.73043448e-02 7.02119853e+01] [-3.97044727e-01 9.17548191e-01 -2.14663160e-02 -1.48193770e+01] [-5.19395299e-02 8.88254730e-04 9.98649837e-01 -6.34119114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90240100800001 meters 0.06543984663451825 Centerline is valid? [True, True] Translation: X:70.24, Y:-14.83, Z:-6.34 [[ 9.17091263e-01 3.95970692e-01 4.63769987e-02 7.02408434e+01] [-3.95411648e-01 9.18262634e-01 -2.10561917e-02 -1.48324516e+01] [-5.09238997e-02 9.72443952e-04 9.98702063e-01 -6.34167824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93240100800001 meters 0.06573257369972724 Centerline is valid? [True, True] Translation: X:70.27, Y:-14.85, Z:-6.34 [[ 9.18274217e-01 3.93154918e-01 4.69219944e-02 7.02681703e+01] [-3.92578223e-01 9.19471520e-01 -2.13181441e-02 -1.48476328e+01] [-5.15247707e-02 1.15534895e-03 9.98671049e-01 -6.34363692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96240100800001 meters 0.06572076819450594 Centerline is valid? [True, True] Translation: X:70.30, Y:-14.86, Z:-6.35 [[ 9.18527540e-01 3.92573478e-01 4.68318530e-02 7.02977558e+01] [-3.91997980e-01 9.19719875e-01 -2.12822964e-02 -1.48605080e+01] [-5.14270511e-02 1.19038362e-03 9.98676044e-01 -6.34507117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99240100800002 meters 0.06628832251374593 Centerline is valid? [True, True] Translation: X:70.32, Y:-14.87, Z:-6.35 [[ 9.19312679e-01 3.90782646e-01 4.64017517e-02 7.03249188e+01] [-3.90214700e-01 9.20482078e-01 -2.11005080e-02 -1.48738227e+01] [-5.09576932e-02 1.29131893e-03 9.98699978e-01 -6.34957317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02240100800002 meters 0.06623699101786076 Centerline is valid? [True, True] Translation: X:70.35, Y:-14.89, Z:-6.35 [[ 9.19550188e-01 3.90162557e-01 4.69108805e-02 7.03540528e+01] [-3.89580725e-01 9.20745001e-01 -2.13424887e-02 -1.48871098e+01] [-5.15199986e-02 1.34991465e-03 9.98671051e-01 -6.35148358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05240100800002 meters 0.06656329609456704 Centerline is valid? [True, True] Translation: X:70.38, Y:-14.90, Z:-6.35 [[ 9.19723463e-01 3.89590136e-01 4.82522203e-02 7.03826378e+01] [-3.88972991e-01 9.20987224e-01 -2.19669088e-02 -1.49008201e+01] [-5.29977695e-02 1.43467104e-03 9.98593600e-01 -6.35343659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08240100800002 meters 0.06647366744242868 Centerline is valid? [True, True] Translation: X:70.41, Y:-14.91, Z:-6.35 [[ 9.19555823e-01 3.89971183e-01 4.83690487e-02 7.04119464e+01] [-3.89350654e-01 9.20825948e-01 -2.20372947e-02 -1.49147561e+01] [-5.31333850e-02 1.43200198e-03 9.98586397e-01 -6.35484148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.112401008 meters 0.06542311551689756 Centerline is valid? [True, True] Translation: X:70.44, Y:-14.92, Z:-6.35 [[ 9.18562234e-01 3.92281590e-01 4.85651844e-02 7.04428521e+01] [-3.91658993e-01 9.19844250e-01 -2.21311880e-02 -1.49244178e+01] [-5.33540632e-02 1.30788220e-03 9.98574801e-01 -6.35205149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14240100800001 meters 0.0658133181555836 Centerline is valid? [True, True] Translation: X:70.47, Y:-14.94, Z:-6.36 [[ 9.17888777e-01 3.93751152e-01 4.93986153e-02 7.04708102e+01] [-3.93108294e-01 9.19216215e-01 -2.25259805e-02 -1.49378662e+01] [-5.42776389e-02 1.25733933e-03 9.98525091e-01 -6.35724159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17240100800001 meters 0.06527389259185268 Centerline is valid? [True, True] Translation: X:70.50, Y:-14.95, Z:-6.36 [[ 9.16551330e-01 3.96852461e-01 4.94144113e-02 7.05011222e+01] [-3.96212985e-01 9.17881771e-01 -2.25460843e-02 -1.49475167e+01] [-5.43040563e-02 1.08601217e-03 9.98523856e-01 -6.36009520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20240100800001 meters 0.06496934268445279 Centerline is valid? [True, True] Translation: X:70.53, Y:-14.96, Z:-6.36 [[ 9.15215657e-01 4.00028170e-01 4.85568123e-02 7.05318482e+01] [-3.99414486e-01 9.16502408e-01 -2.21676462e-02 -1.49561564e+01] [-5.33701184e-02 8.93882684e-04 9.98574400e-01 -6.36405046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23240100800001 meters 0.06437750065611804 Centerline is valid? [True, True] Translation: X:70.56, Y:-14.96, Z:-6.37 [[ 9.11940495e-01 4.07435694e-01 4.85869204e-02 7.05643702e+01] [-4.06830964e-01 9.13233777e-01 -2.21954067e-02 -1.49608056e+01] [-5.34144177e-02 4.74226498e-04 9.98572318e-01 -6.36834895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26240100800001 meters 0.06441693221656568 Centerline is valid? [True, True] Translation: X:70.59, Y:-14.97, Z:-6.37 [[ 9.10330088e-01 4.11006311e-01 4.87128541e-02 7.05939619e+01] [-4.10402917e-01 9.11632456e-01 -2.22645421e-02 -1.49701596e+01] [-5.35590861e-02 2.76185152e-04 9.98564644e-01 -6.37136407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29240100800001 meters 0.06429815442591696 Centerline is valid? [True, True] Translation: X:70.62, Y:-14.98, Z:-6.37 [[ 9.08769679e-01 4.14518321e-01 4.80856658e-02 7.06244041e+01] [-4.13934671e-01 9.10040964e-01 -2.19893812e-02 -1.49812987e+01] [-5.28749270e-02 7.89586191e-05 9.98601140e-01 -6.37301166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32240100800001 meters 0.06428049350175744 Centerline is valid? [True, True] Translation: X:70.65, Y:-14.99, Z:-6.37 [[ 9.06902765e-01 4.18340187e-01 5.01882795e-02 7.06531804e+01] [-4.17709074e-01 9.08290411e-01 -2.29708303e-02 -1.49935928e+01] [-5.51951545e-02 -1.31790269e-04 9.98475577e-01 -6.37375789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35240100800002 meters 0.0642007481821774 Centerline is valid? [True, True] Translation: X:70.68, Y:-15.01, Z:-6.37 [[ 9.06081269e-01 4.20162498e-01 4.98017069e-02 7.06824432e+01] [-4.19543486e-01 9.07448853e-01 -2.28000723e-02 -1.50069999e+01] [-5.47722371e-02 -2.35263240e-04 9.98498847e-01 -6.37494529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38240100800002 meters 0.06435249694357498 Centerline is valid? [True, True] Translation: X:70.71, Y:-15.02, Z:-6.38 [[ 9.05655743e-01 4.20977913e-01 5.06485224e-02 7.07107524e+01] [-4.20338054e-01 9.07070847e-01 -2.32034212e-02 -1.50197923e+01] [-5.57099259e-02 -2.75189748e-04 9.98446958e-01 -6.37769005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41240100800002 meters 0.06434742404379433 Centerline is valid? [True, True] Translation: X:70.74, Y:-15.03, Z:-6.38 [[ 9.05328520e-01 4.21711286e-01 5.03970409e-02 7.07395688e+01] [-4.21078214e-01 9.06730112e-01 -2.31006719e-02 -1.50329410e+01] [-5.54383286e-02 -3.07398900e-04 9.98462066e-01 -6.38123665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44240100800002 meters 0.06464328346834564 Centerline is valid? [True, True] Translation: X:70.77, Y:-15.05, Z:-6.39 [[ 9.04458664e-01 4.23663794e-01 4.96338012e-02 7.07679819e+01] [-4.23051891e-01 9.05819421e-01 -2.27656273e-02 -1.50465617e+01] [-5.46042331e-02 -4.07104620e-04 9.98507993e-01 -6.38552685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472401008 meters 0.06473462384906811 Centerline is valid? [True, True] Translation: X:70.80, Y:-15.06, Z:-6.39 [[ 9.04137914e-01 4.24344317e-01 4.96642021e-02 7.07971108e+01] [-4.23731984e-01 9.05500806e-01 -2.27924537e-02 -1.50612598e+01] [-5.46428233e-02 -4.36789305e-04 9.98505869e-01 -6.38873055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502401008 meters 0.06476941069274872 Centerline is valid? [True, True] Translation: X:70.83, Y:-15.08, Z:-6.39 [[ 9.03803302e-01 4.25085799e-01 4.94130993e-02 7.08257358e+01] [-4.24479910e-01 9.05152941e-01 -2.26927139e-02 -1.50769204e+01] [-5.43727626e-02 -4.65118190e-04 9.98520599e-01 -6.39107131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53240100800001 meters 0.06483844672098533 Centerline is valid? [True, True] Translation: X:70.85, Y:-15.09, Z:-6.39 [[ 9.03729451e-01 4.25299014e-01 4.89267612e-02 7.08545318e+01] [-4.24704483e-01 9.05052782e-01 -2.24847616e-02 -1.50934425e+01] [-5.38440483e-02 -4.59273582e-04 9.98549251e-01 -6.39312221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56240100800001 meters 0.06440334063856618 Centerline is valid? [True, True] Translation: X:70.88, Y:-15.12, Z:-6.39 [[ 9.04465207e-01 4.23671295e-01 4.94502041e-02 7.08797150e+01] [-4.23060637e-01 9.05815936e-01 -2.27417481e-02 -1.51152685e+01] [-5.44278088e-02 -3.51314958e-04 9.98517646e-01 -6.39164281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59240100800001 meters 0.06412340749794601 Centerline is valid? [True, True] Translation: X:70.91, Y:-15.13, Z:-6.39 [[ 9.05295011e-01 4.21858850e-01 4.97599533e-02 7.09073382e+01] [-4.21237005e-01 9.06661490e-01 -2.28982184e-02 -1.51329214e+01] [-5.47752494e-02 -2.31090816e-04 9.98498682e-01 -6.39187708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62240100800001 meters 0.06414002427649959 Centerline is valid? [True, True] Translation: X:70.93, Y:-15.15, Z:-6.40 [[ 9.06052097e-01 4.20097723e-01 5.08674792e-02 7.09341732e+01] [-4.19444122e-01 9.07478865e-01 -2.34251557e-02 -1.51478872e+01] [-5.60020169e-02 -1.11653739e-04 9.98430649e-01 -6.39638810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65240100800001 meters 0.0642325618204703 Centerline is valid? [True, True] Translation: X:70.96, Y:-15.16, Z:-6.40 [[ 9.06623200e-01 4.18902916e-01 5.05442401e-02 7.09634608e+01] [-4.18255403e-01 9.08031027e-01 -2.32824310e-02 -1.51632451e+01] [-5.56488165e-02 -3.20094110e-05 9.98450403e-01 -6.39839862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68240100800001 meters 0.06438902332095027 Centerline is valid? [True, True] Translation: X:70.99, Y:-15.18, Z:-6.41 [[ 9.07371580e-01 4.17277582e-01 5.05592233e-02 7.09918780e+01] [-4.16626199e-01 9.08779078e-01 -2.33066035e-02 -1.51770170e+01] [-5.56724875e-02 8.34526180e-05 9.98449081e-01 -6.40502834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71240100800001 meters 0.06438645984143207 Centerline is valid? [True, True] Translation: X:71.02, Y:-15.19, Z:-6.41 [[ 9.07238780e-01 4.17583288e-01 5.04181876e-02 7.10217427e+01] [-4.16935151e-01 9.08638647e-01 -2.32570015e-02 -1.51909995e+01] [-5.55236489e-02 7.85389905e-05 9.98457369e-01 -6.40786939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74240100800002 meters 0.06433303857718974 Centerline is valid? [True, True] Translation: X:71.05, Y:-15.21, Z:-6.41 [[ 9.07033967e-01 4.18085178e-01 4.99416444e-02 7.10510924e+01] [-4.17449121e-01 9.08407827e-01 -2.30532115e-02 -1.52055880e+01] [-5.50055867e-02 6.19502946e-05 9.98486045e-01 -6.40962193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77240100800002 meters 0.06423151001469031 Centerline is valid? [True, True] Translation: X:71.08, Y:-15.22, Z:-6.41 [[ 9.06898186e-01 4.18398928e-01 4.97796845e-02 7.10797047e+01] [-4.17766486e-01 9.08263361e-01 -2.29962917e-02 -1.52197776e+01] [-5.48346874e-02 5.90113351e-05 9.98495445e-01 -6.41076020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80240100800002 meters 0.06390906611977705 Centerline is valid? [True, True] Translation: X:71.11, Y:-15.23, Z:-6.41 [[ 9.06143301e-01 4.19935501e-01 5.05815514e-02 7.11100341e+01] [-4.19284275e-01 9.07553951e-01 -2.33778260e-02 -1.52316074e+01] [-5.57226659e-02 -2.43886817e-05 9.98446285e-01 -6.41041157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83240100800002 meters 0.06391439410057584 Centerline is valid? [True, True] Translation: X:71.14, Y:-15.24, Z:-6.41 [[ 9.05619728e-01 4.21015667e-01 5.09776050e-02 7.11396992e+01] [-4.20355604e-01 9.07053362e-01 -2.35661869e-02 -1.52439738e+01] [-5.61611418e-02 -8.67181321e-05 9.98421714e-01 -6.41424747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862401008 meters 0.06391088544714457 Centerline is valid? [True, True] Translation: X:71.17, Y:-15.26, Z:-6.41 [[ 9.05365797e-01 4.21428563e-01 5.20647626e-02 7.11698150e+01] [-4.20739637e-01 9.06861598e-01 -2.40873618e-02 -1.52561062e+01] [-5.73666361e-02 -9.78357605e-05 9.98353174e-01 -6.41495805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89240100800001 meters 0.06399468644200751 Centerline is valid? [True, True] Translation: X:71.20, Y:-15.27, Z:-6.42 [[ 9.04810429e-01 4.22609342e-01 5.21481704e-02 7.11996615e+01] [-4.21919202e-01 9.06311933e-01 -2.41426622e-02 -1.52673277e+01] [-5.74654237e-02 -1.57781905e-04 9.98347485e-01 -6.41934657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92240100800001 meters 0.06417616520568076 Centerline is valid? [True, True] Translation: X:71.23, Y:-15.28, Z:-6.42 [[ 9.03641967e-01 4.25103249e-01 5.21385089e-02 7.12315154e+01] [-4.24416953e-01 9.05144814e-01 -2.41478011e-02 -1.52770217e+01] [-5.74582096e-02 -3.07500644e-04 9.98347865e-01 -6.42280766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95240100800001 meters 0.06414720277375113 Centerline is valid? [True, True] Translation: X:71.26, Y:-15.29, Z:-6.43 [[ 9.03237281e-01 4.25986102e-01 5.19447256e-02 7.12618993e+01] [-4.25305378e-01 9.04729640e-01 -2.40751866e-02 -1.52903180e+01] [-5.72516278e-02 -3.46765124e-04 9.98359720e-01 -6.42516153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98240100800001 meters 0.06424248801872179 Centerline is valid? [True, True] Translation: X:71.29, Y:-15.30, Z:-6.43 [[ 9.03022073e-01 4.26608253e-01 5.05621732e-02 7.12905698e+01] [-4.25963355e-01 9.04436437e-01 -2.34510567e-02 -1.53039467e+01] [-5.57346861e-02 -3.60811052e-04 9.98445549e-01 -6.42875458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01240100800001 meters 0.06400500448581772 Centerline is valid? [True, True] Translation: X:71.32, Y:-15.32, Z:-6.43 [[ 9.05571986e-01 4.21426634e-01 4.83629029e-02 7.13162969e+01] [-4.20828549e-01 9.06862499e-01 -2.24441629e-02 -1.53238549e+01] [-5.33170710e-02 -2.76851325e-05 9.98577633e-01 -6.43174566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04240100800001 meters 0.06387564871242976 Centerline is valid? [True, True] Translation: X:71.34, Y:-15.34, Z:-6.43 [[ 9.06109049e-01 4.20371335e-01 4.74797997e-02 7.13448276e+01] [-4.19792777e-01 9.07352158e-01 -2.20473644e-02 -1.53383995e+01] [-5.23489787e-02 4.56393887e-05 9.98628851e-01 -6.43320973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07240100800001 meters 0.06415460303856585 Centerline is valid? [True, True] Translation: X:71.37, Y:-15.35, Z:-6.44 [[ 9.06933662e-01 4.18686268e-01 4.66169769e-02 7.13722050e+01] [-4.18125526e-01 9.08130930e-01 -2.16623933e-02 -1.53523993e+01] [-5.14040651e-02 1.54605708e-04 9.98677925e-01 -6.43871213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10240100800002 meters 0.0642788279752431 Centerline is valid? [True, True] Translation: X:71.40, Y:-15.37, Z:-6.44 [[ 9.07409999e-01 4.17753748e-01 4.57044777e-02 7.14005574e+01] [-4.17213311e-01 9.08560269e-01 -2.12436075e-02 -1.53676646e+01] [-5.03998692e-02 2.08145401e-04 9.98729097e-01 -6.44174084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13240100800002 meters 0.06422139051908045 Centerline is valid? [True, True] Translation: X:71.43, Y:-15.39, Z:-6.44 [[ 9.08324517e-01 4.15731289e-01 4.59789769e-02 7.14279982e+01] [-4.15181105e-01 9.09487429e-01 -2.13837732e-02 -1.53856885e+01] [-5.07072051e-02 3.33803007e-04 9.98713506e-01 -6.44302333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16240100800002 meters 0.06417657332593289 Centerline is valid? [True, True] Translation: X:71.46, Y:-15.40, Z:-6.44 [[ 9.08535696e-01 4.15117320e-01 4.73339124e-02 7.14561163e+01] [-4.14532495e-01 9.09767803e-01 -2.20307945e-02 -1.54004244e+01] [-5.22082339e-02 3.94318375e-04 9.98636142e-01 -6.44467074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19240100800002 meters 0.06420765764974358 Centerline is valid? [True, True] Translation: X:71.49, Y:-15.41, Z:-6.45 [[ 9.08874951e-01 4.14267782e-01 4.82548245e-02 7.14852944e+01] [-4.13658045e-01 9.10154926e-01 -2.24729350e-02 -1.54146020e+01] [-5.32291792e-02 4.64091316e-04 9.98582214e-01 -6.44513425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222401008 meters 0.06441868040926131 Centerline is valid? [True, True] Translation: X:71.51, Y:-15.43, Z:-6.45 [[ 9.09199736e-01 4.13498169e-01 4.87350505e-02 7.15139538e+01] [-4.12874239e-01 9.10504797e-01 -2.27129609e-02 -1.54291058e+01] [-5.37652650e-02 5.29171140e-04 9.98553462e-01 -6.44807578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.252401008 meters 0.064148064736672 Centerline is valid? [True, True] Translation: X:71.54, Y:-15.44, Z:-6.45 [[ 9.07911864e-01 4.16077295e-01 5.07516578e-02 7.15431165e+01] [-4.15403569e-01 9.09329157e-01 -2.36718821e-02 -1.54406818e+01] [-5.59992950e-02 4.09562840e-04 9.98430724e-01 -6.44719986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28240100800001 meters 0.06383083807883601 Centerline is valid? [True, True] Translation: X:71.57, Y:-15.45, Z:-6.45 [[ 9.06960366e-01 4.18111472e-01 5.10459831e-02 7.15729605e+01] [-4.17432733e-01 9.08395680e-01 -2.38159929e-02 -1.54530683e+01] [-5.63276904e-02 2.91897409e-04 9.98412293e-01 -6.44860042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31240100800001 meters 0.06364121257851944 Centerline is valid? [True, True] Translation: X:71.60, Y:-15.46, Z:-6.45 [[ 9.05917480e-01 4.20451750e-01 5.03373132e-02 7.16035353e+01] [-4.19794607e-01 9.07314885e-01 -2.34986509e-02 -1.54646108e+01] [-5.55518424e-02 1.56506024e-04 9.98455792e-01 -6.45057017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34240100800001 meters 0.06362375258793114 Centerline is valid? [True, True] Translation: X:71.63, Y:-15.48, Z:-6.45 [[ 9.04837698e-01 4.22849484e-01 4.96694441e-02 7.16328851e+01] [-4.22212307e-01 9.06199930e-01 -2.32046131e-02 -1.54758824e+01] [-5.48225055e-02 2.53580673e-05 9.98496115e-01 -6.45394383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37240100800001 meters 0.06371850427974651 Centerline is valid? [True, True] Translation: X:71.66, Y:-15.49, Z:-6.46 [[ 9.03866448e-01 4.25123932e-01 4.79070746e-02 7.16626274e+01] [-4.24533969e-01 9.05135146e-01 -2.23892171e-02 -1.54876105e+01] [-5.28805690e-02 -1.01318357e-04 9.98600839e-01 -6.45731832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40240100800001 meters 0.0641286847635336 Centerline is valid? [True, True] Translation: X:71.69, Y:-15.50, Z:-6.46 [[ 9.01807999e-01 4.29799351e-01 4.48870871e-02 7.16936742e+01] [-4.29286707e-01 9.02924361e-01 -2.09886279e-02 -1.54975223e+01] [-4.95505430e-02 -3.41717229e-04 9.98771559e-01 -6.46318964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43240100800001 meters 0.0646341870712694 Centerline is valid? [True, True] Translation: X:71.72, Y:-15.51, Z:-6.47 [[ 9.00757701e-01 4.32089585e-01 4.39790234e-02 7.17229484e+01] [-4.31599496e-01 9.01830579e-01 -2.05786851e-02 -1.55084001e+01] [-4.85534636e-02 -4.44915300e-04 9.98820486e-01 -6.46783611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46240100800001 meters 0.06480765200002399 Centerline is valid? [True, True] Translation: X:71.75, Y:-15.52, Z:-6.47 [[ 9.00297576e-01 4.32964887e-01 4.47848296e-02 7.17520522e+01] [-4.32457145e-01 9.01410654e-01 -2.09678519e-02 -1.55213964e+01] [-4.94478662e-02 -4.90213335e-04 9.98776586e-01 -6.47186366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49240100800002 meters 0.06478098930591943 Centerline is valid? [True, True] Translation: X:71.78, Y:-15.54, Z:-6.47 [[ 9.00103451e-01 4.33330700e-01 4.51473222e-02 7.17799226e+01] [-4.32814523e-01 9.01234848e-01 -2.11503559e-02 -1.55365113e+01] [-4.98534386e-02 -5.02908394e-04 9.98756418e-01 -6.47301520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52240100800002 meters 0.06431535674241468 Centerline is valid? [True, True] Translation: X:71.81, Y:-15.55, Z:-6.47 [[ 9.00211031e-01 4.33062585e-01 4.55729761e-02 7.18075796e+01] [-4.32535411e-01 9.01363728e-01 -2.13669989e-02 -1.55546421e+01] [-5.03310754e-02 -4.77117839e-04 9.98732474e-01 -6.47233217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55240100800002 meters 0.06421916636192888 Centerline is valid? [True, True] Translation: X:71.84, Y:-15.57, Z:-6.47 [[ 9.00296031e-01 4.32693472e-01 4.73647034e-02 7.18366594e+01] [-4.32123066e-01 9.01540981e-01 -2.22151948e-02 -1.55693269e+01] [-5.23135910e-02 -4.67129147e-04 9.98630597e-01 -6.47373550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58240100800002 meters 0.06406797159259082 Centerline is valid? [True, True] Translation: X:71.87, Y:-15.58, Z:-6.47 [[ 9.00277407e-01 4.32713713e-01 4.75334993e-02 7.18661790e+01] [-4.32139210e-01 9.01531265e-01 -2.22953154e-02 -1.55835532e+01] [-5.25004245e-02 -4.69120131e-04 9.98620792e-01 -6.47487525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.612401008 meters 0.06418515836014506 Centerline is valid? [True, True] Translation: X:71.90, Y:-15.60, Z:-6.48 [[ 8.99575482e-01 4.34148611e-01 4.77381991e-02 7.18964224e+01] [-4.33570311e-01 9.00841102e-01 -2.24074534e-02 -1.55956138e+01] [-5.27326966e-02 -5.40670156e-04 9.98608517e-01 -6.47765733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64240100800001 meters 0.06464495220409684 Centerline is valid? [True, True] Translation: X:71.93, Y:-15.61, Z:-6.48 [[ 8.98849486e-01 4.35846794e-01 4.59039561e-02 7.19265520e+01] [-4.35313545e-01 9.00020672e-01 -2.15617215e-02 -1.56055115e+01] [-5.07121166e-02 -6.01871588e-04 9.98713131e-01 -6.48250815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67240100800001 meters 0.06455851790184974 Centerline is valid? [True, True] Translation: X:71.96, Y:-15.62, Z:-6.49 [[ 8.99261555e-01 4.35060600e-01 4.52871872e-02 7.19552771e+01] [-4.34539984e-01 9.00401013e-01 -2.12842272e-02 -1.56204910e+01] [-5.00365579e-02 -5.39006321e-04 9.98747241e-01 -6.48602934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70240100800001 meters 0.06455851790184974 Centerline is valid? [True, True] Translation: X:71.98, Y:-15.63, Z:-6.49 [[ 8.99142667e-01 4.35306865e-01 4.52813111e-02 7.19843823e+01] [-4.34785933e-01 9.00281979e-01 -2.12967193e-02 -1.56343728e+01] [-5.00365565e-02 -5.38888111e-04 9.98747242e-01 -6.48834980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73240100800001 meters 0.06440284157576605 Centerline is valid? [True, True] Translation: X:72.01, Y:-15.65, Z:-6.49 [[ 8.99876133e-01 4.33887489e-01 4.43237186e-02 7.20126640e+01] [-4.33385943e-01 9.00966956e-01 -2.08607053e-02 -1.56505695e+01] [-4.89854049e-02 -4.37225780e-04 9.98799399e-01 -6.49104837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76240100800001 meters 0.06463052884244526 Centerline is valid? [True, True] Translation: X:72.04, Y:-15.67, Z:-6.50 [[ 9.00488089e-01 4.32877306e-01 4.16946038e-02 7.20406935e+01] [-4.32431812e-01 9.01452782e-01 -1.96369678e-02 -1.56659819e+01] [-4.60861143e-02 -3.47217457e-04 9.98937410e-01 -6.49557375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79240100800001 meters 0.06472678639303184 Centerline is valid? [True, True] Translation: X:72.07, Y:-15.68, Z:-6.50 [[ 9.00741667e-01 4.32387254e-01 4.13002546e-02 7.20692039e+01] [-4.31949008e-01 9.01687955e-01 -1.94649943e-02 -1.56791943e+01] [-4.56563575e-02 -3.06672569e-04 9.98957158e-01 -6.49928253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82240100800001 meters 0.06487203992652021 Centerline is valid? [True, True] Translation: X:72.10, Y:-15.69, Z:-6.50 [[ 9.01090202e-01 4.31704370e-01 4.08385168e-02 7.20988257e+01] [-4.31274925e-01 9.02015115e-01 -1.92528446e-02 -1.56935888e+01] [-4.51484966e-02 -2.64078618e-04 9.98980252e-01 -6.50256196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85240100800002 meters 0.06474638667522206 Centerline is valid? [True, True] Translation: X:72.13, Y:-15.71, Z:-6.50 [[ 9.01459303e-01 4.30882972e-01 4.13641170e-02 7.21266301e+01] [-4.30440863e-01 9.02407790e-01 -1.95152398e-02 -1.57086110e+01] [-4.57360859e-02 -2.12611730e-04 9.98953535e-01 -6.50415655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88240100800002 meters 0.06453492839703287 Centerline is valid? [True, True] Translation: X:72.15, Y:-15.73, Z:-6.50 [[ 9.03735752e-01 4.25874173e-01 4.35072344e-02 7.21516091e+01] [-4.25378570e-01 9.04782397e-01 -2.05398734e-02 -1.57300199e+01] [-4.81119815e-02 5.55727938e-05 9.98841947e-01 -6.50418556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91240100800002 meters 0.06444935578055824 Centerline is valid? [True, True] Translation: X:72.18, Y:-15.75, Z:-6.50 [[ 9.05484620e-01 4.22029238e-01 4.45973625e-02 7.21768314e+01] [-4.21503127e-01 9.06582177e-01 -2.10682129e-02 -1.57493222e+01] [-4.93225759e-02 2.79015025e-04 9.98782862e-01 -6.50395729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94240100800002 meters 0.064548244299091 Centerline is valid? [True, True] Translation: X:72.20, Y:-15.77, Z:-6.50 [[ 9.07373704e-01 4.17822000e-01 4.58010588e-02 7.22036003e+01] [-4.17261149e-01 9.08528752e-01 -2.16480872e-02 -1.57686901e+01] [-5.06566259e-02 5.31902632e-04 9.98715987e-01 -6.50291700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.972401008 meters 0.06539815178782231 Centerline is valid? [True, True] Translation: X:72.23, Y:-15.79, Z:-6.50 [[ 9.10383557e-01 4.11037458e-01 4.74340269e-02 7.22286949e+01] [-4.10425744e-01 9.11617952e-01 -2.24369811e-02 -1.57899359e+01] [-5.24641501e-02 9.58112897e-04 9.98622349e-01 -6.50409918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002401008 meters 0.06540337850685715 Centerline is valid? [True, True] Translation: X:72.26, Y:-15.80, Z:-6.50 [[ 9.11359365e-01 4.08858620e-01 4.75261650e-02 7.22584647e+01] [-4.08240806e-01 9.12597075e-01 -2.24949695e-02 -1.58039665e+01] [-5.25695014e-02 1.09888127e-03 9.98616663e-01 -6.50493494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03240100800001 meters 0.06574356392849658 Centerline is valid? [True, True] Translation: X:72.29, Y:-15.82, Z:-6.51 [[ 9.11987884e-01 4.07558973e-01 4.66238360e-02 7.22859626e+01] [-4.06961812e-01 9.13178143e-01 -2.20853725e-02 -1.58183727e+01] [-5.15769597e-02 1.16747141e-03 9.98668340e-01 -6.50792436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06240100800001 meters 0.06650649606837965 Centerline is valid? [True, True] Translation: X:72.31, Y:-15.83, Z:-6.51 [[ 9.12869982e-01 4.05880536e-01 4.39247864e-02 7.23132946e+01] [-4.05348388e-01 9.13925361e-01 -2.08115012e-02 -1.58330031e+01] [-4.85909596e-02 1.19335335e-03 9.98818049e-01 -6.51370572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09240100800001 meters 0.06640911804449832 Centerline is valid? [True, True] Translation: X:72.34, Y:-15.85, Z:-6.52 [[ 9.12444084e-01 4.07040316e-01 4.19997031e-02 7.23420000e+01] [-4.06554508e-01 9.13409540e-01 -1.99109170e-02 -1.58456874e+01] [-4.64674754e-02 1.09242980e-03 9.98919206e-01 -6.51773768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12240100800001 meters 0.0665199061108003 Centerline is valid? [True, True] Translation: X:72.37, Y:-15.86, Z:-6.52 [[ 9.12081033e-01 4.07936385e-01 4.11836771e-02 7.23709004e+01] [-4.07469693e-01 9.13009765e-01 -1.95350349e-02 -1.58581213e+01] [-4.55701509e-02 1.03643451e-03 9.98960603e-01 -6.52150750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15240100800001 meters 0.06650842718630665 Centerline is valid? [True, True] Translation: X:72.40, Y:-15.87, Z:-6.53 [[ 9.11589957e-01 4.09112517e-01 4.03819141e-02 7.24008822e+01] [-4.08664466e-01 9.12483430e-01 -1.91662374e-02 -1.58702513e+01] [-4.46889751e-02 9.69096168e-04 9.99000479e-01 -6.52534437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18240100800001 meters 0.06651551100884857 Centerline is valid? [True, True] Translation: X:72.43, Y:-15.88, Z:-6.53 [[ 9.11017355e-01 4.10446203e-01 3.97654763e-02 7.24293283e+01] [-4.10012271e-01 9.11884365e-01 -1.88902636e-02 -1.58817215e+01] [-4.40149531e-02 9.05024761e-04 9.99030462e-01 -6.52927797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21240100800001 meters 0.06580774172907371 Centerline is valid? [True, True] Translation: X:72.46, Y:-15.89, Z:-6.53 [[ 9.09399952e-01 4.14042459e-01 3.95040449e-02 7.24595616e+01] [-4.13617324e-01 9.10257275e-01 -1.87724116e-02 -1.58899079e+01] [-4.37314197e-02 7.32072896e-04 9.99043056e-01 -6.53251838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24240100800002 meters 0.06533094122305176 Centerline is valid? [True, True] Translation: X:72.49, Y:-15.90, Z:-6.53 [[ 9.08260838e-01 4.16519906e-01 3.96663292e-02 7.24900971e+01] [-4.16093472e-01 9.09126386e-01 -1.88530256e-02 -1.59009656e+01] [-4.39143669e-02 6.18564154e-04 9.99035107e-01 -6.53434841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27240100800002 meters 0.06469456783050491 Centerline is valid? [True, True] Translation: X:72.52, Y:-15.91, Z:-6.53 [[ 9.07000623e-01 4.19144764e-01 4.08354796e-02 7.25206749e+01] [-4.18694935e-01 9.07919269e-01 -1.94203869e-02 -1.59120317e+01] [-4.52152723e-02 5.16694563e-04 9.98977133e-01 -6.53461053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30240100800002 meters 0.0643193773176439 Centerline is valid? [True, True] Translation: X:72.55, Y:-15.92, Z:-6.54 [[ 9.05693822e-01 4.21865409e-01 4.18124151e-02 7.25498934e+01] [-4.21396110e-01 9.06658379e-01 -1.98973107e-02 -1.59238397e+01] [-4.63035636e-02 4.01282266e-04 9.98927334e-01 -6.53584092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33240100800002 meters 0.06344590975315542 Centerline is valid? [True, True] Translation: X:72.58, Y:-15.93, Z:-6.53 [[ 9.03298218e-01 4.26775675e-01 4.37590279e-02 7.25812652e+01] [-4.26266735e-01 9.04357504e-01 -2.08368875e-02 -1.59321959e+01] [-4.84664820e-02 1.68905377e-04 9.98824795e-01 -6.53452883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362401008 meters 0.06324145913425797 Centerline is valid? [True, True] Translation: X:72.61, Y:-15.94, Z:-6.54 [[ 9.01821140e-01 4.29758465e-01 4.50143671e-02 7.26116640e+01] [-4.29222954e-01 9.02943886e-01 -2.14474716e-02 -1.59420771e+01] [-4.98626801e-02 2.05836750e-05 9.98756083e-01 -6.53561389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39240100800001 meters 0.0632539293205753 Centerline is valid? [True, True] Translation: X:72.64, Y:-15.95, Z:-6.54 [[ 9.01171080e-01 4.31101897e-01 4.51867220e-02 7.26412221e+01] [-4.30563318e-01 9.02303249e-01 -2.15424292e-02 -1.59539363e+01] [-5.00591081e-02 -4.23307830e-05 9.98746256e-01 -6.53965583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42240100800001 meters 0.06319752566520737 Centerline is valid? [True, True] Translation: X:72.67, Y:-15.97, Z:-6.54 [[ 9.00766861e-01 4.32027595e-01 4.43984076e-02 7.26700014e+01] [-4.31508091e-01 9.01860383e-01 -2.11805706e-02 -1.59669142e+01] [-4.91917559e-02 -7.95160870e-05 9.98789350e-01 -6.54098976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45240100800001 meters 0.06303870216995626 Centerline is valid? [True, True] Translation: X:72.70, Y:-15.98, Z:-6.54 [[ 9.00625831e-01 4.32395158e-01 4.36753866e-02 7.26982293e+01] [-4.31892305e-01 9.01684213e-01 -2.08474780e-02 -1.59809016e+01] [-4.83957551e-02 -8.72861406e-05 9.98828235e-01 -6.54399602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48240100800001 meters 0.06315653482377796 Centerline is valid? [True, True] Translation: X:72.73, Y:-16.00, Z:-6.55 [[ 9.00883508e-01 4.31948603e-01 4.27704178e-02 7.27265725e+01] [-4.31465330e-01 9.01898221e-01 -2.04271350e-02 -1.59956474e+01] [-4.73980361e-02 -5.14833521e-05 9.98876080e-01 -6.54809828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51240100800001 meters 0.06323303921353228 Centerline is valid? [True, True] Translation: X:72.76, Y:-16.01, Z:-6.55 [[ 9.01219418e-01 4.31221020e-01 4.30347916e-02 7.27556659e+01] [-4.30730391e-01 9.02246326e-01 -2.05644852e-02 -1.60102571e+01] [-4.76958209e-02 -3.27923759e-06 9.98861907e-01 -6.55111289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54240100800001 meters 0.06337795081009522 Centerline is valid? [True, True] Translation: X:72.78, Y:-16.02, Z:-6.56 [[ 9.01765856e-01 4.30151305e-01 4.22870666e-02 7.27839846e+01] [-4.29675737e-01 9.02756806e-01 -2.02215275e-02 -1.60246198e+01] [-4.68732536e-02 6.53565145e-05 9.98900843e-01 -6.55574615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57240100800001 meters 0.06368957665112278 Centerline is valid? [True, True] Translation: X:72.81, Y:-16.04, Z:-6.56 [[ 9.02726888e-01 4.28187220e-01 4.17117507e-02 7.28116881e+01] [-4.27721880e-01 9.03690032e-01 -1.99579421e-02 -1.60414949e+01] [-4.62402290e-02 1.75542494e-04 9.98930333e-01 -6.55924530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60240100800002 meters 0.06368139583173273 Centerline is valid? [True, True] Translation: X:72.84, Y:-16.06, Z:-6.56 [[ 9.03230407e-01 4.27053978e-01 4.24232451e-02 7.28391661e+01] [-4.26570779e-01 9.04226099e-01 -2.03108896e-02 -1.60585076e+01] [-4.70340517e-02 2.48896348e-04 9.98893256e-01 -6.56041052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63240100800002 meters 0.0634986708887719 Centerline is valid? [True, True] Translation: X:72.87, Y:-16.07, Z:-6.56 [[ 9.03520732e-01 4.26363205e-01 4.31822286e-02 7.28661829e+01] [-4.25861035e-01 9.04552003e-01 -2.06894469e-02 -1.60747701e+01] [-4.78817903e-02 3.03715631e-04 9.98852963e-01 -6.56071095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66240100800002 meters 0.06335201010297559 Centerline is valid? [True, True] Translation: X:72.89, Y:-16.09, Z:-6.56 [[ 9.03562591e-01 4.26203075e-01 4.38814625e-02 7.28944718e+01] [-4.25684080e-01 9.04627457e-01 -2.10292344e-02 -1.60902507e+01] [-4.86591002e-02 3.21589461e-04 9.98815393e-01 -6.56111646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69240100800002 meters 0.06333072794790301 Centerline is valid? [True, True] Translation: X:72.92, Y:-16.10, Z:-6.56 [[ 9.03568159e-01 4.25956231e-01 4.61071652e-02 7.29217743e+01] [-4.25382068e-01 9.04743696e-01 -2.21120186e-02 -1.61044635e+01] [-5.11339192e-02 3.66554654e-04 9.98691738e-01 -6.56339560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722401008 meters 0.06348597462611641 Centerline is valid? [True, True] Translation: X:72.95, Y:-16.12, Z:-6.57 [[ 9.03809463e-01 4.25464035e-01 4.59217751e-02 7.29509054e+01] [-4.24893618e-01 9.04975247e-01 -2.20276312e-02 -1.61200287e+01] [-5.09300346e-02 3.96912329e-04 9.98702145e-01 -6.56673803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.752401008 meters 0.06331832569339697 Centerline is valid? [True, True] Translation: X:72.98, Y:-16.13, Z:-6.57 [[ 9.04091837e-01 4.24897135e-01 4.56111308e-02 7.29794271e+01] [-4.24332940e-01 9.05241532e-01 -2.18934759e-02 -1.61349412e+01] [-5.05915651e-02 4.39407570e-04 9.98719330e-01 -6.56727127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78240100800001 meters 0.0633335126820928 Centerline is valid? [True, True] Translation: X:73.01, Y:-16.15, Z:-6.57 [[ 9.04444711e-01 4.24113787e-01 4.59049151e-02 7.30076257e+01] [-4.23540635e-01 9.05608772e-01 -2.20472705e-02 -1.61507184e+01] [-5.09224452e-02 4.97940237e-04 9.98702487e-01 -6.57009635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81240100800001 meters 0.06360914965152253 Centerline is valid? [True, True] Translation: X:73.04, Y:-16.17, Z:-6.57 [[ 9.05041935e-01 4.22909870e-01 4.52364580e-02 7.30353329e+01] [-4.22351013e-01 9.06171571e-01 -2.17418207e-02 -1.61660915e+01] [-5.01868228e-02 5.71595612e-04 9.98739684e-01 -6.57361405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84240100800001 meters 0.06427925735303898 Centerline is valid? [True, True] Translation: X:73.06, Y:-16.18, Z:-6.58 [[ 9.06875023e-01 4.19128042e-01 4.36964202e-02 7.30628371e+01] [-4.18601681e-01 9.07926814e-01 -2.10126889e-02 -1.61835596e+01] [-4.84801587e-02 7.64487778e-04 9.98823853e-01 -6.57741540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87240100800001 meters 0.06472720653638589 Centerline is valid? [True, True] Translation: X:73.09, Y:-16.20, Z:-6.58 [[ 9.07806127e-01 4.17227026e-01 4.25399233e-02 7.30891424e+01] [-4.16725371e-01 9.08801890e-01 -2.04717139e-02 -1.61998136e+01] [-4.72017150e-02 8.56882046e-04 9.98885010e-01 -6.58084894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90240100800001 meters 0.06536754329417667 Centerline is valid? [True, True] Translation: X:73.12, Y:-16.22, Z:-6.58 [[ 9.09171200e-01 4.14283190e-01 4.21564620e-02 7.31153242e+01] [-4.13786867e-01 9.10147470e-01 -2.02980640e-02 -1.62177766e+01] [-4.67777439e-02 1.01062488e-03 9.98904811e-01 -6.58403390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93240100800001 meters 0.06668209198939115 Centerline is valid? [True, True] Translation: X:73.14, Y:-16.24, Z:-6.59 [[ 9.11878498e-01 4.08287611e-01 4.21762043e-02 7.31411662e+01] [-4.07783826e-01 9.12852374e-01 -2.03198095e-02 -1.62379997e+01] [-4.67969747e-02 1.33042345e-03 9.98903535e-01 -6.58514195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96240100800001 meters 0.06756856856386136 Centerline is valid? [True, True] Translation: X:73.17, Y:-16.26, Z:-6.59 [[ 9.13478766e-01 4.04679029e-01 4.23252657e-02 7.31681586e+01] [-4.04167222e-01 9.14457509e-01 -2.04039414e-02 -1.62550522e+01] [-4.69617042e-02 1.53208215e-03 9.98895516e-01 -6.58769621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99240100800002 meters 0.06818043162012927 Centerline is valid? [True, True] Translation: X:73.20, Y:-16.27, Z:-6.59 [[ 9.14895265e-01 4.01441295e-01 4.25621992e-02 7.31958452e+01] [-4.00919657e-01 9.15883143e-01 -2.05304050e-02 -1.62709034e+01] [-4.72237531e-02 1.71914808e-03 9.98882857e-01 -6.58888429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02240100800002 meters 0.06917083523990296 Centerline is valid? [True, True] Translation: X:73.22, Y:-16.29, Z:-6.59 [[ 9.16126286e-01 3.98371715e-01 4.48620627e-02 7.32221721e+01] [-3.97787761e-01 9.17221897e-01 -2.16538414e-02 -1.62879903e+01] [-4.97747442e-02 1.99207390e-03 9.98758483e-01 -6.59039457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05240100800002 meters 0.06931756148406609 Centerline is valid? [True, True] Translation: X:73.25, Y:-16.30, Z:-6.59 [[ 9.17475318e-01 3.95215596e-01 4.52070066e-02 7.32513144e+01] [-3.94618164e-01 9.18585777e-01 -2.18328762e-02 -1.63029493e+01] [-5.01552065e-02 2.19161910e-03 9.98739031e-01 -6.58951890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08240100800002 meters 0.07074420218580557 Centerline is valid? [True, True] Translation: X:73.28, Y:-16.32, Z:-6.59 [[ 9.19510215e-01 3.90375352e-01 4.59135015e-02 7.32781455e+01] [-3.89752299e-01 9.20652374e-01 -2.21889865e-02 -1.63194930e+01] [-5.09324076e-02 2.50810695e-03 9.98698953e-01 -6.58888187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.112401008 meters 0.07145792182392356 Centerline is valid? [True, True] Translation: X:73.31, Y:-16.33, Z:-6.59 [[ 9.19917084e-01 3.89433400e-01 4.57622777e-02 7.33050714e+01] [-3.88812601e-01 9.21051058e-01 -2.21293816e-02 -1.63345767e+01] [-5.07673146e-02 2.56424599e-03 9.98707217e-01 -6.59067721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14240100800001 meters 0.07122358712104696 Centerline is valid? [True, True] Translation: X:73.33, Y:-16.35, Z:-6.59 [[ 9.20089165e-01 3.88960908e-01 4.63178269e-02 7.33345064e+01] [-3.88323738e-01 9.21250499e-01 -2.24096607e-02 -1.63472572e+01] [-5.13868031e-02 2.63257438e-03 9.98675356e-01 -6.59159159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17240100800001 meters 0.07087247058972167 Centerline is valid? [True, True] Translation: X:73.37, Y:-16.36, Z:-6.59 [[ 9.19981139e-01 3.89254626e-01 4.59950012e-02 7.33654662e+01] [-3.88626047e-01 9.21126499e-01 -2.22658447e-02 -1.63558260e+01] [-5.10342975e-02 2.60930159e-03 9.98693493e-01 -6.59340342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20240100800001 meters 0.06945528935230397 Centerline is valid? [True, True] Translation: X:73.40, Y:-16.36, Z:-6.60 [[ 9.20145167e-01 3.88912275e-01 4.56082664e-02 7.33979963e+01] [-3.88293110e-01 9.21271070e-01 -2.20924472e-02 -1.63622899e+01] [-5.06096003e-02 2.61888289e-03 9.98715079e-01 -6.59532067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23240100800001 meters 0.07074196197963736 Centerline is valid? [True, True] Translation: X:73.43, Y:-16.38, Z:-6.60 [[ 9.19948179e-01 3.89430129e-01 4.51610777e-02 7.34256032e+01] [-3.88823022e-01 9.21052406e-01 -2.18888907e-02 -1.63755811e+01] [-5.01199128e-02 2.57697849e-03 9.98739883e-01 -6.59907973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26240100800001 meters 0.0703990236540546 Centerline is valid? [True, True] Translation: X:73.46, Y:-16.39, Z:-6.60 [[ 9.19770682e-01 3.89864308e-01 4.50301497e-02 7.34562626e+01] [-3.89260665e-01 9.20868767e-01 -2.18368682e-02 -1.63862963e+01] [-4.99802739e-02 2.55644509e-03 9.98746933e-01 -6.60095361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29240100800001 meters 0.06803111914765865 Centerline is valid? [True, True] Translation: X:73.49, Y:-16.39, Z:-6.60 [[ 9.19090777e-01 3.91777611e-01 4.22190282e-02 7.34904272e+01] [-3.91248559e-01 9.20057050e-01 -2.04839164e-02 -1.63902491e+01] [-4.68690543e-02 2.30844470e-03 9.98898375e-01 -6.60025040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32240100800001 meters 0.06789868596686152 Centerline is valid? [True, True] Translation: X:73.52, Y:-16.40, Z:-6.60 [[ 9.18573892e-01 3.93137990e-01 4.07986029e-02 7.35208063e+01] [-3.92644794e-01 9.19476914e-01 -1.98058091e-02 -1.64003575e+01] [-4.52997894e-02 2.17374009e-03 9.98971073e-01 -6.60272207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35240100800002 meters 0.06839872196114474 Centerline is valid? [True, True] Translation: X:73.55, Y:-16.41, Z:-6.61 [[ 9.17745916e-01 3.95168450e-01 3.98036401e-02 7.35502519e+01] [-3.94700450e-01 9.18606425e-01 -1.93336932e-02 -1.64113003e+01] [-4.42039451e-02 2.03290335e-03 9.99020460e-01 -6.60733550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38240100800002 meters 0.06731842767284799 Centerline is valid? [True, True] Translation: X:73.58, Y:-16.42, Z:-6.61 [[ 9.17111291e-01 3.96702690e-01 3.91644719e-02 7.35829948e+01] [-3.96250533e-01 9.17945108e-01 -1.90339994e-02 -1.64179580e+01] [-4.35016742e-02 1.93735293e-03 9.99051476e-01 -6.60906156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41240100800002 meters 0.0681573320174937 Centerline is valid? [True, True] Translation: X:73.61, Y:-16.42, Z:-6.62 [[ 9.15868069e-01 3.99559540e-01 3.92154848e-02 7.36134075e+01] [-3.99108291e-01 9.16705449e-01 -1.90707285e-02 -1.64249427e+01] [-4.35689401e-02 1.81504615e-03 9.99048774e-01 -6.61534282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44240100800002 meters 0.06630712366333189 Centerline is valid? [True, True] Translation: X:73.65, Y:-16.43, Z:-6.61 [[ 9.15364814e-01 4.00594796e-01 4.03864587e-02 7.36466577e+01] [-4.00116606e-01 9.16253491e-01 -1.96530575e-02 -1.64316970e+01] [-4.48771463e-02 1.83042460e-03 9.98990836e-01 -6.61323859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472401008 meters 0.06608432970612166 Centerline is valid? [True, True] Translation: X:73.68, Y:-16.44, Z:-6.61 [[ 9.14991313e-01 4.01340127e-01 4.14366902e-02 7.36773668e+01] [-4.00837184e-01 9.15927231e-01 -2.01707691e-02 -1.64430475e+01] [-4.60483320e-02 1.84671233e-03 9.98937506e-01 -6.61417741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502401008 meters 0.065448842631347 Centerline is valid? [True, True] Translation: X:73.71, Y:-16.45, Z:-6.61 [[ 9.14598202e-01 4.02108509e-01 4.26482884e-02 7.37083212e+01] [-4.01576349e-01 9.15590121e-01 -2.07645333e-02 -1.64530292e+01] [-4.73979471e-02 1.86466085e-03 9.98874345e-01 -6.61436610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53240100800001 meters 0.0654107065051631 Centerline is valid? [True, True] Translation: X:73.74, Y:-16.46, Z:-6.62 [[ 9.14168932e-01 4.02993502e-01 4.34902435e-02 7.37376134e+01] [-4.02440466e-01 9.15200935e-01 -2.11877301e-02 -1.64633940e+01] [-4.83408291e-02 1.86693077e-03 9.98829154e-01 -6.61522680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56240100800001 meters 0.06432397406426525 Centerline is valid? [True, True] Translation: X:73.77, Y:-16.47, Z:-6.62 [[ 9.13036221e-01 4.05450649e-01 4.44368065e-02 7.37718046e+01] [-4.04875451e-01 9.14115187e-01 -2.16632127e-02 -1.64672871e+01] [-4.94037233e-02 1.78792579e-03 9.98777290e-01 -6.61563405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59240100800001 meters 0.06432397406426525 Centerline is valid? [True, True] Translation: X:73.80, Y:-16.48, Z:-6.62 [[ 9.12928148e-01 4.05694072e-01 4.44355299e-02 7.38007680e+01] [-4.05119034e-01 9.14007199e-01 -2.16658319e-02 -1.64815366e+01] [-4.94040938e-02 1.77766882e-03 9.98777290e-01 -6.61794868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62240100800001 meters 0.0641252925662265 Centerline is valid? [True, True] Translation: X:73.83, Y:-16.49, Z:-6.62 [[ 9.11939714e-01 4.07865703e-01 4.48500383e-02 7.38305338e+01] [-4.07281702e-01 9.13040367e-01 -2.18838479e-02 -1.64917374e+01] [-4.98755664e-02 1.69015002e-03 9.98754009e-01 -6.62097523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65240100800001 meters 0.06364289962466484 Centerline is valid? [True, True] Translation: X:73.86, Y:-16.50, Z:-6.62 [[ 9.10768444e-01 4.10519566e-01 4.44356566e-02 7.38618299e+01] [-4.09948847e-01 9.11850486e-01 -2.16941123e-02 -1.65008427e+01] [-4.94245326e-02 1.54196666e-03 9.98776671e-01 -6.62389672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68240100800001 meters 0.06315887679644584 Centerline is valid? [True, True] Translation: X:73.89, Y:-16.51, Z:-6.63 [[ 9.09345217e-01 4.13814851e-01 4.29947197e-02 7.38934699e+01] [-4.13283682e-01 9.10360095e-01 -2.10022906e-02 -1.65091660e+01] [-4.78317369e-02 1.32931647e-03 9.98854523e-01 -6.62740433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71240100800001 meters 0.06294625565773522 Centerline is valid? [True, True] Translation: X:73.93, Y:-16.51, Z:-6.63 [[ 9.06697141e-01 4.19871223e-01 4.01054980e-02 7.39269560e+01] [-4.19414496e-01 9.07583192e-01 -1.96018154e-02 -1.65103629e+01] [-4.46293141e-02 9.52082763e-04 9.99003162e-01 -6.63461588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74240100800002 meters 0.06314997952148123 Centerline is valid? [True, True] Translation: X:73.96, Y:-16.52, Z:-6.64 [[ 9.05415242e-01 4.22702396e-01 3.93182307e-02 7.39563490e+01] [-4.22265647e-01 9.06268192e-01 -1.92272772e-02 -1.65197167e+01] [-4.37602779e-02 8.05931682e-04 9.99041735e-01 -6.64105413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77240100800002 meters 0.06246818659083732 Centerline is valid? [True, True] Translation: X:73.99, Y:-16.53, Z:-6.64 [[ 9.04643267e-01 4.24372887e-01 3.90923554e-02 7.39879045e+01] [-4.23942281e-01 9.05487228e-01 -1.91264830e-02 -1.65276725e+01] [-4.35143893e-02 7.29741703e-04 9.99052534e-01 -6.64082599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80240100800002 meters 0.06235601665640745 Centerline is valid? [True, True] Translation: X:74.02, Y:-16.54, Z:-6.64 [[ 9.03919361e-01 4.25851383e-01 3.97540917e-02 7.40166593e+01] [-4.25406959e-01 9.04792869e-01 -1.94623467e-02 -1.65394414e+01] [-4.42572859e-02 6.80724723e-04 9.99019934e-01 -6.64230262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83240100800002 meters 0.06181690015131457 Centerline is valid? [True, True] Translation: X:74.05, Y:-16.55, Z:-6.64 [[ 9.04005350e-01 4.25389362e-01 4.26405573e-02 7.40459217e+01] [-4.24876933e-01 9.05010113e-01 -2.08874819e-02 -1.65518960e+01] [-4.74754482e-02 7.65406207e-04 9.98872112e-01 -6.63976376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862401008 meters 0.0617100004842319 Centerline is valid? [True, True] Translation: X:74.08, Y:-16.57, Z:-6.64 [[ 9.04182969e-01 4.24940657e-01 4.33427862e-02 7.40759911e+01] [-4.24410125e-01 9.05220845e-01 -2.12430650e-02 -1.65658860e+01] [-4.82618355e-02 8.12500256e-04 9.98834388e-01 -6.64051231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89240100800001 meters 0.061556882218108934 Centerline is valid? [True, True] Translation: X:74.11, Y:-16.57, Z:-6.64 [[ 9.03759333e-01 4.26036778e-01 4.13730807e-02 7.41076569e+01] [-4.25553949e-01 9.04705548e-01 -2.02905894e-02 -1.65729672e+01] [-4.60749930e-02 7.31331707e-04 9.98937716e-01 -6.64440437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92240100800001 meters 0.06132848987351254 Centerline is valid? [True, True] Translation: X:74.14, Y:-16.58, Z:-6.65 [[ 9.02766851e-01 4.28212605e-01 4.05706400e-02 7.41385401e+01] [-4.27750026e-01 9.03677809e-01 -1.99081087e-02 -1.65830531e+01] [-4.51876901e-02 6.18288320e-04 9.98978323e-01 -6.64839669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95240100800001 meters 0.0612925920791629 Centerline is valid? [True, True] Translation: X:74.17, Y:-16.59, Z:-6.65 [[ 9.01003153e-01 4.31968248e-01 3.99593644e-02 7.41681572e+01] [-4.31522676e-01 9.01888709e-01 -1.96197828e-02 -1.65934624e+01] [-4.45140228e-02 4.34114327e-04 9.99008665e-01 -6.65360423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98240100800001 meters 0.060704729369369353 Centerline is valid? [True, True] Translation: X:74.20, Y:-16.60, Z:-6.65 [[ 8.98927843e-01 4.36303733e-01 3.95952837e-02 7.41998664e+01] [-4.35870006e-01 8.99799423e-01 -1.94508800e-02 -1.66024620e+01] [-4.41143050e-02 2.26541072e-04 9.99026465e-01 -6.65348606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01240100800001 meters 0.060348341141152596 Centerline is valid? [True, True] Translation: X:74.23, Y:-16.61, Z:-6.65 [[ 8.94818228e-01 4.44620577e-01 4.01606897e-02 7.42333828e+01] [-4.44182193e-01 8.95718991e-01 -1.97400099e-02 -1.66064302e+01] [-4.47495071e-02 -1.74942570e-04 9.98998224e-01 -6.65385445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04240100800001 meters 0.06029704521559891 Centerline is valid? [True, True] Translation: X:74.26, Y:-16.62, Z:-6.66 [[ 8.93123830e-01 4.47955103e-01 4.08172744e-02 7.42649508e+01] [-4.47505236e-01 8.94055989e-01 -2.00736598e-02 -1.66171013e+01] [-4.54850270e-02 -3.37680109e-04 9.98964964e-01 -6.65582177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07240100800001 meters 0.06037171560601106 Centerline is valid? [True, True] Translation: X:74.29, Y:-16.63, Z:-6.66 [[ 8.92017044e-01 4.50044463e-01 4.20187472e-02 7.42943630e+01] [-4.49569287e-01 8.93006039e-01 -2.06802064e-02 -1.66282003e+01] [-4.68300074e-02 -4.43241643e-04 9.98902775e-01 -6.65984196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10240100800002 meters 0.06016907675116351 Centerline is valid? [True, True] Translation: X:74.32, Y:-16.64, Z:-6.66 [[ 8.91804526e-01 4.50344445e-01 4.32962753e-02 7.43227889e+01] [-4.49839715e-01 8.92854785e-01 -2.13205194e-02 -1.66424677e+01] [-4.82588640e-02 -4.62648407e-04 9.98834755e-01 -6.66016786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13240100800002 meters 0.05942227906417599 Centerline is valid? [True, True] Translation: X:74.35, Y:-16.66, Z:-6.66 [[ 8.92965064e-01 4.47665792e-01 4.69971623e-02 7.43486153e+01] [-4.47066553e-01 8.94200888e-01 -2.31574831e-02 -1.66625147e+01] [-5.23917173e-02 -3.32036000e-04 9.98626556e-01 -6.65773999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16240100800002 meters 0.05938437845431954 Centerline is valid? [True, True] Translation: X:74.37, Y:-16.68, Z:-6.66 [[ 8.94141398e-01 4.45217185e-01 4.78833797e-02 7.43741464e+01] [-4.44590851e-01 8.95422596e-01 -2.36082411e-02 -1.66809198e+01] [-5.33866548e-02 -1.79406853e-04 9.98573900e-01 -6.66132745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19240100800002 meters 0.059181526728140504 Centerline is valid? [True, True] Translation: X:74.40, Y:-16.70, Z:-6.66 [[ 8.95570223e-01 4.42350152e-01 4.77526787e-02 7.44006599e+01] [-4.41722530e-01 8.96842429e-01 -2.35555476e-02 -1.67013736e+01] [-5.32464285e-02 2.21294346e-06 9.98581403e-01 -6.66127980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222401008 meters 0.05923760907688551 Centerline is valid? [True, True] Translation: X:74.43, Y:-16.72, Z:-6.66 [[ 8.96636183e-01 4.40325432e-01 4.64442637e-02 7.44271312e+01] [-4.39728245e-01 8.97838235e-01 -2.29254048e-02 -1.67206286e+01] [-5.17940745e-02 1.32892851e-04 9.98657777e-01 -6.66445451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.252401008 meters 0.05931835307732832 Centerline is valid? [True, True] Translation: X:74.45, Y:-16.74, Z:-6.67 [[ 8.97320903e-01 4.39061446e-01 4.51690492e-02 7.44542170e+01] [-4.38494405e-01 8.98457012e-01 -2.23081814e-02 -1.67382550e+01] [-5.03771114e-02 2.11222079e-04 9.98730245e-01 -6.66823870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28240100800001 meters 0.05942161198653114 Centerline is valid? [True, True] Translation: X:74.48, Y:-16.75, Z:-6.67 [[ 8.97430308e-01 4.39039527e-01 4.31640478e-02 7.44813410e+01] [-4.38521142e-01 8.98467722e-01 -2.13297985e-02 -1.67542581e+01] [-4.81461284e-02 2.13660049e-04 9.98840280e-01 -6.67256859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31240100800001 meters 0.05953387344602984 Centerline is valid? [True, True] Translation: X:74.51, Y:-16.77, Z:-6.68 [[ 8.95537107e-01 4.43094658e-01 4.09928562e-02 7.45074008e+01] [-4.42630920e-01 8.96474832e-01 -2.02668454e-02 -1.67705346e+01] [-4.57291948e-02 5.00643760e-06 9.98953873e-01 -6.67661967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34240100800001 meters 0.059653233860933776 Centerline is valid? [True, True] Translation: X:74.54, Y:-16.78, Z:-6.68 [[ 8.93519776e-01 4.47320385e-01 3.90753512e-02 7.45363608e+01] [-4.46902674e-01 8.94373767e-01 -1.93278125e-02 -1.67847857e+01] [-4.35936936e-02 -1.93096219e-04 9.99049324e-01 -6.67951178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37240100800001 meters 0.060815409373997785 Centerline is valid? [True, True] Translation: X:74.57, Y:-16.79, Z:-6.69 [[ 8.89021437e-01 4.56420380e-01 3.63499811e-02 7.45657503e+01] [-4.56066111e-01 8.89764067e-01 -1.79891072e-02 -1.67939810e+01] [-4.05535021e-02 -5.85292579e-04 9.99177197e-01 -6.68679904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40240100800001 meters 0.061717138668965894 Centerline is valid? [True, True] Translation: X:74.59, Y:-16.80, Z:-6.69 [[ 8.86737744e-01 4.60902953e-01 3.55617958e-02 7.45947757e+01] [-4.60567128e-01 8.87450214e-01 -1.76078793e-02 -1.68045535e+01] [-3.96748469e-02 -7.65023012e-04 9.99212350e-01 -6.69207727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43240100800001 meters 0.062206931117554896 Centerline is valid? [True, True] Translation: X:74.62, Y:-16.82, Z:-6.69 [[ 8.84947190e-01 4.64359650e-01 3.51935463e-02 7.46237866e+01] [-4.64032896e-01 8.85646267e-01 -1.74402293e-02 -1.68185251e+01] [-3.92675717e-02 -8.97281279e-04 9.99228329e-01 -6.69463473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46240100800001 meters 0.06350895389901 Centerline is valid? [True, True] Translation: X:74.65, Y:-16.83, Z:-6.70 [[ 8.83315568e-01 4.67384227e-01 3.61329821e-02 7.46522035e+01] [-4.67042360e-01 8.84053653e-01 -1.79045512e-02 -1.68307913e+01] [-4.03117996e-02 -1.06026450e-03 9.99186587e-01 -6.69963143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49240100800002 meters 0.06451029637919742 Centerline is valid? [True, True] Translation: X:74.68, Y:-16.85, Z:-6.70 [[ 8.82364863e-01 4.69210921e-01 3.56841833e-02 7.46795332e+01] [-4.68878417e-01 8.83085423e-01 -1.76964736e-02 -1.68451829e+01] [-3.98155608e-02 -1.11679690e-03 9.99206422e-01 -6.70260180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52240100800002 meters 0.06454704939030259 Centerline is valid? [True, True] Translation: X:74.71, Y:-16.87, Z:-6.70 [[ 8.81515257e-01 4.70707725e-01 3.69471000e-02 7.47055819e+01] [-4.70352339e-01 8.82288357e-01 -1.83284326e-02 -1.68672990e+01] [-4.12253310e-02 -1.22136195e-03 9.99149128e-01 -6.70275505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55240100800002 meters 0.06436663396077849 Centerline is valid? [True, True] Translation: X:74.73, Y:-16.89, Z:-6.70 [[ 8.81245860e-01 4.71096928e-01 3.83851415e-02 7.47322623e+01] [-4.70713603e-01 8.82080512e-01 -1.90439929e-02 -1.68861190e+01] [-4.28303519e-02 -1.28596833e-03 9.99081532e-01 -6.70285991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58240100800002 meters 0.0645973156784282 Centerline is valid? [True, True] Translation: X:74.76, Y:-16.90, Z:-6.70 [[ 8.80894756e-01 4.71603134e-01 4.01859875e-02 7.47586536e+01] [-4.71182924e-01 8.81809862e-01 -1.99504259e-02 -1.69035392e+01] [-4.48450835e-02 -1.36072557e-03 9.98993026e-01 -6.70384757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.612401008 meters 0.06447053935295644 Centerline is valid? [True, True] Translation: X:74.79, Y:-16.92, Z:-6.70 [[ 8.80501205e-01 4.72234377e-01 4.13802150e-02 7.47850697e+01] [-4.71788995e-01 8.81471874e-01 -2.05543268e-02 -1.69223732e+01] [-4.61819554e-02 -1.42462051e-03 9.98932028e-01 -6.70375077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64240100800001 meters 0.06366131441493048 Centerline is valid? [True, True] Translation: X:74.81, Y:-16.94, Z:-6.70 [[ 8.81283865e-01 4.70647576e-01 4.27739177e-02 7.48106547e+01] [-4.70169182e-01 8.82320218e-01 -2.12596403e-02 -1.69426934e+01] [-4.77460906e-02 -1.37519989e-03 9.98858558e-01 -6.70305676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67240100800001 meters 0.0620207939804825 Centerline is valid? [True, True] Translation: X:74.83, Y:-16.97, Z:-6.70 [[ 8.83063890e-01 4.67268089e-01 4.31126283e-02 7.48335237e+01] [-4.66777447e-01 8.84114877e-01 -2.14405953e-02 -1.69698849e+01] [-4.81350220e-02 -1.19058703e-03 9.98840128e-01 -6.70183505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70240100800001 meters 0.06149034658736238 Centerline is valid? [True, True] Translation: X:74.86, Y:-16.99, Z:-6.71 [[ 8.84372890e-01 4.64875534e-01 4.21346702e-02 7.48586612e+01] [-4.64403696e-01 8.85375448e-01 -2.09647968e-02 -1.69883853e+01] [-4.70510236e-02 -1.02679867e-03 9.98891960e-01 -6.70561305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73240100800001 meters 0.06092368178086599 Centerline is valid? [True, True] Translation: X:74.89, Y:-17.01, Z:-6.71 [[ 8.85732277e-01 4.62380924e-01 4.10148251e-02 7.48850271e+01] [-4.61930570e-01 8.86680971e-01 -2.04206879e-02 -1.70080961e+01] [-4.58092015e-02 -8.58739156e-04 9.98949838e-01 -6.70920864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76240100800001 meters 0.060442831546540864 Centerline is valid? [True, True] Translation: X:74.91, Y:-17.03, Z:-6.71 [[ 8.87091307e-01 4.59855339e-01 4.00259891e-02 7.49106775e+01] [-4.59423733e-01 8.87993562e-01 -1.99315660e-02 -1.70272727e+01] [-4.47084577e-02 -7.07770382e-04 9.98999826e-01 -6.71223480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79240100800001 meters 0.059481283266152644 Centerline is valid? [True, True] Translation: X:74.93, Y:-17.05, Z:-6.72 [[ 8.90948731e-01 4.52404393e-01 3.92507845e-02 7.49326193e+01] [-4.51981582e-01 8.91812853e-01 -1.95571870e-02 -1.70521195e+01] [-4.38521115e-02 -3.16180725e-04 9.99037983e-01 -6.71703972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82240100800001 meters 0.05905606738141396 Centerline is valid? [True, True] Translation: X:74.96, Y:-17.07, Z:-6.72 [[ 8.92940696e-01 4.48540618e-01 3.83174577e-02 7.49581128e+01] [-4.48133745e-01 8.93762441e-01 -1.91009490e-02 -1.70725490e+01] [-4.28142560e-02 -1.15331112e-04 9.99083043e-01 -6.72037566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85240100800002 meters 0.05907432058197137 Centerline is valid? [True, True] Translation: X:74.98, Y:-17.09, Z:-6.72 [[ 8.94363419e-01 4.45760866e-01 3.75676023e-02 7.49839666e+01] [-4.45366819e-01 8.95152082e-01 -1.87389109e-02 -1.70919652e+01] [-4.19817906e-02 2.80329297e-05 9.99118376e-01 -6.72334438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88240100800002 meters 0.05931841536431204 Centerline is valid? [True, True] Translation: X:75.01, Y:-17.11, Z:-6.73 [[ 8.96585825e-01 4.41466874e-01 3.52258082e-02 7.50088172e+01] [-4.41116639e-01 8.97277520e-01 -1.75830265e-02 -1.71114979e+01] [-3.93696496e-02 2.26002186e-04 9.99224689e-01 -6.72875963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91240100800002 meters 0.059502556477351705 Centerline is valid? [True, True] Translation: X:75.04, Y:-17.13, Z:-6.73 [[ 8.96539375e-01 4.41628095e-01 3.43769571e-02 7.50376295e+01] [-4.41294578e-01 8.97198183e-01 -1.71614682e-02 -1.71254734e+01] [-3.84219300e-02 2.15567162e-04 9.99261582e-01 -6.73278062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94240100800002 meters 0.05950550393785214 Centerline is valid? [True, True] Translation: X:75.07, Y:-17.14, Z:-6.74 [[ 8.95723036e-01 4.43304878e-01 3.40738598e-02 7.50667908e+01] [-4.42978097e-01 8.96370884e-01 -1.70189116e-02 -1.71373978e+01] [-3.80873824e-02 1.50257594e-04 9.99274401e-01 -6.73573466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.972401008 meters 0.059075407353275815 Centerline is valid? [True, True] Translation: X:75.10, Y:-17.15, Z:-6.73 [[ 8.94382226e-01 4.46078097e-01 3.30872398e-02 7.50976323e+01] [-4.45771519e-01 8.94994039e-01 -1.65354943e-02 -1.71481385e+01] [-3.69890042e-02 3.97030920e-05 9.99315672e-01 -6.73433100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002401008 meters 0.059188800854681235 Centerline is valid? [True, True] Translation: X:75.13, Y:-17.16, Z:-6.74 [[ 8.91767351e-01 4.51219997e-01 3.39338526e-02 7.51291220e+01] [-4.50900694e-01 8.92412734e-01 -1.69728313e-02 -1.71551366e+01] [-3.79414830e-02 -1.64980923e-04 9.99279949e-01 -6.73663931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03240100800001 meters 0.059292262990505905 Centerline is valid? [True, True] Translation: X:75.16, Y:-17.17, Z:-6.74 [[ 8.90720116e-01 4.53283655e-01 3.39352720e-02 7.51596628e+01] [-4.52965790e-01 8.91366291e-01 -1.69743506e-02 -1.71672822e+01] [-3.79429532e-02 -2.52121761e-04 9.99279875e-01 -6.73908215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06240100800001 meters 0.05923563017480719 Centerline is valid? [True, True] Translation: X:75.19, Y:-17.18, Z:-6.74 [[ 8.89928233e-01 4.54742987e-01 3.51646992e-02 7.51890039e+01] [-4.54402266e-01 8.90622657e-01 -1.76029401e-02 -1.71795258e+01] [-3.93232914e-02 -3.13565684e-04 9.99226491e-01 -6.74129733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09240100800001 meters 0.05941269300219843 Centerline is valid? [True, True] Translation: X:75.22, Y:-17.19, Z:-6.74 [[ 8.89263382e-01 4.56034136e-01 3.52633584e-02 7.52193540e+01] [-4.55692155e-01 8.89962210e-01 -1.76613953e-02 -1.71931013e+01] [-3.94372555e-02 -3.63603678e-04 9.99221983e-01 -6.74384658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12240100800001 meters 0.059224600007372716 Centerline is valid? [True, True] Translation: X:75.25, Y:-17.21, Z:-6.75 [[ 8.89524917e-01 4.55535962e-01 3.51056883e-02 7.52478963e+01] [-4.55196194e-01 8.90217321e-01 -1.75939214e-02 -1.72082952e+01] [-3.92663557e-02 -3.29744223e-04 9.99228725e-01 -6.74610767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15240100800001 meters 0.058958620947296835 Centerline is valid? [True, True] Translation: X:75.28, Y:-17.22, Z:-6.75 [[ 8.90306504e-01 4.53879427e-01 3.67123341e-02 7.52752310e+01] [-4.53505848e-01 8.91063073e-01 -1.84131727e-02 -1.72243983e+01] [-4.10703655e-02 -2.55890870e-04 9.99156224e-01 -6.74762828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18240100800001 meters 0.05846776384701041 Centerline is valid? [True, True] Translation: X:75.30, Y:-17.25, Z:-6.75 [[ 8.92426275e-01 4.49747979e-01 3.60846024e-02 7.53009745e+01] [-4.49383316e-01 8.93155503e-01 -1.81075428e-02 -1.72453622e+01] [-4.03729920e-02 -5.61713275e-05 9.99184677e-01 -6.74787315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21240100800001 meters 0.05827456316799735 Centerline is valid? [True, True] Translation: X:75.33, Y:-17.26, Z:-6.75 [[ 8.93489429e-01 4.47522604e-01 3.74187001e-02 7.53275063e+01] [-4.47127976e-01 8.94272618e-01 -1.87898257e-02 -1.72639953e+01] [-4.18713906e-02 5.75629945e-05 9.99123007e-01 -6.74829082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24240100800002 meters 0.05818833688032689 Centerline is valid? [True, True] Translation: X:75.35, Y:-17.28, Z:-6.75 [[ 8.94803351e-01 4.44933532e-01 3.68932959e-02 7.53523575e+01] [-4.44547235e-01 8.95563575e-01 -1.85374927e-02 -1.72825097e+01] [-4.12882441e-02 1.86597907e-04 9.99147259e-01 -6.75041572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27240100800002 meters 0.058159451398950256 Centerline is valid? [True, True] Translation: X:75.38, Y:-17.30, Z:-6.75 [[ 8.95767770e-01 4.43038028e-01 3.62961245e-02 7.53789502e+01] [-4.42662270e-01 8.96502777e-01 -1.82451532e-02 -1.73001036e+01] [-4.06228731e-02 2.76495315e-04 9.99174512e-01 -6.75003465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30240100800002 meters 0.058303732106191206 Centerline is valid? [True, True] Translation: X:75.40, Y:-17.32, Z:-6.75 [[ 8.97620014e-01 4.39400948e-01 3.47148110e-02 7.54049396e+01] [-4.39054064e-01 8.98290944e-01 -1.74616413e-02 -1.73200270e+01] [-3.88566621e-02 4.32239845e-04 9.99244701e-01 -6.75167569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33240100800002 meters 0.058298439129624756 Centerline is valid? [True, True] Translation: X:75.43, Y:-17.34, Z:-6.75 [[ 8.98169835e-01 4.38320694e-01 3.41455304e-02 7.54323956e+01] [-4.37984201e-01 8.98818527e-01 -1.71783353e-02 -1.73360916e+01] [-3.82202552e-02 4.73859716e-04 9.99269227e-01 -6.75393143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362401008 meters 0.058541794911617866 Centerline is valid? [True, True] Translation: X:75.46, Y:-17.35, Z:-6.76 [[ 8.98304867e-01 4.38110667e-01 3.32777485e-02 7.54591707e+01] [-4.37790544e-01 8.98920916e-01 -1.67518916e-02 -1.73512295e+01] [-3.72532466e-02 4.79622178e-04 9.99305742e-01 -6.75729616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39240100800001 meters 0.058601806683548245 Centerline is valid? [True, True] Translation: X:75.49, Y:-17.37, Z:-6.76 [[ 8.98879255e-01 4.36983991e-01 3.25741509e-02 7.54880323e+01] [-4.36676238e-01 8.99469131e-01 -1.64056277e-02 -1.73656430e+01] [-3.64684399e-02 5.22320762e-04 9.99334669e-01 -6.75852460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42240100800001 meters 0.05862465649336151 Centerline is valid? [True, True] Translation: X:75.52, Y:-17.38, Z:-6.76 [[ 8.98410507e-01 4.37911024e-01 3.30529396e-02 7.55153932e+01] [-4.37594378e-01 8.99018178e-01 -1.66576266e-02 -1.73798769e+01] [-3.70097518e-02 5.01606206e-04 9.99314779e-01 -6.76259602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45240100800001 meters 0.05829754620022692 Centerline is valid? [True, True] Translation: X:75.54, Y:-17.39, Z:-6.76 [[ 8.97398066e-01 4.39890676e-01 3.42477032e-02 7.55436886e+01] [-4.39551760e-01 8.98051221e-01 -1.72700349e-02 -1.73923365e+01] [-3.83531190e-02 4.44457646e-04 9.99264150e-01 -6.76281251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48240100800001 meters 0.05777397181330286 Centerline is valid? [True, True] Translation: X:75.57, Y:-17.40, Z:-6.76 [[ 8.95806274e-01 4.43037238e-01 3.53429586e-02 7.55740050e+01] [-4.42678369e-01 8.96503150e-01 -1.78315243e-02 -1.74035039e+01] [-3.95851030e-02 3.28028119e-04 9.99216149e-01 -6.76068651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51240100800001 meters 0.05777397181330286 Centerline is valid? [True, True] Translation: X:75.60, Y:-17.42, Z:-6.76 [[ 8.95688962e-01 4.43274649e-01 3.53393402e-02 7.56027273e+01] [-4.42915682e-01 8.96385787e-01 -1.78386913e-02 -1.74181928e+01] [-3.95851219e-02 3.25570943e-04 9.99216149e-01 -6.76300568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54240100800001 meters 0.0577088747612633 Centerline is valid? [True, True] Translation: X:75.63, Y:-17.43, Z:-6.77 [[ 8.94776333e-01 4.45091249e-01 3.56243308e-02 7.56313316e+01] [-4.44727238e-01 8.95485182e-01 -1.79992525e-02 -1.74300361e+01] [-3.99123701e-02 2.62194879e-04 9.99203150e-01 -6.76654915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57240100800001 meters 0.05764107875137876 Centerline is valid? [True, True] Translation: X:75.66, Y:-17.44, Z:-6.77 [[ 8.92125526e-01 4.50372421e-01 3.57313434e-02 7.56628382e+01] [-4.50010336e-01 8.92840793e-01 -1.80559103e-02 -1.74381362e+01] [-4.00342850e-02 2.86646309e-05 9.99198306e-01 -6.76780626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60240100800002 meters 0.057784073646918996 Centerline is valid? [True, True] Translation: X:75.69, Y:-17.45, Z:-6.77 [[ 8.89542068e-01 4.55511694e-01 3.49857963e-02 7.56941173e+01] [-4.55168153e-01 8.90229780e-01 -1.76887367e-02 -1.74470859e+01] [-3.92028241e-02 -1.89544855e-04 9.99231256e-01 -6.77034594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63240100800002 meters 0.057916183907490405 Centerline is valid? [True, True] Translation: X:75.73, Y:-17.46, Z:-6.77 [[ 8.88172108e-01 4.58150712e-01 3.53303267e-02 7.57254878e+01] [-4.57802098e-01 8.88874476e-01 -1.78718980e-02 -1.74579831e+01] [-3.95922484e-02 -3.00976309e-04 9.99215874e-01 -6.77115609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66240100800002 meters 0.05829254190978322 Centerline is valid? [True, True] Translation: X:75.76, Y:-17.47, Z:-6.78 [[ 8.86796310e-01 4.60800433e-01 3.54297097e-02 7.57561663e+01] [-4.60451439e-01 8.87503687e-01 -1.79354013e-02 -1.74667475e+01] [-3.97086387e-02 -4.08613085e-04 9.99211217e-01 -6.77644743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69240100800002 meters 0.05865379505090635 Centerline is valid? [True, True] Translation: X:75.78, Y:-17.48, Z:-6.78 [[ 8.86588176e-01 4.61260531e-01 3.46428676e-02 7.57838983e+01] [-4.60926817e-01 8.87264647e-01 -1.75475048e-02 -1.74796750e+01] [-3.88313631e-02 -4.10416409e-04 9.99245694e-01 -6.78169941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722401008 meters 0.05837959430696074 Centerline is valid? [True, True] Translation: X:75.81, Y:-17.50, Z:-6.78 [[ 8.86871866e-01 4.60787280e-01 3.36656516e-02 7.58113936e+01] [-4.60471492e-01 8.87510532e-01 -1.70604994e-02 -1.74960141e+01] [-3.77398815e-02 -3.71595923e-04 9.99287528e-01 -6.78197654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.752401008 meters 0.05868109751956249 Centerline is valid? [True, True] Translation: X:75.84, Y:-17.51, Z:-6.79 [[ 8.87412142e-01 4.59774623e-01 3.32713974e-02 7.58389124e+01] [-4.59465017e-01 8.88035583e-01 -1.68730874e-02 -1.75112902e+01] [-3.73040022e-02 -3.13660516e-04 9.99303914e-01 -6.78775380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78240100800001 meters 0.0583056312140034 Centerline is valid? [True, True] Translation: X:75.87, Y:-17.53, Z:-6.79 [[ 8.88386184e-01 4.57865786e-01 3.35992600e-02 7.58655598e+01] [-4.57548492e-01 8.89021298e-01 -1.70443247e-02 -1.75291754e+01] [-3.76744709e-02 -2.31348102e-04 9.99290038e-01 -6.78900515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81240100800001 meters 0.057882932574256564 Centerline is valid? [True, True] Translation: X:75.89, Y:-17.55, Z:-6.79 [[ 8.90740646e-01 4.53290465e-01 3.32994836e-02 7.58905161e+01] [-4.52975313e-01 8.91362863e-01 -1.69000702e-02 -1.75526567e+01] [-3.73425637e-02 -3.02645895e-05 9.99302523e-01 -6.78745775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84240100800001 meters 0.0578048155506968 Centerline is valid? [True, True] Translation: X:75.92, Y:-17.57, Z:-6.79 [[ 8.92057175e-01 4.50695479e-01 3.32803470e-02 7.59180773e+01] [-4.50378469e-01 8.92677757e-01 -1.69014026e-02 -1.75716064e+01] [-3.73260113e-02 8.82657311e-05 9.99303138e-01 -6.79012988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87240100800001 meters 0.05816275573614429 Centerline is valid? [True, True] Translation: X:75.95, Y:-17.59, Z:-6.79 [[ 8.93329821e-01 4.48226066e-01 3.24842356e-02 7.59454391e+01] [-4.47921989e-01 8.93920217e-01 -1.65086789e-02 -1.75888739e+01] [-3.64379352e-02 1.97291697e-04 9.99335898e-01 -6.79437130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90240100800001 meters 0.058437010622807053 Centerline is valid? [True, True] Translation: X:75.97, Y:-17.61, Z:-6.80 [[ 8.94326834e-01 4.46277379e-01 3.18749906e-02 7.59712421e+01] [-4.45983028e-01 8.94894643e-01 -1.62085184e-02 -1.76055103e+01] [-3.57582534e-02 2.80008124e-04 9.99360430e-01 -6.79949778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93240100800001 meters 0.0589647253098514 Centerline is valid? [True, True] Translation: X:76.00, Y:-17.63, Z:-6.80 [[ 8.96717587e-01 4.41448644e-01 3.19478330e-02 7.59967885e+01] [-4.41149590e-01 8.97286389e-01 -1.62534755e-02 -1.76262721e+01] [-3.58414304e-02 4.81003909e-04 9.99357374e-01 -6.80149310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96240100800001 meters 0.05920785947671285 Centerline is valid? [True, True] Translation: X:76.02, Y:-17.64, Z:-6.80 [[ 8.98159541e-01 4.38557162e-01 3.12578598e-02 7.60237431e+01] [-4.38268859e-01 8.98703103e-01 -1.59104002e-02 -1.76439701e+01] [-3.50691555e-02 5.90731210e-04 9.99384713e-01 -6.80149376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99240100800002 meters 0.059326397383244266 Centerline is valid? [True, True] Translation: X:76.05, Y:-17.66, Z:-6.80 [[ 8.99268698e-01 4.36277022e-01 3.12757012e-02 7.60506417e+01] [-4.35986667e-01 8.99812139e-01 -1.59292170e-02 -1.76608952e+01] [-3.50918070e-02 6.88857502e-04 9.99383855e-01 -6.80205129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02240100800002 meters 0.05978066529456531 Centerline is valid? [True, True] Translation: X:76.08, Y:-17.68, Z:-6.80 [[ 9.01624905e-01 4.31209897e-01 3.36237494e-02 7.60768165e+01] [-4.30870389e-01 9.02251129e-01 -1.71349881e-02 -1.76812715e+01] [-3.77258423e-02 9.61854053e-04 9.99287664e-01 -6.79995712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05240100800002 meters 0.06061535816627833 Centerline is valid? [True, True] Translation: X:76.10, Y:-17.70, Z:-6.80 [[ 9.02459958e-01 4.29323417e-01 3.53189420e-02 7.61034756e+01] [-4.28946924e-01 9.03150146e-01 -1.80096948e-02 -1.76993430e+01] [-3.96302914e-02 1.10307691e-03 9.99213803e-01 -6.80212275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08240100800002 meters 0.06018288271716055 Centerline is valid? [True, True] Translation: X:76.13, Y:-17.71, Z:-6.80 [[ 9.02845759e-01 4.28501068e-01 3.54453312e-02 7.61323221e+01] [-4.28120756e-01 9.03540537e-01 -1.80863407e-02 -1.77142648e+01] [-3.97763099e-02 1.15429403e-03 9.99207943e-01 -6.80094826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.112401008 meters 0.060925923815676006 Centerline is valid? [True, True] Translation: X:76.16, Y:-17.73, Z:-6.80 [[ 9.03213965e-01 4.27679037e-01 3.59885304e-02 7.61588077e+01] [-4.27285893e-01 9.03929840e-01 -1.83741383e-02 -1.77309744e+01] [-4.03893403e-02 1.21838693e-03 9.99183275e-01 -6.80330353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14240100800001 meters 0.060686411728361096 Centerline is valid? [True, True] Translation: X:76.19, Y:-17.74, Z:-6.81 [[ 9.02985159e-01 4.28180744e-01 3.57638535e-02 7.61885513e+01] [-4.27792530e-01 9.03692325e-01 -1.82683346e-02 -1.77441529e+01] [-4.01416690e-02 1.19652563e-03 9.99193282e-01 -6.80658378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17240100800001 meters 0.05989798745431685 Centerline is valid? [True, True] Translation: X:76.22, Y:-17.76, Z:-6.81 [[ 9.02204340e-01 4.29830585e-01 3.56790914e-02 7.62183329e+01] [-4.29444999e-01 9.02908848e-01 -1.82374666e-02 -1.77555743e+01] [-4.00539883e-02 1.13171413e-03 9.99196876e-01 -6.80717727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20240100800001 meters 0.05985778285905993 Centerline is valid? [True, True] Translation: X:76.25, Y:-17.77, Z:-6.81 [[ 9.01244573e-01 4.31810136e-01 3.60309043e-02 7.62462316e+01] [-4.31418028e-01 9.01963898e-01 -1.84285530e-02 -1.77690647e+01] [-4.04562109e-02 1.06425172e-03 9.99180746e-01 -6.81011494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23240100800001 meters 0.05903704722521501 Centerline is valid? [True, True] Translation: X:76.28, Y:-17.78, Z:-6.81 [[ 8.99858529e-01 4.34626325e-01 3.68046823e-02 7.62760929e+01] [-4.34219131e-01 9.00610361e-01 -1.88340951e-02 -1.77813697e+01] [-4.13324718e-02 9.66723918e-04 9.99144981e-01 -6.81036999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26240100800001 meters 0.05767523877159385 Centerline is valid? [True, True] Translation: X:76.31, Y:-17.79, Z:-6.81 [[ 8.96726584e-01 4.40951027e-01 3.79950861e-02 7.63075742e+01] [-4.40522221e-01 8.97530886e-01 -1.94546023e-02 -1.77900898e+01] [-4.26802901e-02 7.07779323e-04 9.99088531e-01 -6.80980157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29240100800001 meters 0.05765787298683729 Centerline is valid? [True, True] Translation: X:76.34, Y:-17.80, Z:-6.81 [[ 8.95034247e-01 4.44394287e-01 3.77811293e-02 7.63357901e+01] [-4.43972888e-01 8.95831130e-01 -1.93561444e-02 -1.78017753e+01] [-4.24472718e-02 5.50615028e-04 9.99098557e-01 -6.81329128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32240100800001 meters 0.05762543552246337 Centerline is valid? [True, True] Translation: X:76.36, Y:-17.81, Z:-6.82 [[ 8.93414425e-01 4.47690897e-01 3.71957629e-02 7.63644903e+01] [-4.47284894e-01 8.94188293e-01 -1.90662223e-02 -1.78135620e+01] [-4.17957899e-02 3.96935175e-04 9.99126095e-01 -6.81908815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35240100800002 meters 0.057586067742133505 Centerline is valid? [True, True] Translation: X:76.39, Y:-17.82, Z:-6.82 [[ 8.91409419e-01 4.51656929e-01 3.73532723e-02 7.63933405e+01] [-4.51250510e-01 8.92191666e-01 -1.91574333e-02 -1.78244299e+01] [-4.19788658e-02 2.21433337e-04 9.99118474e-01 -6.82274737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38240100800002 meters 0.057521137425964756 Centerline is valid? [True, True] Translation: X:76.42, Y:-17.83, Z:-6.83 [[ 8.89379826e-01 4.55654527e-01 3.71816846e-02 7.64245442e+01] [-4.55254945e-01 8.90156700e-01 -1.90783754e-02 -1.78340849e+01] [-4.17906738e-02 4.07763630e-05 9.99126387e-01 -6.82544336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41240100800002 meters 0.05809987373706777 Centerline is valid? [True, True] Translation: X:76.46, Y:-17.84, Z:-6.83 [[ 8.85179172e-01 4.63826598e-01 3.63692207e-02 7.64565415e+01] [-4.63450752e-01 8.85925945e-01 -1.86714103e-02 -1.78419090e+01] [-4.08807329e-02 -3.27799147e-04 9.99163980e-01 -6.82676267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44240100800002 meters 0.05889609970456422 Centerline is valid? [True, True] Translation: X:76.49, Y:-17.85, Z:-6.83 [[ 8.83216631e-01 4.67661170e-01 3.49487082e-02 7.64856858e+01] [-4.67316737e-01 8.83907689e-01 -1.79517330e-02 -1.78541966e+01] [-3.92867604e-02 -4.76847092e-04 9.99227863e-01 -6.83027363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47240100800002 meters 0.059052723946634265 Centerline is valid? [True, True] Translation: X:76.51, Y:-17.87, Z:-6.83 [[ 8.81777007e-01 4.70389894e-01 3.46793443e-02 7.65138580e+01] [-4.70052298e-01 8.82458503e-01 -1.78276947e-02 -1.78688255e+01] [-3.89890497e-02 -5.81054177e-04 9.99239469e-01 -6.83036555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502401008 meters 0.06080981240988991 Centerline is valid? [True, True] Translation: X:76.54, Y:-17.88, Z:-6.84 [[ 8.79158570e-01 4.75260980e-01 3.47449351e-02 7.65434949e+01] [-4.74925817e-01 8.79844513e-01 -1.78634082e-02 -1.78781732e+01] [-3.90599214e-02 -7.96498239e-04 9.99236553e-01 -6.83604331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53240100800001 meters 0.061005446616158004 Centerline is valid? [True, True] Translation: X:76.57, Y:-17.89, Z:-6.84 [[ 8.78345541e-01 4.76734834e-01 3.51142336e-02 7.65721686e+01] [-4.76393237e-01 8.79046731e-01 -1.80645423e-02 -1.78927855e+01] [-3.94790489e-02 -8.61273260e-04 9.99220027e-01 -6.83880415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56240100800001 meters 0.060450585891453995 Centerline is valid? [True, True] Translation: X:76.60, Y:-17.91, Z:-6.84 [[ 8.79090950e-01 4.75291415e-01 3.60162904e-02 7.65994101e+01] [-4.74930172e-01 8.79828066e-01 -1.85446954e-02 -1.79109965e+01] [-4.05022777e-02 -8.02749100e-04 9.99179124e-01 -6.83972191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59240100800001 meters 0.05960804399951915 Centerline is valid? [True, True] Translation: X:76.63, Y:-17.93, Z:-6.84 [[ 8.80596907e-01 4.72424385e-01 3.69362808e-02 7.66263880e+01] [-4.72042003e-01 8.81370935e-01 -1.90163589e-02 -1.79304663e+01] [-4.15383560e-02 -6.89729170e-04 9.99136672e-01 -6.84252593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62240100800001 meters 0.05882852881288306 Centerline is valid? [True, True] Translation: X:76.65, Y:-17.95, Z:-6.84 [[ 8.82713265e-01 4.68378424e-01 3.79334052e-02 7.66505882e+01] [-4.67970745e-01 8.83527817e-01 -1.95443008e-02 -1.79531339e+01] [-4.26693474e-02 -4.99710293e-04 9.99089124e-01 -6.84399978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65240100800001 meters 0.05825239884571277 Centerline is valid? [True, True] Translation: X:76.68, Y:-17.97, Z:-6.84 [[ 8.83991866e-01 4.65855668e-01 3.92030368e-02 7.66767896e+01] [-4.65417191e-01 8.84860640e-01 -2.02110123e-02 -1.79735166e+01] [-4.41046389e-02 -3.79396760e-04 9.99026845e-01 -6.84418922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68240100800001 meters 0.05773302495860947 Centerline is valid? [True, True] Translation: X:76.70, Y:-17.99, Z:-6.84 [[ 8.84971950e-01 4.63887968e-01 4.04054579e-02 7.67021212e+01] [-4.63419615e-01 8.85893828e-01 -2.08419249e-02 -1.79939209e+01] [-4.54632639e-02 -2.80162766e-04 9.98965972e-01 -6.84279895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71240100800001 meters 0.05733926550878976 Centerline is valid? [True, True] Translation: X:76.73, Y:-18.01, Z:-6.84 [[ 8.85809718e-01 4.62149491e-01 4.19403263e-02 7.67272433e+01] [-4.61642166e-01 8.86802015e-01 -2.16494041e-02 -1.80128748e+01] [-4.71980270e-02 -1.84170548e-04 9.98885535e-01 -6.84415925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74240100800002 meters 0.056782505714257366 Centerline is valid? [True, True] Translation: X:76.75, Y:-18.04, Z:-6.84 [[ 8.87828200e-01 4.58122182e-01 4.34183482e-02 7.67516635e+01] [-4.57573412e-01 8.88889231e-01 -2.24166856e-02 -1.80371654e+01] [-4.88636831e-02 3.50838717e-05 9.98805456e-01 -6.84047937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77240100800002 meters 0.05698767101350664 Centerline is valid? [True, True] Translation: X:76.78, Y:-18.05, Z:-6.84 [[ 8.88521556e-01 4.56764141e-01 4.35426774e-02 7.67792302e+01] [-4.56209912e-01 8.89587828e-01 -2.24946977e-02 -1.80546930e+01] [-4.90098071e-02 1.22422761e-04 9.98798290e-01 -6.84422466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80240100800002 meters 0.05708837244595053 Centerline is valid? [True, True] Translation: X:76.81, Y:-18.07, Z:-6.85 [[ 8.89008044e-01 4.55801017e-01 4.37050466e-02 7.68080651e+01] [-4.55240656e-01 8.90081680e-01 -2.25953085e-02 -1.80704260e+01] [-4.92000259e-02 1.91096929e-04 9.98788927e-01 -6.84901540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83240100800002 meters 0.05769314943049431 Centerline is valid? [True, True] Translation: X:76.84, Y:-18.08, Z:-6.86 [[ 8.88459382e-01 4.57189394e-01 4.02216943e-02 7.68378844e+01] [-4.56715680e-01 8.89369352e-01 -2.08072689e-02 -1.80813293e+01] [-4.52848048e-02 1.16534773e-04 9.98974110e-01 -6.85868475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862401008 meters 0.05804477034650078 Centerline is valid? [True, True] Translation: X:76.87, Y:-18.09, Z:-6.86 [[ 8.87420497e-01 4.59339571e-01 3.86266867e-02 7.68663940e+01] [-4.58904136e-01 8.88260749e-01 -1.99958770e-02 -1.80927859e+01] [-4.34954672e-02 1.88047488e-05 9.99053624e-01 -6.86367458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89240100800001 meters 0.0582133142444598 Centerline is valid? [True, True] Translation: X:76.90, Y:-18.11, Z:-6.87 [[ 8.86980889e-01 4.60364210e-01 3.64650138e-02 7.68955365e+01] [-4.59976719e-01 8.87730136e-01 -1.88844905e-02 -1.81075162e+01] [-4.10648352e-02 -2.28752702e-05 9.99156484e-01 -6.86786668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92240100800001 meters 0.05865256652513151 Centerline is valid? [True, True] Translation: X:76.92, Y:-18.12, Z:-6.87 [[ 8.86740183e-01 4.60923217e-01 3.52368466e-02 7.69222589e+01] [-4.60561317e-01 8.87440019e-01 -1.82616161e-02 -1.81220582e+01] [-3.96877906e-02 -3.54196274e-05 9.99212129e-01 -6.87170520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95240100800001 meters 0.058450976615635634 Centerline is valid? [True, True] Translation: X:76.95, Y:-18.14, Z:-6.87 [[ 8.86797563e-01 4.60943582e-01 3.34827686e-02 7.69505233e+01] [-4.60616603e-01 8.87429441e-01 -1.73589072e-02 -1.81376938e+01] [-3.77150715e-02 -2.88825403e-05 9.99288533e-01 -6.87169986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98240100800001 meters 0.05864101891934989 Centerline is valid? [True, True] Translation: X:76.98, Y:-18.15, Z:-6.88 [[ 8.86753146e-01 4.61034661e-01 3.34050705e-02 7.69788571e+01] [-4.60708914e-01 8.87382128e-01 -1.73278863e-02 -1.81520773e+01] [-3.76318187e-02 -2.44560751e-05 9.99291672e-01 -6.87540628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01240100800001 meters 0.05881736497624651 Centerline is valid? [True, True] Translation: X:77.01, Y:-18.17, Z:-6.88 [[ 8.87445184e-01 4.59616604e-01 3.45488342e-02 7.70061462e+01] [-4.59266585e-01 8.88117433e-01 -1.79340365e-02 -1.81653048e+01] [-3.89262028e-02 4.83492114e-05 9.99242087e-01 -6.88116907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04240100800001 meters 0.05853490331621418 Centerline is valid? [True, True] Translation: X:77.03, Y:-18.18, Z:-6.88 [[ 8.88265945e-01 4.57925856e-01 3.58820579e-02 7.70348019e+01] [-4.57546544e-01 8.88990378e-01 -1.86351150e-02 -1.81811701e+01] [-4.04323052e-02 1.35226432e-04 9.99182271e-01 -6.88100393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07240100800001 meters 0.058357635539497923 Centerline is valid? [True, True] Translation: X:77.06, Y:-18.20, Z:-6.88 [[ 8.89210116e-01 4.55952146e-01 3.75900207e-02 7.70628046e+01] [-4.55533573e-01 8.90004258e-01 -1.95341770e-02 -1.81983945e+01] [-4.23619284e-02 2.46471302e-04 9.99102300e-01 -6.87989828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10240100800002 meters 0.058050458429318975 Centerline is valid? [True, True] Translation: X:77.09, Y:-18.22, Z:-6.87 [[ 8.91588051e-01 4.50995569e-01 4.09114156e-02 7.70887550e+01] [-4.50493728e-01 8.92526025e-01 -2.12766283e-02 -1.82210497e+01] [-4.61101682e-02 5.39651443e-04 9.98936215e-01 -6.87416914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13240100800002 meters 0.05817714618643577 Centerline is valid? [True, True] Translation: X:77.12, Y:-18.24, Z:-6.87 [[ 8.92681961e-01 4.48655132e-01 4.27491321e-02 7.71154427e+01] [-4.48103731e-01 8.93704692e-01 -2.22479239e-02 -1.82393718e+01] [-4.81867452e-02 7.04274750e-04 9.98838096e-01 -6.87310173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16240100800002 meters 0.0585069473242466 Centerline is valid? [True, True] Translation: X:77.14, Y:-18.26, Z:-6.87 [[ 8.93737088e-01 4.46414064e-01 4.41418265e-02 7.71411068e+01] [-4.45822647e-01 8.94826092e-01 -2.29876782e-02 -1.82585327e+01] [-4.97612809e-02 8.65514625e-04 9.98760765e-01 -6.87358939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19240100800002 meters 0.058527390385012916 Centerline is valid? [True, True] Translation: X:77.17, Y:-18.28, Z:-6.87 [[ 8.94963898e-01 4.43939249e-01 4.42443738e-02 7.71696373e+01] [-4.43341345e-01 8.96056307e-01 -2.30552679e-02 -1.82753571e+01] [-4.98805886e-02 1.01827219e-03 9.98754670e-01 -6.87186641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22240100800002 meters 0.05972590099478863 Centerline is valid? [True, True] Translation: X:77.19, Y:-18.30, Z:-6.88 [[ 8.97846422e-01 4.38099770e-01 4.40499049e-02 7.71947825e+01] [-4.37499206e-01 8.98925337e-01 -2.29713671e-02 -1.82952620e+01] [-4.96613262e-02 1.35296138e-03 9.98765199e-01 -6.87528875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.252401008 meters 0.06063706282027412 Centerline is valid? [True, True] Translation: X:77.22, Y:-18.31, Z:-6.88 [[ 8.99239840e-01 4.35246836e-01 4.39078683e-02 7.72230483e+01] [-4.34646455e-01 9.00309896e-01 -2.29030755e-02 -1.83121298e+01] [-4.94991795e-02 1.51095862e-03 9.98773021e-01 -6.87979781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28240100800001 meters 0.061384740691487576 Centerline is valid? [True, True] Translation: X:77.25, Y:-18.33, Z:-6.88 [[ 9.00194495e-01 4.33301941e-01 4.35809507e-02 7.72519069e+01] [-4.32707476e-01 9.01247361e-01 -2.27471748e-02 -1.83277769e+01] [-4.91336119e-02 1.61907834e-03 9.98790902e-01 -6.88385152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31240100800001 meters 0.061812662721738916 Centerline is valid? [True, True] Translation: X:77.28, Y:-18.34, Z:-6.89 [[ 9.00478257e-01 4.32792097e-01 4.27774462e-02 7.72802184e+01] [-4.32217961e-01 9.01492284e-01 -2.23449499e-02 -1.83420425e+01] [-4.82342554e-02 1.63196100e-03 9.98834718e-01 -6.88830228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34240100800001 meters 0.062011688270491215 Centerline is valid? [True, True] Translation: X:77.31, Y:-18.35, Z:-6.89 [[ 8.99900112e-01 4.33996393e-01 4.27424832e-02 7.73102686e+01] [-4.33424216e-01 9.00913236e-01 -2.23336215e-02 -1.83517916e+01] [-4.81999801e-02 1.57240123e-03 9.98836468e-01 -6.89204681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37240100800001 meters 0.061753970963403036 Centerline is valid? [True, True] Translation: X:77.34, Y:-18.36, Z:-6.89 [[ 8.99290879e-01 4.35274069e-01 4.25722998e-02 7.73403625e+01] [-4.34707226e-01 9.00296732e-01 -2.22580896e-02 -1.83645575e+01] [-4.80160715e-02 1.51001060e-03 9.98845422e-01 -6.89337926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40240100800001 meters 0.061753970963403036 Centerline is valid? [True, True] Translation: X:77.37, Y:-18.38, Z:-6.90 [[ 8.99178280e-01 4.35506805e-01 4.25704529e-02 7.73688709e+01] [-4.34940056e-01 9.00184186e-01 -2.22616219e-02 -1.83796618e+01] [-4.80163363e-02 1.50157174e-03 9.98845422e-01 -6.89569427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43240100800001 meters 0.061231806759258746 Centerline is valid? [True, True] Translation: X:77.40, Y:-18.39, Z:-6.90 [[ 8.97734398e-01 4.38529084e-01 4.20141877e-02 7.73986463e+01] [-4.37979670e-01 8.98716006e-01 -2.19852286e-02 -1.83922048e+01] [-4.73999852e-02 1.33553593e-03 9.98875096e-01 -6.89682506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46240100800001 meters 0.06072025738373524 Centerline is valid? [True, True] Translation: X:77.43, Y:-18.40, Z:-6.90 [[ 8.95917229e-01 4.42221869e-01 4.20967655e-02 7.74277081e+01] [-4.41673754e-01 8.96904949e-01 -2.20410465e-02 -1.84034439e+01] [-4.75038300e-02 1.15391687e-03 9.98870389e-01 -6.89764825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49240100800002 meters 0.05974025624022788 Centerline is valid? [True, True] Translation: X:77.46, Y:-18.41, Z:-6.90 [[ 8.93862901e-01 4.46355965e-01 4.21362930e-02 7.74597947e+01] [-4.45810843e-01 8.94854993e-01 -2.20733747e-02 -1.84120658e+01] [-4.75584546e-02 9.45754433e-04 9.98868009e-01 -6.89885142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52240100800002 meters 0.058973247675406466 Centerline is valid? [True, True] Translation: X:77.49, Y:-18.42, Z:-6.90 [[ 8.91339447e-01 4.51329641e-01 4.26092122e-02 7.74922288e+01] [-4.50777401e-01 8.92357030e-01 -2.23308088e-02 -1.84191274e+01] [-4.81011859e-02 6.97060798e-04 9.98842225e-01 -6.90134947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55240100800002 meters 0.05836406570103361 Centerline is valid? [True, True] Translation: X:77.53, Y:-18.42, Z:-6.90 [[ 8.86745024e-01 4.60143904e-01 4.41684284e-02 7.75277056e+01] [-4.59560672e-01 8.87844316e-01 -2.31615772e-02 -1.84203723e+01] [-4.98723467e-02 2.40340701e-04 9.98755571e-01 -6.90462882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58240100800002 meters 0.05852970131685296 Centerline is valid? [True, True] Translation: X:77.56, Y:-18.43, Z:-6.91 [[ 8.84595791e-01 4.64225766e-01 4.45502541e-02 7.75588350e+01] [-4.63636906e-01 8.85716906e-01 -2.33748181e-02 -1.84299599e+01] [-5.03101061e-02 2.21237085e-05 9.98733645e-01 -6.90811843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.612401008 meters 0.058671922980255434 Centerline is valid? [True, True] Translation: X:77.59, Y:-18.44, Z:-6.91 [[ 8.83001310e-01 4.67240933e-01 4.46609161e-02 7.75889889e+01] [-4.66652349e-01 8.84130019e-01 -2.34455502e-02 -1.84411646e+01] [-5.04407774e-02 -1.38669839e-04 9.98727044e-01 -6.91026849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64240100800001 meters 0.058856685370914485 Centerline is valid? [True, True] Translation: X:77.62, Y:-18.45, Z:-6.91 [[ 8.81828718e-01 4.69268567e-01 4.65308972e-02 7.76172670e+01] [-4.68631596e-01 8.83055462e-01 -2.44433673e-02 -1.84532544e+01] [-5.25598669e-02 -2.50985404e-04 9.98617743e-01 -6.91086966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67240100800001 meters 0.05879410849299628 Centerline is valid? [True, True] Translation: X:77.65, Y:-18.47, Z:-6.91 [[ 8.81731512e-01 4.69413302e-01 4.69115432e-02 7.76452553e+01] [-4.68765413e-01 8.82978533e-01 -2.46555830e-02 -1.84695437e+01] [-5.29955442e-02 -2.50904467e-04 9.98594717e-01 -6.91246546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70240100800001 meters 0.05866412485146722 Centerline is valid? [True, True] Translation: X:77.67, Y:-18.49, Z:-6.91 [[ 8.82012310e-01 4.68946134e-01 4.63012770e-02 7.76734542e+01] [-4.68313702e-01 8.83226743e-01 -2.43474162e-02 -1.84867395e+01] [-5.23121527e-02 -2.08801632e-04 9.98630760e-01 -6.91277942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73240100800001 meters 0.05891207443609155 Centerline is valid? [True, True] Translation: X:77.70, Y:-18.51, Z:-6.92 [[ 8.84195093e-01 4.64945763e-01 4.49941563e-02 7.76989726e+01] [-4.64342466e-01 8.85339164e-01 -2.36778072e-02 -1.85052336e+01] [-5.08439848e-02 4.31034114e-05 9.98706607e-01 -6.92036714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76240100800001 meters 0.05913888777634203 Centerline is valid? [True, True] Translation: X:77.73, Y:-18.52, Z:-6.93 [[ 8.85448290e-01 4.62720134e-01 4.32597219e-02 7.77257448e+01] [-4.62159499e-01 8.86504399e-01 -2.27716708e-02 -1.85231039e+01] [-4.88868443e-02 1.70245641e-04 9.98804309e-01 -6.92574968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79240100800001 meters 0.05945641693631142 Centerline is valid? [True, True] Translation: X:77.75, Y:-18.54, Z:-6.93 [[ 8.86782672e-01 4.60340791e-01 4.12655862e-02 7.77525647e+01] [-4.59827574e-01 8.87742230e-01 -2.17332701e-02 -1.85411779e+01] [-4.66379143e-02 2.97632980e-04 9.98911816e-01 -6.93048222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82240100800001 meters 0.05989796267808133 Centerline is valid? [True, True] Translation: X:77.78, Y:-18.56, Z:-6.94 [[ 8.88034932e-01 4.58078849e-01 3.94680608e-02 7.77785627e+01] [-4.57606661e-01 8.88911470e-01 -2.07976386e-02 -1.85588559e+01] [-4.46105703e-02 4.08182055e-04 9.99004370e-01 -6.93555497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85240100800002 meters 0.060141556192979694 Centerline is valid? [True, True] Translation: X:77.81, Y:-18.58, Z:-6.94 [[ 8.88735609e-01 4.56771461e-01 3.88439033e-02 7.78054474e+01] [-4.56312372e-01 8.89583951e-01 -2.04795810e-02 -1.85758231e+01] [-4.39094010e-02 4.75979217e-04 9.99035404e-01 -6.93780002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88240100800002 meters 0.06088192528737408 Centerline is valid? [True, True] Translation: X:77.83, Y:-18.60, Z:-6.94 [[ 8.90234484e-01 4.53933456e-01 3.77754123e-02 7.78296856e+01] [-4.53496282e-01 8.91035379e-01 -1.99267438e-02 -1.85968118e+01] [-4.27046445e-02 6.08465416e-04 9.99087555e-01 -6.93980910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91240100800002 meters 0.06080204498375799 Centerline is valid? [True, True] Translation: X:77.86, Y:-18.61, Z:-6.94 [[ 8.90482039e-01 4.53466504e-01 3.75482079e-02 7.78566321e+01] [-4.53033573e-01 8.91273090e-01 -1.98207118e-02 -1.86138338e+01] [-4.24537362e-02 6.39389043e-04 9.99098229e-01 -6.94024688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94240100800002 meters 0.060869339822291944 Centerline is valid? [True, True] Translation: X:77.88, Y:-18.63, Z:-6.94 [[ 8.90941807e-01 4.52531858e-01 3.79158792e-02 7.78839138e+01] [-4.52089305e-01 8.91747965e-01 -2.00206588e-02 -1.86295207e+01] [-4.28713941e-02 6.95878477e-04 9.99080357e-01 -6.94176488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97240100800002 meters 0.06088390743915615 Centerline is valid? [True, True] Translation: X:77.91, Y:-18.64, Z:-6.94 [[ 8.90929585e-01 4.52345997e-01 4.03431979e-02 7.79133852e+01] [-4.51844406e-01 8.91842209e-01 -2.13097703e-02 -1.86426072e+01] [-4.56191561e-02 7.56656548e-04 9.98958618e-01 -6.94478103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002401008 meters 0.0605429433034258 Centerline is valid? [True, True] Translation: X:77.94, Y:-18.66, Z:-6.94 [[ 8.90159455e-01 4.53755658e-01 4.14963528e-02 7.79424800e+01] [-4.53225926e-01 8.91125856e-01 -2.19309794e-02 -1.86558182e+01] [-4.69297789e-02 7.14845701e-04 9.98897935e-01 -6.94498043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03240100800001 meters 0.06025897014058131 Centerline is valid? [True, True] Translation: X:77.97, Y:-18.67, Z:-6.94 [[ 8.89020260e-01 4.55867904e-01 4.27484571e-02 7.79711120e+01] [-4.55307508e-01 8.90047220e-01 -2.26057567e-02 -1.86698092e+01] [-4.83533843e-02 6.33282278e-04 9.98830090e-01 -6.94466557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06240100800001 meters 0.05982135087645253 Centerline is valid? [True, True] Translation: X:78.00, Y:-18.68, Z:-6.94 [[ 8.87663336e-01 4.58447882e-01 4.33513657e-02 7.79996683e+01] [-4.57873994e-01 8.88721148e-01 -2.29374572e-02 -1.86841242e+01] [-4.90429042e-02 5.11276829e-04 9.98796542e-01 -6.94389106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09240100800001 meters 0.05955311976797193 Centerline is valid? [True, True] Translation: X:78.03, Y:-18.70, Z:-6.94 [[ 8.86371532e-01 4.60846734e-01 4.43372873e-02 7.80284240e+01] [-4.60248753e-01 8.87479650e-01 -2.34724737e-02 -1.86977966e+01] [-5.01656531e-02 3.99151305e-04 9.98740831e-01 -6.94438873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12240100800001 meters 0.05939032705145379 Centerline is valid? [True, True] Translation: X:78.06, Y:-18.71, Z:-6.95 [[ 8.83909769e-01 4.65506371e-01 4.48033411e-02 7.80594802e+01] [-4.64900941e-01 8.85044517e-01 -2.37343420e-02 -1.87087116e+01] [-5.07014388e-02 1.49901351e-04 9.98713844e-01 -6.94601872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15240100800001 meters 0.05960640972963262 Centerline is valid? [True, True] Translation: X:78.09, Y:-18.72, Z:-6.95 [[ 8.82385601e-01 4.68413740e-01 4.45445647e-02 7.80887603e+01] [-4.67818682e-01 8.83509235e-01 -2.36032416e-02 -1.87205620e+01] [-5.04116169e-02 -1.16190141e-05 9.98728526e-01 -6.95108841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18240100800001 meters 0.059824534810064056 Centerline is valid? [True, True] Translation: X:78.12, Y:-18.73, Z:-6.96 [[ 8.81501889e-01 4.70145273e-01 4.37931716e-02 7.81175817e+01] [-4.69571466e-01 8.82589040e-01 -2.32212233e-02 -1.87324078e+01] [-4.95687216e-02 -9.44715638e-05 9.98770711e-01 -6.95653053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21240100800001 meters 0.0600622475954259 Centerline is valid? [True, True] Translation: X:78.15, Y:-18.75, Z:-6.96 [[ 8.80739476e-01 4.71606627e-01 4.34184921e-02 7.81468491e+01] [-4.71044153e-01 8.81809027e-01 -2.30270589e-02 -1.87458122e+01] [-4.91465319e-02 -1.71187043e-04 9.98791564e-01 -6.96013126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24240100800002 meters 0.060274894744270426 Centerline is valid? [True, True] Translation: X:78.17, Y:-18.76, Z:-6.96 [[ 8.80193784e-01 4.72791767e-01 4.15553525e-02 7.81734922e+01] [-4.72277346e-01 8.81174159e-01 -2.20501691e-02 -1.87626958e+01] [-4.70426412e-02 -2.17229762e-04 9.98892858e-01 -6.96444669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27240100800002 meters 0.06028721104181443 Centerline is valid? [True, True] Translation: X:78.20, Y:-18.78, Z:-6.97 [[ 8.80372220e-01 4.72556998e-01 4.04306481e-02 7.82013939e+01] [-4.72069389e-01 8.81300089e-01 -2.14626317e-02 -1.87820528e+01] [-4.57738506e-02 -1.90966572e-04 9.98951810e-01 -6.96685841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30240100800002 meters 0.0602023999812945 Centerline is valid? [True, True] Translation: X:78.23, Y:-18.80, Z:-6.97 [[ 8.80437975e-01 4.72466412e-01 4.00557451e-02 7.82288906e+01] [-4.71987013e-01 8.81348660e-01 -2.12790664e-02 -1.88008171e+01] [-4.53567214e-02 -1.70893400e-04 9.98970840e-01 -6.96690695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33240100800002 meters 0.0603348480138929 Centerline is valid? [True, True] Translation: X:78.26, Y:-18.82, Z:-6.97 [[ 8.81022591e-01 4.71408488e-01 3.96639938e-02 7.82557845e+01] [-4.70936728e-01 8.81914977e-01 -2.10848584e-02 -1.88177770e+01] [-4.49198514e-02 -1.02994908e-04 9.98990589e-01 -6.97168250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362401008 meters 0.06086908986881069 Centerline is valid? [True, True] Translation: X:78.28, Y:-18.83, Z:-6.98 [[ 8.81260199e-01 4.71127843e-01 3.76698378e-02 7.82822089e+01] [-4.70701568e-01 8.82064935e-01 -2.00370561e-02 -1.88324815e+01] [-4.26672581e-02 -7.33916332e-05 9.99089335e-01 -6.98243342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39240100800001 meters 0.06060726235971863 Centerline is valid? [True, True] Translation: X:78.31, Y:-18.85, Z:-6.98 [[ 8.81922946e-01 4.69887530e-01 3.76513865e-02 7.83111610e+01] [-4.69460293e-01 8.82726293e-01 -2.00330740e-02 -1.88517771e+01] [-4.26491605e-02 -8.20327344e-06 9.99090111e-01 -6.98151333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42240100800001 meters 0.06049503858797881 Centerline is valid? [True, True] Translation: X:78.34, Y:-18.87, Z:-6.98 [[ 8.82975451e-01 4.67931560e-01 3.73417726e-02 7.83366036e+01] [-4.67508651e-01 8.83764700e-01 -1.98901222e-02 -1.88708015e+01] [-4.23085564e-02 1.04887845e-04 9.99104587e-01 -6.98273768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45240100800001 meters 0.060500407865175146 Centerline is valid? [True, True] Translation: X:78.36, Y:-18.89, Z:-6.98 [[ 8.84238628e-01 4.65520957e-01 3.75804028e-02 7.83606918e+01] [-4.65090228e-01 8.85036828e-01 -2.00223104e-02 -1.88935362e+01] [-4.25808456e-02 2.26222240e-04 9.99092999e-01 -6.98250349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48240100800001 meters 0.06025846793837372 Centerline is valid? [True, True] Translation: X:78.39, Y:-18.91, Z:-6.98 [[ 8.84611151e-01 4.64759015e-01 3.82383194e-02 7.83883523e+01] [-4.64311827e-01 8.85437169e-01 -2.03849742e-02 -1.89118684e+01] [-4.33317298e-02 2.78271594e-04 9.99060701e-01 -6.98207549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51240100800001 meters 0.06014537563516252 Centerline is valid? [True, True] Translation: X:78.42, Y:-18.93, Z:-6.98 [[ 8.84940221e-01 4.64027958e-01 3.94824033e-02 7.84155261e+01] [-4.63549827e-01 8.85820490e-01 -2.10622007e-02 -1.89293465e+01] [-4.47477718e-02 3.36727285e-04 9.98998260e-01 -6.98258920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54240100800001 meters 0.06003857701974021 Centerline is valid? [True, True] Translation: X:78.45, Y:-18.95, Z:-6.98 [[ 8.84728265e-01 4.64293736e-01 4.10758272e-02 7.84451198e+01] [-4.63775916e-01 8.85681210e-01 -2.19247310e-02 -1.89464443e+01] [-4.65596036e-02 3.47449811e-04 9.98915453e-01 -6.98399670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57240100800001 meters 0.05976862054799545 Centerline is valid? [True, True] Translation: X:78.47, Y:-18.96, Z:-6.98 [[ 8.83671694e-01 4.65970087e-01 4.46790198e-02 7.84736093e+01] [-4.65358345e-01 8.84800422e-01 -2.38709764e-02 -1.89594354e+01] [-5.06551765e-02 3.02351411e-04 9.98716157e-01 -6.98490647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60240100800002 meters 0.05957947776783029 Centerline is valid? [True, True] Translation: X:78.50, Y:-18.97, Z:-6.98 [[ 8.83616112e-01 4.66006389e-01 4.53939780e-02 7.85023655e+01] [-4.65374330e-01 8.84781299e-01 -2.42649219e-02 -1.89741965e+01] [-5.14713514e-02 3.15683789e-04 9.98674422e-01 -6.98479293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63240100800002 meters 0.05964514124382094 Centerline is valid? [True, True] Translation: X:78.53, Y:-18.99, Z:-6.99 [[ 8.83630581e-01 4.65971775e-01 4.54675741e-02 7.85307338e+01] [-4.65336856e-01 8.84799522e-01 -2.43190493e-02 -1.89900948e+01] [-5.15616785e-02 3.31317723e-04 9.98669757e-01 -6.98761586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66240100800002 meters 0.060031207893959576 Centerline is valid? [True, True] Translation: X:78.56, Y:-19.01, Z:-6.99 [[ 8.84707775e-01 4.63993274e-01 4.47481290e-02 7.85576786e+01] [-4.63374979e-01 8.85838606e-01 -2.39497971e-02 -1.90055243e+01] [-5.07521650e-02 4.53408398e-04 9.98711176e-01 -6.99479189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69240100800002 meters 0.06038289601228773 Centerline is valid? [True, True] Translation: X:78.58, Y:-19.02, Z:-7.00 [[ 8.85607284e-01 4.62298845e-01 4.44917474e-02 7.85848372e+01] [-4.61684786e-01 8.86724007e-01 -2.38263217e-02 -1.90222664e+01] [-5.04667815e-02 5.59601115e-04 9.98725583e-01 -6.99844966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72240100800002 meters 0.06054668072532064 Centerline is valid? [True, True] Translation: X:78.61, Y:-19.04, Z:-7.00 [[ 8.86338892e-01 4.60965097e-01 4.37555338e-02 7.86125598e+01] [-4.60369000e-01 8.87418039e-01 -2.34437377e-02 -1.90401034e+01] [-4.96361948e-02 6.35405157e-04 9.98767162e-01 -6.99988762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752401008 meters 0.06069219555272435 Centerline is valid? [True, True] Translation: X:78.64, Y:-19.06, Z:-7.00 [[ 8.87633869e-01 4.58588494e-01 4.24583055e-02 7.86400903e+01] [-4.58023937e-01 8.88648424e-01 -2.27607483e-02 -1.90592788e+01] [-4.81683236e-02 7.56290837e-04 9.98838946e-01 -7.00007572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78240100800001 meters 0.06134819542604366 Centerline is valid? [True, True] Translation: X:78.67, Y:-19.08, Z:-7.00 [[ 8.89711217e-01 4.54887898e-01 3.86128395e-02 7.86678000e+01] [-4.54417056e-01 8.90548273e-01 -2.07102056e-02 -1.90791569e+01] [-4.38074195e-02 8.79769389e-04 9.99039607e-01 -7.00359987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81240100800001 meters 0.06341647491654333 Centerline is valid? [True, True] Translation: X:78.69, Y:-19.10, Z:-7.02 [[ 8.90740839e-01 4.53072373e-01 3.61411579e-02 7.86931453e+01] [-4.52657623e-01 8.91473259e-01 -1.94037614e-02 -1.90964309e+01] [-4.10101840e-02 9.24152051e-04 9.99158301e-01 -7.01658612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84240100800001 meters 0.06333628589612782 Centerline is valid? [True, True] Translation: X:78.72, Y:-19.11, Z:-7.02 [[ 8.91427086e-01 4.51873886e-01 3.41722461e-02 7.87237958e+01] [-4.51502158e-01 8.92081348e-01 -1.83485692e-02 -1.91078840e+01] [-3.87756626e-02 9.27568707e-04 9.99247511e-01 -7.02126516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87240100800001 meters 0.06342058738275007 Centerline is valid? [True, True] Translation: X:78.75, Y:-19.12, Z:-7.03 [[ 8.92162864e-01 4.50529737e-01 3.26860705e-02 7.87543654e+01] [-4.50188394e-01 8.92760914e-01 -1.75601849e-02 -1.91205553e+01] [-3.70922317e-02 9.51655249e-04 9.99311393e-01 -7.02515511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90240100800001 meters 0.06382688157377726 Centerline is valid? [True, True] Translation: X:78.78, Y:-19.14, Z:-7.03 [[ 8.92963804e-01 4.48944005e-01 3.26331807e-02 7.87822970e+01] [-4.48602274e-01 8.93559302e-01 -1.75434786e-02 -1.91377934e+01] [-3.70357217e-02 1.02637232e-03 9.99313415e-01 -7.02579071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93240100800001 meters 0.06560017654771674 Centerline is valid? [True, True] Translation: X:78.81, Y:-19.16, Z:-7.03 [[ 8.93297552e-01 4.48208343e-01 3.35970941e-02 7.88066602e+01] [-4.47845144e-01 8.93928450e-01 -1.80735293e-02 -1.91599974e+01] [-3.81341048e-02 1.09874401e-03 9.99272026e-01 -7.02816040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96240100800001 meters 0.0634799777890171 Centerline is valid? [True, True] Translation: X:78.84, Y:-19.17, Z:-7.02 [[ 8.93227475e-01 4.48296266e-01 3.42802681e-02 7.88370569e+01] [-4.47917770e-01 8.93884326e-01 -1.84522032e-02 -1.91738367e+01] [-3.89146481e-02 1.12727360e-03 9.99241902e-01 -7.01980810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99240100800002 meters 0.06361347304869246 Centerline is valid? [True, True] Translation: X:78.86, Y:-19.19, Z:-7.02 [[ 8.93606176e-01 4.47428339e-01 3.57195180e-02 7.88648845e+01] [-4.47016183e-01 8.94318948e-01 -1.92393187e-02 -1.91907276e+01] [-4.05528581e-02 1.22517141e-03 9.99176643e-01 -7.01871911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02240100800002 meters 0.06461537705015359 Centerline is valid? [True, True] Translation: X:78.89, Y:-19.20, Z:-7.02 [[ 8.93793909e-01 4.46836695e-01 3.83329530e-02 7.88931012e+01] [-4.46360798e-01 8.94614513e-01 -2.06618507e-02 -1.92041763e+01] [-4.35256892e-02 1.35710883e-03 9.99051386e-01 -7.02476829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05240100800002 meters 0.06316786965586602 Centerline is valid? [True, True] Translation: X:78.93, Y:-19.21, Z:-7.03 [[ 8.93317402e-01 4.47755392e-01 3.87185871e-02 7.89253158e+01] [-4.47270225e-01 8.94155090e-01 -2.08811159e-02 -1.92111494e+01] [-4.39700539e-02 1.33579301e-03 9.99031956e-01 -7.02626982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08240100800002 meters 0.06345659120828422 Centerline is valid? [True, True] Translation: X:78.95, Y:-19.22, Z:-7.03 [[ 8.92694631e-01 4.48994324e-01 3.87349199e-02 7.89538308e+01] [-4.48509379e-01 8.93533683e-01 -2.09020114e-02 -1.92228027e+01] [-4.39958401e-02 1.28613843e-03 9.99030886e-01 -7.03248634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.112401008 meters 0.06313730327781109 Centerline is valid? [True, True] Translation: X:78.98, Y:-19.24, Z:-7.04 [[ 8.91750088e-01 4.50875612e-01 3.86388828e-02 7.89837401e+01] [-4.50394306e-01 8.92585984e-01 -2.08621553e-02 -1.92355276e+01] [-4.38947623e-02 1.20109597e-03 9.99035438e-01 -7.03503418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14240100800001 meters 0.06186259064682066 Centerline is valid? [True, True] Translation: X:79.01, Y:-19.25, Z:-7.03 [[ 8.89671596e-01 4.55052401e-01 3.75734470e-02 7.90135616e+01] [-4.54600750e-01 8.90464129e-01 -2.02926624e-02 -1.92484316e+01] [-4.26920315e-02 9.72888207e-04 9.99087806e-01 -7.03107304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17240100800001 meters 0.06178926251731413 Centerline is valid? [True, True] Translation: X:79.04, Y:-19.26, Z:-7.03 [[ 8.89092506e-01 4.56222278e-01 3.70910860e-02 7.90409457e+01] [-4.55782724e-01 8.89865381e-01 -2.00427398e-02 -1.92648042e+01] [-4.21500178e-02 9.14373554e-04 9.99110875e-01 -7.03104592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20240100800001 meters 0.061317060644194975 Centerline is valid? [True, True] Translation: X:79.07, Y:-19.28, Z:-7.03 [[ 8.88414444e-01 4.57508246e-01 3.74964054e-02 7.90694754e+01] [-4.57059628e-01 8.89204949e-01 -2.02745040e-02 -1.92788946e+01] [-4.26177420e-02 8.74069112e-04 9.99091069e-01 -7.02963559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23240100800001 meters 0.06138797990959275 Centerline is valid? [True, True] Translation: X:79.10, Y:-19.29, Z:-7.04 [[ 8.88149666e-01 4.58000276e-01 3.77613271e-02 7.90983835e+01] [-4.57545238e-01 8.88951627e-01 -2.04293630e-02 -1.92918930e+01] [-4.29246471e-02 8.66816470e-04 9.99077937e-01 -7.03517677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26240100800001 meters 0.06156472825243237 Centerline is valid? [True, True] Translation: X:79.13, Y:-19.31, Z:-7.04 [[ 8.88260163e-01 4.57673464e-01 3.91009368e-02 7.91271649e+01] [-4.57184644e-01 8.89119870e-01 -2.11673765e-02 -1.93051245e+01] [-4.44531664e-02 9.25789356e-04 9.99011040e-01 -7.04067005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29240100800001 meters 0.061737749753006284 Centerline is valid? [True, True] Translation: X:79.16, Y:-19.32, Z:-7.04 [[ 8.88383253e-01 4.57418435e-01 3.92882993e-02 7.91562935e+01] [-4.56924158e-01 8.89251071e-01 -2.12802167e-02 -1.93195805e+01] [-4.46711256e-02 9.53215077e-04 9.99001292e-01 -7.04392063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32240100800001 meters 0.061737749753006284 Centerline is valid? [True, True] Translation: X:79.18, Y:-19.34, Z:-7.05 [[ 8.88262159e-01 4.57654030e-01 3.92826347e-02 7.91845754e+01] [-4.57159520e-01 8.89129845e-01 -2.12906662e-02 -1.93350933e+01] [-4.46711221e-02 9.53262712e-04 9.99001292e-01 -7.04624174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35240100800002 meters 0.061818595108353816 Centerline is valid? [True, True] Translation: X:79.21, Y:-19.35, Z:-7.05 [[ 8.88297115e-01 4.57563524e-01 3.95456295e-02 7.92131838e+01] [-4.57061662e-01 8.89176399e-01 -2.14468983e-02 -1.93505981e+01] [-4.49763588e-02 9.76426725e-04 9.98987574e-01 -7.04831982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38240100800002 meters 0.061995108701209146 Centerline is valid? [True, True] Translation: X:79.24, Y:-19.37, Z:-7.05 [[ 8.88394251e-01 4.57299672e-01 4.04062441e-02 7.92402563e+01] [-4.56774747e-01 8.89312071e-01 -2.19287576e-02 -1.93668850e+01] [-4.59617742e-02 1.02483023e-03 9.98942674e-01 -7.05000517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41240100800002 meters 0.061787868834585674 Centerline is valid? [True, True] Translation: X:79.27, Y:-19.38, Z:-7.05 [[ 8.88383856e-01 4.57376065e-01 3.97650691e-02 7.92694153e+01] [-4.56867241e-01 8.89272796e-01 -2.15920955e-02 -1.93819570e+01] [-4.52377018e-02 1.01471162e-03 9.98975736e-01 -7.04882809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44240100800002 meters 0.06196624147289407 Centerline is valid? [True, True] Translation: X:79.30, Y:-19.40, Z:-7.05 [[ 8.88075842e-01 4.58056026e-01 3.88068994e-02 7.92967209e+01] [-4.57571508e-01 8.88922797e-01 -2.10849633e-02 -1.93975717e+01] [-4.41544321e-02 9.68115116e-04 9.99024248e-01 -7.05137110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47240100800002 meters 0.06209707881328396 Centerline is valid? [True, True] Translation: X:79.32, Y:-19.41, Z:-7.06 [[ 8.87824904e-01 4.58649082e-01 3.75227971e-02 7.93247258e+01] [-4.58196149e-01 8.88617003e-01 -2.03988176e-02 -1.94119499e+01] [-4.26992945e-02 9.17777167e-04 9.99087548e-01 -7.05512631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502401008 meters 0.061651444517045746 Centerline is valid? [True, True] Translation: X:79.36, Y:-19.42, Z:-7.06 [[ 8.86493789e-01 4.61457331e-01 3.44367982e-02 7.93572859e+01] [-4.61077663e-01 8.87162108e-01 -1.87292033e-02 -1.94204552e+01] [-3.91937506e-02 7.25283992e-04 9.99231367e-01 -7.06064121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53240100800001 meters 0.0621901599430945 Centerline is valid? [True, True] Translation: X:79.39, Y:-19.43, Z:-7.07 [[ 8.86128566e-01 4.62232176e-01 3.34302247e-02 7.93856198e+01] [-4.61874515e-01 8.86758677e-01 -1.81928696e-02 -1.94338148e+01] [-3.80538716e-02 6.80652610e-04 9.99275457e-01 -7.06887984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56240100800001 meters 0.06217181070881387 Centerline is valid? [True, True] Translation: X:79.42, Y:-19.45, Z:-7.07 [[ 8.85959152e-01 4.62587360e-01 3.30047692e-02 7.94150114e+01] [-4.62238595e-01 8.86573455e-01 -1.79719470e-02 -1.94473111e+01] [-3.75747477e-02 6.66332833e-04 9.99293598e-01 -7.07196334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59240100800001 meters 0.062003417788121004 Centerline is valid? [True, True] Translation: X:79.44, Y:-19.46, Z:-7.07 [[ 8.85718938e-01 4.63028753e-01 3.32616302e-02 7.94439498e+01] [-4.62674471e-01 8.86343013e-01 -1.81217287e-02 -1.94615045e+01] [-3.78720950e-02 6.61451110e-04 9.99282376e-01 -7.07311899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62240100800001 meters 0.06279927336491453 Centerline is valid? [True, True] Translation: X:79.47, Y:-19.48, Z:-7.07 [[ 8.87035357e-01 4.60442083e-01 3.40787913e-02 7.94692934e+01] [-4.60067855e-01 8.87689387e-01 -1.85774286e-02 -1.94802409e+01] [-3.88052113e-02 8.00279580e-04 9.99246474e-01 -7.07448648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65240100800001 meters 0.06275447959150644 Centerline is valid? [True, True] Translation: X:79.50, Y:-19.50, Z:-7.07 [[ 8.88125983e-01 4.58302293e-01 3.45144423e-02 7.94967591e+01] [-4.57916370e-01 8.88795910e-01 -1.88262669e-02 -1.94976072e+01] [-3.93044165e-02 9.15368717e-04 9.99226864e-01 -7.07222801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68240100800001 meters 0.06275649758744961 Centerline is valid? [True, True] Translation: X:79.52, Y:-19.52, Z:-7.07 [[ 8.89324478e-01 4.55889813e-01 3.55872234e-02 7.95236279e+01] [-4.55477135e-01 8.90035588e-01 -1.94224652e-02 -1.95150905e+01] [-4.05283993e-02 1.06370713e-03 9.99177821e-01 -7.07057651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71240100800001 meters 0.06271290039545427 Centerline is valid? [True, True] Translation: X:79.55, Y:-19.53, Z:-7.07 [[ 8.90721570e-01 4.53023271e-01 3.72156015e-02 7.95517241e+01] [-4.52568970e-01 8.91497802e-01 -2.03223329e-02 -1.95309384e+01] [-4.23841167e-02 1.25891381e-03 9.99100596e-01 -7.06915382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74240100800002 meters 0.06415068027759432 Centerline is valid? [True, True] Translation: X:79.58, Y:-19.55, Z:-7.07 [[ 8.91918894e-01 4.50526371e-01 3.88159215e-02 7.95778318e+01] [-4.50029215e-01 8.92761946e-01 -2.12088156e-02 -1.95491278e+01] [-4.42085083e-02 1.44824468e-03 9.99021276e-01 -7.07283859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77240100800002 meters 0.06367969739581401 Centerline is valid? [True, True] Translation: X:79.61, Y:-19.56, Z:-7.07 [[ 8.93680629e-01 4.46811381e-01 4.11645918e-02 7.96083605e+01] [-4.46247672e-01 8.94626489e-01 -2.25047008e-02 -1.95625565e+01] [-4.68822907e-02 1.74241192e-03 9.98898901e-01 -7.07016586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80240100800002 meters 0.06473197729249586 Centerline is valid? [True, True] Translation: X:79.63, Y:-19.58, Z:-7.07 [[ 8.94463364e-01 4.45157309e-01 4.20744670e-02 7.96347287e+01] [-4.44565822e-01 8.95450402e-01 -2.30175478e-02 -1.95808262e+01] [-4.79220281e-02 1.88348324e-03 9.98849304e-01 -7.07177266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83240100800002 meters 0.06469279959858638 Centerline is valid? [True, True] Translation: X:79.66, Y:-19.60, Z:-7.07 [[ 8.94389314e-01 4.45232553e-01 4.28454088e-02 7.96630393e+01] [-4.44618610e-01 8.95412901e-01 -2.34526710e-02 -1.95968412e+01] [-4.88062244e-02 1.92595224e-03 9.98806409e-01 -7.07198839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862401008 meters 0.06389641191556096 Centerline is valid? [True, True] Translation: X:79.69, Y:-19.61, Z:-7.07 [[ 8.93205392e-01 4.47734969e-01 4.14430379e-02 7.96943375e+01] [-4.47162743e-01 8.94164620e-01 -2.26961054e-02 -1.96069536e+01] [-4.72187383e-02 1.74050125e-03 9.98883057e-01 -7.07341419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89240100800001 meters 0.0620776740283755 Centerline is valid? [True, True] Translation: X:79.73, Y:-19.61, Z:-7.07 [[ 8.91706610e-01 4.50857055e-01 3.98401567e-02 7.97278992e+01] [-4.50330883e-01 8.92594866e-01 -2.18289148e-02 -1.96131801e+01] [-4.54028396e-02 1.52373462e-03 9.98967597e-01 -7.07499621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92240100800001 meters 0.061647183280085706 Centerline is valid? [True, True] Translation: X:79.76, Y:-19.62, Z:-7.08 [[ 8.89648603e-01 4.55010734e-01 3.86082209e-02 7.97594288e+01] [-4.54520104e-01 8.90485033e-01 -2.11631852e-02 -1.96223998e+01] [-4.40095193e-02 1.27958559e-03 9.99030292e-01 -7.08165793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95240100800001 meters 0.06114902109973931 Centerline is valid? [True, True] Translation: X:79.79, Y:-19.63, Z:-7.09 [[ 8.87427048e-01 4.59367488e-01 3.81411232e-02 7.97906063e+01] [-4.58892126e-01 8.88245677e-01 -2.09197055e-02 -1.96317542e+01] [-4.34885203e-02 1.06205137e-03 9.99053362e-01 -7.08507271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98240100800001 meters 0.0602202251438432 Centerline is valid? [True, True] Translation: X:79.82, Y:-19.64, Z:-7.09 [[ 8.83070030e-01 4.67717862e-01 3.77799279e-02 7.98223435e+01] [-4.67258563e-01 8.83877577e-01 -2.07331614e-02 -1.96381763e+01] [-4.30901010e-02 6.55838691e-04 9.99070975e-01 -7.08731904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01240100800001 meters 0.06001057983577983 Centerline is valid? [True, True] Translation: X:79.85, Y:-19.65, Z:-7.09 [[ 8.81161580e-01 4.71384990e-01 3.67486044e-02 7.98521555e+01] [-4.70953202e-01 8.81927416e-01 -2.01770656e-02 -1.96495053e+01] [-4.19207676e-02 4.72382126e-04 9.99120827e-01 -7.09046652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04240100800001 meters 0.05987592792672274 Centerline is valid? [True, True] Translation: X:79.88, Y:-19.66, Z:-7.09 [[ 8.80108714e-01 4.73283446e-01 3.75690196e-02 7.98820044e+01] [-4.72833385e-01 8.80910108e-01 -2.06390705e-02 -1.96620724e+01] [-4.28630596e-02 4.00739077e-04 9.99080876e-01 -7.09308868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07240100800001 meters 0.05947315427143797 Centerline is valid? [True, True] Translation: X:79.91, Y:-19.68, Z:-7.09 [[ 8.79288999e-01 4.74387688e-01 4.25109207e-02 7.99098162e+01] [-4.73811879e-01 8.80315941e-01 -2.33697820e-02 -1.96761271e+01] [-4.85093780e-02 4.06613021e-04 9.98822644e-01 -7.09071440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10240100800002 meters 0.05924501776593678 Centerline is valid? [True, True] Translation: X:79.94, Y:-19.69, Z:-7.09 [[ 8.79084979e-01 4.74568145e-01 4.46617887e-02 7.99362011e+01] [-4.73932055e-01 8.80218661e-01 -2.45665623e-02 -1.96924036e+01] [-5.09706477e-02 4.29442602e-04 9.98700059e-01 -7.08975782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13240100800002 meters 0.059059838575318026 Centerline is valid? [True, True] Translation: X:79.96, Y:-19.71, Z:-7.09 [[ 8.79150865e-01 4.74232681e-01 4.68734542e-02 7.99633519e+01] [-4.73531158e-01 8.80399419e-01 -2.57896501e-02 -1.97087931e+01] [-5.34976567e-02 4.76952197e-04 9.98567861e-01 -7.08983424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16240100800002 meters 0.05906252604202721 Centerline is valid? [True, True] Translation: X:79.99, Y:-19.72, Z:-7.09 [[ 8.79034240e-01 4.74356597e-01 4.77977316e-02 7.99916758e+01] [-4.73626508e-01 8.80332651e-01 -2.63126098e-02 -1.97244789e+01] [-5.45594638e-02 4.91412231e-04 9.98510402e-01 -7.09248344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19240100800002 meters 0.059027356523709905 Centerline is valid? [True, True] Translation: X:80.02, Y:-19.74, Z:-7.10 [[ 8.78739189e-01 4.74904990e-01 4.77774926e-02 8.00211948e+01] [-4.74175485e-01 8.80036947e-01 -2.63169242e-02 -1.97393802e+01] [-5.45439974e-02 4.70796892e-04 9.98511257e-01 -7.09745912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22240100800002 meters 0.059236201516217564 Centerline is valid? [True, True] Translation: X:80.05, Y:-19.75, Z:-7.10 [[ 8.77402676e-01 4.77646956e-01 4.49213815e-02 8.00487163e+01] [-4.77005375e-01 8.78551821e-01 -2.47501524e-02 -1.97531443e+01] [-5.12875964e-02 2.88109503e-04 9.98683884e-01 -7.10370028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252401008 meters 0.05921636922423926 Centerline is valid? [True, True] Translation: X:80.08, Y:-19.77, Z:-7.11 [[ 8.76238992e-01 4.79900634e-01 4.35959806e-02 8.00760779e+01] [-4.79298607e-01 8.77322834e-01 -2.40310235e-02 -1.97687518e+01] [-4.97802527e-02 1.61427086e-04 9.98760182e-01 -7.10504853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28240100800001 meters 0.05944244299979554 Centerline is valid? [True, True] Translation: X:80.10, Y:-19.79, Z:-7.11 [[ 8.74753822e-01 4.82908126e-01 4.00686153e-02 8.01021820e+01] [-4.82402351e-01 8.75671024e-01 -2.20959115e-02 -1.97850672e+01] [-4.57572206e-02 -7.11226485e-07 9.98952590e-01 -7.11043194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31240100800001 meters 0.059796276176774944 Centerline is valid? [True, True] Translation: X:80.13, Y:-19.80, Z:-7.12 [[ 8.74299068e-01 4.83870587e-01 3.83457216e-02 8.01289405e+01] [-4.83407686e-01 8.75139563e-01 -2.11602219e-02 -1.97997098e+01] [-4.37966671e-02 -3.62542557e-05 9.99040465e-01 -7.11606365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34240100800001 meters 0.06004098731502013 Centerline is valid? [True, True] Translation: X:80.16, Y:-19.81, Z:-7.12 [[ 8.74219328e-01 4.84117877e-01 3.70195516e-02 8.01562908e+01] [-4.83686549e-01 8.75002788e-01 -2.04314389e-02 -1.98147330e+01] [-4.22834357e-02 -4.43003225e-05 9.99105655e-01 -7.12208105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37240100800001 meters 0.060433684988550784 Centerline is valid? [True, True] Translation: X:80.18, Y:-19.83, Z:-7.13 [[ 8.74235016e-01 4.84185562e-01 3.57418417e-02 8.01837219e+01] [-4.83783201e-01 8.74965337e-01 -1.97350893e-02 -1.98306760e+01] [-4.08283179e-02 -3.81964687e-05 9.99166176e-01 -7.12735687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40240100800001 meters 0.06071008071791603 Centerline is valid? [True, True] Translation: X:80.21, Y:-19.85, Z:-7.13 [[ 8.75867435e-01 4.81164342e-01 3.65665510e-02 8.02071095e+01] [-4.80740052e-01 8.76630402e-01 -2.02024865e-02 -1.98519829e+01] [-4.17760665e-02 1.15694418e-04 9.99126992e-01 -7.13075742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43240100800001 meters 0.0606227474401678 Centerline is valid? [True, True] Translation: X:80.23, Y:-19.87, Z:-7.13 [[ 8.76998503e-01 4.79074316e-01 3.68974985e-02 8.02323358e+01] [-4.78640063e-01 8.77774316e-01 -2.03946410e-02 -1.98726493e+01] [-4.21582251e-02 2.25448668e-04 9.99110921e-01 -7.13170716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46240100800001 meters 0.06086524234149719 Centerline is valid? [True, True] Translation: X:80.26, Y:-19.89, Z:-7.13 [[ 8.78185688e-01 4.76870331e-01 3.72100057e-02 8.02584014e+01] [-4.76426220e-01 8.78973588e-01 -2.05788259e-02 -1.98933158e+01] [-4.25200437e-02 3.44208006e-04 9.99095555e-01 -7.13430661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49240100800002 meters 0.06106984615516999 Centerline is valid? [True, True] Translation: X:80.28, Y:-19.91, Z:-7.14 [[ 8.79356180e-01 4.74737935e-01 3.68320864e-02 8.02838038e+01] [-4.74300355e-01 8.80127085e-01 -2.03834969e-02 -1.99123100e+01] [-4.20937361e-02 4.54882345e-04 9.99113562e-01 -7.13642241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52240100800002 meters 0.061252946324362324 Centerline is valid? [True, True] Translation: X:80.31, Y:-19.93, Z:-7.14 [[ 8.79937498e-01 4.73648285e-01 3.69770579e-02 8.03097529e+01] [-4.73205752e-01 8.80713933e-01 -2.04764354e-02 -1.99301093e+01] [-4.22648386e-02 5.20226879e-04 9.99106307e-01 -7.13856624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55240100800002 meters 0.060776049112002135 Centerline is valid? [True, True] Translation: X:80.34, Y:-19.95, Z:-7.14 [[ 8.80277324e-01 4.72871896e-01 3.87814778e-02 8.03365049e+01] [-4.72384175e-01 8.81130992e-01 -2.14794521e-02 -1.99487013e+01] [-4.43285912e-02 5.88118258e-04 9.99016832e-01 -7.13663395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58240100800002 meters 0.06040778472884308 Centerline is valid? [True, True] Translation: X:80.37, Y:-19.96, Z:-7.14 [[ 8.80074940e-01 4.73230543e-01 3.89993825e-02 8.03654503e+01] [-4.72737208e-01 8.80938428e-01 -2.16106223e-02 -1.99646126e+01] [-4.45828613e-02 5.82507992e-04 9.99005520e-01 -7.13675746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.612401008 meters 0.06095829603439938 Centerline is valid? [True, True] Translation: X:80.39, Y:-19.98, Z:-7.14 [[ 8.80125556e-01 4.73126555e-01 3.91186562e-02 8.03916999e+01] [-4.72629440e-01 8.80994268e-01 -2.16913085e-02 -1.99815913e+01] [-4.47260459e-02 6.02446385e-04 9.98999108e-01 -7.14334690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64240100800001 meters 0.061285648242100234 Centerline is valid? [True, True] Translation: X:80.42, Y:-20.00, Z:-7.15 [[ 8.81451520e-01 4.70646591e-01 3.91791300e-02 8.04186259e+01] [-4.70144898e-01 8.82321504e-01 -2.17379399e-02 -1.99990326e+01] [-4.47994762e-02 7.41072109e-04 9.98995725e-01 -7.14695255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67240100800001 meters 0.06160968100654579 Centerline is valid? [True, True] Translation: X:80.45, Y:-20.02, Z:-7.15 [[ 8.82685241e-01 4.68277169e-01 3.97901698e-02 8.04451783e+01] [-4.67756670e-01 8.83581183e-01 -2.20905328e-02 -2.00185425e+01] [-4.55023375e-02 8.86869955e-04 9.98963839e-01 -7.14940507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70240100800001 meters 0.061982568319583556 Centerline is valid? [True, True] Translation: X:80.47, Y:-20.04, Z:-7.15 [[ 8.84667491e-01 4.64479581e-01 4.02759137e-02 8.04713497e+01] [-4.63941600e-01 8.85583134e-01 -2.23764418e-02 -2.00382452e+01] [-4.60610702e-02 1.11003880e-03 9.98938009e-01 -7.15023551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73240100800001 meters 0.0636227900405394 Centerline is valid? [True, True] Translation: X:80.49, Y:-20.06, Z:-7.15 [[ 8.88694945e-01 4.56664590e-01 4.09725086e-02 8.04929506e+01] [-4.56099169e-01 8.89637597e-01 -2.27704429e-02 -2.00643661e+01] [-4.68491390e-02 1.54845037e-03 9.98900776e-01 -7.15066030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76240100800001 meters 0.06657011372702 Centerline is valid? [True, True] Translation: X:80.52, Y:-20.09, Z:-7.16 [[ 8.90365149e-01 4.53421730e-01 4.07263657e-02 8.05151966e+01] [-4.52859073e-01 8.91294437e-01 -2.26469899e-02 -2.00889307e+01] [-4.65678205e-02 1.72078634e-03 9.98913648e-01 -7.15561032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79240100800001 meters 0.06511830198597253 Centerline is valid? [True, True] Translation: X:80.55, Y:-20.10, Z:-7.15 [[ 8.91327027e-01 4.51460782e-01 4.14643520e-02 8.05454068e+01] [-4.50874857e-01 8.92289010e-01 -2.30691622e-02 -2.01030591e+01] [-4.74130075e-02 1.86693398e-03 9.98873626e-01 -7.15421314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82240100800001 meters 0.06529259170299515 Centerline is valid? [True, True] Translation: X:80.57, Y:-20.12, Z:-7.16 [[ 8.91891839e-01 4.50233143e-01 4.26504935e-02 8.05725177e+01] [-4.49611041e-01 8.92908792e-01 -2.37444822e-02 -2.01204948e+01] [-4.87735535e-02 2.00137713e-03 9.98807857e-01 -7.15541948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85240100800002 meters 0.06567482121187464 Centerline is valid? [True, True] Translation: X:80.60, Y:-20.14, Z:-7.16 [[ 8.91496136e-01 4.50976334e-01 4.30695378e-02 8.05981153e+01] [-4.50342123e-01 8.92533684e-01 -2.39915805e-02 -2.01386037e+01] [-4.92606482e-02 1.99237419e-03 9.98783970e-01 -7.15714305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88240100800002 meters 0.06395709570062842 Centerline is valid? [True, True] Translation: X:80.63, Y:-20.15, Z:-7.16 [[ 8.90216811e-01 4.53528778e-01 4.27279522e-02 8.06279552e+01] [-4.52907005e-01 8.91239721e-01 -2.38118569e-02 -2.01502007e+01] [-4.88802106e-02 1.84592644e-03 9.98802942e-01 -7.15929585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91240100800002 meters 0.06372218967870703 Centerline is valid? [True, True] Translation: X:80.66, Y:-20.16, Z:-7.16 [[ 8.88976952e-01 4.56039492e-01 4.18086252e-02 8.06569706e+01] [-4.55446359e-01 8.89957949e-01 -2.33122944e-02 -2.01627095e+01] [-4.78392452e-02 1.68250630e-03 9.98853631e-01 -7.16319559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94240100800002 meters 0.06387149863671633 Centerline is valid? [True, True] Translation: X:80.68, Y:-20.18, Z:-7.17 [[ 8.87413765e-01 4.59146858e-01 4.09996683e-02 8.06842062e+01] [-4.58579067e-01 8.88359114e-01 -2.28762803e-02 -2.01765152e+01] [-4.69260013e-02 1.49913636e-03 9.98897243e-01 -7.16910338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97240100800002 meters 0.062269180035014096 Centerline is valid? [True, True] Translation: X:80.72, Y:-20.19, Z:-7.17 [[ 8.83752724e-01 4.66267666e-01 3.96936568e-02 8.07153333e+01] [-4.65742302e-01 8.84643019e-01 -2.21548604e-02 -2.01869447e+01] [-4.54448114e-02 1.09240310e-03 9.98966254e-01 -7.17186218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002401008 meters 0.061620114135836526 Centerline is valid? [True, True] Translation: X:80.74, Y:-20.20, Z:-7.17 [[ 8.81626389e-01 4.70301557e-01 3.93872581e-02 8.07436837e+01] [-4.69788198e-01 8.82505338e-01 -2.19858385e-02 -2.02006608e+01] [-4.50994396e-02 8.79626403e-04 9.98982115e-01 -7.17348506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03240100800001 meters 0.060925625430033874 Centerline is valid? [True, True] Translation: X:80.77, Y:-20.21, Z:-7.18 [[ 8.77412643e-01 4.78097426e-01 3.96220256e-02 8.07740400e+01] [-4.77585273e-01 8.78306671e-01 -2.21291549e-02 -2.02099465e+01] [-4.53801814e-02 4.93504348e-04 9.98969667e-01 -7.18061059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06240100800001 meters 0.060390924704272896 Centerline is valid? [True, True] Translation: X:80.81, Y:-20.22, Z:-7.18 [[ 8.75199550e-01 4.82185397e-01 3.90255149e-02 8.08061382e+01] [-4.81692137e-01 8.76069153e-01 -2.18065291e-02 -2.02207808e+01] [-4.47038397e-02 2.86780807e-04 9.99000242e-01 -7.17962612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09240100800001 meters 0.060154026101577336 Centerline is valid? [True, True] Translation: X:80.84, Y:-20.23, Z:-7.18 [[ 8.72713679e-01 4.86637015e-01 3.94366597e-02 8.08356959e+01] [-4.86137140e-01 8.73604264e-01 -2.20515534e-02 -2.02323611e+01] [-4.51831362e-02 7.30673217e-05 9.98978718e-01 -7.18288462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12240100800001 meters 0.060293991250252296 Centerline is valid? [True, True] Translation: X:80.87, Y:-20.25, Z:-7.19 [[ 8.70312547e-01 4.90928072e-01 3.93153608e-02 8.08681461e+01] [-4.90435223e-01 8.71200096e-01 -2.19928221e-02 -2.02454917e+01] [-4.50484399e-02 -1.41008710e-04 9.98984794e-01 -7.18556294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15240100800001 meters 0.06120057937224408 Centerline is valid? [True, True] Translation: X:80.90, Y:-20.25, Z:-7.19 [[ 8.66262352e-01 4.98048358e-01 3.92093078e-02 8.08996107e+01] [-4.97564500e-01 8.67149117e-01 -2.19539587e-02 -2.02529550e+01] [-4.49344498e-02 -4.91271737e-04 9.98989817e-01 -7.19255104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18240100800001 meters 0.06152528998122063 Centerline is valid? [True, True] Translation: X:80.93, Y:-20.27, Z:-7.19 [[ 8.64638330e-01 5.00842766e-01 3.94598870e-02 8.09281071e+01] [-5.00355019e-01 8.65538057e-01 -2.21071814e-02 -2.02672767e+01] [-4.52262557e-02 -6.29236109e-04 9.98976571e-01 -7.19484401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21240100800001 meters 0.06152528998122063 Centerline is valid? [True, True] Translation: X:80.96, Y:-20.28, Z:-7.20 [[ 8.64504644e-01 5.01073858e-01 3.94551657e-02 8.09561542e+01] [-5.00585967e-01 8.65404293e-01 -2.21156032e-02 -2.02832153e+01] [-4.52262204e-02 -6.31660590e-04 9.98976571e-01 -7.19716299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24240100800002 meters 0.0612546091282818 Centerline is valid? [True, True] Translation: X:80.98, Y:-20.30, Z:-7.20 [[ 8.65274489e-01 4.99664056e-01 4.04461383e-02 8.09816314e+01] [-4.99149064e-01 8.66219094e-01 -2.26868390e-02 -2.03021807e+01] [-4.63710153e-02 -5.58309090e-04 9.98924130e-01 -7.19892187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27240100800002 meters 0.06087971848261127 Centerline is valid? [True, True] Translation: X:81.01, Y:-20.32, Z:-7.20 [[ 8.65810921e-01 4.98625413e-01 4.17629934e-02 8.10074959e+01] [-4.98074499e-01 8.66817420e-01 -2.34382859e-02 -2.03227870e+01] [-4.78878152e-02 -5.07958093e-04 9.98852591e-01 -7.19825692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30240100800002 meters 0.060082971252460864 Centerline is valid? [True, True] Translation: X:81.03, Y:-20.35, Z:-7.19 [[ 8.67866328e-01 4.94727938e-01 4.53023601e-02 8.10297065e+01] [-4.94073418e-01 8.69047856e-01 -2.54417244e-02 -2.03490863e+01] [-5.19566507e-02 -3.02675917e-04 9.98649295e-01 -7.19460202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33240100800002 meters 0.05971519213150478 Centerline is valid? [True, True] Translation: X:81.05, Y:-20.37, Z:-7.20 [[ 8.69501119e-01 4.91749139e-01 4.63744346e-02 8.10548156e+01] [-4.91058236e-01 8.70736913e-01 -2.60583399e-02 -2.03702447e+01] [-5.31940982e-02 -1.14792309e-04 9.98584185e-01 -7.19631243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362401008 meters 0.059857007343203865 Centerline is valid? [True, True] Translation: X:81.08, Y:-20.39, Z:-7.20 [[ 8.71341908e-01 4.88393899e-01 4.72724021e-02 8.10794540e+01] [-4.87670165e-01 8.72623280e-01 -2.65785847e-02 -2.03917446e+01] [-5.42318172e-02 1.05694562e-04 9.98528367e-01 -7.19985393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39240100800001 meters 0.05996288410075341 Centerline is valid? [True, True] Translation: X:81.11, Y:-20.41, Z:-7.20 [[ 8.72947613e-01 4.85494114e-01 4.75176778e-02 8.11051801e+01] [-4.84757546e-01 8.74239883e-01 -2.67347840e-02 -2.04128876e+01] [-5.45214294e-02 3.03512949e-04 9.98512555e-01 -7.20176148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42240100800001 meters 0.059865850001272904 Centerline is valid? [True, True] Translation: X:81.13, Y:-20.43, Z:-7.20 [[ 8.73022075e-01 4.85399160e-01 4.71180597e-02 8.11325521e+01] [-4.84673908e-01 8.74292601e-01 -2.65264182e-02 -2.04317707e+01] [-5.40708721e-02 3.21254474e-04 9.98537049e-01 -7.20383766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45240100800001 meters 0.059942996025772945 Centerline is valid? [True, True] Translation: X:81.16, Y:-20.45, Z:-7.21 [[ 8.72484242e-01 4.86488706e-01 4.58256002e-02 8.11615487e+01] [-4.85803398e-01 8.73686826e-01 -2.58144956e-02 -2.04464820e+01] [-5.25956838e-02 2.60508355e-04 9.98615855e-01 -7.20776872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48240100800001 meters 0.05997179636502963 Centerline is valid? [True, True] Translation: X:81.19, Y:-20.46, Z:-7.21 [[ 8.72033699e-01 4.87401125e-01 4.46919689e-02 8.11897729e+01] [-4.86749748e-01 8.73178160e-01 -2.51909548e-02 -2.04614582e+01] [-5.13021509e-02 2.13556857e-04 9.98683155e-01 -7.21236797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51240100800001 meters 0.06026329099834157 Centerline is valid? [True, True] Translation: X:81.22, Y:-20.47, Z:-7.22 [[ 8.71449995e-01 4.88677692e-01 4.20597047e-02 8.12186998e+01] [-4.88101515e-01 8.72464379e-01 -2.37238169e-02 -2.04747496e+01] [-4.82888942e-02 1.44714532e-04 9.98833400e-01 -7.21870642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54240100800001 meters 0.060404660239376726 Centerline is valid? [True, True] Translation: X:81.25, Y:-20.49, Z:-7.22 [[ 8.72643330e-01 4.86566452e-01 4.17936143e-02 8.12458208e+01] [-4.85994805e-01 8.73643530e-01 -2.35803500e-02 -2.04926052e+01] [-4.79861280e-02 2.65755779e-04 9.98847967e-01 -7.22174186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57240100800001 meters 0.060577778695350415 Centerline is valid? [True, True] Translation: X:81.27, Y:-20.51, Z:-7.22 [[ 8.73509944e-01 4.85069553e-01 4.10841495e-02 8.12742683e+01] [-4.84514843e-01 8.74475502e-01 -2.31940542e-02 -2.05079383e+01] [-4.71778118e-02 3.54356755e-04 9.98886444e-01 -7.22438346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60240100800002 meters 0.06097264331951997 Centerline is valid? [True, True] Translation: X:81.30, Y:-20.52, Z:-7.23 [[ 8.74043921e-01 4.84271589e-01 3.90928731e-02 8.13033457e+01] [-4.83768025e-01 8.74917640e-01 -2.20821358e-02 -2.05227948e+01] [-4.48967953e-02 3.88874504e-04 9.98991555e-01 -7.23024908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63240100800002 meters 0.06141355763981704 Centerline is valid? [True, True] Translation: X:81.33, Y:-20.54, Z:-7.24 [[ 8.73848365e-01 4.84766048e-01 3.72949571e-02 8.13316911e+01] [-4.84307538e-01 8.74643784e-01 -2.10822034e-02 -2.05370806e+01] [-4.28397388e-02 3.60420102e-04 9.99081892e-01 -7.23609566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66240100800002 meters 0.061317290402861 Centerline is valid? [True, True] Translation: X:81.36, Y:-20.55, Z:-7.24 [[ 8.73235008e-01 4.85816276e-01 3.79890439e-02 8.13606188e+01] [-4.85341232e-01 8.74060892e-01 -2.14812594e-02 -2.05512825e+01] [-4.36406830e-02 3.20538334e-04 9.99047240e-01 -7.23637740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69240100800002 meters 0.06090398721785587 Centerline is valid? [True, True] Translation: X:81.39, Y:-20.57, Z:-7.24 [[ 8.72955621e-01 4.86132933e-01 4.02896330e-02 8.13887343e+01] [-4.85598324e-01 8.73884809e-01 -2.27949131e-02 -2.05676880e+01] [-4.62898562e-02 3.34369304e-04 9.98927994e-01 -7.23511972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72240100800002 meters 0.060476230534196346 Centerline is valid? [True, True] Translation: X:81.42, Y:-20.58, Z:-7.23 [[ 8.72603220e-01 4.86657292e-01 4.15728263e-02 8.14168535e+01] [-4.86087979e-01 8.73592910e-01 -2.35351782e-02 -2.05832149e+01] [-4.77712924e-02 3.28821192e-04 9.98858246e-01 -7.23203380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.752401008 meters 0.06030893686724238 Centerline is valid? [True, True] Translation: X:81.45, Y:-20.60, Z:-7.23 [[ 8.72143737e-01 4.87121452e-01 4.55850077e-02 8.14457214e+01] [-4.86436654e-01 8.73334169e-01 -2.58226908e-02 -2.05959866e+01] [-5.23897314e-02 3.46879486e-04 9.98626655e-01 -7.23403640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78240100800001 meters 0.060267906575429846 Centerline is valid? [True, True] Translation: X:81.48, Y:-20.61, Z:-7.24 [[ 8.71677674e-01 4.87874657e-01 4.64365305e-02 8.14753471e+01] [-4.87164322e-01 8.72913637e-01 -2.63193254e-02 -2.06097395e+01] [-5.33756126e-02 3.19747426e-04 9.98574455e-01 -7.23699343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81240100800001 meters 0.0603025291367144 Centerline is valid? [True, True] Translation: X:81.51, Y:-20.62, Z:-7.24 [[ 8.70765686e-01 4.89515370e-01 4.62798261e-02 8.15061197e+01] [-4.88811322e-01 8.71994638e-01 -2.62458246e-02 -2.06216993e+01] [-5.32034947e-02 2.31860507e-04 9.98583664e-01 -7.23903581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84240100800001 meters 0.06043241772429306 Centerline is valid? [True, True] Translation: X:81.53, Y:-20.64, Z:-7.24 [[ 8.70484556e-01 4.90106532e-01 4.53014923e-02 8.15333854e+01] [-4.89431898e-01 8.71662518e-01 -2.57074525e-02 -2.06364529e+01] [-5.20870032e-02 2.05945001e-04 9.98642529e-01 -7.24430527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87240100800001 meters 0.06049812013426546 Centerline is valid? [True, True] Translation: X:81.56, Y:-20.65, Z:-7.25 [[ 8.70189551e-01 4.90662143e-01 4.49533949e-02 8.15615476e+01] [-4.89997846e-01 8.71349888e-01 -2.55241770e-02 -2.06524942e+01] [-5.16938830e-02 1.83805493e-04 9.98662961e-01 -7.24647392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90240100800001 meters 0.06035722518601574 Centerline is valid? [True, True] Translation: X:81.59, Y:-20.67, Z:-7.25 [[ 8.70298118e-01 4.90443171e-01 4.52402704e-02 8.15896016e+01] [-4.89769260e-01 8.71473150e-01 -2.57025458e-02 -2.06694003e+01] [-5.20313190e-02 2.11583478e-04 9.98645431e-01 -7.24632021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93240100800001 meters 0.06039104148526822 Centerline is valid? [True, True] Translation: X:81.62, Y:-20.69, Z:-7.25 [[ 8.71063559e-01 4.89053858e-01 4.55477794e-02 8.16154369e+01] [-4.88367968e-01 8.72253534e-01 -2.58940354e-02 -2.06880855e+01] [-5.23927894e-02 3.11274134e-04 9.98626506e-01 -7.24956533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96240100800001 meters 0.06086847436319845 Centerline is valid? [True, True] Translation: X:81.64, Y:-20.71, Z:-7.25 [[ 8.73941400e-01 4.83885449e-01 4.56212808e-02 8.16404411e+01] [-4.83189497e-01 8.75131115e-01 -2.59507532e-02 -2.07110994e+01] [-5.24817942e-02 6.35713837e-04 9.98621679e-01 -7.25149305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99240100800002 meters 0.06118185883666291 Centerline is valid? [True, True] Translation: X:81.67, Y:-20.73, Z:-7.25 [[ 8.75877664e-01 4.80350787e-01 4.58414661e-02 8.16681754e+01] [-4.79642463e-01 8.77076036e-01 -2.60908883e-02 -2.07300304e+01] [-5.27392301e-02 8.64912583e-04 9.98607944e-01 -7.25247151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02240100800002 meters 0.062265612902457766 Centerline is valid? [True, True] Translation: X:81.69, Y:-20.75, Z:-7.26 [[ 8.77470968e-01 4.77472291e-01 4.54413050e-02 8.16922161e+01] [-4.76771376e-01 8.78646184e-01 -2.58831728e-02 -2.07501883e+01] [-5.22853270e-02 1.04661918e-03 9.98631638e-01 -7.25791930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05240100800002 meters 0.06303910356554349 Centerline is valid? [True, True] Translation: X:81.72, Y:-20.77, Z:-7.26 [[ 8.79169445e-01 4.74275269e-01 4.60874745e-02 8.17187388e+01] [-4.73549132e-01 8.80375695e-01 -2.62651008e-02 -2.07706338e+01] [-5.30311802e-02 1.26679052e-03 9.98592053e-01 -7.25984744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08240100800002 meters 0.0630007277168981 Centerline is valid? [True, True] Translation: X:81.75, Y:-20.79, Z:-7.26 [[ 8.80877544e-01 4.71111469e-01 4.59209652e-02 8.17454009e+01] [-4.70385460e-01 8.82072466e-01 -2.61855667e-02 -2.07910827e+01] [-5.28419398e-02 1.46572335e-03 9.98601813e-01 -7.25917529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.112401008 meters 0.06295520611756134 Centerline is valid? [True, True] Translation: X:81.77, Y:-20.81, Z:-7.26 [[ 8.81314520e-01 4.70338389e-01 4.54589678e-02 8.17734336e+01] [-4.69625023e-01 8.82484853e-01 -2.59388288e-02 -2.08079211e+01] [-5.23168774e-02 1.51159760e-03 9.98629390e-01 -7.26117826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14240100800001 meters 0.0636224066862655 Centerline is valid? [True, True] Translation: X:81.80, Y:-20.83, Z:-7.27 [[ 8.81512063e-01 4.70060734e-01 4.44903222e-02 8.17997307e+01] [-4.69376206e-01 8.82632779e-01 -2.54038158e-02 -2.08250359e+01] [-5.12099530e-02 1.51107148e-03 9.98686766e-01 -7.26581478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17240100800001 meters 0.06479246433409781 Centerline is valid? [True, True] Translation: X:81.83, Y:-20.84, Z:-7.27 [[ 8.81065628e-01 4.71018766e-01 4.31819518e-02 8.18258950e+01] [-4.70374751e-01 8.82122049e-01 -2.46633945e-02 -2.08428870e+01] [-4.97086735e-02 1.41836931e-03 9.98762753e-01 -7.27386289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20240100800001 meters 0.06294558805093431 Centerline is valid? [True, True] Translation: X:81.86, Y:-20.85, Z:-7.27 [[ 8.80129369e-01 4.72798988e-01 4.28183435e-02 8.18580736e+01] [-4.72167210e-01 8.81169324e-01 -2.44693402e-02 -2.08529408e+01] [-4.92992901e-02 1.31876715e-03 9.98783180e-01 -7.27293082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23240100800001 meters 0.06253433831841733 Centerline is valid? [True, True] Translation: X:81.89, Y:-20.87, Z:-7.28 [[ 8.77736897e-01 4.77177845e-01 4.33502428e-02 8.18860359e+01] [-4.76534812e-01 8.78806062e-01 -2.47886854e-02 -2.08671473e+01] [-4.99250677e-02 1.10004401e-03 9.98752360e-01 -7.27587221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26240100800001 meters 0.062274303107014733 Centerline is valid? [True, True] Translation: X:81.91, Y:-20.88, Z:-7.28 [[ 8.76783823e-01 4.78918071e-01 4.34466280e-02 8.19131304e+01] [-4.78273519e-01 8.77859013e-01 -2.48595013e-02 -2.08826065e+01] [-5.00456784e-02 1.01703695e-03 9.98746412e-01 -7.27918766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29240100800001 meters 0.061784441650833924 Centerline is valid? [True, True] Translation: X:81.94, Y:-20.90, Z:-7.28 [[ 8.75957443e-01 4.80360492e-01 4.41854605e-02 8.19441221e+01] [-4.79695443e-01 8.77070628e-01 -2.52862523e-02 -2.08989327e+01] [-5.09002862e-02 9.54116878e-04 9.98703285e-01 -7.27979341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32240100800001 meters 0.06122694442591831 Centerline is valid? [True, True] Translation: X:81.97, Y:-20.91, Z:-7.28 [[ 8.75158938e-01 4.81676329e-01 4.56590326e-02 8.19718470e+01] [-4.80966646e-01 8.76348704e-01 -2.61540331e-02 -2.09148988e+01] [-5.26110127e-02 9.28464073e-04 9.98614650e-01 -7.27938221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35240100800002 meters 0.06111414642306431 Centerline is valid? [True, True] Translation: X:82.00, Y:-20.93, Z:-7.28 [[ 8.75008521e-01 4.81812615e-01 4.70817634e-02 8.19997379e+01] [-4.81057367e-01 8.76273746e-01 -2.69839193e-02 -2.09316988e+01] [-5.42577059e-02 9.62130134e-04 9.98526502e-01 -7.28121564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38240100800002 meters 0.06139960755902981 Centerline is valid? [True, True] Translation: X:82.03, Y:-20.95, Z:-7.28 [[ 8.75335663e-01 4.81077887e-01 4.84927149e-02 8.20261017e+01] [-4.80274470e-01 8.76677223e-01 -2.78114890e-02 -2.09502325e+01] [-5.58919510e-02 1.05457522e-03 9.98436266e-01 -7.28381104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41240100800002 meters 0.06151132111745621 Centerline is valid? [True, True] Translation: X:82.05, Y:-20.97, Z:-7.29 [[ 8.75586042e-01 4.80598328e-01 4.87271023e-02 8.20529544e+01] [-4.79785868e-01 8.76940158e-01 -2.79549626e-02 -2.09683213e+01] [-5.61658611e-02 1.09840004e-03 9.98420848e-01 -7.28569221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44240100800002 meters 0.0616175193769662 Centerline is valid? [True, True] Translation: X:82.08, Y:-20.99, Z:-7.29 [[ 8.75937841e-01 4.80091878e-01 4.73781263e-02 8.20792283e+01] [-4.79322259e-01 8.77217505e-01 -2.71959785e-02 -2.09881086e+01] [-5.46174901e-02 1.11259612e-03 9.98506731e-01 -7.28808571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47240100800002 meters 0.061547369474144645 Centerline is valid? [True, True] Translation: X:82.11, Y:-21.01, Z:-7.29 [[ 8.75717578e-01 4.80524919e-01 4.70587392e-02 8.21071822e+01] [-4.79765417e-01 8.76980393e-01 -2.70284171e-02 -2.10050591e+01] [-5.42574195e-02 1.09210436e-03 9.98526384e-01 -7.29016143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502401008 meters 0.06149329412825596 Centerline is valid? [True, True] Translation: X:82.14, Y:-21.02, Z:-7.29 [[ 8.75064898e-01 4.81808622e-01 4.60638234e-02 8.21358162e+01] [-4.81081839e-01 8.76275894e-01 -2.64730488e-02 -2.10211547e+01] [-5.31195611e-02 1.00516687e-03 9.98587654e-01 -7.29422152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53240100800001 meters 0.0614691689549843 Centerline is valid? [True, True] Translation: X:82.17, Y:-21.04, Z:-7.30 [[ 8.73897957e-01 4.84064723e-01 4.45387986e-02 8.21660684e+01] [-4.83387478e-01 8.75031781e-01 -2.56110786e-02 -2.10358626e+01] [-5.13702840e-02 8.51971709e-04 9.98679312e-01 -7.29819198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56240100800001 meters 0.06140064862412717 Centerline is valid? [True, True] Translation: X:82.20, Y:-21.04, Z:-7.31 [[ 8.71316300e-01 4.88918043e-01 4.20363158e-02 8.21971148e+01] [-4.88319616e-01 8.72329551e-01 -2.41889717e-02 -2.10449402e+01] [-4.84959452e-02 5.49087773e-04 9.98823229e-01 -7.30750427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59240100800001 meters 0.06134565461193536 Centerline is valid? [True, True] Translation: X:82.23, Y:-21.06, Z:-7.31 [[ 8.69552884e-01 4.92142008e-01 4.09148664e-02 8.22276719e+01] [-4.91578113e-01 8.70514852e-01 -2.35552872e-02 -2.10581213e+01] [-4.72095452e-02 3.69715083e-04 9.98884939e-01 -7.31100747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62240100800001 meters 0.06111779924589981 Centerline is valid? [True, True] Translation: X:82.26, Y:-21.07, Z:-7.31 [[ 8.67899466e-01 4.95066342e-01 4.07410568e-02 8.22577485e+01] [-4.94509629e-01 8.68855147e-01 -2.34725503e-02 -2.10719431e+01] [-4.70185465e-02 2.24969049e-04 9.98893991e-01 -7.31294507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65240100800001 meters 0.06045418010218784 Centerline is valid? [True, True] Translation: X:82.29, Y:-21.09, Z:-7.31 [[ 8.65982864e-01 4.98207488e-01 4.31622319e-02 8.22861923e+01] [-4.97585662e-01 8.67057838e-01 -2.48840411e-02 -2.10864619e+01] [-4.98215670e-02 7.22454671e-05 9.98758132e-01 -7.31052492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68240100800001 meters 0.06020290122931081 Centerline is valid? [True, True] Translation: X:82.31, Y:-21.10, Z:-7.31 [[ 8.65652834e-01 4.98576972e-01 4.54551835e-02 8.23138459e+01] [-4.97886999e-01 8.66845429e-01 -2.62209575e-02 -2.11031168e+01] [-5.24757837e-02 6.67012423e-05 9.98622195e-01 -7.30985443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71240100800001 meters 0.060061290618566625 Centerline is valid? [True, True] Translation: X:82.34, Y:-21.12, Z:-7.31 [[ 8.65933091e-01 4.97917821e-01 4.73046026e-02 8.23414647e+01] [-4.97168716e-01 8.67224209e-01 -2.73027460e-02 -2.11203767e+01] [-5.46182203e-02 1.23982700e-04 9.98507303e-01 -7.31010722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74240100800002 meters 0.05997882596586809 Centerline is valid? [True, True] Translation: X:82.37, Y:-21.14, Z:-7.31 [[ 8.66720329e-01 4.96346470e-01 4.93563820e-02 8.23684086e+01] [-4.95527291e-01 8.68124484e-01 -2.85058710e-02 -2.11393925e+01] [-5.69962721e-02 2.49183663e-04 9.98374360e-01 -7.31155545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77240100800002 meters 0.06009829140232844 Centerline is valid? [True, True] Translation: X:82.39, Y:-21.16, Z:-7.31 [[ 8.67242184e-01 4.95376384e-01 4.99322841e-02 8.23940545e+01] [-4.94535344e-01 8.68678380e-01 -2.88559532e-02 -2.11582808e+01] [-5.76696535e-02 3.31820562e-04 9.98335665e-01 -7.31443160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80240100800002 meters 0.060008926310967235 Centerline is valid? [True, True] Translation: X:82.42, Y:-21.18, Z:-7.32 [[ 8.67839040e-01 4.94307300e-01 5.01566942e-02 8.24233447e+01] [-4.93456014e-01 8.69287132e-01 -2.90007648e-02 -2.11784323e+01] [-5.79358586e-02 4.17873549e-04 9.98320220e-01 -7.31585629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83240100800002 meters 0.05995409827833428 Centerline is valid? [True, True] Translation: X:82.45, Y:-21.20, Z:-7.32 [[ 8.67579861e-01 4.94831370e-01 4.94681765e-02 8.24513266e+01] [-4.94002683e-01 8.68988927e-01 -2.86285486e-02 -2.11958814e+01] [-5.71536015e-02 4.00140285e-04 9.98365317e-01 -7.31768429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862401008 meters 0.05969835568338878 Centerline is valid? [True, True] Translation: X:82.48, Y:-21.21, Z:-7.32 [[ 8.66607555e-01 4.96711257e-01 4.76368925e-02 8.24793165e+01] [-4.95944766e-01 8.67915807e-01 -2.75851528e-02 -2.12132002e+01] [-5.50466680e-02 2.80234347e-04 9.98483743e-01 -7.31875091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89240100800001 meters 0.05976422901604648 Centerline is valid? [True, True] Translation: X:82.51, Y:-21.23, Z:-7.32 [[ 8.66909399e-01 4.96340902e-01 4.59761125e-02 8.25052589e+01] [-4.95625553e-01 8.68127649e-01 -2.66401238e-02 -2.12312046e+01] [-5.31357176e-02 3.07637508e-04 9.98587253e-01 -7.32160024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92240100800001 meters 0.0597278587186035 Centerline is valid? [True, True] Translation: X:82.53, Y:-21.25, Z:-7.32 [[ 8.66736711e-01 4.96801250e-01 4.42265972e-02 8.25323163e+01] [-4.96139216e-01 8.67864297e-01 -2.56405844e-02 -2.12483726e+01] [-5.11209591e-02 2.81086546e-04 9.98692429e-01 -7.32381403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95240100800001 meters 0.05992184209545263 Centerline is valid? [True, True] Translation: X:82.56, Y:-21.26, Z:-7.33 [[ 8.66878169e-01 4.96633288e-01 4.33314815e-02 8.25594878e+01] [-4.95996873e-01 8.67960419e-01 -2.51358937e-02 -2.12641887e+01] [-5.00933324e-02 2.97478166e-04 9.98744497e-01 -7.32987292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98240100800001 meters 0.06024149114615086 Centerline is valid? [True, True] Translation: X:82.59, Y:-21.28, Z:-7.33 [[ 8.67382427e-01 4.95824792e-01 4.24911843e-02 8.25908750e+01] [-4.95211255e-01 8.68422509e-01 -2.46608858e-02 -2.12765591e+01] [-4.91277795e-02 3.48306258e-04 9.98792441e-01 -7.33456428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01240100800001 meters 0.06043374525791758 Centerline is valid? [True, True] Translation: X:82.62, Y:-21.29, Z:-7.34 [[ 8.67556728e-01 4.95536316e-01 4.22975529e-02 8.26200945e+01] [-4.94927100e-01 8.68587137e-01 -2.45672636e-02 -2.12902210e+01] [-4.89130817e-02 3.79289625e-04 9.98802967e-01 -7.33894275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04240100800001 meters 0.06062777535175645 Centerline is valid? [True, True] Translation: X:82.65, Y:-21.30, Z:-7.34 [[ 8.67509103e-01 4.95546463e-01 4.31469581e-02 8.26480636e+01] [-4.94911578e-01 8.68581338e-01 -2.50796509e-02 -2.13042911e+01] [-4.99047749e-02 4.02896339e-04 9.98753899e-01 -7.34344622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07240100800001 meters 0.06044573978761766 Centerline is valid? [True, True] Translation: X:82.68, Y:-21.32, Z:-7.34 [[ 8.66745540e-01 4.96786560e-01 4.42185837e-02 8.26796671e+01] [-4.96121043e-01 8.67872683e-01 -2.57082830e-02 -2.13194755e+01] [-5.11476304e-02 3.44769699e-04 9.98691044e-01 -7.34340606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10240100800002 meters 0.060273515390666256 Centerline is valid? [True, True] Translation: X:82.71, Y:-21.34, Z:-7.34 [[ 8.66059718e-01 4.97942252e-01 4.46551010e-02 8.27067938e+01] [-4.97263720e-01 8.67210138e-01 -2.59878727e-02 -2.13360850e+01] [-5.16658161e-02 3.01688049e-04 9.98664384e-01 -7.34400373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13240100800002 meters 0.060273515390666256 Centerline is valid? [True, True] Translation: X:82.73, Y:-21.35, Z:-7.35 [[ 8.65926803e-01 4.98173942e-01 4.46485870e-02 8.27345649e+01] [-4.97495141e-01 8.67077063e-01 -2.59990580e-02 -2.13524668e+01] [-5.16658189e-02 3.00826055e-04 9.98664384e-01 -7.34632328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16240100800002 meters 0.05991461613584428 Centerline is valid? [True, True] Translation: X:82.76, Y:-21.37, Z:-7.34 [[ 8.65256604e-01 4.99315343e-01 4.48909520e-02 8.27634009e+01] [-4.98629846e-01 8.66420295e-01 -2.61562598e-02 -2.13694380e+01] [-5.19546536e-02 2.47908035e-04 9.98649414e-01 -7.34380546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19240100800002 meters 0.05972213765827701 Centerline is valid? [True, True] Translation: X:82.79, Y:-21.39, Z:-7.34 [[ 8.64451685e-01 5.00646599e-01 4.55660777e-02 8.27903973e+01] [-4.99941226e-01 8.65651748e-01 -2.65673088e-02 -2.13851440e+01] [-5.27451876e-02 1.85794073e-04 9.98607986e-01 -7.34375245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22240100800002 meters 0.059504502001491745 Centerline is valid? [True, True] Translation: X:82.82, Y:-21.40, Z:-7.34 [[ 8.63256913e-01 5.02636490e-01 4.63040041e-02 8.28206559e+01] [-5.01910139e-01 8.64497862e-01 -2.70121968e-02 -2.13981666e+01] [-5.36070283e-02 7.80165303e-05 9.98562106e-01 -7.34488039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252401008 meters 0.05976713304492728 Centerline is valid? [True, True] Translation: X:82.85, Y:-21.41, Z:-7.35 [[ 8.62756588e-01 5.03546744e-01 4.57356092e-02 8.28496249e+01] [-5.02838565e-01 8.63967983e-01 -2.66964764e-02 -2.14120928e+01] [-5.29570258e-02 3.49327763e-05 9.98596792e-01 -7.34969524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28240100800001 meters 0.06012689073240225 Centerline is valid? [True, True] Translation: X:82.88, Y:-21.43, Z:-7.36 [[ 8.62634117e-01 5.03807967e-01 4.51653904e-02 8.28776309e+01] [-5.03116680e-01 8.63815681e-01 -2.63832314e-02 -2.14259997e+01] [-5.23066546e-02 3.56142539e-05 9.98631069e-01 -7.35575449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31240100800001 meters 0.060184177325135556 Centerline is valid? [True, True] Translation: X:82.91, Y:-21.44, Z:-7.36 [[ 8.62252130e-01 5.04513225e-01 4.45832831e-02 8.29061370e+01] [-5.03840242e-01 8.63403964e-01 -2.60500582e-02 -2.14420884e+01] [-5.16359823e-02 -1.13400532e-06 9.98665973e-01 -7.35895411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34240100800001 meters 0.06026516877417802 Centerline is valid? [True, True] Translation: X:82.93, Y:-21.46, Z:-7.36 [[ 8.63473489e-01 5.02583710e-01 4.26983384e-02 8.29310314e+01] [-5.01963373e-01 8.64528542e-01 -2.49634273e-02 -2.14638716e+01] [-4.94601441e-02 1.22255728e-04 9.98776091e-01 -7.36181599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37240100800001 meters 0.06028624457184329 Centerline is valid? [True, True] Translation: X:82.96, Y:-21.48, Z:-7.36 [[ 8.64240808e-01 5.01243064e-01 4.29326995e-02 8.29579363e+01] [-5.00613463e-01 8.65306503e-01 -2.51160426e-02 -2.14836333e+01] [-4.97391863e-02 2.13621590e-04 9.98762218e-01 -7.36283797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40240100800001 meters 0.06029312248834873 Centerline is valid? [True, True] Translation: X:82.99, Y:-21.50, Z:-7.37 [[ 8.64650083e-01 5.00592678e-01 4.22753382e-02 8.29855226e+01] [-4.99980735e-01 8.65682911e-01 -2.47459378e-02 -2.15025996e+01] [-4.89846731e-02 2.59722528e-04 9.98799497e-01 -7.36621409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43240100800001 meters 0.060419515455822095 Centerline is valid? [True, True] Translation: X:83.01, Y:-21.52, Z:-7.37 [[ 8.64864686e-01 5.00269742e-01 4.17044308e-02 8.30127712e+01] [-4.99672987e-01 8.65869564e-01 -2.44295834e-02 -2.15197915e+01] [-4.83319787e-02 2.89706425e-04 9.98831285e-01 -7.36968915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46240100800001 meters 0.06060162779840926 Centerline is valid? [True, True] Translation: X:83.04, Y:-21.54, Z:-7.37 [[ 8.64476737e-01 5.00938398e-01 4.17216018e-02 8.30412797e+01] [-5.00341210e-01 8.65482900e-01 -2.44545053e-02 -2.15377054e+01] [-4.83595337e-02 2.65314180e-04 9.98829958e-01 -7.37406971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49240100800002 meters 0.060278749658206315 Centerline is valid? [True, True] Translation: X:83.07, Y:-21.55, Z:-7.37 [[ 8.64305487e-01 5.01178399e-01 4.23820328e-02 8.30693565e+01] [-5.00561570e-01 8.65343942e-01 -2.48591248e-02 -2.15549380e+01] [-4.91338917e-02 2.71061113e-04 9.98792164e-01 -7.37258143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52240100800002 meters 0.06009911412283294 Centerline is valid? [True, True] Translation: X:83.10, Y:-21.57, Z:-7.37 [[ 8.63855347e-01 5.01903760e-01 4.29715696e-02 8.30960654e+01] [-5.01269753e-01 8.64923439e-01 -2.52206162e-02 -2.15721123e+01] [-4.98254399e-02 2.46616063e-04 9.98757911e-01 -7.37301235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55240100800002 meters 0.0599021088410473 Centerline is valid? [True, True] Translation: X:83.12, Y:-21.59, Z:-7.37 [[ 8.63559502e-01 5.02343011e-01 4.37776894e-02 8.31246879e+01] [-5.01684820e-01 8.64668400e-01 -2.57079622e-02 -2.15904280e+01] [-5.07673998e-02 2.37752828e-04 9.98710476e-01 -7.37317231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58240100800002 meters 0.059846033382421455 Centerline is valid? [True, True] Translation: X:83.15, Y:-21.61, Z:-7.38 [[ 8.63002945e-01 5.03283451e-01 4.39509276e-02 8.31518080e+01] [-5.02620267e-01 8.64121362e-01 -2.58290342e-02 -2.16064790e+01] [-5.09782609e-02 1.99905646e-04 9.98699743e-01 -7.37682293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61240100800002 meters 0.06002426848791568 Centerline is valid? [True, True] Translation: X:83.18, Y:-21.62, Z:-7.38 [[ 8.63213945e-01 5.02966654e-01 4.34307592e-02 8.31806603e+01] [-5.02317978e-01 8.64305787e-01 -2.55373394e-02 -2.16218086e+01] [-5.03818866e-02 2.28136302e-04 9.98730000e-01 -7.38026159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64240100800001 meters 0.060180860275347525 Centerline is valid? [True, True] Translation: X:83.21, Y:-21.64, Z:-7.38 [[ 8.63137142e-01 5.03190211e-01 4.23542816e-02 8.32098285e+01] [-5.02572878e-01 8.64175655e-01 -2.49186568e-02 -2.16367296e+01] [-4.91403633e-02 2.22105019e-04 9.98791858e-01 -7.38474078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67240100800001 meters 0.060466780502253625 Centerline is valid? [True, True] Translation: X:83.24, Y:-21.65, Z:-7.39 [[ 8.62688087e-01 5.04072667e-01 4.09879384e-02 8.32379090e+01] [-5.03494844e-01 8.63661227e-01 -2.41293863e-02 -2.16511657e+01] [-4.75626573e-02 1.78918439e-04 9.98868240e-01 -7.39031818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70240100800001 meters 0.060624698698858455 Centerline is valid? [True, True] Translation: X:83.27, Y:-21.66, Z:-7.39 [[ 8.61604213e-01 5.06009544e-01 3.99064157e-02 8.32669805e+01] [-5.05463347e-01 8.62527875e-01 -2.35046796e-02 -2.16644881e+01] [-4.63139882e-02 8.05004894e-05 9.98926928e-01 -7.39415950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73240100800001 meters 0.06065837053636961 Centerline is valid? [True, True] Translation: X:83.29, Y:-21.68, Z:-7.40 [[ 8.60548799e-01 5.07863904e-01 3.91154640e-02 8.32941194e+01] [-5.07340432e-01 8.61437319e-01 -2.30527856e-02 -2.16783554e+01] [-4.54031982e-02 -6.80945347e-06 9.98968743e-01 -7.39669055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76240100800001 meters 0.06063091245950859 Centerline is valid? [True, True] Translation: X:83.32, Y:-21.69, Z:-7.40 [[ 8.59165935e-01 5.10201817e-01 3.90896776e-02 8.33236957e+01] [-5.09681075e-01 8.60054702e-01 -2.30458477e-02 -2.16919307e+01] [-4.53772944e-02 -1.23061594e-04 9.98969912e-01 -7.39876474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79240100800001 meters 0.060956188135448154 Centerline is valid? [True, True] Translation: X:83.35, Y:-21.70, Z:-7.40 [[ 8.57858733e-01 5.12430724e-01 3.86412600e-02 8.33523849e+01] [-5.11923465e-01 8.58728538e-01 -2.27961329e-02 -2.17038597e+01] [-4.48637916e-02 -2.25505954e-04 9.98993088e-01 -7.40225284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82240100800001 meters 0.06178217597305366 Centerline is valid? [True, True] Translation: X:83.38, Y:-21.71, Z:-7.41 [[ 8.54778180e-01 5.17523943e-01 3.90285875e-02 8.33847523e+01] [-5.17011250e-01 8.55668587e-01 -2.30355569e-02 -2.17096967e+01] [-4.53169885e-02 -4.87927420e-04 9.98972538e-01 -7.40690956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85240100800002 meters 0.06180680529954305 Centerline is valid? [True, True] Translation: X:83.41, Y:-21.72, Z:-7.41 [[ 8.54168468e-01 5.18513545e-01 3.92419685e-02 8.34139399e+01] [-5.17995813e-01 8.55069248e-01 -2.31715224e-02 -2.17245454e+01] [-4.55693487e-02 -5.34791595e-04 9.98961035e-01 -7.40916471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88240100800002 meters 0.06168612892200971 Centerline is valid? [True, True] Translation: X:83.44, Y:-21.74, Z:-7.41 [[ 8.53862046e-01 5.18971939e-01 3.98463810e-02 8.34426456e+01] [-5.18438000e-01 8.54791096e-01 -2.35419269e-02 -2.17412833e+01] [-4.62779311e-02 -5.56320204e-04 9.98928448e-01 -7.40908563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91240100800002 meters 0.061322320191055164 Centerline is valid? [True, True] Translation: X:83.47, Y:-21.76, Z:-7.41 [[ 8.53936139e-01 5.18680223e-01 4.19987742e-02 8.34694013e+01] [-5.18085827e-01 8.54968139e-01 -2.48305840e-02 -2.17594157e+01] [-4.87867467e-02 -5.55236601e-04 9.98809063e-01 -7.40740083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94240100800002 meters 0.060947849720113946 Centerline is valid? [True, True] Translation: X:83.50, Y:-21.78, Z:-7.41 [[ 8.54243108e-01 5.18088171e-01 4.30506667e-02 8.34959302e+01] [-5.17462154e-01 8.55327057e-01 -2.54665592e-02 -2.17775892e+01] [-5.00163231e-02 -5.22458021e-04 9.98748264e-01 -7.40804063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97240100800002 meters 0.06088518145955469 Centerline is valid? [True, True] Translation: X:83.52, Y:-21.80, Z:-7.41 [[ 8.54396251e-01 5.17815906e-01 4.32866525e-02 8.35217499e+01] [-5.17181985e-01 8.55491928e-01 -2.56194210e-02 -2.17955205e+01] [-5.02975255e-02 -4.97939600e-04 9.98734154e-01 -7.40933881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002401008 meters 0.060636102771164886 Centerline is valid? [True, True] Translation: X:83.55, Y:-21.81, Z:-7.41 [[ 8.54984646e-01 5.16788608e-01 4.39407558e-02 8.35480574e+01] [-5.16133267e-01 8.56112929e-01 -2.60211921e-02 -2.18145359e+01] [-5.10657048e-02 -4.31566158e-04 9.98695203e-01 -7.41055500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03240100800001 meters 0.06028459912025631 Centerline is valid? [True, True] Translation: X:83.57, Y:-21.84, Z:-7.41 [[ 8.56612940e-01 5.14017447e-01 4.47251077e-02 8.35735461e+01] [-5.13333882e-01 8.57779691e-01 -2.65014660e-02 -2.18368838e+01] [-5.19865050e-02 -2.57414474e-04 9.98647754e-01 -7.41230679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06240100800001 meters 0.060428242476393064 Centerline is valid? [True, True] Translation: X:83.60, Y:-21.86, Z:-7.42 [[ 8.57518290e-01 5.12546389e-01 4.42558725e-02 8.35992161e+01] [-5.11874134e-01 8.58659523e-01 -2.62429802e-02 -2.18556964e+01] [-5.14514711e-02 -1.49600919e-04 9.98675485e-01 -7.41700279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09240100800001 meters 0.06047606794504316 Centerline is valid? [True, True] Translation: X:83.63, Y:-21.88, Z:-7.42 [[ 8.58422334e-01 5.11062141e-01 4.38928769e-02 8.36250793e+01] [-5.10398558e-01 8.59543766e-01 -2.60351052e-02 -2.18755463e+01] [-5.10334053e-02 -5.37452866e-05 9.98696945e-01 -7.41935055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12240100800001 meters 0.06054632396923695 Centerline is valid? [True, True] Translation: X:83.66, Y:-21.90, Z:-7.42 [[ 8.59091042e-01 5.10037136e-01 4.27165194e-02 8.36558934e+01] [-5.09407187e-01 8.60152382e-01 -2.53416259e-02 -2.18978151e+01] [-4.96678862e-02 1.06617831e-05 9.98765789e-01 -7.42181046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15240100800001 meters 0.06114411475940127 Centerline is valid? [True, True] Translation: X:83.68, Y:-21.91, Z:-7.43 [[ 8.58379087e-01 5.11567580e-01 3.85221215e-02 8.36829484e+01] [-5.11054912e-01 8.59243045e-01 -2.28968858e-02 -2.19131863e+01] [-4.48131694e-02 -3.27115185e-05 9.98995385e-01 -7.43311830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18240100800001 meters 0.06116729693874909 Centerline is valid? [True, True] Translation: X:83.71, Y:-21.93, Z:-7.43 [[ 8.58885056e-01 5.10841548e-01 3.68425661e-02 8.37123961e+01] [-5.10371602e-01 8.59674888e-01 -2.19069613e-02 -2.19330093e+01] [-4.28636149e-02 1.21621974e-05 9.99080933e-01 -7.43489167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21240100800001 meters 0.061372529483618515 Centerline is valid? [True, True] Translation: X:83.74, Y:-21.95, Z:-7.44 [[ 8.59149877e-01 5.10526978e-01 3.49813414e-02 8.37389675e+01] [-5.10102232e-01 8.59861735e-01 -2.08209092e-02 -2.19507851e+01] [-4.07087528e-02 4.42212578e-05 9.99171054e-01 -7.43799149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24240100800002 meters 0.061820315504564884 Centerline is valid? [True, True] Translation: X:83.76, Y:-21.97, Z:-7.44 [[ 8.60019782e-01 5.09176813e-01 3.32407672e-02 8.37643836e+01] [-5.08791908e-01 8.60661932e-01 -1.97947862e-02 -2.19687513e+01] [-3.86881090e-02 1.11274361e-04 9.99251329e-01 -7.44455546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27240100800002 meters 0.0619527351412743 Centerline is valid? [True, True] Translation: X:83.79, Y:-21.98, Z:-7.45 [[ 8.59887842e-01 5.09449244e-01 3.24710259e-02 8.37918759e+01] [-5.09081636e-01 8.60500701e-01 -1.93502409e-02 -2.19840025e+01] [-3.77993062e-02 1.08633896e-04 9.99285345e-01 -7.44839868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30240100800002 meters 0.06168104469093625 Centerline is valid? [True, True] Translation: X:83.82, Y:-22.00, Z:-7.45 [[ 8.59033607e-01 5.10814921e-01 3.36062122e-02 8.38221568e+01] [-5.10422140e-01 8.59690708e-01 -2.00281143e-02 -2.19998894e+01] [-3.91216080e-02 5.14685668e-05 9.99234456e-01 -7.44867961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33240100800002 meters 0.060885608472662 Centerline is valid? [True, True] Translation: X:83.85, Y:-22.02, Z:-7.44 [[ 8.58729408e-01 5.11000693e-01 3.82373539e-02 8.38502067e+01] [-5.10491378e-01 8.59580297e-01 -2.28093377e-02 -2.20186917e+01] [-4.45236634e-02 6.72096131e-05 9.99008328e-01 -7.44225863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36240100800002 meters 0.0607980413960536 Centerline is valid? [True, True] Translation: X:83.88, Y:-22.04, Z:-7.44 [[ 8.59245084e-01 5.09942435e-01 4.07013441e-02 8.38764272e+01] [-5.09363196e-01 8.60208516e-01 -2.42990332e-02 -2.20370995e+01] [-4.74027510e-02 1.47058117e-04 9.98875847e-01 -7.44444983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39240100800001 meters 0.06058477075239566 Centerline is valid? [True, True] Translation: X:83.90, Y:-22.05, Z:-7.44 [[ 8.59785882e-01 5.08854857e-01 4.28365619e-02 8.39039339e+01] [-5.08211412e-01 8.60852301e-01 -2.55827580e-02 -2.20537554e+01] [-4.98938635e-02 2.25664600e-04 9.98754500e-01 -7.44228801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42240100800001 meters 0.0606739761578944 Centerline is valid? [True, True] Translation: X:83.93, Y:-22.07, Z:-7.44 [[ 8.60466122e-01 5.07606694e-01 4.39715515e-02 8.39319104e+01] [-5.06926340e-01 8.61588848e-01 -2.62743736e-02 -2.20706492e+01] [-5.12224463e-02 3.17870664e-04 9.98687218e-01 -7.44431203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45240100800001 meters 0.06084214840455228 Centerline is valid? [True, True] Translation: X:83.96, Y:-22.09, Z:-7.45 [[ 8.61249664e-01 5.06146897e-01 4.54349540e-02 8.39595625e+01] [-5.05417570e-01 8.62447176e-01 -2.71651933e-02 -2.20881485e+01] [-5.29348261e-02 4.32389565e-04 9.98597876e-01 -7.44663963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48240100800001 meters 0.06155898560375116 Centerline is valid? [True, True] Translation: X:83.98, Y:-22.11, Z:-7.45 [[ 8.63844828e-01 5.01679115e-01 4.57184634e-02 8.39836119e+01] [-5.00933517e-01 8.65053490e-01 -2.73508930e-02 -2.21091366e+01] [-5.32702881e-02 7.25016795e-04 9.98579867e-01 -7.44806342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51240100800001 meters 0.06160431680644936 Centerline is valid? [True, True] Translation: X:84.01, Y:-22.13, Z:-7.45 [[ 8.65047891e-01 4.99694504e-01 4.46939493e-02 8.40128646e+01] [-4.98978769e-01 8.66201306e-01 -2.67485758e-02 -2.21293087e+01] [-5.20800736e-02 8.37467316e-04 9.98642561e-01 -7.44793933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54240100800001 meters 0.06225433679048351 Centerline is valid? [True, True] Translation: X:84.04, Y:-22.15, Z:-7.45 [[ 8.66454941e-01 4.97276481e-01 4.44064835e-02 8.40380371e+01] [-4.96565500e-01 8.67591555e-01 -2.66007300e-02 -2.21499820e+01] [-5.17546075e-02 9.97606300e-04 9.98659334e-01 -7.45023269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57240100800001 meters 0.06309943080259821 Centerline is valid? [True, True] Translation: X:84.07, Y:-22.17, Z:-7.45 [[ 8.68178329e-01 4.94496358e-01 4.17102078e-02 8.40672975e+01] [-4.93865354e-01 8.69179000e-01 -2.49975443e-02 -2.21705302e+01] [-4.86148314e-02 1.10309969e-03 9.98816991e-01 -7.45463159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60240100800002 meters 0.06408821970060205 Centerline is valid? [True, True] Translation: X:84.09, Y:-22.19, Z:-7.46 [[ 8.68622456e-01 4.93866479e-01 3.98864512e-02 8.40929445e+01] [-4.93287493e-01 8.69537038e-01 -2.39329878e-02 -2.21878852e+01] [-4.65024471e-02 1.11324309e-03 9.98917556e-01 -7.46157264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63240100800002 meters 0.06385337295659607 Centerline is valid? [True, True] Translation: X:84.12, Y:-22.20, Z:-7.46 [[ 8.68721883e-01 4.93773202e-01 3.88627592e-02 8.41233315e+01] [-4.93223372e-01 8.69590038e-01 -2.33210555e-02 -2.22029838e+01] [-4.53099805e-02 1.09149007e-03 9.98972379e-01 -7.46469701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66240100800002 meters 0.0642632290164749 Centerline is valid? [True, True] Translation: X:84.15, Y:-22.22, Z:-7.47 [[ 8.67994146e-01 4.95164384e-01 3.73951265e-02 8.41534151e+01] [-4.94655995e-01 8.68798738e-01 -2.24543880e-02 -2.22177005e+01] [-4.36074519e-02 9.92553813e-04 9.99048250e-01 -7.47098517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69240100800002 meters 0.06368901248955827 Centerline is valid? [True, True] Translation: X:84.18, Y:-22.23, Z:-7.47 [[ 8.66898115e-01 4.97065519e-01 3.75969172e-02 8.41817860e+01] [-4.96552559e-01 8.67712525e-01 -2.25949283e-02 -2.22324780e+01] [-4.38544757e-02 9.18655325e-04 9.99037507e-01 -7.47187807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72240100800002 meters 0.06341647671231128 Centerline is valid? [True, True] Translation: X:84.21, Y:-22.25, Z:-7.47 [[ 8.65862259e-01 4.98778544e-01 3.87622651e-02 8.42088494e+01] [-4.98234416e-01 8.66729029e-01 -2.33078892e-02 -2.22493422e+01] [-4.52218554e-02 8.68727057e-04 9.98976591e-01 -7.47371378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752401008 meters 0.062222648041621045 Centerline is valid? [True, True] Translation: X:84.24, Y:-22.26, Z:-7.47 [[ 8.63572410e-01 5.02573116e-01 4.07793496e-02 8.42384380e+01] [-5.01974325e-01 8.64534410e-01 -2.45363180e-02 -2.22622745e+01] [-4.75864447e-02 7.18700771e-04 9.98866865e-01 -7.47151797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78240100800001 meters 0.06159377631714894 Centerline is valid? [True, True] Translation: X:84.27, Y:-22.28, Z:-7.47 [[ 8.61805821e-01 5.05507998e-01 4.18615615e-02 8.42673881e+01] [-5.04879765e-01 8.62821722e-01 -2.52011851e-02 -2.22755537e+01] [-4.88584652e-02 5.83472733e-04 9.98805542e-01 -7.47269404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81240100800001 meters 0.061371215709069386 Centerline is valid? [True, True] Translation: X:84.30, Y:-22.29, Z:-7.48 [[ 8.59901750e-01 5.08666682e-01 4.27456086e-02 8.42961149e+01] [-5.08014797e-01 8.60963429e-01 -2.57476277e-02 -2.22883854e+01] [-4.98993661e-02 4.25028486e-04 9.98754160e-01 -7.47695127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84240100800001 meters 0.06106997726157949 Centerline is valid? [True, True] Translation: X:84.33, Y:-22.30, Z:-7.48 [[ 8.57753543e-01 5.12249766e-01 4.31165587e-02 8.43268408e+01] [-5.11590369e-01 8.58836495e-01 -2.59840173e-02 -2.23015421e+01] [-5.03403809e-02 2.29866752e-04 9.98732093e-01 -7.47991483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87240100800001 meters 0.06118706442437248 Centerline is valid? [True, True] Translation: X:84.36, Y:-22.32, Z:-7.48 [[ 8.55787438e-01 5.15553315e-01 4.28093504e-02 8.43573649e+01] [-5.14906617e-01 8.56857501e-01 -2.58146981e-02 -2.23155080e+01] [-4.99903662e-02 4.90765648e-05 9.98749699e-01 -7.48359451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90240100800001 meters 0.0613806769702607 Centerline is valid? [True, True] Translation: X:84.39, Y:-22.33, Z:-7.49 [[ 8.52237676e-01 5.21519048e-01 4.13379582e-02 8.43883063e+01] [-5.20922208e-01 8.53239595e-01 -2.49448644e-02 -2.23260366e+01] [-4.82804046e-02 -2.74907187e-04 9.98833783e-01 -7.48754104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93240100800001 meters 0.061685501613637735 Centerline is valid? [True, True] Translation: X:84.42, Y:-22.34, Z:-7.49 [[ 8.50888188e-01 5.23785440e-01 4.04735103e-02 8.44169877e+01] [-5.23215307e-01 8.51850142e-01 -2.44351629e-02 -2.23406299e+01] [-4.72761480e-02 -3.84768637e-04 9.98881784e-01 -7.49080560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96240100800001 meters 0.06188573736799484 Centerline is valid? [True, True] Translation: X:84.45, Y:-22.36, Z:-7.49 [[ 8.49976030e-01 5.25325883e-01 3.96669191e-02 8.44451131e+01] [-5.24779308e-01 8.50901002e-01 -2.39617039e-02 -2.23562396e+01] [-4.63403244e-02 -4.49504361e-04 9.98925609e-01 -7.49425393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99240100800002 meters 0.062029643771409654 Centerline is valid? [True, True] Translation: X:84.47, Y:-22.38, Z:-7.50 [[ 8.50989339e-01 5.23814583e-01 3.78870407e-02 8.44705259e+01] [-5.23313917e-01 8.51832241e-01 -2.28992840e-02 -2.23758575e+01] [-4.42683817e-02 -3.39769100e-04 9.99019617e-01 -7.49971830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02240100800002 meters 0.062029643771409654 Centerline is valid? [True, True] Translation: X:84.50, Y:-22.39, Z:-7.50 [[ 8.50833515e-01 5.24068018e-01 3.78819484e-02 8.44986958e+01] [-5.23567229e-01 8.51676344e-01 -2.29077039e-02 -2.23931724e+01] [-4.42683543e-02 -3.43104522e-04 9.99019617e-01 -7.50209614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05240100800002 meters 0.061793942199688146 Centerline is valid? [True, True] Translation: X:84.52, Y:-22.41, Z:-7.50 [[ 8.52269583e-01 5.21739656e-01 3.77397636e-02 8.45234744e+01] [-5.21239565e-01 8.53104735e-01 -2.28391511e-02 -2.24143003e+01] [-4.41120618e-02 -2.06344179e-04 9.99026568e-01 -7.50469447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08240100800002 meters 0.06161222071713423 Centerline is valid? [True, True] Translation: X:84.55, Y:-22.44, Z:-7.50 [[ 8.57230945e-01 5.13457430e-01 3.89432255e-02 8.45460860e+01] [-5.12915922e-01 8.58115034e-01 -2.35763729e-02 -2.24445377e+01] [-4.55232311e-02 2.35796021e-04 9.98963252e-01 -7.50391927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11240100800002 meters 0.06183416887108267 Centerline is valid? [True, True] Translation: X:84.57, Y:-22.47, Z:-7.51 [[ 8.59326981e-01 5.09921263e-01 3.92102601e-02 8.45709350e+01] [-5.09367595e-01 8.60220964e-01 -2.37601748e-02 -2.24663229e+01] [-4.58453061e-02 4.45323421e-04 9.98948452e-01 -7.50547946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14240100800001 meters 0.061992986843038285 Centerline is valid? [True, True] Translation: X:84.60, Y:-22.49, Z:-7.50 [[ 8.60656027e-01 5.07499896e-01 4.14132630e-02 8.45992208e+01] [-5.06878705e-01 8.61651595e-01 -2.51098871e-02 -2.24869205e+01] [-4.84270692e-02 6.19474583e-04 9.98826529e-01 -7.50446842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17240100800001 meters 0.06215334667495941 Centerline is valid? [True, True] Translation: X:84.63, Y:-22.51, Z:-7.51 [[ 8.61248806e-01 5.06435903e-01 4.21090285e-02 8.46269962e+01] [-5.05791306e-01 8.62277317e-01 -2.55535187e-02 -2.25050440e+01] [-4.92508795e-02 7.09556927e-04 9.98786187e-01 -7.50683039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20240100800001 meters 0.062392746276118814 Centerline is valid? [True, True] Translation: X:84.65, Y:-22.52, Z:-7.51 [[ 8.61603949e-01 5.05753556e-01 4.30345924e-02 8.46536807e+01] [-5.05078599e-01 8.62677653e-01 -2.61318996e-02 -2.25224695e+01] [-5.03412823e-02 7.79496207e-04 9.98731770e-01 -7.50953127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23240100800001 meters 0.062347864551121165 Centerline is valid? [True, True] Translation: X:84.68, Y:-22.54, Z:-7.51 [[ 8.61696687e-01 5.05612862e-01 4.28305207e-02 8.46812989e+01] [-5.04943400e-01 8.62760106e-01 -2.60223512e-02 -2.25401597e+01] [-5.01097000e-02 7.96385094e-04 9.98743402e-01 -7.51120048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26240100800001 meters 0.06203527549050095 Centerline is valid? [True, True] Translation: X:84.71, Y:-22.56, Z:-7.51 [[ 8.61500778e-01 5.06051538e-01 4.15722330e-02 8.47104767e+01] [-5.05420691e-01 8.62502906e-01 -2.52717776e-02 -2.25552671e+01] [-4.86449937e-02 7.60189391e-04 9.98815842e-01 -7.51305035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29240100800001 meters 0.06220545226504729 Centerline is valid? [True, True] Translation: X:84.74, Y:-22.57, Z:-7.52 [[ 8.61423821e-01 5.06209229e-01 4.12458010e-02 8.47377708e+01] [-5.05587685e-01 8.62410367e-01 -2.50888829e-02 -2.25720913e+01] [-4.82710304e-02 7.58792320e-04 9.98833986e-01 -7.51696638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32240100800001 meters 0.061985890781970004 Centerline is valid? [True, True] Translation: X:84.77, Y:-22.59, Z:-7.52 [[ 8.61181675e-01 5.06669474e-01 4.06468465e-02 8.47663302e+01] [-5.06065754e-01 8.62140073e-01 -2.47375588e-02 -2.25880221e+01] [-4.75770412e-02 7.33555321e-04 9.98867302e-01 -7.51869486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35240100800002 meters 0.0619315899968845 Centerline is valid? [True, True] Translation: X:84.79, Y:-22.61, Z:-7.52 [[ 8.61014169e-01 5.06973099e-01 4.04088848e-02 8.47941862e+01] [-5.06376072e-01 8.61961572e-01 -2.46073684e-02 -2.26050003e+01] [-4.73061796e-02 7.25200484e-04 9.98880173e-01 -7.52135580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38240100800002 meters 0.061999768314309596 Centerline is valid? [True, True] Translation: X:84.82, Y:-22.62, Z:-7.53 [[ 8.60582973e-01 5.07742859e-01 3.99266268e-02 8.48211357e+01] [-5.07160132e-01 8.61508396e-01 -2.43286545e-02 -2.26217768e+01] [-4.67498248e-02 6.87632522e-04 9.98906393e-01 -7.52511098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41240100800002 meters 0.061816876092341044 Centerline is valid? [True, True] Translation: X:84.85, Y:-22.64, Z:-7.53 [[ 8.60160474e-01 5.08386690e-01 4.08280863e-02 8.48487791e+01] [-5.07777381e-01 8.61128626e-01 -2.48921688e-02 -2.26379229e+01] [-4.78130812e-02 6.79680962e-04 9.98856069e-01 -7.52642591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44240100800002 meters 0.06173568669018112 Centerline is valid? [True, True] Translation: X:84.88, Y:-22.65, Z:-7.53 [[ 8.59993320e-01 5.08547977e-01 4.23136440e-02 8.48763960e+01] [-5.07892916e-01 8.61033364e-01 -2.58134157e-02 -2.26545040e+01] [-4.95608195e-02 7.08565046e-04 9.98770856e-01 -7.52782003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47240100800002 meters 0.061458843160064495 Centerline is valid? [True, True] Translation: X:84.91, Y:-22.67, Z:-7.53 [[ 8.59831983e-01 5.08738487e-01 4.32910142e-02 8.49066317e+01] [-5.08052403e-01 8.60920802e-01 -2.64221335e-02 -2.26728670e+01] [-5.07120909e-02 7.24491663e-04 9.98713051e-01 -7.52860307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502401008 meters 0.06181902482450128 Centerline is valid? [True, True] Translation: X:84.93, Y:-22.69, Z:-7.53 [[ 8.59503259e-01 5.09169854e-01 4.47236842e-02 8.49332227e+01] [-5.08436746e-01 8.60665733e-01 -2.73234578e-02 -2.26922594e+01] [-5.24044234e-02 7.45436571e-04 9.98625666e-01 -7.53303697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53240100800001 meters 0.06150315839113714 Centerline is valid? [True, True] Translation: X:84.96, Y:-22.71, Z:-7.53 [[ 8.59483425e-01 5.09189851e-01 4.48769140e-02 8.49608621e+01] [-5.08450735e-01 8.60653887e-01 -2.74360424e-02 -2.27108215e+01] [-5.25936448e-02 7.63123837e-04 9.98615705e-01 -7.53224010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56240100800001 meters 0.06173438267351667 Centerline is valid? [True, True] Translation: X:84.99, Y:-22.73, Z:-7.54 [[ 8.59986135e-01 5.08366237e-01 4.45826894e-02 8.49863259e+01] [-5.07634798e-01 8.61140577e-01 -2.72730559e-02 -2.27291366e+01] [-5.22566636e-02 8.22725432e-04 9.98633348e-01 -7.53602304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59240100800001 meters 0.06186470832971673 Centerline is valid? [True, True] Translation: X:85.01, Y:-22.75, Z:-7.54 [[ 8.60383237e-01 5.07765414e-01 4.37603717e-02 8.50147433e+01] [-5.07059300e-01 8.61494953e-01 -2.67826803e-02 -2.27478478e+01] [-5.12986581e-02 8.54265754e-04 9.98682992e-01 -7.53790371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62240100800001 meters 0.06200797536721577 Centerline is valid? [True, True] Translation: X:85.04, Y:-22.76, Z:-7.54 [[ 8.60893465e-01 5.07047360e-01 4.20168580e-02 8.50419207e+01] [-5.06394712e-01 8.61917749e-01 -2.57330257e-02 -2.27648819e+01] [-4.92629385e-02 8.76278924e-04 9.98785460e-01 -7.54083024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65240100800001 meters 0.06364293203033557 Centerline is valid? [True, True] Translation: X:85.07, Y:-22.79, Z:-7.55 [[ 8.62970466e-01 5.03783618e-01 3.85232425e-02 8.50658318e+01] [-5.03231128e-01 8.63829319e-01 -2.36080431e-02 -2.27859014e+01] [-4.51708517e-02 9.86949183e-04 9.98978789e-01 -7.55030148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68240100800001 meters 0.06373596984102926 Centerline is valid? [True, True] Translation: X:85.09, Y:-22.80, Z:-7.55 [[ 8.64152152e-01 5.01892033e-01 3.66803211e-02 8.50939390e+01] [-5.01389273e-01 8.64929656e-01 -2.24830225e-02 -2.28033679e+01] [-4.30099474e-02 1.03763272e-03 9.99074105e-01 -7.55267042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71240100800001 meters 0.06520399985594842 Centerline is valid? [True, True] Translation: X:85.12, Y:-22.82, Z:-7.56 [[ 8.66332952e-01 4.98281538e-01 3.43907801e-02 8.51202668e+01] [-4.97836251e-01 8.67014522e-01 -2.10922994e-02 -2.28222421e+01] [-4.03272092e-02 1.15197697e-03 9.99185863e-01 -7.55891699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74240100800002 meters 0.06579282816685254 Centerline is valid? [True, True] Translation: X:85.15, Y:-22.84, Z:-7.56 [[ 8.67029032e-01 4.97059267e-01 3.45361109e-02 8.51481609e+01] [-4.96608786e-01 8.67715730e-01 -2.11925725e-02 -2.28404814e+01] [-4.05014912e-02 1.22363954e-03 9.99178729e-01 -7.56195681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77240100800002 meters 0.06534960568599646 Centerline is valid? [True, True] Translation: X:85.18, Y:-22.86, Z:-7.56 [[ 8.67637229e-01 4.95973211e-01 3.48742489e-02 8.51797378e+01] [-4.95512606e-01 8.68336857e-01 -2.14093445e-02 -2.28571905e+01] [-4.09010570e-02 1.29491439e-03 9.99162363e-01 -7.56131614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80240100800002 meters 0.06710314130665468 Centerline is valid? [True, True] Translation: X:85.21, Y:-22.88, Z:-7.56 [[ 8.68829250e-01 4.93732204e-01 3.69356836e-02 8.52066465e+01] [-4.93212519e-01 8.69612702e-01 -2.26971094e-02 -2.28795839e+01] [-4.33260335e-02 1.50277101e-03 9.99059856e-01 -7.56237263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83240100800002 meters 0.06607623576350831 Centerline is valid? [True, True] Translation: X:85.24, Y:-22.89, Z:-7.56 [[ 8.68994393e-01 4.93284807e-01 3.89723535e-02 8.52355150e+01] [-4.92704733e-01 8.69866338e-01 -2.39708118e-02 -2.28949834e+01] [-4.57251757e-02 1.62863800e-03 9.98952730e-01 -7.55878731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86240100800002 meters 0.06604734488805641 Centerline is valid? [True, True] Translation: X:85.26, Y:-22.91, Z:-7.56 [[ 8.68604743e-01 4.93864631e-01 4.02930052e-02 8.52621155e+01] [-4.93244459e-01 8.69537206e-01 -2.47982179e-02 -2.29115668e+01] [-4.72832299e-02 1.66554821e-03 9.98880134e-01 -7.55838493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89240100800001 meters 0.06518610555581514 Centerline is valid? [True, True] Translation: X:85.29, Y:-22.93, Z:-7.56 [[ 8.67853391e-01 4.95044209e-01 4.19728875e-02 8.52916181e+01] [-4.94371910e-01 8.68866162e-01 -2.58458273e-02 -2.29262514e+01] [-4.92636488e-02 1.68017230e-03 9.98784396e-01 -7.55721884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92240100800001 meters 0.06427722862401412 Centerline is valid? [True, True] Translation: X:85.32, Y:-22.94, Z:-7.56 [[ 8.65075218e-01 4.99819302e-01 4.27262562e-02 8.53223967e+01] [-4.99127661e-01 8.66128496e-01 -2.63250190e-02 -2.29359881e+01] [-5.01641806e-02 1.44726520e-03 9.98739936e-01 -7.55893811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95240100800001 meters 0.06358292193042021 Centerline is valid? [True, True] Translation: X:85.35, Y:-22.95, Z:-7.56 [[ 8.62937700e-01 5.03449581e-01 4.33248888e-02 8.53520322e+01] [-5.02742115e-01 8.64023675e-01 -2.67105715e-02 -2.29469043e+01] [-5.08811556e-02 1.26831292e-03 9.98703910e-01 -7.56318794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98240100800001 meters 0.06301724323748506 Centerline is valid? [True, True] Translation: X:85.38, Y:-22.96, Z:-7.57 [[ 8.60460965e-01 5.07753816e-01 4.23437154e-02 8.53827793e+01] [-5.07083017e-01 8.61501638e-01 -2.61101823e-02 -2.29574127e+01] [-4.97367248e-02 9.95013726e-04 9.98761868e-01 -7.56846148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01240100800001 meters 0.06184780723082341 Centerline is valid? [True, True] Translation: X:85.42, Y:-22.96, Z:-7.57 [[ 8.54757444e-01 5.17418687e-01 4.08364417e-02 8.54171003e+01] [-5.16805128e-01 8.55732270e-01 -2.51940898e-02 -2.29626857e+01] [-4.79809538e-02 4.30353371e-04 9.98848158e-01 -7.57266266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04240100800001 meters 0.061562604173841955 Centerline is valid? [True, True] Translation: X:85.45, Y:-22.97, Z:-7.58 [[ 8.51802279e-01 5.22329391e-01 4.00610143e-02 8.54469997e+01] [-5.21743654e-01 8.52743796e-01 -2.47301038e-02 -2.29741764e+01] [-4.70790415e-02 1.63578798e-04 9.98891154e-01 -7.57628427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07240100800001 meters 0.06158072619481054 Centerline is valid? [True, True] Translation: X:85.48, Y:-22.99, Z:-7.58 [[ 8.48856417e-01 5.27163857e-01 3.92562203e-02 8.54776748e+01] [-5.26606221e-01 8.49763649e-01 -2.42410706e-02 -2.29855354e+01] [-4.61375253e-02 -9.53814512e-05 9.98935093e-01 -7.57894225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10240100800002 meters 0.062070734113340124 Centerline is valid? [True, True] Translation: X:85.51, Y:-23.00, Z:-7.58 [[ 8.46293644e-01 5.31366115e-01 3.79093683e-02 8.55078557e+01] [-5.30849978e-01 8.47142230e-01 -2.34167226e-02 -2.29967992e+01] [-4.45574797e-02 -3.06763886e-04 9.99006775e-01 -7.58349837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13240100800002 meters 0.0631566407538213 Centerline is valid? [True, True] Translation: X:85.54, Y:-23.01, Z:-7.59 [[ 8.41981731e-01 5.38250729e-01 3.67820236e-02 8.55392927e+01] [-5.37771141e-01 8.42784513e-01 -2.27258602e-02 -2.30062936e+01] [-4.32315307e-02 -6.45551671e-04 9.99064872e-01 -7.58732467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16240100800002 meters 0.06341031507457524 Centerline is valid? [True, True] Translation: X:85.56, Y:-23.02, Z:-7.59 [[ 8.42486111e-01 5.37517592e-01 3.59442827e-02 8.55649595e+01] [-5.37058440e-01 8.43252333e-01 -2.22201250e-02 -2.30236235e+01] [-4.22538083e-02 -5.84033724e-04 9.99106738e-01 -7.59223013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19240100800002 meters 0.06237578027635159 Centerline is valid? [True, True] Translation: X:85.59, Y:-23.05, Z:-7.59 [[ 8.43899691e-01 5.35289009e-01 3.60414824e-02 8.55893444e+01] [-5.34824926e-01 8.44668847e-01 -2.22898567e-02 -2.30457154e+01] [-4.23746327e-02 -4.65480004e-04 9.99101683e-01 -7.59040378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22240100800002 meters 0.06277635397471762 Centerline is valid? [True, True] Translation: X:85.62, Y:-23.06, Z:-7.60 [[ 8.45090367e-01 5.33443420e-01 3.55019630e-02 8.56151848e+01] [-5.32991050e-01 8.45835675e-01 -2.19670259e-02 -2.30636354e+01] [-4.17469923e-02 -3.58106599e-04 9.99128150e-01 -7.59905448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.252401008 meters 0.06208763791905607 Centerline is valid? [True, True] Translation: X:85.64, Y:-23.09, Z:-7.60 [[ 8.48461662e-01 5.28037893e-01 3.58997514e-02 8.56385508e+01] [-5.27569952e-01 8.49220806e-01 -2.22254178e-02 -2.30887712e+01] [-4.22226786e-02 -8.22151505e-05 9.99108222e-01 -7.59769898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28240100800001 meters 0.06204335875824179 Centerline is valid? [True, True] Translation: X:85.66, Y:-23.11, Z:-7.60 [[ 8.50306105e-01 5.25035842e-01 3.62889971e-02 8.56629545e+01] [-5.24554327e-01 8.51080112e-01 -2.24811210e-02 -2.31099628e+01] [-4.26882380e-02 8.02840166e-05 9.99088438e-01 -7.60002214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31240100800001 meters 0.06187868111714055 Centerline is valid? [True, True] Translation: X:85.69, Y:-23.13, Z:-7.60 [[ 8.51673652e-01 5.22776042e-01 3.68402040e-02 8.56874863e+01] [-5.22277135e-01 8.52470039e-01 -2.28347721e-02 -2.31319892e+01] [-4.33426419e-02 2.06977512e-04 9.99060245e-01 -7.60048184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34240100800001 meters 0.061799343450314966 Centerline is valid? [True, True] Translation: X:85.71, Y:-23.16, Z:-7.60 [[ 8.53338767e-01 5.19991325e-01 3.77090236e-02 8.57130219e+01] [-5.19465292e-01 8.54171462e-01 -2.33864010e-02 -2.31557445e+01] [-4.43706975e-02 3.67993693e-04 9.99015068e-01 -7.59842025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37240100800001 meters 0.06194213929115677 Centerline is valid? [True, True] Translation: X:85.74, Y:-23.18, Z:-7.60 [[ 8.55275252e-01 5.16675112e-01 3.93836425e-02 8.57363788e+01] [-5.16096882e-01 8.56181342e-01 -2.44441653e-02 -2.31793751e+01] [-4.63492318e-02 5.80714540e-04 9.98925128e-01 -7.59966294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40240100800001 meters 0.06235675167510455 Centerline is valid? [True, True] Translation: X:85.76, Y:-23.21, Z:-7.60 [[ 8.58789641e-01 5.10666247e-01 4.12351456e-02 8.57581441e+01] [-5.10024575e-01 8.59778493e-01 -2.56100823e-02 -2.32072610e+01] [-4.85312959e-02 9.62735771e-04 9.98821198e-01 -7.59779786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43240100800001 meters 0.06263368181359194 Centerline is valid? [True, True] Translation: X:85.78, Y:-23.23, Z:-7.60 [[ 8.60436134e-01 5.07832610e-01 4.19010611e-02 8.57832321e+01] [-5.07165860e-01 8.61454994e-01 -2.60400421e-02 -2.32281671e+01] [-4.93198609e-02 1.15500551e-03 9.98782367e-01 -7.59835544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46240100800001 meters 0.06336557584595189 Centerline is valid? [True, True] Translation: X:85.81, Y:-23.25, Z:-7.60 [[ 8.61196370e-01 5.06496689e-01 4.24489909e-02 8.58085410e+01] [-5.05809993e-01 8.62240984e-01 -2.63957687e-02 -2.32490325e+01] [-4.99706291e-02 1.26081635e-03 9.98749892e-01 -7.60204430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49240100800002 meters 0.06295721168746488 Centerline is valid? [True, True] Translation: X:85.84, Y:-23.26, Z:-7.60 [[ 8.60448501e-01 5.07704566e-01 4.31792982e-02 8.58385208e+01] [-5.06994575e-01 8.61530363e-01 -2.68688357e-02 -2.32623782e+01] [-5.08417071e-02 1.22757949e-03 9.98705970e-01 -7.60459563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52240100800002 meters 0.06305062870304903 Centerline is valid? [True, True] Translation: X:85.87, Y:-23.28, Z:-7.61 [[ 8.60418929e-01 5.07729692e-01 4.34721371e-02 8.58671306e+01] [-5.07009292e-01 8.61515527e-01 -2.70661047e-02 -2.32783914e+01] [-5.11941861e-02 1.24741140e-03 9.98687939e-01 -7.60734999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55240100800002 meters 0.06336931905527389 Centerline is valid? [True, True] Translation: X:85.89, Y:-23.30, Z:-7.61 [[ 8.60132531e-01 5.08217180e-01 4.34433805e-02 8.58936423e+01] [-5.07497478e-01 8.61228064e-01 -2.70653155e-02 -2.32957575e+01] [-5.11697168e-02 1.23235235e-03 9.98689212e-01 -7.61078383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58240100800002 meters 0.06303282564321216 Centerline is valid? [True, True] Translation: X:85.92, Y:-23.31, Z:-7.61 [[ 8.59713785e-01 5.09046773e-01 4.19951233e-02 8.59229233e+01] [-5.08374580e-01 8.60738083e-01 -2.61770654e-02 -2.33106526e+01] [-4.94721526e-02 1.15553083e-03 9.98774835e-01 -7.61289603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61240100800002 meters 0.06311175975754738 Centerline is valid? [True, True] Translation: X:85.95, Y:-23.33, Z:-7.62 [[ 8.59404051e-01 5.09720454e-01 4.01215210e-02 8.59501323e+01] [-5.09106977e-01 8.60339406e-01 -2.50238334e-02 -2.33273117e+01] [-4.72732852e-02 1.07943749e-03 9.98881410e-01 -7.61628998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64240100800001 meters 0.06424226161511096 Centerline is valid? [True, True] Translation: X:85.98, Y:-23.34, Z:-7.63 [[ 8.58400022e-01 5.11752600e-01 3.54778647e-02 8.59770498e+01] [-5.11274285e-01 8.59132428e-01 -2.21376751e-02 -2.33421867e+01] [-4.18091969e-02 8.64060895e-04 9.99125240e-01 -7.62698665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67240100800001 meters 0.0639971326870868 Centerline is valid? [True, True] Translation: X:86.01, Y:-23.36, Z:-7.63 [[ 8.57800621e-01 5.12865809e-01 3.38638045e-02 8.60071548e+01] [-5.12430520e-01 8.58468434e-01 -2.11402701e-02 -2.33553795e+01] [-3.99131290e-02 7.81289889e-04 9.99202848e-01 -7.62979254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70240100800001 meters 0.06358776521272287 Centerline is valid? [True, True] Translation: X:86.04, Y:-23.37, Z:-7.63 [[ 8.56896407e-01 5.14481795e-01 3.22029548e-02 8.60382640e+01] [-5.14088953e-01 8.57501032e-01 -2.01128833e-02 -2.33679558e+01] [-3.79617793e-02 6.79474114e-04 9.99278961e-01 -7.63139468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73240100800001 meters 0.06406126243769504 Centerline is valid? [True, True] Translation: X:86.07, Y:-23.38, Z:-7.64 [[ 8.55491083e-01 5.16901712e-01 3.07835486e-02 8.60674155e+01] [-5.16543887e-01 8.56044573e-01 -1.92380485e-02 -2.33800249e+01] [-3.62962699e-02 5.56925104e-04 9.99340918e-01 -7.63863332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76240100800001 meters 0.06377364127717777 Centerline is valid? [True, True] Translation: X:86.10, Y:-23.40, Z:-7.64 [[ 8.54250231e-01 5.18996646e-01 2.99837486e-02 8.60973043e+01] [-5.18658181e-01 8.54776151e-01 -1.87462917e-02 -2.33955438e+01] [-3.53586557e-02 4.62707495e-04 9.99374580e-01 -7.63973996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79240100800001 meters 0.06368583793275348 Centerline is valid? [True, True] Translation: X:86.13, Y:-23.41, Z:-7.64 [[ 8.53947895e-01 5.19462191e-01 3.05290843e-02 8.61264731e+01] [-5.19111130e-01 8.54493311e-01 -1.91001533e-02 -2.34127433e+01] [-3.60087058e-02 4.62548231e-04 9.99351369e-01 -7.64127168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82240100800001 meters 0.06309105953703988 Centerline is valid? [True, True] Translation: X:86.16, Y:-23.43, Z:-7.64 [[ 8.53627379e-01 5.19771510e-01 3.40275460e-02 8.61554449e+01] [-5.19334772e-01 8.54305161e-01 -2.13092992e-02 -2.34281278e+01] [-4.01458748e-02 5.18513346e-04 9.99193695e-01 -7.63691580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85240100800002 meters 0.06305946120947864 Centerline is valid? [True, True] Translation: X:86.18, Y:-23.45, Z:-7.64 [[ 8.53951868e-01 5.19098752e-01 3.60928339e-02 8.61818928e+01] [-5.18606119e-01 8.54714063e-01 -2.26177617e-02 -2.34453575e+01] [-4.25899046e-02 5.96515295e-04 9.99092460e-01 -7.63841397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88240100800002 meters 0.0627617446315727 Centerline is valid? [True, True] Translation: X:86.21, Y:-23.46, Z:-7.64 [[ 8.54243449e-01 5.18489762e-01 3.79011495e-02 8.62103900e+01] [-5.17945325e-01 8.55083574e-01 -2.37638816e-02 -2.34614796e+01] [-4.47299797e-02 6.69416959e-04 9.98998889e-01 -7.63519183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91240100800002 meters 0.06257188528900354 Centerline is valid? [True, True] Translation: X:86.24, Y:-23.48, Z:-7.64 [[ 8.54633439e-01 5.17749103e-01 3.92116281e-02 8.62378770e+01] [-5.17164967e-01 8.55532182e-01 -2.45984409e-02 -2.34781745e+01] [-4.62826304e-02 7.43769793e-04 9.98928108e-01 -7.63588320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94240100800002 meters 0.06257188528900354 Centerline is valid? [True, True] Translation: X:86.27, Y:-23.50, Z:-7.64 [[ 8.54491979e-01 5.17983005e-01 3.92054115e-02 8.62651071e+01] [-5.17398662e-01 8.55390586e-01 -2.46083435e-02 -2.34954562e+01] [-4.62826436e-02 7.42804719e-04 9.98928108e-01 -7.63820327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97240100800002 meters 0.06313548179587325 Centerline is valid? [True, True] Translation: X:86.29, Y:-23.51, Z:-7.64 [[ 8.56006278e-01 5.15323898e-01 4.11646954e-02 8.62907771e+01] [-5.14675730e-01 8.56994974e-01 -2.58555164e-02 -2.35138229e+01] [-4.86019026e-02 9.46014713e-04 9.98817781e-01 -7.63982323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002401008 meters 0.06335250831922365 Centerline is valid? [True, True] Translation: X:86.32, Y:-23.53, Z:-7.64 [[ 8.56902707e-01 5.13749292e-01 4.21831234e-02 8.63180600e+01] [-5.13065962e-01 8.57939690e-01 -2.65105071e-02 -2.35325482e+01] [-4.98103301e-02 1.07420046e-03 9.98758117e-01 -7.64169888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03240100800001 meters 0.06326777371851444 Centerline is valid? [True, True] Translation: X:86.35, Y:-23.55, Z:-7.64 [[ 8.57871091e-01 5.12132320e-01 4.21625173e-02 8.63458308e+01] [-5.11446963e-01 8.58905754e-01 -2.65124488e-02 -2.35500737e+01] [-4.97915106e-02 1.18037198e-03 9.98758936e-01 -7.64174934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06240100800001 meters 0.06449364239000384 Centerline is valid? [True, True] Translation: X:86.37, Y:-23.57, Z:-7.65 [[ 8.59120149e-01 5.10022045e-01 4.23093640e-02 8.63693997e+01] [-5.09328486e-01 8.60160314e-01 -2.66219496e-02 -2.35712994e+01] [-4.99706170e-02 1.32208903e-03 9.98749813e-01 -7.64679836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09240100800001 meters 0.06454303744678731 Centerline is valid? [True, True] Translation: X:86.40, Y:-23.59, Z:-7.65 [[ 8.59977178e-01 5.08652845e-01 4.13707293e-02 8.63966757e+01] [-5.07987507e-01 8.60970600e-01 -2.60445736e-02 -2.35888892e+01] [-4.88666281e-02 1.38192526e-03 9.98804357e-01 -7.64903534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12240100800001 meters 0.06634894937624347 Centerline is valid? [True, True] Translation: X:86.42, Y:-23.61, Z:-7.66 [[ 8.61842180e-01 5.05649241e-01 3.93306671e-02 8.64203477e+01] [-5.05044151e-01 8.62737869e-01 -2.47744705e-02 -2.36101470e+01] [-4.64592481e-02 1.48796028e-03 9.98919078e-01 -7.65558010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15240100800001 meters 0.06583275984645102 Centerline is valid? [True, True] Translation: X:86.45, Y:-23.63, Z:-7.66 [[ 8.62219895e-01 5.05132903e-01 3.76510778e-02 8.64487479e+01] [-5.04577335e-01 8.63040330e-01 -2.37297560e-02 -2.36253518e+01] [-4.44810792e-02 1.46238720e-03 9.99009157e-01 -7.65832086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18240100800001 meters 0.0671873872512227 Centerline is valid? [True, True] Translation: X:86.47, Y:-23.64, Z:-7.67 [[ 8.62211018e-01 5.05266587e-01 3.60254996e-02 8.64739543e+01] [-5.04757914e-01 8.62962181e-01 -2.27095152e-02 -2.36432156e+01] [-4.25630029e-02 1.39623820e-03 9.99092809e-01 -7.66589248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21240100800001 meters 0.0664721960854302 Centerline is valid? [True, True] Translation: X:86.50, Y:-23.66, Z:-7.67 [[ 8.61299248e-01 5.07050198e-01 3.26144445e-02 8.65047378e+01] [-5.06634249e-01 8.61915701e-01 -2.05684700e-02 -2.36553254e+01] [-3.85401486e-02 1.19201315e-03 9.99256342e-01 -7.67112083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24240100800002 meters 0.06705611315612939 Centerline is valid? [True, True] Translation: X:86.53, Y:-23.67, Z:-7.68 [[ 8.60206946e-01 5.08963279e-01 3.16289712e-02 8.65335444e+01] [-5.08573122e-01 8.60787556e-01 -1.99540238e-02 -2.36737458e+01] [-3.73816902e-02 1.07894519e-03 9.99300478e-01 -7.67724251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27240100800002 meters 0.06617629912821472 Centerline is valid? [True, True] Translation: X:86.56, Y:-23.69, Z:-7.68 [[ 8.58697403e-01 5.11528980e-01 3.12549602e-02 8.65626731e+01] [-5.11148943e-01 8.59265474e-01 -1.97383690e-02 -2.36874572e+01] [-3.69530560e-02 9.73346358e-04 9.99316529e-01 -7.67837755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30240100800002 meters 0.06597563105108824 Centerline is valid? [True, True] Translation: X:86.59, Y:-23.70, Z:-7.68 [[ 8.56701022e-01 5.14865190e-01 3.12601210e-02 8.65899830e+01] [-5.14486982e-01 8.57270749e-01 -1.97486121e-02 -2.37031167e+01] [-3.69662603e-02 8.35730849e-04 9.99316165e-01 -7.68200713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33240100800002 meters 0.06381131959444628 Centerline is valid? [True, True] Translation: X:86.62, Y:-23.71, Z:-7.68 [[ 8.53166291e-01 5.20599706e-01 3.29123805e-02 8.66230786e+01] [-5.20184252e-01 8.53800650e-01 -2.08036866e-02 -2.37129483e+01] [-3.89310050e-02 6.28502138e-04 9.99241703e-01 -7.67580143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36240100800002 meters 0.0634595144608945 Centerline is valid? [True, True] Translation: X:86.65, Y:-23.73, Z:-7.68 [[ 8.51155459e-01 5.23889261e-01 3.27784477e-02 8.66521821e+01] [-5.23479179e-01 8.51786245e-01 -2.07302270e-02 -2.37281884e+01] [-3.87805742e-02 4.85810989e-04 9.99247633e-01 -7.67766245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39240100800001 meters 0.06312366766735895 Centerline is valid? [True, True] Translation: X:86.68, Y:-23.74, Z:-7.68 [[ 8.49517698e-01 5.26455970e-01 3.41143930e-02 8.66813884e+01] [-5.26013276e-01 8.50202302e-01 -2.15888440e-02 -2.37431943e+01] [-4.03697113e-02 3.95481413e-04 9.99184733e-01 -7.67934528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42240100800001 meters 0.06330113249091521 Centerline is valid? [True, True] Translation: X:86.71, Y:-23.76, Z:-7.69 [[ 8.47929376e-01 5.28963760e-01 3.48297876e-02 8.67088327e+01] [-5.28503634e-01 8.48644361e-01 -2.20603167e-02 -2.37574759e+01] [-4.12272109e-02 2.97921216e-04 9.99149753e-01 -7.68610587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45240100800001 meters 0.06307460635158169 Centerline is valid? [True, True] Translation: X:86.74, Y:-23.78, Z:-7.69 [[ 8.47676985e-01 5.29342590e-01 3.52157827e-02 8.67379678e+01] [-5.28872539e-01 8.48408123e-01 -2.23045818e-02 -2.37752770e+01] [-4.16841212e-02 2.82420223e-04 9.99130799e-01 -7.68597901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48240100800001 meters 0.06338073094235064 Centerline is valid? [True, True] Translation: X:86.76, Y:-23.79, Z:-7.69 [[ 8.47981563e-01 5.28818038e-01 3.57596499e-02 8.67632345e+01] [-5.28331881e-01 8.48735160e-01 -2.26727011e-02 -2.37940727e+01] [-4.23402054e-02 3.33069407e-04 9.99103196e-01 -7.68970177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51240100800001 meters 0.063367100980533 Centerline is valid? [True, True] Translation: X:86.79, Y:-23.82, Z:-7.69 [[ 8.49417651e-01 5.26500490e-01 3.58732144e-02 8.67864532e+01] [-5.26008843e-01 8.50174703e-01 -2.27523997e-02 -2.38177247e+01] [-4.24776490e-02 4.56661931e-04 9.99097313e-01 -7.68971763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54240100800001 meters 0.06325297524633008 Centerline is valid? [True, True] Translation: X:86.81, Y:-23.84, Z:-7.69 [[ 8.50258220e-01 5.25171262e-01 3.54415657e-02 8.68131981e+01] [-5.24690041e-01 8.50996401e-01 -2.24830051e-02 -2.38372067e+01] [-4.19680730e-02 5.20523341e-04 9.99118817e-01 -7.68807112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57240100800001 meters 0.06378609402320821 Centerline is valid? [True, True] Translation: X:86.84, Y:-23.86, Z:-7.69 [[ 8.52656219e-01 5.21221531e-01 3.61315289e-02 8.68372111e+01] [-5.20717270e-01 8.53421097e-01 -2.29337514e-02 -2.38604746e+01] [-4.27889740e-02 7.40294654e-04 9.99083858e-01 -7.69229013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60240100800002 meters 0.06402250990899379 Centerline is valid? [True, True] Translation: X:86.87, Y:-23.88, Z:-7.69 [[ 8.53579212e-01 5.19681541e-01 3.65188322e-02 8.68694912e+01] [-5.19165018e-01 8.54359652e-01 -2.31790838e-02 -2.38840550e+01] [-4.32459588e-02 8.25883947e-04 9.99064115e-01 -7.69482339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63240100800002 meters 0.06455150281801175 Centerline is valid? [True, True] Translation: X:86.90, Y:-23.90, Z:-7.70 [[ 8.55204215e-01 5.16928966e-01 3.75525578e-02 8.68961019e+01] [-5.16377598e-01 8.56027663e-01 -2.38917484e-02 -2.39041519e+01] [-4.44963651e-02 1.04102433e-03 9.99009004e-01 -7.69810581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66240100800002 meters 0.06569441220218646 Centerline is valid? [True, True] Translation: X:86.92, Y:-23.93, Z:-7.70 [[ 8.57649314e-01 5.12757899e-01 3.89485789e-02 8.69197730e+01] [-5.12159537e-01 8.58532231e-01 -2.47995462e-02 -2.39251490e+01] [-4.61547735e-02 1.32142764e-03 9.98933427e-01 -7.70149074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69240100800002 meters 0.06569441220218646 Centerline is valid? [True, True] Translation: X:86.95, Y:-23.94, Z:-7.70 [[ 8.57515719e-01 5.12981725e-01 3.89428053e-02 8.69469035e+01] [-5.12383183e-01 8.58398513e-01 -2.48086079e-02 -2.39426155e+01] [-4.61548087e-02 1.32013271e-03 9.98933427e-01 -7.70381118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72240100800002 meters 0.06553074931649695 Centerline is valid? [True, True] Translation: X:86.97, Y:-23.96, Z:-7.70 [[ 8.58448481e-01 5.11448603e-01 3.85555785e-02 8.69729438e+01] [-5.10859728e-01 8.59312728e-01 -2.45758703e-02 -2.39631440e+01] [-4.57005939e-02 1.40062619e-03 9.98954200e-01 -7.70280375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.752401008 meters 0.06599714474550968 Centerline is valid? [True, True] Translation: X:87.00, Y:-23.98, Z:-7.71 [[ 8.58361611e-01 5.11625066e-01 3.81462570e-02 8.69983531e+01] [-5.11048181e-01 8.59207696e-01 -2.43288293e-02 -2.39817967e+01] [-4.52227964e-02 1.38835783e-03 9.98975961e-01 -7.70588811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78240100800001 meters 0.06617214698069292 Centerline is valid? [True, True] Translation: X:87.03, Y:-24.00, Z:-7.71 [[ 8.57884745e-01 5.12452098e-01 3.77705032e-02 8.70255682e+01] [-5.11886721e-01 8.58714763e-01 -2.41027371e-02 -2.39983106e+01] [-4.47855868e-02 1.34315149e-03 9.98995719e-01 -7.70892630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81240100800001 meters 0.0656727766873827 Centerline is valid? [True, True] Translation: X:87.06, Y:-24.01, Z:-7.71 [[ 8.57272740e-01 5.13531038e-01 3.70043528e-02 8.70550440e+01] [-5.12988843e-01 8.58070077e-01 -2.36260231e-02 -2.40121521e+01] [-4.38850240e-02 1.27112542e-03 9.99035780e-01 -7.71139255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84240100800001 meters 0.06551149462123837 Centerline is valid? [True, True] Translation: X:87.09, Y:-24.02, Z:-7.72 [[ 8.55821135e-01 5.16157177e-01 3.39404312e-02 8.70860696e+01] [-5.15702702e-01 8.56493235e-01 -2.16809001e-02 -2.40237503e+01] [-4.02605019e-02 1.05180045e-03 9.99188664e-01 -7.71844330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87240100800001 meters 0.06493479195276496 Centerline is valid? [True, True] Translation: X:87.12, Y:-24.04, Z:-7.72 [[ 8.55034269e-01 5.17522509e-01 3.29674350e-02 8.71169604e+01] [-5.17094336e-01 8.55669046e-01 -2.10696857e-02 -2.40363104e+01] [-3.91132503e-02 9.68029383e-04 9.99234315e-01 -7.72011380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90240100800001 meters 0.065261599432854 Centerline is valid? [True, True] Translation: X:87.15, Y:-24.05, Z:-7.73 [[ 8.54081365e-01 5.19094505e-01 3.29532504e-02 8.71450700e+01] [-5.18667355e-01 8.54716370e-01 -2.10737409e-02 -2.40507906e+01] [-3.91049457e-02 9.06914166e-04 9.99234698e-01 -7.72532895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93240100800001 meters 0.06546663841228563 Centerline is valid? [True, True] Translation: X:87.17, Y:-24.07, Z:-7.73 [[ 8.53662003e-01 5.19760391e-01 3.33214697e-02 8.71732610e+01] [-5.19323668e-01 8.54311613e-01 -2.13212688e-02 -2.40659420e+01] [-3.95488695e-02 8.96529159e-04 9.99217235e-01 -7.72943538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96240100800001 meters 0.06562539923201943 Centerline is valid? [True, True] Translation: X:87.20, Y:-24.09, Z:-7.73 [[ 8.54872059e-01 5.17745387e-01 3.36671622e-02 8.72001720e+01] [-5.17297539e-01 8.55534158e-01 -2.15536839e-02 -2.40857850e+01] [-3.99627277e-02 1.00970199e-03 9.99200661e-01 -7.72797121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99240100800002 meters 0.06562539923201943 Centerline is valid? [True, True] Translation: X:87.23, Y:-24.10, Z:-7.73 [[ 8.54735629e-01 5.17970954e-01 3.36614978e-02 8.72272683e+01] [-5.17522933e-01 8.55397610e-01 -2.15625249e-02 -2.41033131e+01] [-3.99627263e-02 1.00966120e-03 9.99200661e-01 -7.73029276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02240100800002 meters 0.06583441879942864 Centerline is valid? [True, True] Translation: X:87.25, Y:-24.13, Z:-7.72 [[ 8.58447046e-01 5.11558328e-01 3.71045437e-02 8.72508387e+01] [-5.11007206e-01 8.59247319e-01 -2.37840211e-02 -2.41283109e+01] [-4.40488938e-02 1.45663339e-03 9.99028315e-01 -7.72301098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05240100800002 meters 0.0668551447242482 Centerline is valid? [True, True] Translation: X:87.27, Y:-24.15, Z:-7.72 [[ 8.60953485e-01 5.07244244e-01 3.82409850e-02 8.72744977e+01] [-5.06653715e-01 8.61800575e-01 -2.45312600e-02 -2.41499655e+01] [-4.53994433e-02 1.74533669e-03 9.98967389e-01 -7.72400036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08240100800002 meters 0.06965039773618743 Centerline is valid? [True, True] Translation: X:87.30, Y:-24.17, Z:-7.73 [[ 8.66038491e-01 4.98491357e-01 3.85188205e-02 8.72966020e+01] [-4.97883173e-01 8.66891805e-01 -2.47172856e-02 -2.41732401e+01] [-4.57130031e-02 2.22824814e-03 9.98952129e-01 -7.72837736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11240100800002 meters 0.07102725270720689 Centerline is valid? [True, True] Translation: X:87.32, Y:-24.19, Z:-7.73 [[ 8.68041929e-01 4.94998822e-01 3.84626530e-02 8.73227476e+01] [-4.94388721e-01 8.68890292e-01 -2.46871193e-02 -2.41922266e+01] [-4.56399208e-02 2.41395285e-03 9.98955039e-01 -7.73288027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14240100800001 meters 0.07282177612363495 Centerline is valid? [True, True] Translation: X:87.35, Y:-24.21, Z:-7.74 [[ 8.70092855e-01 4.91411568e-01 3.81194609e-02 8.73486011e+01] [-4.90808301e-01 8.70923626e-01 -2.44795810e-02 -2.42112812e+01] [-4.52286884e-02 2.59016066e-03 9.98973301e-01 -7.73788741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17240100800001 meters 0.0721654174272176 Centerline is valid? [True, True] Translation: X:87.38, Y:-24.23, Z:-7.74 [[ 8.73362821e-01 4.85647069e-01 3.72062886e-02 8.73769608e+01] [-4.85066631e-01 8.74150396e-01 -2.39049916e-02 -2.42279924e+01] [-4.41332810e-02 2.83020182e-03 9.99021643e-01 -7.73619294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20240100800001 meters 0.07763102962138263 Centerline is valid? [True, True] Translation: X:87.40, Y:-24.25, Z:-7.74 [[ 8.75193182e-01 4.82426899e-01 3.60718870e-02 8.73974566e+01] [-4.81878060e-01 8.75931392e-01 -2.31890399e-02 -2.42549345e+01] [-4.27835148e-02 2.91263871e-03 9.99080121e-01 -7.74155133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23240100800001 meters 0.07491694692667401 Centerline is valid? [True, True] Translation: X:87.43, Y:-24.27, Z:-7.74 [[ 8.76481979e-01 4.80190711e-01 3.45864476e-02 8.74292865e+01] [-4.79683994e-01 8.77159297e-01 -2.22448303e-02 -2.42662716e+01] [-4.10195850e-02 2.90662754e-03 9.99154115e-01 -7.74005512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26240100800001 meters 0.07604497468542246 Centerline is valid? [True, True] Translation: X:87.46, Y:-24.28, Z:-7.74 [[ 8.77495481e-01 4.78356244e-01 3.43072164e-02 8.74571598e+01] [-4.77855654e-01 8.78160812e-01 -2.20808093e-02 -2.42821103e+01] [-4.06897460e-02 2.98191303e-03 9.99167380e-01 -7.74318205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29240100800001 meters 0.07564643698543644 Centerline is valid? [True, True] Translation: X:87.49, Y:-24.29, Z:-7.74 [[ 8.77691395e-01 4.78020902e-01 3.39681110e-02 8.74879052e+01] [-4.77529773e-01 8.78343436e-01 -2.18660618e-02 -2.42946179e+01] [-4.02881019e-02 2.97086996e-03 9.99183688e-01 -7.74359318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32240100800001 meters 0.07279207439280971 Centerline is valid? [True, True] Translation: X:87.53, Y:-24.30, Z:-7.74 [[ 8.76487619e-01 4.80235736e-01 3.38096513e-02 8.75250377e+01] [-4.79750350e-01 8.77134782e-01 -2.17755989e-02 -2.42976961e+01] [-4.01130418e-02 2.86585084e-03 9.99191038e-01 -7.74332062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35240100800002 meters 0.07274713998008628 Centerline is valid? [True, True] Translation: X:87.55, Y:-24.31, Z:-7.75 [[ 8.75366361e-01 4.82224072e-01 3.45496621e-02 8.75547728e+01] [-4.81718038e-01 8.76043275e-01 -2.22690814e-02 -2.43087660e+01] [-4.10056863e-02 2.85040926e-03 9.99154847e-01 -7.74552062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38240100800002 meters 0.07234670375017269 Centerline is valid? [True, True] Translation: X:87.59, Y:-24.32, Z:-7.75 [[ 8.73840644e-01 4.84865026e-01 3.61723014e-02 8.75863675e+01] [-4.84312406e-01 8.74584323e-01 -2.33185530e-02 -2.43187749e+01] [-4.29420785e-02 2.85800508e-03 9.99073476e-01 -7.74761454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41240100800002 meters 0.07190753696664264 Centerline is valid? [True, True] Translation: X:87.62, Y:-24.33, Z:-7.75 [[ 8.72719400e-01 4.86774194e-01 3.75730210e-02 8.76191627e+01] [-4.86179056e-01 8.73523079e-01 -2.42354336e-02 -2.43283667e+01] [-4.46180847e-02 2.88351721e-03 9.98999956e-01 -7.74912103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44240100800002 meters 0.07003782576016951 Centerline is valid? [True, True] Translation: X:87.66, Y:-24.33, Z:-7.75 [[ 8.71188183e-01 4.89393232e-01 3.90565537e-02 8.76567557e+01] [-4.88752081e-01 8.72058497e-01 -2.52067739e-02 -2.43298218e+01] [-4.63956241e-02 2.87087169e-03 9.98919018e-01 -7.74911178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47240100800002 meters 0.06998000785933342 Centerline is valid? [True, True] Translation: X:87.69, Y:-24.34, Z:-7.75 [[ 8.71194626e-01 4.89268141e-01 4.04550324e-02 8.76869351e+01] [-4.88579345e-01 8.72128271e-01 -2.61247532e-02 -2.43415869e+01] [-4.80639869e-02 2.99425140e-03 9.98839771e-01 -7.74962740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502401008 meters 0.07025518271271304 Centerline is valid? [True, True] Translation: X:87.72, Y:-24.36, Z:-7.75 [[ 8.71355080e-01 4.88869832e-01 4.17924818e-02 8.77178007e+01] [-4.88133582e-01 8.72351135e-01 -2.70019136e-02 -2.43550023e+01] [-4.96581400e-02 3.12794078e-03 9.98761375e-01 -7.75105733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53240100800001 meters 0.07103805724234724 Centerline is valid? [True, True] Translation: X:87.75, Y:-24.37, Z:-7.75 [[ 8.72206042e-01 4.87284787e-01 4.25459400e-02 8.77466684e+01] [-4.86518875e-01 8.73236904e-01 -2.75080691e-02 -2.43678636e+01] [-5.05569485e-02 3.29330124e-03 9.98715750e-01 -7.75288556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56240100800001 meters 0.07194060853233873 Centerline is valid? [True, True] Translation: X:87.78, Y:-24.38, Z:-7.75 [[ 8.74129468e-01 4.83831482e-01 4.24825868e-02 8.77801806e+01] [-4.83063515e-01 8.75154214e-01 -2.74725916e-02 -2.43752399e+01] [-5.04709195e-02 3.49281416e-03 9.98719423e-01 -7.75477893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59240100800001 meters 0.07342714264853542 Centerline is valid? [True, True] Translation: X:87.81, Y:-24.39, Z:-7.76 [[ 8.74810465e-01 4.82651229e-01 4.18860474e-02 8.78086453e+01] [-4.81902648e-01 8.75805560e-01 -2.71009233e-02 -2.43889584e+01] [-4.97643272e-02 3.52317414e-03 9.98754774e-01 -7.75834768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62240100800001 meters 0.07000391862103712 Centerline is valid? [True, True] Translation: X:87.84, Y:-24.39, Z:-7.76 [[ 8.75038685e-01 4.82341603e-01 4.06678965e-02 8.78433026e+01] [-4.81635013e-01 8.75976418e-01 -2.63254681e-02 -2.43941577e+01] [-4.83219868e-02 3.44872017e-03 9.98825857e-01 -7.75872249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65240100800001 meters 0.0698871328028747 Centerline is valid? [True, True] Translation: X:87.88, Y:-24.40, Z:-7.76 [[ 8.74573511e-01 4.83520341e-01 3.64589368e-02 8.78794268e+01] [-4.82953127e-01 8.75327843e-01 -2.36102682e-02 -2.43976757e+01] [-4.33295675e-02 3.04095764e-03 9.99056205e-01 -7.76307316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68240100800001 meters 0.07014672464119735 Centerline is valid? [True, True] Translation: X:87.91, Y:-24.41, Z:-7.77 [[ 8.73725987e-01 4.85225169e-01 3.40504677e-02 8.79111424e+01] [-4.84731324e-01 8.74384849e-01 -2.20608133e-02 -2.44078632e+01] [-4.04776749e-02 2.76977759e-03 9.99176604e-01 -7.76759592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71240100800001 meters 0.0703630601478207 Centerline is valid? [True, True] Translation: X:87.94, Y:-24.42, Z:-7.77 [[ 8.73346504e-01 4.86062648e-01 3.17645480e-02 8.79432202e+01] [-4.85633108e-01 8.73920232e-01 -2.05891475e-02 -2.44167129e+01] [-3.77672967e-02 2.55554382e-03 9.99283293e-01 -7.77161839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74240100800002 meters 0.06990419584491504 Centerline is valid? [True, True] Translation: X:87.98, Y:-24.43, Z:-7.77 [[ 8.72876828e-01 4.87078682e-01 2.89896667e-02 8.79753813e+01] [-4.86721222e-01 8.73355067e-01 -1.87983718e-02 -2.44254780e+01] [-3.44745584e-02 2.29877715e-03 9.99402932e-01 -7.77414125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77240100800002 meters 0.07055105318003113 Centerline is valid? [True, True] Translation: X:88.01, Y:-24.43, Z:-7.77 [[ 8.73868142e-01 4.85361946e-01 2.78971724e-02 8.80086365e+01] [-4.85029752e-01 8.74310333e-01 -1.80991878e-02 -2.44325864e+01] [-3.31754431e-02 2.28534502e-03 9.99446931e-01 -7.77344396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80240100800002 meters 0.07337220569082743 Centerline is valid? [True, True] Translation: X:88.03, Y:-24.45, Z:-7.77 [[ 8.75061492e-01 4.83175301e-01 2.84431531e-02 8.80346707e+01] [-4.82828466e-01 8.75520275e-01 -1.84639975e-02 -2.44494119e+01] [-3.38239048e-02 2.42396927e-03 9.99424869e-01 -7.77430705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83240100800002 meters 0.07337220569082743 Centerline is valid? [True, True] Translation: X:88.06, Y:-24.47, Z:-7.78 [[ 8.74933500e-01 4.83407186e-01 2.84405094e-02 8.80617741e+01] [-4.83060341e-01 8.75392276e-01 -1.84680685e-02 -2.44671477e+01] [-3.38241993e-02 2.41984967e-03 9.99424869e-01 -7.77663202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86240100800002 meters 0.06973288013118695 Centerline is valid? [True, True] Translation: X:88.10, Y:-24.47, Z:-7.77 [[ 8.76095126e-01 4.81213907e-01 2.98413471e-02 8.80962716e+01] [-4.80830119e-01 8.76599215e-01 -1.93962094e-02 -2.44727577e+01] [-3.54926271e-02 2.64430601e-03 9.99366440e-01 -7.77157803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89240100800001 meters 0.07256336351285096 Centerline is valid? [True, True] Translation: X:88.12, Y:-24.49, Z:-7.77 [[ 8.77518635e-01 4.78531069e-01 3.11297536e-02 8.81238231e+01] [-4.78111661e-01 8.78065919e-01 -2.02356484e-02 -2.44865832e+01] [-3.70173622e-02 2.87366035e-03 9.99310491e-01 -7.77389429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92240100800001 meters 0.07289969186069001 Centerline is valid? [True, True] Translation: X:88.16, Y:-24.49, Z:-7.77 [[ 8.79854545e-01 4.74170820e-01 3.19063304e-02 8.81622007e+01] [-4.73726898e-01 8.80427251e-01 -2.07528598e-02 -2.44869619e+01] [-3.79316033e-02 3.14461104e-03 9.99275390e-01 -7.77364328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95240100800001 meters 0.07419162394860127 Centerline is valid? [True, True] Translation: X:88.19, Y:-24.50, Z:-7.78 [[ 8.80235038e-01 4.73572348e-01 3.02573998e-02 8.81921284e+01] [-4.73172661e-01 8.80749780e-01 -1.96839635e-02 -2.44977396e+01] [-3.59709790e-02 3.00954002e-03 9.99348303e-01 -7.77533600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98240100800001 meters 0.07450359951378349 Centerline is valid? [True, True] Translation: X:88.23, Y:-24.50, Z:-7.77 [[ 8.79315415e-01 4.75305630e-01 2.98154322e-02 8.82285473e+01] [-4.74917995e-01 8.79815945e-01 -1.94113696e-02 -2.45008221e+01] [-3.54584259e-02 2.90883122e-03 9.99366919e-01 -7.77094104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01240100800001 meters 0.07113760402347233 Centerline is valid? [True, True] Translation: X:88.26, Y:-24.50, Z:-7.77 [[ 8.78027370e-01 4.77691346e-01 2.96465123e-02 8.82643739e+01] [-4.77309328e-01 8.78523274e-01 -1.93044850e-02 -2.45048331e+01] [-3.52667364e-02 2.79930931e-03 9.99374015e-01 -7.76663322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04240100800001 meters 0.07291198880709214 Centerline is valid? [True, True] Translation: X:88.29, Y:-24.52, Z:-7.77 [[ 8.76256501e-01 4.80916629e-01 2.98954939e-02 8.82936089e+01] [-4.80530058e-01 8.76762199e-01 -1.94656108e-02 -2.45157532e+01] [-3.55725749e-02 2.69118465e-03 9.99363472e-01 -7.76857009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07240100800001 meters 0.06781985916270218 Centerline is valid? [True, True] Translation: X:88.33, Y:-24.52, Z:-7.77 [[ 8.73371739e-01 4.86124716e-01 3.00760037e-02 8.83320465e+01] [-4.85736048e-01 8.73885852e-01 -1.95961574e-02 -2.45154279e+01] [-3.58091706e-02 2.50573084e-03 9.99355505e-01 -7.76692738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10240100800002 meters 0.06674106389610919 Centerline is valid? [True, True] Translation: X:88.37, Y:-24.51, Z:-7.77 [[ 8.66948160e-01 4.97427021e-01 3.11005893e-02 8.83692359e+01] [-4.97018526e-01 8.67503257e-01 -2.02653482e-02 -2.45140555e+01] [-3.70603943e-02 2.11143726e-03 9.99310797e-01 -7.77293610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13240100800002 meters 0.06598458259967108 Centerline is valid? [True, True] Translation: X:88.40, Y:-24.52, Z:-7.78 [[ 8.64011208e-01 5.02565428e-01 3.02096452e-02 8.84015081e+01] [-5.02182685e-01 8.64537204e-01 -1.96970642e-02 -2.45228010e+01] [-3.60164257e-02 1.84772351e-03 9.99349490e-01 -7.77679620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16240100800002 meters 0.0661347176718091 Centerline is valid? [True, True] Translation: X:88.43, Y:-24.53, Z:-7.78 [[ 8.60296544e-01 5.08946395e-01 2.93840714e-02 8.84299683e+01] [-5.08588038e-01 8.60796844e-01 -1.91572719e-02 -2.45342040e+01] [-3.50437404e-02 1.53654761e-03 9.99384598e-01 -7.78177409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19240100800002 meters 0.06472621982354508 Centerline is valid? [True, True] Translation: X:88.46, Y:-24.54, Z:-7.78 [[ 8.57184269e-01 5.14295092e-01 2.71235510e-02 8.84617047e+01] [-5.13992319e-01 8.57612424e-01 -1.76868680e-02 -2.45423791e+01] [-3.23577637e-02 1.21960815e-03 9.99475606e-01 -7.78295957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22240100800002 meters 0.06421689251364932 Centerline is valid? [True, True] Translation: X:88.49, Y:-24.55, Z:-7.79 [[ 8.54531648e-01 5.18755276e-01 2.58577995e-02 8.84919525e+01] [-5.18481783e-01 8.54922184e-01 -1.68730829e-02 -2.45541664e+01] [-3.08594072e-02 1.01178540e-03 9.99523223e-01 -7.78529230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.252401008 meters 0.06394462747133231 Centerline is valid? [True, True] Translation: X:88.52, Y:-24.56, Z:-7.79 [[ 8.51182357e-01 5.24361372e-01 2.31029526e-02 8.85248833e+01] [-5.24145082e-01 8.51495524e-01 -1.50766341e-02 -2.45629338e+01] [-2.75776653e-02 7.23665960e-04 9.99619402e-01 -7.78872813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28240100800001 meters 0.06318707480744161 Centerline is valid? [True, True] Translation: X:88.55, Y:-24.58, Z:-7.79 [[ 8.50017868e-01 5.26213355e-01 2.38564259e-02 8.85546148e+01] [-5.25983592e-01 8.50352304e-01 -1.55634228e-02 -2.45758389e+01] [-2.84760477e-02 6.81098905e-04 9.99594243e-01 -7.79209850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31240100800001 meters 0.06352238341640115 Centerline is valid? [True, True] Translation: X:88.58, Y:-24.59, Z:-7.80 [[ 8.49140052e-01 5.27613612e-01 2.41877950e-02 8.85822417e+01] [-5.27377701e-01 8.49484227e-01 -1.57894826e-02 -2.45898793e+01] [-2.88778963e-02 6.51378338e-04 9.99582734e-01 -7.79776908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34240100800001 meters 0.0638098215714484 Centerline is valid? [True, True] Translation: X:88.61, Y:-24.60, Z:-7.80 [[ 8.49119456e-01 5.27624500e-01 2.46685471e-02 8.86090184e+01] [-5.27378863e-01 8.49477449e-01 -1.61120507e-02 -2.46047389e+01] [-2.94564871e-02 6.71385389e-04 9.99565838e-01 -7.80320910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37240100800001 meters 0.06351508303799053 Centerline is valid? [True, True] Translation: X:88.64, Y:-24.62, Z:-7.80 [[ 8.49658260e-01 5.26769378e-01 2.43898031e-02 8.86356591e+01] [-5.26528714e-01 8.50007961e-01 -1.59367310e-02 -2.46227205e+01] [-2.91265087e-02 6.98843496e-04 9.99575489e-01 -7.80247361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40240100800001 meters 0.0646939088216826 Centerline is valid? [True, True] Translation: X:88.66, Y:-24.64, Z:-7.81 [[ 8.50935483e-01 5.24709908e-01 2.42552271e-02 8.86585524e+01] [-5.24470788e-01 8.51280750e-01 -1.58580355e-02 -2.46437533e+01] [-2.89688763e-02 7.73006999e-04 9.99580015e-01 -7.80656421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43240100800001 meters 0.06459207177611044 Centerline is valid? [True, True] Translation: X:88.68, Y:-24.66, Z:-7.81 [[ 8.53061266e-01 5.21235403e-01 2.44975756e-02 8.86841937e+01] [-5.20989583e-01 8.53412456e-01 -1.60323011e-02 -2.46634951e+01] [-2.92631391e-02 9.13553404e-04 9.99571325e-01 -7.80606135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46240100800001 meters 0.06552485161401451 Centerline is valid? [True, True] Translation: X:88.71, Y:-24.68, Z:-7.81 [[ 8.54189245e-01 5.19337326e-01 2.54848202e-02 8.87091262e+01] [-5.19070451e-01 8.54568725e-01 -1.66781633e-02 -2.46819746e+01] [-3.04401230e-02 1.01789060e-03 9.99536074e-01 -7.81000034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49240100800002 meters 0.065316661945494 Centerline is valid? [True, True] Translation: X:88.74, Y:-24.70, Z:-7.81 [[ 8.54937088e-01 5.18058324e-01 2.64224917e-02 8.87369062e+01] [-5.17770830e-01 8.55344584e-01 -1.72919265e-02 -2.46983757e+01] [-3.15585616e-02 1.10271382e-03 9.99501296e-01 -7.81157627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52240100800002 meters 0.06552280894495074 Centerline is valid? [True, True] Translation: X:88.76, Y:-24.72, Z:-7.81 [[ 8.56428041e-01 5.15561268e-01 2.69738764e-02 8.87642213e+01] [-5.15259850e-01 8.56851828e-01 -1.76700863e-02 -2.47156299e+01] [-3.22226274e-02 1.23460190e-03 9.99479954e-01 -7.81195353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55240100800002 meters 0.06653835224062826 Centerline is valid? [True, True] Translation: X:88.79, Y:-24.73, Z:-7.81 [[ 8.57783286e-01 5.13246758e-01 2.80285402e-02 8.87898505e+01] [-5.12920224e-01 8.58239996e-01 -1.83562925e-02 -2.47344154e+01] [-3.34765218e-02 1.36931580e-03 9.99438566e-01 -7.81375617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58240100800002 meters 0.06645375368796631 Centerline is valid? [True, True] Translation: X:88.82, Y:-24.75, Z:-7.82 [[ 8.59206237e-01 5.10914506e-01 2.70371934e-02 8.88154635e+01] [-5.10609176e-01 8.59630361e-01 -1.77175213e-02 -2.47522253e+01] [-3.22941309e-02 1.41756579e-03 9.99477403e-01 -7.81564755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61240100800002 meters 0.06680942675943621 Centerline is valid? [True, True] Translation: X:88.84, Y:-24.77, Z:-7.82 [[ 8.59279961e-01 5.10796486e-01 2.69239398e-02 8.88424214e+01] [-5.10493473e-01 8.59700489e-01 -1.76488678e-02 -2.47687001e+01] [-3.21615039e-02 1.42082288e-03 9.99481675e-01 -7.81932822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64240100800001 meters 0.06652770093184765 Centerline is valid? [True, True] Translation: X:88.87, Y:-24.78, Z:-7.82 [[ 8.59172826e-01 5.10963813e-01 2.71668316e-02 8.88715777e+01] [-5.10655145e-01 8.59601027e-01 -1.78156402e-02 -2.47837134e+01] [-3.24557838e-02 1.43383161e-03 9.99472144e-01 -7.82062837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67240100800001 meters 0.06474312197007515 Centerline is valid? [True, True] Translation: X:88.90, Y:-24.80, Z:-7.82 [[ 8.58441423e-01 5.12137598e-01 2.81674338e-02 8.89006071e+01] [-5.11805664e-01 8.58902178e-01 -1.84935705e-02 -2.47977407e+01] [-3.36643230e-02 1.45939486e-03 9.99432131e-01 -7.81843870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70240100800001 meters 0.06410003628426697 Centerline is valid? [True, True] Translation: X:88.93, Y:-24.82, Z:-7.82 [[ 8.58154295e-01 5.12579270e-01 2.88738249e-02 8.89284594e+01] [-5.12230697e-01 8.58638634e-01 -1.89580717e-02 -2.48150535e+01] [-3.45096962e-02 1.47889122e-03 9.99403269e-01 -7.81761783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73240100800001 meters 0.0645901467841887 Centerline is valid? [True, True] Translation: X:88.96, Y:-24.83, Z:-7.82 [[ 8.58095732e-01 5.12605304e-01 3.01250334e-02 8.89557554e+01] [-5.12225720e-01 8.58622975e-01 -1.97837727e-02 -2.48327119e+01] [-3.60073127e-02 1.54555401e-03 9.99350331e-01 -7.81926593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76240100800001 meters 0.06397463699158967 Centerline is valid? [True, True] Translation: X:88.98, Y:-24.85, Z:-7.82 [[ 8.57872589e-01 5.12898778e-01 3.14557600e-02 8.89835403e+01] [-5.12484939e-01 8.58447592e-01 -2.06620105e-02 -2.48497371e+01] [-3.76006413e-02 1.60476920e-03 9.99291557e-01 -7.82180941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79240100800001 meters 0.06497412673925869 Centerline is valid? [True, True] Translation: X:89.01, Y:-24.87, Z:-7.83 [[ 8.59331888e-01 5.10560318e-01 2.96119604e-02 8.90083734e+01] [-5.10192063e-01 8.59840432e-01 -1.94548518e-02 -2.48673495e+01] [-3.53944361e-02 1.61038733e-03 9.99372123e-01 -7.82805243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82240100800001 meters 0.0649620560225786 Centerline is valid? [True, True] Translation: X:89.03, Y:-24.89, Z:-7.83 [[ 8.59871299e-01 5.09709855e-01 2.85869321e-02 8.90338361e+01] [-5.09366332e-01 8.60344903e-01 -1.87773307e-02 -2.48857792e+01] [-3.41656119e-02 1.58486696e-03 9.99414928e-01 -7.82984127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85240100800002 meters 0.06503922620457815 Centerline is valid? [True, True] Translation: X:89.06, Y:-24.90, Z:-7.83 [[ 8.59635442e-01 5.10138903e-01 2.80215344e-02 8.90594540e+01] [-5.09808799e-01 8.60090644e-01 -1.84139134e-02 -2.49043012e+01] [-3.34947132e-02 1.54362778e-03 9.99437703e-01 -7.83247271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88240100800002 meters 0.06454814117165887 Centerline is valid? [True, True] Translation: X:89.09, Y:-24.92, Z:-7.83 [[ 8.58720533e-01 5.11712260e-01 2.73789885e-02 8.90863672e+01] [-5.11397624e-01 8.59155657e-01 -1.80007711e-02 -2.49214153e+01] [-3.27340281e-02 1.45608212e-03 9.99463037e-01 -7.83482627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91240100800002 meters 0.06556596290894537 Centerline is valid? [True, True] Translation: X:89.11, Y:-24.94, Z:-7.84 [[ 8.57230306e-01 5.14200033e-01 2.74686674e-02 8.91099538e+01] [-5.13884011e-01 8.57669178e-01 -1.80777569e-02 -2.49406097e+01] [-3.28546126e-02 1.38109213e-03 9.99459187e-01 -7.84086000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94240100800002 meters 0.06363335351942762 Centerline is valid? [True, True] Translation: X:89.14, Y:-24.95, Z:-7.84 [[ 8.52949431e-01 5.21332875e-01 2.62545524e-02 8.91377519e+01] [-5.21047463e-01 8.53352746e-01 -1.72809661e-02 -2.49545630e+01] [-3.14135301e-02 1.05992233e-03 9.99505911e-01 -7.84135376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97240100800002 meters 0.0634902779692565 Centerline is valid? [True, True] Translation: X:89.16, Y:-24.97, Z:-7.85 [[ 8.50698356e-01 5.25021806e-01 2.57761556e-02 8.91635554e+01] [-5.24748286e-01 8.51088289e-01 -1.69694077e-02 -2.49709110e+01] [-3.08470933e-02 9.09853772e-04 9.99523701e-01 -7.84657686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002401008 meters 0.0627162869767678 Centerline is valid? [True, True] Translation: X:89.19, Y:-24.99, Z:-7.85 [[ 8.48041336e-01 5.29363354e-01 2.45016556e-02 8.91923628e+01] [-5.29118276e-01 8.48394919e-01 -1.61217668e-02 -2.49857915e+01] [-2.93213526e-02 7.07650940e-04 9.99569786e-01 -7.85033929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03240100800001 meters 0.06279915901230711 Centerline is valid? [True, True] Translation: X:89.22, Y:-25.00, Z:-7.86 [[ 8.42982360e-01 5.37450426e-01 2.29734797e-02 8.92206971e+01] [-5.37237448e-01 8.43295243e-01 -1.51346579e-02 -2.49966083e+01] [-2.75075545e-02 4.16036076e-04 9.99621509e-01 -7.86063380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06240100800001 meters 0.06155464031122678 Centerline is valid? [True, True] Translation: X:89.25, Y:-25.01, Z:-7.86 [[ 8.40097885e-01 5.41877180e-01 2.45899350e-02 8.92493299e+01] [-5.41635089e-01 8.40457636e-01 -1.61985348e-02 -2.50112623e+01] [-2.94444150e-02 2.89583149e-04 9.99566377e-01 -7.85936005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09240100800001 meters 0.06056907211123461 Centerline is valid? [True, True] Translation: X:89.28, Y:-25.03, Z:-7.86 [[ 8.36794263e-01 5.46848993e-01 2.70470191e-02 8.92764416e+01] [-5.46558598e-01 8.37231248e-01 -1.78195506e-02 -2.50282525e+01] [-3.23892129e-02 1.28516849e-04 9.99475324e-01 -7.85729800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12240100800001 meters 0.06042058500967496 Centerline is valid? [True, True] Translation: X:89.30, Y:-25.05, Z:-7.86 [[ 8.34114452e-01 5.50822984e-01 2.91053457e-02 8.93007528e+01] [-5.50489030e-01 8.34622094e-01 -1.91778054e-02 -2.50459629e+01] [-3.48555406e-02 -2.56889358e-05 9.99392361e-01 -7.85907936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15240100800001 meters 0.06084387565094806 Centerline is valid? [True, True] Translation: X:89.33, Y:-25.07, Z:-7.86 [[ 8.30265479e-01 5.56639008e-01 2.84999974e-02 8.93260109e+01] [-5.56322413e-01 8.30754442e-01 -1.87731085e-02 -2.50666888e+01] [-3.41263440e-02 -2.68523412e-04 9.99417491e-01 -7.85900640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18240100800001 meters 0.060858993980308335 Centerline is valid? [True, True] Translation: X:89.35, Y:-25.08, Z:-7.86 [[ 8.28330904e-01 5.59535727e-01 2.80656968e-02 8.93522617e+01] [-5.59229791e-01 8.28806151e-01 -1.85042036e-02 -2.50820998e+01] [-3.36147851e-02 -3.67570011e-04 9.99434796e-01 -7.86443570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21240100800001 meters 0.06112533240175946 Centerline is valid? [True, True] Translation: X:89.38, Y:-25.10, Z:-7.87 [[ 8.26361625e-01 5.62447720e-01 2.79110491e-02 8.93793286e+01] [-5.62146914e-01 8.26832708e-01 -1.83989363e-02 -2.50972258e+01] [-3.34262080e-02 -4.85935185e-04 9.99441070e-01 -7.87049861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24240100800002 meters 0.060991631590892915 Centerline is valid? [True, True] Translation: X:89.41, Y:-25.11, Z:-7.87 [[ 8.24171210e-01 5.65668113e-01 2.75935392e-02 8.94061616e+01] [-5.65375385e-01 8.24632785e-01 -1.82055892e-02 -2.51141196e+01] [-3.30528584e-02 -5.96185334e-04 9.99453427e-01 -7.87422889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27240100800002 meters 0.0609140157642064 Centerline is valid? [True, True] Translation: X:89.43, Y:-25.14, Z:-7.87 [[ 8.22176951e-01 5.68529666e-01 2.82680115e-02 8.94304627e+01] [-5.68224310e-01 8.22662435e-01 -1.86453954e-02 -2.51350006e+01] [-3.38554916e-02 -7.32756966e-04 9.99426470e-01 -7.87396786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30240100800002 meters 0.06178661839175185 Centerline is valid? [True, True] Translation: X:89.45, Y:-25.16, Z:-7.87 [[ 8.18642430e-01 5.73526097e-01 2.98728485e-02 8.94511932e+01] [-5.73187924e-01 8.19186701e-01 -1.97167957e-02 -2.51607304e+01] [-3.57795371e-02 -9.81750456e-04 9.99359225e-01 -7.87366738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33240100800002 meters 0.06161547071041429 Centerline is valid? [True, True] Translation: X:89.47, Y:-25.18, Z:-7.87 [[ 8.18002142e-01 5.74345083e-01 3.16262735e-02 8.94744702e+01] [-5.73966218e-01 8.18612597e-01 -2.08852989e-02 -2.51839743e+01] [-3.78850346e-02 -1.06819334e-03 9.99281533e-01 -7.87402591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36240100800002 meters 0.06161097340163059 Centerline is valid? [True, True] Translation: X:89.50, Y:-25.21, Z:-7.88 [[ 8.17976855e-01 5.74359222e-01 3.20210803e-02 8.94987832e+01] [-5.73970403e-01 8.18602671e-01 -2.11575598e-02 -2.52052430e+01] [-3.83645815e-02 -1.07275814e-03 9.99263233e-01 -7.87780744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39240100800001 meters 0.06137887221929825 Centerline is valid? [True, True] Translation: X:89.52, Y:-25.23, Z:-7.88 [[ 8.18427457e-01 5.73644489e-01 3.32941097e-02 8.95234263e+01] [-5.73222875e-01 8.19103694e-01 -2.20153085e-02 -2.52266707e+01] [-3.99002886e-02 -1.06701235e-03 9.99203097e-01 -7.88174863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42240100800001 meters 0.06096875578586837 Centerline is valid? [True, True] Translation: X:89.54, Y:-25.25, Z:-7.89 [[ 8.20583574e-01 5.70416739e-01 3.55997395e-02 8.95422285e+01] [-5.69931273e-01 8.21354863e-01 -2.35485298e-02 -2.52532569e+01] [-4.26724948e-02 -9.65868106e-04 9.99088647e-01 -7.88821852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45240100800001 meters 0.06105207479830596 Centerline is valid? [True, True] Translation: X:89.56, Y:-25.28, Z:-7.89 [[ 8.22122236e-01 5.68199536e-01 3.55572162e-02 8.95623603e+01] [-5.67713129e-01 8.22890373e-01 -2.35209964e-02 -2.52807154e+01] [-4.26243101e-02 -8.49164293e-04 9.99090810e-01 -7.89130356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48240100800001 meters 0.060174079904163603 Centerline is valid? [True, True] Translation: X:89.58, Y:-25.31, Z:-7.89 [[ 8.23643081e-01 5.65881203e-01 3.72899309e-02 8.95808831e+01] [-5.65342948e-01 8.24486449e-01 -2.46869823e-02 -2.53100483e+01] [-4.47149420e-02 -7.48337280e-04 9.98999506e-01 -7.89275382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51240100800001 meters 0.05960465196325638 Centerline is valid? [True, True] Translation: X:89.60, Y:-25.34, Z:-7.89 [[ 8.25594579e-01 5.62952519e-01 3.84454474e-02 8.95981431e+01] [-5.62377266e-01 8.26489014e-01 -2.54503422e-02 -2.53403833e+01] [-4.61020742e-02 -6.09181065e-04 9.98936548e-01 -7.89474123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54240100800001 meters 0.05926711191164026 Centerline is valid? [True, True] Translation: X:89.62, Y:-25.37, Z:-7.90 [[ 8.28008745e-01 5.59432794e-01 3.79007433e-02 8.96170995e+01] [-5.58869594e-01 8.28875618e-01 -2.50995605e-02 -2.53700946e+01] [-4.54565193e-02 -3.98917453e-04 9.98966239e-01 -7.89781050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57240100800001 meters 0.0591942019503029 Centerline is valid? [True, True] Translation: X:89.63, Y:-25.40, Z:-7.90 [[ 8.34271677e-01 5.50253218e-01 3.48161541e-02 8.96326902e+01] [-5.49769535e-01 8.34997835e-01 -2.30667247e-02 -2.54033160e+01] [-4.17639528e-02 1.03054285e-04 9.99127500e-01 -7.90448714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60240100800002 meters 0.05941213463155651 Centerline is valid? [True, True] Translation: X:89.66, Y:-25.43, Z:-7.91 [[ 8.36875477e-01 5.46326130e-01 3.41642392e-02 8.96551935e+01] [-5.45856644e-01 8.37572485e-01 -2.26463358e-02 -2.54271903e+01] [-4.09873117e-02 3.03386128e-04 9.99159621e-01 -7.91160379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63240100800002 meters 0.059726129681136116 Centerline is valid? [True, True] Translation: X:89.68, Y:-25.45, Z:-7.92 [[ 8.38776058e-01 5.43503173e-01 3.25426767e-02 8.96768128e+01] [-5.43074620e-01 8.39407002e-01 -2.15833741e-02 -2.54524715e+01] [-3.90471830e-02 4.30515652e-04 9.99237275e-01 -7.91532499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66240100800002 meters 0.059920786270313726 Centerline is valid? [True, True] Translation: X:89.70, Y:-25.48, Z:-7.92 [[ 8.40361957e-01 5.40990236e-01 3.34865008e-02 8.96981285e+01] [-5.40534175e-01 8.41028680e-01 -2.22163323e-02 -2.54801572e+01] [-4.01819264e-02 5.69162422e-04 9.99192218e-01 -7.91728167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69240100800002 meters 0.06052667124919902 Centerline is valid? [True, True] Translation: X:89.71, Y:-25.52, Z:-7.92 [[ 8.42287751e-01 5.37839567e-01 3.57763102e-02 8.97104580e+01] [-5.37315377e-01 8.43046847e-01 -2.37528901e-02 -2.55187932e+01] [-4.29363497e-02 7.83606806e-04 9.99077502e-01 -7.91667399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72240100800002 meters 0.0596724837922196 Centerline is valid? [True, True] Translation: X:89.73, Y:-25.54, Z:-7.91 [[ 8.42740650e-01 5.37001282e-01 3.76539430e-02 8.97337935e+01] [-5.36419203e-01 8.43580967e-01 -2.50117958e-02 -2.55413790e+01] [-4.51955161e-02 8.80158900e-04 9.98977773e-01 -7.91404382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75240100800002 meters 0.0596724837922196 Centerline is valid? [True, True] Translation: X:89.76, Y:-25.56, Z:-7.92 [[ 8.42595377e-01 5.37229579e-01 3.76485008e-02 8.97606381e+01] [-5.36647363e-01 8.43435598e-01 -2.50199839e-02 -2.55593487e+01] [-4.51955612e-02 8.77754095e-04 9.98977773e-01 -7.91636341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78240100800001 meters 0.05999602940223598 Centerline is valid? [True, True] Translation: X:89.78, Y:-25.58, Z:-7.92 [[ 8.42601138e-01 5.37138621e-01 3.87997876e-02 8.97829512e+01] [-5.36519207e-01 8.43493475e-01 -2.58049950e-02 -2.55808554e+01] [-4.65882271e-02 9.26486864e-04 9.98913749e-01 -7.92085350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81240100800001 meters 0.059468518137348554 Centerline is valid? [True, True] Translation: X:89.81, Y:-25.60, Z:-7.92 [[ 8.42328339e-01 5.37521084e-01 3.94214933e-02 8.98104710e+01] [-5.36881830e-01 8.43249803e-01 -2.62234539e-02 -2.55970436e+01] [-4.73378258e-02 9.24074949e-04 9.98878509e-01 -7.92243908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84240100800001 meters 0.05951563130198332 Centerline is valid? [True, True] Translation: X:89.84, Y:-25.61, Z:-7.93 [[ 8.40327510e-01 5.40605666e-01 3.99398398e-02 8.98364781e+01] [-5.39952288e-01 8.41275768e-01 -2.65821028e-02 -2.56140706e+01] [-4.79708548e-02 7.72064376e-04 9.98848437e-01 -7.92860758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87240100800001 meters 0.05943204482972722 Centerline is valid? [True, True] Translation: X:89.86, Y:-25.63, Z:-7.93 [[ 8.39123923e-01 5.42490989e-01 3.96808304e-02 8.98623860e+01] [-5.41847332e-01 8.40061350e-01 -2.64272075e-02 -2.56338865e+01] [-4.76708539e-02 6.74749932e-04 9.98862871e-01 -7.93100931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90240100800001 meters 0.059437371979425384 Centerline is valid? [True, True] Translation: X:89.89, Y:-25.66, Z:-7.93 [[ 8.38530520e-01 5.43388960e-01 3.99375198e-02 8.98866188e+01] [-5.42737928e-01 8.39480817e-01 -2.65988385e-02 -2.56552717e+01] [-4.79802969e-02 6.28331128e-04 9.98848085e-01 -7.93313124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93240100800001 meters 0.059295544670410545 Centerline is valid? [True, True] Translation: X:89.91, Y:-25.68, Z:-7.93 [[ 8.37274265e-01 5.45378717e-01 3.91645266e-02 8.99078987e+01] [-5.44754145e-01 8.38189590e-01 -2.60985275e-02 -2.56803438e+01] [-4.70608799e-02 5.16587225e-04 9.98891889e-01 -7.93340519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96240100800001 meters 0.05902832993396241 Centerline is valid? [True, True] Translation: X:89.93, Y:-25.70, Z:-7.93 [[ 8.37351869e-01 5.45164726e-01 4.04631795e-02 8.99332233e+01] [-5.44497385e-01 8.38328763e-01 -2.69718831e-02 -2.56998440e+01] [-4.86255665e-02 5.52861305e-04 9.98816924e-01 -7.93271035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99240100800002 meters 0.05881671066065319 Centerline is valid? [True, True] Translation: X:89.96, Y:-25.72, Z:-7.93 [[ 8.37781964e-01 5.44401328e-01 4.18159536e-02 8.99595830e+01] [-5.43686691e-01 8.38824650e-01 -2.78924629e-02 -2.57190053e+01] [-5.02609465e-02 6.33024887e-04 9.98735919e-01 -7.93489077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02240100800002 meters 0.058907418900720855 Centerline is valid? [True, True] Translation: X:89.98, Y:-25.74, Z:-7.94 [[ 8.38290248e-01 5.43422073e-01 4.42934757e-02 8.99836823e+01] [-5.42618655e-01 8.39459296e-01 -2.95480108e-02 -2.57380395e+01] [-5.32396112e-02 7.35343035e-04 9.98581495e-01 -7.93926274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05240100800002 meters 0.058740761928623174 Centerline is valid? [True, True] Translation: X:90.01, Y:-25.76, Z:-7.94 [[ 8.38535919e-01 5.42886444e-01 4.61716581e-02 9.00096936e+01] [-5.42011735e-01 8.39805718e-01 -3.08161324e-02 -2.57570370e+01] [-5.55048830e-02 8.14853418e-04 9.98458083e-01 -7.93997799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08240100800002 meters 0.05879310759532816 Centerline is valid? [True, True] Translation: X:90.03, Y:-25.78, Z:-7.94 [[ 8.38623643e-01 5.42596633e-01 4.79508043e-02 9.00320044e+01] [-5.41651684e-01 8.39992927e-01 -3.20208550e-02 -2.57789517e+01] [-5.76527446e-02 8.80812174e-04 9.98336309e-01 -7.94225058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11240100800002 meters 0.058767705551733065 Centerline is valid? [True, True] Translation: X:90.06, Y:-25.80, Z:-7.94 [[ 8.38082030e-01 5.43463163e-01 4.76056927e-02 9.00580219e+01] [-5.42532381e-01 8.39432610e-01 -3.18042297e-02 -2.57991572e+01] [-5.72461982e-02 8.26923629e-04 9.98359749e-01 -7.94491342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14240100800001 meters 0.058869363176206814 Centerline is valid? [True, True] Translation: X:90.08, Y:-25.82, Z:-7.95 [[ 8.37331258e-01 5.44789327e-01 4.56174812e-02 9.00809988e+01] [-5.43935720e-01 8.38572639e-01 -3.04936376e-02 -2.58196813e+01] [-5.48661799e-02 7.20298459e-04 9.98493457e-01 -7.94860344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17240100800001 meters 0.05898485222417666 Centerline is valid? [True, True] Translation: X:90.10, Y:-25.84, Z:-7.95 [[ 8.36429496e-01 5.46425058e-01 4.24894674e-02 9.01038516e+01] [-5.45686070e-01 8.37507802e-01 -2.84146913e-02 -2.58406693e+01] [-5.11117598e-02 5.80975406e-04 9.98692771e-01 -7.95210245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20240100800001 meters 0.059254811060204984 Centerline is valid? [True, True] Translation: X:90.13, Y:-25.86, Z:-7.96 [[ 8.35259422e-01 5.48584692e-01 3.73702347e-02 9.01279492e+01] [-5.48014881e-01 8.36094895e-01 -2.50003268e-02 -2.58609652e+01] [-4.49598591e-02 4.02313785e-04 9.98988713e-01 -7.96066523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23240100800001 meters 0.059377450603399884 Centerline is valid? [True, True] Translation: X:90.16, Y:-25.88, Z:-7.97 [[ 8.34555933e-01 5.49739668e-01 3.60928298e-02 9.01553680e+01] [-5.49208794e-01 8.35335971e-01 -2.41560915e-02 -2.58769087e+01] [-4.34292007e-02 3.37110006e-04 9.99056450e-01 -7.96637397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26240100800001 meters 0.059383886940219933 Centerline is valid? [True, True] Translation: X:90.18, Y:-25.89, Z:-7.97 [[ 8.33951002e-01 5.50648092e-01 3.62271462e-02 9.01831878e+01] [-5.50113381e-01 8.34737435e-01 -2.42627569e-02 -2.58935698e+01] [-4.36003959e-02 3.04912553e-04 9.99049004e-01 -7.97087722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29240100800001 meters 0.05959346325819872 Centerline is valid? [True, True] Translation: X:90.21, Y:-25.91, Z:-7.98 [[ 8.32730661e-01 5.52509422e-01 3.59580981e-02 9.02077749e+01] [-5.51984415e-01 8.33506626e-01 -2.40812986e-02 -2.59133558e+01] [-4.32764574e-02 2.04925950e-04 9.99063114e-01 -7.97510538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32240100800001 meters 0.05977521938910855 Centerline is valid? [True, True] Translation: X:90.23, Y:-25.94, Z:-7.98 [[ 8.32358265e-01 5.53060734e-01 3.61046090e-02 9.02304994e+01] [-5.52531335e-01 8.33140918e-01 -2.41936900e-02 -2.59355394e+01] [-4.34608071e-02 1.88890016e-04 9.99055115e-01 -7.97700281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35240100800002 meters 0.059352805314702245 Centerline is valid? [True, True] Translation: X:90.25, Y:-25.97, Z:-7.97 [[ 8.31468171e-01 5.54271770e-01 3.79932215e-02 9.02499523e+01] [-5.53686091e-01 8.32335740e-01 -2.54740756e-02 -2.59657143e+01] [-4.57426771e-02 1.44564758e-04 9.98953245e-01 -7.97238160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38240100800002 meters 0.059092930271518004 Centerline is valid? [True, True] Translation: X:90.27, Y:-25.99, Z:-7.97 [[ 8.31305304e-01 5.54340619e-01 4.04718333e-02 9.02742492e+01] [-5.53675816e-01 8.32289886e-01 -2.71410431e-02 -2.59875583e+01] [-4.87296802e-02 1.54217721e-04 9.98811992e-01 -7.97302853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41240100800002 meters 0.05886994482444189 Centerline is valid? [True, True] Translation: X:90.30, Y:-26.01, Z:-7.98 [[ 8.31940678e-01 5.53125805e-01 4.38925088e-02 9.02988716e+01] [-5.52341257e-01 8.33097700e-01 -2.94509510e-02 -2.60080877e+01] [-5.28568291e-02 2.57800656e-04 9.98602067e-01 -7.97575639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44240100800002 meters 0.059161454900463546 Centerline is valid? [True, True] Translation: X:90.32, Y:-26.03, Z:-7.98 [[ 8.31915420e-01 5.53236704e-01 4.29637502e-02 9.03232667e+01] [-5.52484432e-01 8.33024059e-01 -2.88421449e-02 -2.60264810e+01] [-5.17463707e-02 2.57421945e-04 9.98660226e-01 -7.98189351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47240100800002 meters 0.059355488398146 Centerline is valid? [True, True] Translation: X:90.35, Y:-26.05, Z:-7.99 [[ 8.31514460e-01 5.53897473e-01 4.22053488e-02 9.03480739e+01] [-5.53171766e-01 8.32584854e-01 -2.83453214e-02 -2.60473459e+01] [-5.08399361e-02 2.22737349e-04 9.98706789e-01 -7.98624171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50240100800002 meters 0.059477711057081814 Centerline is valid? [True, True] Translation: X:90.37, Y:-26.07, Z:-7.99 [[ 8.30915673e-01 5.54812714e-01 4.19761435e-02 9.03723094e+01] [-5.54095380e-01 8.31975253e-01 -2.82044118e-02 -2.60695739e+01] [-5.05712788e-02 1.76700631e-04 9.98720439e-01 -7.98809203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53240100800001 meters 0.059398368608462954 Centerline is valid? [True, True] Translation: X:90.40, Y:-26.09, Z:-7.99 [[ 8.29896494e-01 5.56324360e-01 4.21309329e-02 9.03954760e+01] [-5.55602807e-01 8.30965220e-01 -2.83253278e-02 -2.60915711e+01] [-5.07674098e-02 9.90256796e-05 9.98710499e-01 -7.98987220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56240100800001 meters 0.05941732167736119 Centerline is valid? [True, True] Translation: X:90.42, Y:-26.11, Z:-7.99 [[ 8.27977350e-01 5.59272148e-01 4.08432618e-02 9.04200166e+01] [-5.58596999e-01 8.28984113e-01 -2.74724077e-02 -2.61134856e+01] [-4.92229676e-02 -6.83921283e-05 9.98787813e-01 -7.98910678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59240100800001 meters 0.05964850176044403 Centerline is valid? [True, True] Translation: X:90.45, Y:-26.13, Z:-7.99 [[ 8.27121253e-01 5.60582473e-01 4.02209278e-02 9.04455353e+01] [-5.59928635e-01 8.28098589e-01 -2.70675214e-02 -2.61301506e+01] [-4.84804716e-02 -1.32726942e-04 9.98824122e-01 -7.99492347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62240100800001 meters 0.059994355588047714 Centerline is valid? [True, True] Translation: X:90.47, Y:-26.15, Z:-8.00 [[ 8.26945999e-01 5.60874548e-01 3.97499175e-02 9.04704861e+01] [-5.60235694e-01 8.27900793e-01 -2.67627519e-02 -2.61480177e+01] [-4.79195346e-02 -1.37971975e-04 9.98851190e-01 -7.99983671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65240100800001 meters 0.05973084138129656 Centerline is valid? [True, True] Translation: X:90.49, Y:-26.17, Z:-8.00 [[ 8.27222047e-01 5.60422741e-01 4.03737160e-02 9.04943874e+01] [-5.59762564e-01 8.28206702e-01 -2.71943249e-02 -2.61698779e+01] [-4.86781002e-02 -1.03949687e-04 9.98814513e-01 -7.99956100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68240100800001 meters 0.05971677403337312 Centerline is valid? [True, True] Translation: X:90.52, Y:-26.19, Z:-8.00 [[ 8.28537156e-01 5.58427393e-01 4.10490858e-02 9.05169525e+01] [-5.57741810e-01 8.29553402e-01 -2.76627341e-02 -2.61938524e+01] [-4.95000373e-02 2.48116771e-05 9.98774121e-01 -8.00115787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71240100800001 meters 0.05970787682176867 Centerline is valid? [True, True] Translation: X:90.53, Y:-26.23, Z:-8.00 [[ 8.33243742e-01 5.51364540e-01 4.12554318e-02 9.05324172e+01] [-5.50662623e-01 8.34264306e-01 -2.78162375e-02 -2.62286810e+01] [-4.97548212e-02 4.59881547e-04 9.98761356e-01 -8.00216223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74240100800002 meters 0.060191703287555264 Centerline is valid? [True, True] Translation: X:90.55, Y:-26.26, Z:-8.01 [[ 8.36403085e-01 5.46665305e-01 3.98362149e-02 9.05539672e+01] [-5.46004789e-01 8.37350892e-01 -2.68748013e-02 -2.62554587e+01] [-4.80484115e-02 7.27402653e-04 9.98844743e-01 -8.00642349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77240100800002 meters 0.0609084350520949 Centerline is valid? [True, True] Translation: X:90.58, Y:-26.28, Z:-8.01 [[ 8.38877704e-01 5.43008559e-01 3.77611299e-02 9.05756253e+01] [-5.42410737e-01 8.39726678e-01 -2.54891643e-02 -2.62805510e+01] [-4.55498626e-02 9.00249308e-04 9.98961661e-01 -8.01136477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80240100800002 meters 0.06150042631296696 Centerline is valid? [True, True] Translation: X:90.60, Y:-26.30, Z:-8.02 [[ 8.40813696e-01 5.40090732e-01 3.65284742e-02 9.05997577e+01] [-5.39528104e-01 8.41606164e-01 -2.46675877e-02 -2.63046381e+01] [-4.40653246e-02 1.03270717e-03 9.99028118e-01 -8.01516412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83240100800002 meters 0.06147359725371323 Centerline is valid? [True, True] Translation: X:90.62, Y:-26.33, Z:-8.02 [[ 8.40297281e-01 5.40912219e-01 3.62553582e-02 9.06238605e+01] [-5.40358079e-01 8.41078464e-01 -2.44982509e-02 -2.63287713e+01] [-4.37450043e-02 9.94937877e-04 9.99042234e-01 -8.01777306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86240100800002 meters 0.06100539195257425 Centerline is valid? [True, True] Translation: X:90.65, Y:-26.35, Z:-8.02 [[ 8.38141819e-01 5.44194022e-01 3.70291453e-02 9.06500944e+01] [-5.43618362e-01 8.38958958e-01 -2.50388318e-02 -2.63479272e+01] [-4.46919157e-02 8.56368746e-04 9.99000450e-01 -8.01805994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89240100800001 meters 0.060060286182681444 Centerline is valid? [True, True] Translation: X:90.68, Y:-26.37, Z:-8.02 [[ 8.34837932e-01 5.49210277e-01 3.75991794e-02 9.06787731e+01] [-5.48621268e-01 8.35683973e-01 -2.54362202e-02 -2.63651338e+01] [-4.53908652e-02 6.07411981e-04 9.98969119e-01 -8.01640450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92240100800001 meters 0.0597799925957978 Centerline is valid? [True, True] Translation: X:90.71, Y:-26.38, Z:-8.02 [[ 8.32345631e-01 5.52958472e-01 3.79167279e-02 9.07068305e+01] [-5.52362373e-01 8.33208706e-01 -2.56721825e-02 -2.63823039e+01] [-4.57881986e-02 4.24355173e-04 9.98951080e-01 -8.01781751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95240100800001 meters 0.05990105391776579 Centerline is valid? [True, True] Translation: X:90.73, Y:-26.40, Z:-8.02 [[ 8.29559867e-01 5.57098706e-01 3.83596038e-02 9.07332578e+01] [-5.56492880e-01 8.30446261e-01 -2.59746545e-02 -2.63991923e+01] [-4.63260359e-02 2.00684593e-04 9.98926353e-01 -8.02315241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98240100800001 meters 0.059711845131741055 Centerline is valid? [True, True] Translation: X:90.76, Y:-26.41, Z:-8.03 [[ 8.26331461e-01 5.61794296e-01 3.95409375e-02 9.07621626e+01] [-5.61155178e-01 8.27276958e-01 -2.67899350e-02 -2.64147002e+01] [-4.77617392e-02 -5.12357141e-05 9.98858756e-01 -8.02597206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01240100800001 meters 0.0598224556825782 Centerline is valid? [True, True] Translation: X:90.79, Y:-26.43, Z:-8.03 [[ 8.25530909e-01 5.62891373e-01 4.06450525e-02 9.07887026e+01] [-5.62216611e-01 8.26530877e-01 -2.75534251e-02 -2.64314173e+01] [-4.91039762e-02 -1.05119561e-04 9.98793667e-01 -8.02925567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04240100800001 meters 0.059758394789782565 Centerline is valid? [True, True] Translation: X:90.82, Y:-26.45, Z:-8.03 [[ 8.25383582e-01 5.63011267e-01 4.19553987e-02 9.08152459e+01] [-5.62291713e-01 8.26449213e-01 -2.84557114e-02 -2.64507134e+01] [-5.06948924e-02 -1.04296009e-04 9.98714182e-01 -8.03139856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07240100800001 meters 0.05977812386015786 Centerline is valid? [True, True] Translation: X:90.84, Y:-26.47, Z:-8.03 [[ 8.25155536e-01 5.63280922e-01 4.28128982e-02 9.08398926e+01] [-5.62531175e-01 8.26265448e-01 -2.90531696e-02 -2.64702230e+01] [-5.17399147e-02 -1.10206218e-04 9.98660588e-01 -8.03361080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10240100800002 meters 0.059586350186095476 Centerline is valid? [True, True] Translation: X:90.86, Y:-26.49, Z:-8.03 [[ 8.24214340e-01 5.64681817e-01 4.24872589e-02 9.08647160e+01] [-5.63944680e-01 8.25308676e-01 -2.88442001e-02 -2.64938381e+01] [-5.13528987e-02 -1.86660269e-04 9.98680552e-01 -8.03140504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13240100800002 meters 0.05952440385199679 Centerline is valid? [True, True] Translation: X:90.89, Y:-26.51, Z:-8.03 [[ 8.23415212e-01 5.65830322e-01 4.27017043e-02 9.08902534e+01] [-5.65086206e-01 8.24521672e-01 -2.90102105e-02 -2.65142279e+01] [-5.16233374e-02 -2.42695421e-04 9.98666597e-01 -8.03109933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16240100800002 meters 0.059493134902119785 Centerline is valid? [True, True] Translation: X:90.92, Y:-26.53, Z:-8.03 [[ 8.22677322e-01 5.66963048e-01 4.18918451e-02 9.09155367e+01] [-5.66247505e-01 8.23743173e-01 -2.84771296e-02 -2.65333011e+01] [-5.06536016e-02 -2.93664125e-04 9.98716239e-01 -8.03302898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19240100800002 meters 0.059623759337259975 Centerline is valid? [True, True] Translation: X:90.94, Y:-26.55, Z:-8.04 [[ 8.22258679e-01 5.67562991e-01 4.19870942e-02 9.09419954e+01] [-5.66844219e-01 8.23329916e-01 -2.85566412e-02 -2.65524211e+01] [-5.07769234e-02 -3.19195515e-04 9.98709969e-01 -8.03606638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22240100800002 meters 0.0594661538343982 Centerline is valid? [True, True] Translation: X:90.97, Y:-26.57, Z:-8.04 [[ 8.22276679e-01 5.67555045e-01 4.17412644e-02 9.09680081e+01] [-5.66843836e-01 8.23335399e-01 -2.84057489e-02 -2.65720770e+01] [-5.04888866e-02 -3.03393573e-04 9.98724577e-01 -8.03845263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25240100800002 meters 0.05965899834045586 Centerline is valid? [True, True] Translation: X:90.99, Y:-26.59, Z:-8.04 [[ 8.22118882e-01 5.67797909e-01 4.15461019e-02 9.09939351e+01] [-5.67092816e-01 8.23167931e-01 -2.82894876e-02 -2.65913743e+01] [-5.02621306e-02 -3.03173983e-04 9.98736014e-01 -8.04267942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28240100800001 meters 0.060218681044420665 Centerline is valid? [True, True] Translation: X:91.02, Y:-26.61, Z:-8.05 [[ 8.21922295e-01 5.68224891e-01 3.95501315e-02 9.10185463e+01] [-5.67585758e-01 8.22873248e-01 -2.69448593e-02 -2.66123657e+01] [-4.78554849e-02 -3.01510791e-04 9.98854224e-01 -8.05035062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31240100800001 meters 0.060197621546963696 Centerline is valid? [True, True] Translation: X:91.04, Y:-26.63, Z:-8.05 [[ 8.21335070e-01 5.69112785e-01 3.89787175e-02 9.10441556e+01] [-5.68492197e-01 8.22259403e-01 -2.65724647e-02 -2.66327077e+01] [-4.71733464e-02 -3.34199552e-04 9.98886662e-01 -8.05221884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34240100800001 meters 0.06049586642586255 Centerline is valid? [True, True] Translation: X:91.07, Y:-26.65, Z:-8.06 [[ 8.20355893e-01 5.70541222e-01 3.87159287e-02 9.10700518e+01] [-5.69929699e-01 8.21268869e-01 -2.64117881e-02 -2.66513902e+01] [-4.68652009e-02 -3.98291581e-04 9.98901143e-01 -8.05544747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37240100800001 meters 0.06006126537367456 Centerline is valid? [True, True] Translation: X:91.09, Y:-26.68, Z:-8.06 [[ 8.22264861e-01 5.67793895e-01 3.86081883e-02 9.10920462e+01] [-5.67182459e-01 8.23170722e-01 -2.63442843e-02 -2.66774432e+01] [-4.67392540e-02 -2.35907911e-04 9.98907096e-01 -8.05593710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40240100800001 meters 0.05986915711389789 Centerline is valid? [True, True] Translation: X:91.12, Y:-26.70, Z:-8.06 [[ 8.22859993e-01 5.66927085e-01 3.86666711e-02 9.11169285e+01] [-5.66312160e-01 8.23767958e-01 -2.63986351e-02 -2.66984877e+01] [-4.68184660e-02 -1.75025301e-04 9.98903399e-01 -8.05781689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43240100800001 meters 0.0601412337429134 Centerline is valid? [True, True] Translation: X:91.14, Y:-26.72, Z:-8.06 [[ 8.23260569e-01 5.66361779e-01 3.84235792e-02 9.11410857e+01] [-5.65753217e-01 8.24156732e-01 -2.62484004e-02 -2.67184230e+01] [-4.65331422e-02 -1.28990493e-04 9.98916738e-01 -8.06380387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46240100800001 meters 0.060035519621863376 Centerline is valid? [True, True] Translation: X:91.17, Y:-26.74, Z:-8.07 [[ 8.24130429e-01 5.65161839e-01 3.74317002e-02 9.11658018e+01] [-5.64582385e-01 8.24980056e-01 -2.55858880e-02 -2.67404366e+01] [-4.53405737e-02 -4.71697452e-05 9.98971586e-01 -8.06561158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49240100800002 meters 0.06006668956755782 Centerline is valid? [True, True] Translation: X:91.19, Y:-26.76, Z:-8.07 [[ 8.25205701e-01 5.63574278e-01 3.76773809e-02 9.11885211e+01] [-5.62984842e-01 8.26065391e-01 -2.57689099e-02 -2.67628532e+01] [-4.56466752e-02 5.28570004e-05 9.98957646e-01 -8.06667465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52240100800002 meters 0.05980150158290197 Centerline is valid? [True, True] Translation: X:91.21, Y:-26.78, Z:-8.07 [[ 8.25113910e-01 5.63653194e-01 3.84982212e-02 9.12146003e+01] [-5.63037198e-01 8.26011545e-01 -2.63446397e-02 -2.67821474e+01] [-4.66492155e-02 6.13980357e-05 9.98911331e-01 -8.06563873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55240100800002 meters 0.05973924752743196 Centerline is valid? [True, True] Translation: X:91.24, Y:-26.80, Z:-8.07 [[ 8.25203616e-01 5.63496656e-01 3.88653038e-02 9.12413279e+01] [-5.62867986e-01 8.26118340e-01 -2.66104839e-02 -2.68013123e+01] [-4.71022589e-02 8.30322425e-05 9.98890069e-01 -8.06553247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58240100800002 meters 0.05987630464885455 Centerline is valid? [True, True] Translation: X:91.27, Y:-26.82, Z:-8.07 [[ 8.24294685e-01 5.64790963e-01 3.93629382e-02 9.12687175e+01] [-5.64146778e-01 8.25234008e-01 -2.69674971e-02 -2.68192126e+01] [-4.77146339e-02 2.26897813e-05 9.98861008e-01 -8.06887638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61240100800002 meters 0.05980482062418578 Centerline is valid? [True, True] Translation: X:91.30, Y:-26.84, Z:-8.07 [[ 8.23612560e-01 5.65820922e-01 3.88462965e-02 9.12972970e+01] [-5.65193856e-01 8.24528158e-01 -2.66312027e-02 -2.68361414e+01] [-4.70983570e-02 -2.18950268e-05 9.98890256e-01 -8.07107861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64240100800001 meters 0.05980482062418578 Centerline is valid? [True, True] Translation: X:91.32, Y:-26.85, Z:-8.07 [[ 8.23458781e-01 5.66045188e-01 3.88391643e-02 9.13237842e+01] [-5.65417882e-01 8.24374214e-01 -2.66415988e-02 -2.68545285e+01] [-4.70983543e-02 -2.20995167e-05 9.98890257e-01 -8.07339883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67240100800001 meters 0.06026133837883896 Centerline is valid? [True, True] Translation: X:91.35, Y:-26.87, Z:-8.08 [[ 8.22599905e-01 5.67405287e-01 3.71569187e-02 9.13543839e+01] [-5.66831931e-01 8.23438664e-01 -2.55015480e-02 -2.68677696e+01] [-4.50661567e-02 -8.41570205e-05 9.98984001e-01 -8.08043199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70240100800001 meters 0.06058334491847577 Centerline is valid? [True, True] Translation: X:91.38, Y:-26.88, Z:-8.09 [[ 8.22665108e-01 5.67388016e-01 3.59577572e-02 9.13821409e+01] [-5.66850500e-01 8.23450566e-01 -2.46916282e-02 -2.68843924e+01] [-4.36191695e-02 -6.97316297e-05 9.99048229e-01 -8.08672508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73240100800001 meters 0.06046721474339331 Centerline is valid? [True, True] Translation: X:91.41, Y:-26.90, Z:-8.09 [[ 8.22803936e-01 5.67233599e-01 3.52097565e-02 9.14083751e+01] [-5.66717426e-01 8.23556945e-01 -2.41933152e-02 -2.69030250e+01] [-4.27205008e-02 -4.76275737e-05 9.99087062e-01 -8.08732197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76240100800001 meters 0.06043990311262647 Centerline is valid? [True, True] Translation: X:91.44, Y:-26.92, Z:-8.09 [[ 8.22549800e-01 5.67618178e-01 3.49489724e-02 9.14362556e+01] [-5.67109641e-01 8.23291929e-01 -2.40219599e-02 -2.69245111e+01] [-4.24085080e-02 -6.06409020e-05 9.99100353e-01 -8.08814334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79240100800001 meters 0.06062270298857943 Centerline is valid? [True, True] Translation: X:91.46, Y:-26.95, Z:-8.09 [[ 8.22760879e-01 5.67334647e-01 3.45822817e-02 9.14605818e+01] [-5.66835403e-01 8.23487339e-01 -2.37955383e-02 -2.69452219e+01] [-4.19781045e-02 -2.44235448e-05 9.99118531e-01 -8.09088613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82240100800001 meters 0.060101970090542856 Centerline is valid? [True, True] Translation: X:91.48, Y:-26.97, Z:-8.09 [[ 8.24095600e-01 5.65318970e-01 3.57897089e-02 9.14838039e+01] [-5.64781704e-01 8.24872386e-01 -2.46408970e-02 -2.69688856e+01] [-4.34519091e-02 9.30820140e-05 9.99055515e-01 -8.08712162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85240100800002 meters 0.05990416417016039 Centerline is valid? [True, True] Translation: X:91.51, Y:-26.99, Z:-8.09 [[ 8.25383367e-01 5.63340693e-01 3.72768166e-02 9.15096877e+01] [-5.62755142e-01 8.26224676e-01 -2.56794633e-02 -2.69883382e+01] [-4.52653123e-02 2.17681677e-04 9.98974977e-01 -8.08857721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88240100800002 meters 0.06027564592829444 Centerline is valid? [True, True] Translation: X:91.54, Y:-27.01, Z:-8.09 [[ 8.26943850e-01 5.60975236e-01 3.83491058e-02 9.15351322e+01] [-5.60352263e-01 8.27832500e-01 -2.64327935e-02 -2.70078941e+01] [-4.65747787e-02 3.69427829e-04 9.98914738e-01 -8.09382931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91240100800002 meters 0.06094522312020986 Centerline is valid? [True, True] Translation: X:91.56, Y:-27.03, Z:-8.10 [[ 8.29904856e-01 5.56533155e-01 3.90995683e-02 9.15593893e+01] [-5.55879739e-01 8.30825150e-01 -2.69682499e-02 -2.70296366e+01] [-4.74936299e-02 6.46423752e-04 9.98871332e-01 -8.09788307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94240100800002 meters 0.060729007480488255 Centerline is valid? [True, True] Translation: X:91.59, Y:-27.05, Z:-8.10 [[ 8.30566807e-01 5.55606806e-01 3.82080657e-02 9.15863185e+01] [-5.54981218e-01 8.31444883e-01 -2.63676602e-02 -2.70492417e+01] [-4.64179522e-02 6.95344493e-04 9.98921864e-01 -8.09724572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97240100800002 meters 0.06109098341243519 Centerline is valid? [True, True] Translation: X:91.61, Y:-27.07, Z:-8.10 [[ 8.31177227e-01 5.54741157e-01 3.75055434e-02 9.16102966e+01] [-5.54136785e-01 8.32022654e-01 -2.58983945e-02 -2.70705432e+01] [-4.55723671e-02 7.42954459e-04 9.98960764e-01 -8.09952091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00240100800002 meters 0.061239980869318054 Centerline is valid? [True, True] Translation: X:91.64, Y:-27.09, Z:-8.10 [[ 8.31639310e-01 5.54088490e-01 3.69053152e-02 9.16352031e+01] [-5.53502091e-01 8.32457411e-01 -2.54969483e-02 -2.70923861e+01] [-4.48496687e-02 7.77095387e-04 9.98993445e-01 -8.10027922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03240100800001 meters 0.06191115914034493 Centerline is valid? [True, True] Translation: X:91.66, Y:-27.11, Z:-8.10 [[ 8.33035534e-01 5.52177131e-01 3.39442958e-02 9.16587474e+01] [-5.51678925e-01 8.33726419e-01 -2.34653530e-02 -2.71132656e+01] [-4.12572875e-02 8.21120251e-04 9.99148218e-01 -8.10343149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06240100800001 meters 0.062164594702717936 Centerline is valid? [True, True] Translation: X:91.69, Y:-27.13, Z:-8.11 [[ 8.33878280e-01 5.50928803e-01 3.35330917e-02 9.16874974e+01] [-5.50441290e-01 8.34551785e-01 -2.31884582e-02 -2.71315070e+01] [-4.07602910e-02 8.78353364e-04 9.99168568e-01 -8.10773157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09240100800001 meters 0.06279083626571039 Centerline is valid? [True, True] Translation: X:91.71, Y:-27.15, Z:-8.11 [[ 8.34984997e-01 5.49264050e-01 3.33025399e-02 9.17144725e+01] [-5.48781130e-01 8.35648290e-01 -2.30479066e-02 -2.71497936e+01] [-4.04885970e-02 9.68850792e-04 9.99179531e-01 -8.11224807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12240100800001 meters 0.06227560940356417 Centerline is valid? [True, True] Translation: X:91.74, Y:-27.17, Z:-8.11 [[ 8.36106665e-01 5.47519807e-01 3.38778034e-02 9.17431630e+01] [-5.47018107e-01 8.36792023e-01 -2.34584898e-02 -2.71652480e+01] [-4.11926634e-02 1.08202784e-03 9.99150636e-01 -8.11294978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15240100800001 meters 0.06267796111589088 Centerline is valid? [True, True] Translation: X:91.77, Y:-27.18, Z:-8.12 [[ 8.36954835e-01 5.46248994e-01 3.34460958e-02 9.17694011e+01] [-5.45758480e-01 8.37622072e-01 -2.31720904e-02 -2.71837942e+01] [-4.06729192e-02 1.14050270e-03 9.99171864e-01 -8.11597873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18240100800001 meters 0.06377680211476797 Centerline is valid? [True, True] Translation: X:91.79, Y:-27.21, Z:-8.12 [[ 8.37528999e-01 5.45330696e-01 3.40530058e-02 9.17931149e+01] [-5.44820899e-01 8.38220108e-01 -2.36059038e-02 -2.72052206e+01] [-4.14169381e-02 1.21783978e-03 9.99141208e-01 -8.12028210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21240100800001 meters 0.06326473696547233 Centerline is valid? [True, True] Translation: X:91.82, Y:-27.22, Z:-8.12 [[ 8.38117905e-01 5.44422447e-01 3.40965737e-02 9.18208701e+01] [-5.43910081e-01 8.38810213e-01 -2.36484672e-02 -2.72232221e+01] [-4.14753106e-02 1.27473361e-03 9.99138716e-01 -8.11599133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24240100800002 meters 0.0634317779096261 Centerline is valid? [True, True] Translation: X:91.85, Y:-27.24, Z:-8.12 [[ 8.37789318e-01 5.44910425e-01 3.43756881e-02 9.18468589e+01] [-5.44389495e-01 8.38493299e-01 -2.38551166e-02 -2.72432075e+01] [-4.18226858e-02 1.27179836e-03 9.99124239e-01 -8.11734683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27240100800002 meters 0.06288245963682701 Centerline is valid? [True, True] Translation: X:91.87, Y:-27.26, Z:-8.12 [[ 8.36767023e-01 5.46467608e-01 3.45557816e-02 9.18745231e+01] [-5.45941896e-01 8.37479362e-01 -2.39950687e-02 -2.72610239e+01] [-4.20522818e-02 1.21283331e-03 9.99114675e-01 -8.11758059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30240100800002 meters 0.06271656274057098 Centerline is valid? [True, True] Translation: X:91.90, Y:-27.28, Z:-8.12 [[ 8.35868907e-01 5.47840478e-01 3.45540277e-02 9.19005972e+01] [-5.47315360e-01 8.36582019e-01 -2.40088141e-02 -2.72780647e+01] [-4.20602784e-02 1.15627110e-03 9.99114406e-01 -8.11823912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33240100800002 meters 0.06161137958274471 Centerline is valid? [True, True] Translation: X:91.93, Y:-27.29, Z:-8.12 [[ 8.33297998e-01 5.51767037e-01 3.41699142e-02 9.19315450e+01] [-5.51256363e-01 8.33997735e-01 -2.37529143e-02 -2.72902801e+01] [-4.16037062e-02 9.56873343e-04 9.99133733e-01 -8.11987608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36240100800002 meters 0.061624933268674346 Centerline is valid? [True, True] Translation: X:91.96, Y:-27.31, Z:-8.12 [[ 8.32702715e-01 5.52653838e-01 3.43500096e-02 9.19586775e+01] [-5.52137947e-01 8.33410386e-01 -2.38917305e-02 -2.73062252e+01] [-4.18315113e-02 9.28765025e-04 9.99124248e-01 -8.12428323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39240100800001 meters 0.061902456837723115 Centerline is valid? [True, True] Translation: X:91.99, Y:-27.32, Z:-8.13 [[ 8.32732541e-01 5.52616649e-01 3.42250566e-02 9.19878963e+01] [-5.52104103e-01 8.33435040e-01 -2.38137412e-02 -2.73248305e+01] [-4.16842313e-02 9.34682984e-04 9.99130398e-01 -8.12822881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42240100800001 meters 0.06200545106636607 Centerline is valid? [True, True] Translation: X:92.02, Y:-27.34, Z:-8.13 [[ 8.33072306e-01 5.52118421e-01 3.39967964e-02 9.20163557e+01] [-5.51611584e-01 8.33765143e-01 -2.36716510e-02 -2.73431180e+01] [-4.14148984e-02 9.67170130e-04 9.99141567e-01 -8.13149559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45240100800001 meters 0.06306349685272779 Centerline is valid? [True, True] Translation: X:92.04, Y:-27.36, Z:-8.14 [[ 8.34624859e-01 5.49767610e-01 3.40135272e-02 9.20413525e+01] [-5.49257543e-01 8.35316925e-01 -2.37020299e-02 -2.73614747e+01] [-4.14426833e-02 1.10011698e-03 9.99140277e-01 -8.13615292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48240100800001 meters 0.06299588961476185 Centerline is valid? [True, True] Translation: X:92.07, Y:-27.38, Z:-8.14 [[ 8.35160329e-01 5.48989878e-01 3.34266140e-02 9.20685073e+01] [-5.48496225e-01 8.35828237e-01 -2.33034060e-02 -2.73785793e+01] [-4.07322419e-02 1.12770859e-03 9.99169461e-01 -8.13795105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51240100800001 meters 0.06257195202687751 Centerline is valid? [True, True] Translation: X:92.10, Y:-27.40, Z:-8.14 [[ 8.35175721e-01 5.48966985e-01 3.34180240e-02 9.20962580e+01] [-5.48473148e-01 8.35843261e-01 -2.33077206e-02 -2.73959112e+01] [-4.07273993e-02 1.13715351e-03 9.99169648e-01 -8.13762495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54240100800001 meters 0.061991974327209216 Centerline is valid? [True, True] Translation: X:92.12, Y:-27.41, Z:-8.14 [[ 8.34715674e-01 5.49660211e-01 3.35171167e-02 9.21235235e+01] [-5.49163466e-01 8.35387577e-01 -2.33898221e-02 -2.74138606e+01] [-4.08562374e-02 1.11747510e-03 9.99164410e-01 -8.13751740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57240100800001 meters 0.06187807270945105 Centerline is valid? [True, True] Translation: X:92.15, Y:-27.43, Z:-8.14 [[ 8.34189996e-01 5.50416415e-01 3.41880079e-02 9.21514525e+01] [-5.49899628e-01 8.34889531e-01 -2.38719494e-02 -2.74309754e+01] [-4.16827227e-02 1.11376856e-03 9.99130277e-01 -8.13744186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60240100800002 meters 0.06192197204027201 Centerline is valid? [True, True] Translation: X:92.18, Y:-27.45, Z:-8.14 [[ 8.33357384e-01 5.51641222e-01 3.47481344e-02 9.21779372e+01] [-5.51107641e-01 8.34080802e-01 -2.42813377e-02 -2.74472813e+01] [-4.23773387e-02 1.08506970e-03 9.99101088e-01 -8.14155257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63240100800002 meters 0.061339723301133 Centerline is valid? [True, True] Translation: X:92.21, Y:-27.46, Z:-8.14 [[ 8.32631386e-01 5.52678361e-01 3.56595691e-02 9.22088727e+01] [-5.52117261e-01 8.33393967e-01 -2.49204148e-02 -2.74615609e+01] [-4.34914438e-02 1.06125589e-03 9.99053236e-01 -8.14283864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66240100800002 meters 0.060950261331891645 Centerline is valid? [True, True] Translation: X:92.24, Y:-27.48, Z:-8.15 [[ 8.31132903e-01 5.54843389e-01 3.69717595e-02 9.22368807e+01] [-5.54241377e-01 8.31954213e-01 -2.58589158e-02 -2.74763139e+01] [-4.51064595e-02 1.00091682e-03 9.98981684e-01 -8.14623234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69240100800002 meters 0.06045150233618124 Centerline is valid? [True, True] Translation: X:92.27, Y:-27.49, Z:-8.15 [[ 8.28739028e-01 5.58374536e-01 3.75433119e-02 9.22657002e+01] [-5.57756732e-01 8.29588563e-01 -2.62724959e-02 -2.74900578e+01] [-4.58153949e-02 8.33007702e-04 9.98949576e-01 -8.14954581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72240100800002 meters 0.06007886482855962 Centerline is valid? [True, True] Translation: X:92.29, Y:-27.51, Z:-8.15 [[ 8.27104958e-01 5.60807958e-01 3.73071397e-02 9.22939644e+01] [-5.60199808e-01 8.27945613e-01 -2.61196646e-02 -2.75055300e+01] [-4.55363984e-02 7.04251631e-04 9.98962432e-01 -8.15152761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75240100800002 meters 0.06002199834561088 Centerline is valid? [True, True] Translation: X:92.32, Y:-27.52, Z:-8.15 [[ 8.25643900e-01 5.63015450e-01 3.64108972e-02 9.23211248e+01] [-5.62437738e-01 8.26446168e-01 -2.55053636e-02 -2.75219368e+01] [-4.44515602e-02 5.79485262e-04 9.99011373e-01 -8.15483557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78240100800001 meters 0.059426826807975106 Centerline is valid? [True, True] Translation: X:92.35, Y:-27.54, Z:-8.15 [[ 8.21786286e-01 5.68695078e-01 3.54006915e-02 9.23512992e+01] [-5.68153500e-01 8.22548376e-01 -2.48147160e-02 -2.75368066e+01] [-4.32307881e-02 2.79366578e-04 9.99065073e-01 -8.15354089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81240100800001 meters 0.05930496565225805 Centerline is valid? [True, True] Translation: X:92.38, Y:-27.55, Z:-8.16 [[ 8.19424023e-01 5.72123094e-01 3.49204297e-02 9.23785494e+01] [-5.71599161e-01 8.20167761e-01 -2.44794482e-02 -2.75538542e+01] [-4.26458683e-02 9.85596262e-05 9.99090246e-01 -8.15580859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84240100800001 meters 0.059785477475699844 Centerline is valid? [True, True] Translation: X:92.41, Y:-27.57, Z:-8.16 [[ 8.17096716e-01 5.75497347e-01 3.39964826e-02 9.24065288e+01] [-5.75003229e-01 8.17803644e-01 -2.38429585e-02 -2.75708239e+01] [-4.15240067e-02 -6.60841619e-05 9.99137504e-01 -8.16149690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87240100800001 meters 0.05959351728434827 Centerline is valid? [True, True] Translation: X:92.43, Y:-27.59, Z:-8.16 [[ 8.15134098e-01 5.78287871e-01 3.37570894e-02 9.24346346e+01] [-5.77802452e-01 8.15832765e-01 -2.36902058e-02 -2.75875406e+01] [-4.12398983e-02 -1.94234434e-04 9.99149255e-01 -8.16147583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90240100800001 meters 0.06013583057327453 Centerline is valid? [True, True] Translation: X:92.46, Y:-27.60, Z:-8.17 [[ 8.12991105e-01 5.81316107e-01 3.34222467e-02 9.24626129e+01] [-5.80842228e-01 8.13677746e-01 -2.34698357e-02 -2.76022695e+01] [-4.08383319e-02 -3.32284514e-04 9.99165712e-01 -8.16790004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93240100800001 meters 0.06043124432728336 Centerline is valid? [True, True] Translation: X:92.49, Y:-27.62, Z:-8.17 [[ 8.11136555e-01 5.83911986e-01 3.32307255e-02 9.24903084e+01] [-5.83445229e-01 8.11816845e-01 -2.33468392e-02 -2.76188601e+01] [-4.06097620e-02 -4.50833547e-04 9.99174982e-01 -8.17124737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96240100800001 meters 0.061617275864762115 Centerline is valid? [True, True] Translation: X:92.52, Y:-27.63, Z:-8.18 [[ 8.07873710e-01 5.88416629e-01 3.32556669e-02 9.25181647e+01] [-5.87952272e-01 8.08557623e-01 -2.33815128e-02 -2.76338498e+01] [-4.06471940e-02 -6.63435482e-04 9.99173341e-01 -8.17817336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99240100800002 meters 0.06200571740895431 Centerline is valid? [True, True] Translation: X:92.54, Y:-27.65, Z:-8.18 [[ 8.06670552e-01 5.90058907e-01 3.33632513e-02 9.25433347e+01] [-5.89592721e-01 8.07359853e-01 -2.34625490e-02 -2.76528507e+01] [-4.07804357e-02 -7.44182787e-04 9.99167855e-01 -8.18018779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02240100800002 meters 0.06165973141397206 Centerline is valid? [True, True] Translation: X:92.57, Y:-27.68, Z:-8.18 [[ 8.05840202e-01 5.91144455e-01 3.42023738e-02 9.25683291e+01] [-5.90655057e-01 8.06565296e-01 -2.40629988e-02 -2.76755926e+01] [-4.18111560e-02 -8.10873246e-04 9.99125202e-01 -8.17820581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05240100800002 meters 0.06205862018314746 Centerline is valid? [True, True] Translation: X:92.59, Y:-27.70, Z:-8.18 [[ 8.05461100e-01 5.91653954e-01 3.43222355e-02 9.25921644e+01] [-5.91160893e-01 8.06191612e-01 -2.41636980e-02 -2.76965424e+01] [-4.19668458e-02 -8.27044574e-04 9.99118662e-01 -8.18038091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08240100800002 meters 0.0609745252211417 Centerline is valid? [True, True] Translation: X:92.61, Y:-27.73, Z:-8.18 [[ 8.06592090e-01 5.89971615e-01 3.66427836e-02 9.26123843e+01] [-5.89407189e-01 8.07423612e-01 -2.58123202e-02 -2.77253545e+01] [-4.48147849e-02 -7.77506808e-04 9.98995010e-01 -8.17753109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11240100800002 meters 0.06047711128964282 Centerline is valid? [True, True] Translation: X:92.64, Y:-27.75, Z:-8.18 [[ 8.07425353e-01 5.88755187e-01 3.78368853e-02 9.26350001e+01] [-5.88151208e-01 8.08311087e-01 -2.66710112e-02 -2.77481929e+01] [-4.62866700e-02 -7.18959135e-04 9.98927939e-01 -8.18022230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14240100800001 meters 0.060382420912207406 Centerline is valid? [True, True] Translation: X:92.66, Y:-27.77, Z:-8.18 [[ 8.08034953e-01 5.87888052e-01 3.83034308e-02 9.26588611e+01] [-5.87267452e-01 8.08942021e-01 -2.70138185e-02 -2.77690822e+01] [-4.68663559e-02 -6.66248581e-04 9.98900946e-01 -8.18414772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17240100800001 meters 0.05913495789817829 Centerline is valid? [True, True] Translation: X:92.68, Y:-27.80, Z:-8.19 [[ 8.12827818e-01 5.81154255e-01 3.96316727e-02 9.26767293e+01] [-5.80481069e-01 8.13793375e-01 -2.79655377e-02 -2.77988259e+01] [-4.85042839e-02 -2.74268780e-04 9.98822937e-01 -8.18576938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20240100800001 meters 0.05923971639430732 Centerline is valid? [True, True] Translation: X:92.70, Y:-27.82, Z:-8.19 [[ 8.14201602e-01 5.79226058e-01 3.96601261e-02 9.26999343e+01] [-5.78548948e-01 8.15166947e-01 -2.79993247e-02 -2.78206605e+01] [-4.85475624e-02 -1.48229183e-04 9.98820861e-01 -8.19026548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23240100800001 meters 0.05915826916396026 Centerline is valid? [True, True] Translation: X:92.73, Y:-27.84, Z:-8.19 [[ 8.14467152e-01 5.78844219e-01 3.97822605e-02 9.27261298e+01] [-5.78161767e-01 8.15438138e-01 -2.81000734e-02 -2.78405478e+01] [-4.87055374e-02 -1.13995282e-04 9.98813175e-01 -8.19178234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26240100800001 meters 0.05918668004764085 Centerline is valid? [True, True] Translation: X:92.75, Y:-27.86, Z:-8.19 [[ 8.14025316e-01 5.79450002e-01 4.00060002e-02 9.27537847e+01] [-5.78759811e-01 8.15007777e-01 -2.82737584e-02 -2.78602370e+01] [-4.89884307e-02 -1.38309999e-04 9.98799336e-01 -8.19383989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29240100800001 meters 0.059344154360334335 Centerline is valid? [True, True] Translation: X:92.78, Y:-27.88, Z:-8.20 [[ 8.14555955e-01 5.78823799e-01 3.82309511e-02 9.27793020e+01] [-5.78192138e-01 8.15452637e-01 -2.70342252e-02 -2.78840033e+01] [-4.68235828e-02 -8.39462534e-05 9.98903171e-01 -8.19652790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32240100800001 meters 0.059242197488341475 Centerline is valid? [True, True] Translation: X:92.80, Y:-27.91, Z:-8.20 [[ 8.15172576e-01 5.77998283e-01 3.75720092e-02 9.28030767e+01] [-5.77386285e-01 8.16037980e-01 -2.65912236e-02 -2.79061881e+01] [-4.60298680e-02 -1.71265551e-05 9.98940064e-01 -8.19898489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35240100800002 meters 0.059293202770174726 Centerline is valid? [True, True] Translation: X:92.83, Y:-27.93, Z:-8.20 [[ 8.16238162e-01 5.76511463e-01 3.72799546e-02 9.28293370e+01] [-5.75906945e-01 8.17089057e-01 -2.63943968e-02 -2.79294518e+01] [-4.56777153e-02 7.43291746e-05 9.98956226e-01 -8.20153244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38240100800002 meters 0.05929237236680851 Centerline is valid? [True, True] Translation: X:92.86, Y:-27.95, Z:-8.20 [[ 8.16815125e-01 5.75734940e-01 3.66378386e-02 9.28591271e+01] [-5.75149518e-01 8.17636387e-01 -2.59570733e-02 -2.79514902e+01] [-4.49008240e-02 1.29894838e-04 9.98991441e-01 -8.20426771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41240100800002 meters 0.059605987967127086 Centerline is valid? [True, True] Translation: X:92.89, Y:-27.97, Z:-8.21 [[ 8.17718394e-01 5.74447515e-01 3.66971440e-02 9.28850224e+01] [-5.73857533e-01 8.18541387e-01 -2.60294192e-02 -2.79698283e+01] [-4.49906663e-02 2.25802364e-04 9.98987382e-01 -8.21001319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44240100800002 meters 0.05987842321741323 Centerline is valid? [True, True] Translation: X:92.91, Y:-27.99, Z:-8.22 [[ 8.20002741e-01 5.71250779e-01 3.56097265e-02 9.29116041e+01] [-5.70691706e-01 8.20775479e-01 -2.52703272e-02 -2.79877546e+01] [-4.36632845e-02 3.99561942e-04 9.99046224e-01 -8.21516660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47240100800002 meters 0.06018284796049712 Centerline is valid? [True, True] Translation: X:92.94, Y:-28.01, Z:-8.22 [[ 8.21582322e-01 5.68987646e-01 3.54337010e-02 9.29378004e+01] [-5.68431448e-01 8.22345900e-01 -2.51576891e-02 -2.80085604e+01] [-4.34531731e-02 5.27482687e-04 9.99055326e-01 -8.21932243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50240100800002 meters 0.06167664628255595 Centerline is valid? [True, True] Translation: X:92.96, Y:-28.03, Z:-8.23 [[ 8.24093022e-01 5.65352951e-01 3.53090828e-02 9.29590109e+01] [-5.64796532e-01 8.24848777e-01 -2.50872879e-02 -2.80324564e+01] [-4.33078261e-02 7.31811369e-04 9.99061508e-01 -8.22659399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53240100800001 meters 0.06151367772345841 Centerline is valid? [True, True] Translation: X:92.98, Y:-28.05, Z:-8.22 [[ 8.26520256e-01 5.61822539e-01 3.49242286e-02 9.29838347e+01] [-5.61274536e-01 8.27257273e-01 -2.48253886e-02 -2.80541758e+01] [-4.28387850e-02 9.16606284e-04 9.99081577e-01 -8.22164358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56240100800001 meters 0.06151367772345841 Centerline is valid? [True, True] Translation: X:93.01, Y:-28.07, Z:-8.22 [[ 8.26354516e-01 5.62066614e-01 3.49189752e-02 9.30106564e+01] [-5.61518517e-01 8.27091463e-01 -2.48327748e-02 -2.80735136e+01] [-4.28388600e-02 9.13024441e-04 9.99081577e-01 -8.22402168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59240100800001 meters 0.0626657175739428 Centerline is valid? [True, True] Translation: X:93.03, Y:-28.10, Z:-8.22 [[ 8.29831348e-01 5.56882754e-01 3.55180487e-02 9.30321427e+01] [-5.56310002e-01 8.30590220e-01 -2.52798134e-02 -2.80987011e+01] [-4.35788360e-02 1.21893595e-03 9.99049248e-01 -8.22338945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62240100800001 meters 0.06508050884270733 Centerline is valid? [True, True] Translation: X:93.05, Y:-28.13, Z:-8.22 [[ 8.36301679e-01 5.46986559e-01 3.74860625e-02 9.30528197e+01] [-5.46338276e-01 8.37139371e-01 -2.66863677e-02 -2.81276504e+01] [-4.59781432e-02 1.83778336e-03 9.98940755e-01 -8.21950613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65240100800001 meters 0.06480632199840658 Centerline is valid? [True, True] Translation: X:93.08, Y:-28.15, Z:-8.22 [[ 8.38346372e-01 5.43764310e-01 3.86747461e-02 9.30806155e+01] [-5.43070009e-01 8.39235363e-01 -2.75494210e-02 -2.81462162e+01] [-4.74376065e-02 2.09286237e-03 9.98872011e-01 -8.21882391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68240100800001 meters 0.0667385919528091 Centerline is valid? [True, True] Translation: X:93.10, Y:-28.17, Z:-8.22 [[ 8.39665647e-01 5.41686235e-01 3.92125489e-02 9.31041054e+01] [-5.40969370e-01 8.40577738e-01 -2.79500798e-02 -2.81671454e+01] [-4.81013692e-02 2.25593398e-03 9.98839912e-01 -8.22226800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71240100800001 meters 0.06653738044187713 Centerline is valid? [True, True] Translation: X:93.14, Y:-28.18, Z:-8.23 [[ 8.39432554e-01 5.42132593e-01 3.80163083e-02 9.31353209e+01] [-5.41458700e-01 8.40290147e-01 -2.71098624e-02 -2.81785226e+01] [-4.66418693e-02 2.17264009e-03 9.98909313e-01 -8.22887471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74240100800002 meters 0.06746091205419057 Centerline is valid? [True, True] Translation: X:93.16, Y:-28.19, Z:-8.24 [[ 8.37931055e-01 5.44486514e-01 3.74964455e-02 9.31623541e+01] [-5.43832624e-01 8.38767151e-01 -2.67533915e-02 -2.81946079e+01] [-4.60176476e-02 2.02570721e-03 9.98938573e-01 -8.23601382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77240100800002 meters 0.06671131374045863 Centerline is valid? [True, True] Translation: X:93.19, Y:-28.21, Z:-8.24 [[ 8.35705660e-01 5.47935519e-01 3.69149979e-02 9.31920211e+01] [-5.47304554e-01 8.36518597e-01 -2.63507470e-02 -2.82090405e+01] [-4.53185925e-02 1.81772190e-03 9.98970931e-01 -8.23986473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80240100800002 meters 0.06372074711118593 Centerline is valid? [True, True] Translation: X:93.22, Y:-28.22, Z:-8.24 [[ 8.32789351e-01 5.52415588e-01 3.60404680e-02 9.32246184e+01] [-5.51817618e-01 8.33567402e-01 -2.57430127e-02 -2.82191419e+01] [-4.42630008e-02 1.55074157e-03 9.99018710e-01 -8.23822983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83240100800002 meters 0.06143908500014332 Centerline is valid? [True, True] Translation: X:93.26, Y:-28.23, Z:-8.24 [[ 8.26196385e-01 5.62280227e-01 3.52204428e-02 9.32572414e+01] [-5.61717797e-01 8.26946150e-01 -2.51631074e-02 -2.82276653e+01] [-4.32741273e-02 1.00571889e-03 9.99062730e-01 -8.23769116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86240100800002 meters 0.06026561617704388 Centerline is valid? [True, True] Translation: X:93.29, Y:-28.24, Z:-8.24 [[ 8.22245391e-01 5.68086674e-01 3.44970651e-02 9.32885660e+01] [-5.67551473e-01 8.22968432e-01 -2.46634394e-02 -2.82393578e+01] [-4.24009669e-02 7.00539249e-04 9.99100429e-01 -8.23979498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89240100800001 meters 0.059631468560617754 Centerline is valid? [True, True] Translation: X:93.32, Y:-28.25, Z:-8.24 [[ 8.18943438e-01 5.72825017e-01 3.46863688e-02 9.33215030e+01] [-5.72288252e-01 8.19677553e-01 -2.47964715e-02 -2.82518504e+01] [-4.26356771e-02 4.56306251e-04 9.99090582e-01 -8.24355143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92240100800001 meters 0.0590810904655876 Centerline is valid? [True, True] Translation: X:93.35, Y:-28.26, Z:-8.25 [[ 8.15966220e-01 5.76993814e-01 3.57388688e-02 9.33528653e+01] [-5.76427078e-01 8.16748474e-01 -2.55686233e-02 -2.82632011e+01] [-4.39426040e-02 2.62281133e-04 9.99034023e-01 -8.24583906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95240100800001 meters 0.058919775168976944 Centerline is valid? [True, True] Translation: X:93.38, Y:-28.28, Z:-8.25 [[ 8.13857693e-01 5.79905744e-01 3.66740212e-02 9.33815139e+01] [-5.79311233e-01 8.14683567e-01 -2.62522710e-02 -2.82763873e+01] [-4.51015651e-02 1.19940244e-04 9.98982399e-01 -8.24863977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98240100800001 meters 0.05880254275656854 Centerline is valid? [True, True] Translation: X:93.41, Y:-28.29, Z:-8.25 [[ 8.11228299e-01 5.83555811e-01 3.70305615e-02 9.34116132e+01] [-5.82953004e-01 8.12073032e-01 -2.65176467e-02 -2.82915760e+01] [-4.55460472e-02 -7.52116619e-05 9.98962237e-01 -8.25089480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01240100800001 meters 0.058778911930953893 Centerline is valid? [True, True] Translation: X:93.44, Y:-28.31, Z:-8.25 [[ 8.10629595e-01 5.84346909e-01 3.76609800e-02 9.34367250e+01] [-5.83723308e-01 8.11503961e-01 -2.69892573e-02 -2.83098146e+01] [-4.63331235e-02 -1.05301153e-04 9.98926039e-01 -8.25187508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04240100800001 meters 0.05846413884561178 Centerline is valid? [True, True] Translation: X:93.46, Y:-28.33, Z:-8.25 [[ 8.10365128e-01 5.84687492e-01 3.80643691e-02 9.34619329e+01] [-5.84050315e-01 8.11258604e-01 -2.72893247e-02 -2.83292952e+01] [-4.68357738e-02 -1.17189681e-04 9.98902596e-01 -8.25077605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07240100800001 meters 0.05848548249573217 Centerline is valid? [True, True] Translation: X:93.49, Y:-28.35, Z:-8.25 [[ 8.10588412e-01 5.84328617e-01 3.88135686e-02 9.34859960e+01] [-5.83664909e-01 8.11517135e-01 -2.78426625e-02 -2.83490036e+01] [-4.77671405e-02 -8.51784046e-05 9.98858495e-01 -8.25386314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10240100800002 meters 0.05809829902859743 Centerline is valid? [True, True] Translation: X:93.51, Y:-28.37, Z:-8.25 [[ 8.11112801e-01 5.83526993e-01 3.99032992e-02 9.35093409e+01] [-5.82824202e-01 8.12093743e-01 -2.86304248e-02 -2.83727518e+01] [-4.91118453e-02 -3.41044890e-05 9.98793285e-01 -8.25147556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13240100800002 meters 0.058085066142577406 Centerline is valid? [True, True] Translation: X:93.54, Y:-28.39, Z:-8.25 [[ 8.11004671e-01 5.83671822e-01 3.99828531e-02 9.35351150e+01] [-5.82965590e-01 8.11989657e-01 -2.87039687e-02 -2.83932323e+01] [-4.92193609e-02 -2.95748686e-05 9.98787992e-01 -8.25345208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16240100800002 meters 0.05810117010141191 Centerline is valid? [True, True] Translation: X:93.56, Y:-28.41, Z:-8.26 [[ 8.10841863e-01 5.83904000e-01 3.98947752e-02 9.35606122e+01] [-5.83200371e-01 8.11822714e-01 -2.86567507e-02 -2.84130341e+01] [-4.91202760e-02 -3.05545631e-05 9.98792870e-01 -8.25610900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19240100800002 meters 0.05831676804249606 Centerline is valid? [True, True] Translation: X:93.58, Y:-28.44, Z:-8.26 [[ 8.11428207e-01 5.83183853e-01 3.84819244e-02 9.35847642e+01] [-5.82527746e-01 8.12340196e-01 -2.76556024e-02 -2.84365457e+01] [-4.73887147e-02 2.37471661e-05 9.98876523e-01 -8.26260927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22240100800002 meters 0.05859299619133412 Centerline is valid? [True, True] Translation: X:93.61, Y:-28.46, Z:-8.27 [[ 8.11767305e-01 5.82774380e-01 3.75215288e-02 9.36083142e+01] [-5.82149255e-01 8.12634000e-01 -2.69856719e-02 -2.84572516e+01] [-4.62178283e-02 6.29561126e-05 9.98931383e-01 -8.26874523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25240100800002 meters 0.05881623314175222 Centerline is valid? [True, True] Translation: X:93.63, Y:-28.48, Z:-8.27 [[ 8.11534657e-01 5.83160132e-01 3.65480740e-02 9.36332482e+01] [-5.82566851e-01 8.12357223e-01 -2.62984005e-02 -2.84773300e+01] [-4.50262706e-02 5.03670720e-05 9.98985802e-01 -8.27308232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28240100800001 meters 0.05874204381036537 Centerline is valid? [True, True] Translation: X:93.66, Y:-28.50, Z:-8.28 [[ 8.11039918e-01 5.83885874e-01 3.59379709e-02 9.36598722e+01] [-5.83312432e-01 8.11835750e-01 -2.58712428e-02 -2.84978698e+01] [-4.42815828e-02 1.95454068e-05 9.99019089e-01 -8.27572228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31240100800001 meters 0.05870283640528803 Centerline is valid? [True, True] Translation: X:93.68, Y:-28.52, Z:-8.28 [[ 8.09467169e-01 5.86075182e-01 3.57600816e-02 9.36840967e+01] [-5.85508769e-01 8.10256671e-01 -2.57605823e-02 -2.85202578e+01] [-4.40724826e-02 -8.54957467e-05 9.99028332e-01 -8.27616810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34240100800001 meters 0.05875086992250787 Centerline is valid? [True, True] Translation: X:93.71, Y:-28.54, Z:-8.28 [[ 8.08531871e-01 5.87343304e-01 3.61117232e-02 9.37090485e+01] [-5.86766284e-01 8.09337892e-01 -2.60289240e-02 -2.85414633e+01] [-4.45145001e-02 -1.43926998e-04 9.99008728e-01 -8.27687832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37240100800001 meters 0.05883370658227923 Centerline is valid? [True, True] Translation: X:93.73, Y:-28.56, Z:-8.28 [[ 8.07744632e-01 5.88405685e-01 3.64329439e-02 9.37342034e+01] [-5.87818729e-01 8.08565837e-01 -2.62760239e-02 -2.85614009e+01] [-4.49193956e-02 -1.91649515e-04 9.98990596e-01 -8.27927969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40240100800001 meters 0.05876564751767527 Centerline is valid? [True, True] Translation: X:93.76, Y:-28.58, Z:-8.28 [[ 8.07630555e-01 5.88481699e-01 3.77117622e-02 9.37601175e+01] [-5.87852168e-01 8.08510515e-01 -2.72135184e-02 -2.85808846e+01] [-4.65050138e-02 -1.90472207e-04 9.98918038e-01 -8.28218042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43240100800001 meters 0.05869247788279556 Centerline is valid? [True, True] Translation: X:93.79, Y:-28.60, Z:-8.28 [[ 8.06928816e-01 5.89405311e-01 3.83048955e-02 9.37875198e+01] [-5.88756232e-01 8.07837436e-01 -2.76545952e-02 -2.86010493e+01] [-4.72438939e-02 -2.36956160e-04 9.98883356e-01 -8.28348439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46240100800001 meters 0.058702806929429384 Centerline is valid? [True, True] Translation: X:93.81, Y:-28.62, Z:-8.29 [[ 8.06781619e-01 5.89531252e-01 3.94502501e-02 9.38118523e+01] [-5.88841882e-01 8.07745534e-01 -2.85024574e-02 -2.86206724e+01] [-4.86688527e-02 -2.34700795e-04 9.98814942e-01 -8.28729752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49240100800002 meters 0.05828320352478594 Centerline is valid? [True, True] Translation: X:93.83, Y:-28.65, Z:-8.29 [[ 8.08992779e-01 5.86396836e-01 4.08587129e-02 9.38306227e+01] [-5.85652435e-01 8.10023919e-01 -2.95376959e-02 -2.86491693e+01] [-5.04173462e-02 -3.32220162e-05 9.98728236e-01 -8.28529220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52240100800002 meters 0.05815953131611462 Centerline is valid? [True, True] Translation: X:93.85, Y:-28.68, Z:-8.29 [[ 8.11164976e-01 5.83331866e-01 4.16571278e-02 9.38524587e+01] [-5.82553248e-01 8.12233898e-01 -3.01298661e-02 -2.86756664e+01] [-5.14110423e-02 1.72797004e-04 9.98677563e-01 -8.28532675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55240100800002 meters 0.05810708127186349 Centerline is valid? [True, True] Translation: X:93.88, Y:-28.70, Z:-8.29 [[ 8.10376316e-01 5.84402599e-01 4.19979742e-02 9.38771935e+01] [-5.83611810e-01 8.11463856e-01 -3.03918799e-02 -2.86952296e+01] [-5.18409317e-02 1.18345877e-04 9.98655348e-01 -8.28554892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58240100800002 meters 0.058170265467923164 Centerline is valid? [True, True] Translation: X:93.90, Y:-28.71, Z:-8.29 [[ 8.09449205e-01 5.85816853e-01 4.01322753e-02 9.39046648e+01] [-5.85095871e-01 8.10443467e-01 -2.90552512e-02 -2.87130174e+01] [-4.95459962e-02 3.75214117e-05 9.98771842e-01 -8.28946629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61240100800002 meters 0.05843686016733215 Centerline is valid? [True, True] Translation: X:93.93, Y:-28.73, Z:-8.29 [[ 8.09980700e-01 5.85106060e-01 3.97764201e-02 9.39312814e+01] [-5.84396231e-01 8.10956774e-01 -2.88124234e-02 -2.87313937e+01] [-4.91152809e-02 9.23168937e-05 9.98793112e-01 -8.29398964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64240100800001 meters 0.058628270236434445 Centerline is valid? [True, True] Translation: X:93.96, Y:-28.75, Z:-8.30 [[ 8.09804669e-01 5.85469688e-01 3.79689585e-02 9.39590841e+01] [-5.84822658e-01 8.10694294e-01 -2.75176435e-02 -2.87487534e+01] [-4.68919642e-02 7.88089297e-05 9.98899964e-01 -8.29968918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67240100800001 meters 0.0588867869023046 Centerline is valid? [True, True] Translation: X:93.99, Y:-28.77, Z:-8.31 [[ 8.09789269e-01 5.85549097e-01 3.70620327e-02 9.39879503e+01] [-5.84932209e-01 8.10636940e-01 -2.68712186e-02 -2.87683862e+01] [-4.57782706e-02 8.12478102e-05 9.98951622e-01 -8.30613232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70240100800001 meters 0.05946455907452992 Centerline is valid? [True, True] Translation: X:94.01, Y:-28.79, Z:-8.31 [[ 8.11506277e-01 5.83295532e-01 3.49840549e-02 9.40110260e+01] [-5.82742653e-01 8.12259980e-01 -2.53914612e-02 -2.87901909e+01] [-4.32268735e-02 2.18629179e-04 9.99065258e-01 -8.30962746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73240100800001 meters 0.0595971110294742 Centerline is valid? [True, True] Translation: X:94.03, Y:-28.81, Z:-8.31 [[ 8.12863570e-01 5.81360756e-01 3.56719652e-02 9.40334955e+01] [-5.80783799e-01 8.13645845e-01 -2.58962813e-02 -2.88127649e+01] [-4.40794280e-02 3.32444227e-04 9.99027974e-01 -8.30939895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76240100800001 meters 0.059659250190503284 Centerline is valid? [True, True] Translation: X:94.06, Y:-28.84, Z:-8.31 [[ 8.14422120e-01 5.79167420e-01 3.58009800e-02 9.40593384e+01] [-5.78583690e-01 8.15208492e-01 -2.60005305e-02 -2.88368062e+01] [-4.42439231e-02 4.61544033e-04 9.99020652e-01 -8.30797568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79240100800001 meters 0.05969707343157018 Centerline is valid? [True, True] Translation: X:94.08, Y:-28.86, Z:-8.31 [[ 8.16049949e-01 5.76827345e-01 3.65060944e-02 9.40841235e+01] [-5.76217094e-01 8.16865860e-01 -2.65335298e-02 -2.88581075e+01] [-4.51258477e-02 6.17250016e-04 9.98981119e-01 -8.30683330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82240100800001 meters 0.06062040972262006 Centerline is valid? [True, True] Translation: X:94.11, Y:-28.88, Z:-8.31 [[ 8.18852335e-01 5.72866250e-01 3.61263480e-02 9.41120800e+01] [-5.72264210e-01 8.19648436e-01 -2.62700490e-02 -2.88768700e+01] [-4.46601291e-02 8.37474972e-04 9.99001888e-01 -8.31342840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85240100800002 meters 0.06242573636223987 Centerline is valid? [True, True] Translation: X:94.14, Y:-28.90, Z:-8.32 [[ 8.19952285e-01 5.71338260e-01 3.53672656e-02 9.41378400e+01] [-5.70759067e-01 8.20714173e-01 -2.57358484e-02 -2.88957105e+01] [-4.37302909e-02 9.15980206e-04 9.99042953e-01 -8.32438676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88240100800002 meters 0.06185570077824222 Centerline is valid? [True, True] Translation: X:94.17, Y:-28.91, Z:-8.33 [[ 8.20612399e-01 5.70469715e-01 3.40528189e-02 9.41675289e+01] [-5.69931446e-01 8.21318102e-01 -2.47936081e-02 -2.89103738e+01] [-4.21121991e-02 9.38169889e-04 9.99112447e-01 -8.32572570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91240100800002 meters 0.06353990612489559 Centerline is valid? [True, True] Translation: X:94.19, Y:-28.93, Z:-8.33 [[ 8.20863990e-01 5.70156584e-01 3.32231848e-02 9.41906880e+01] [-5.69643428e-01 8.21535503e-01 -2.42029383e-02 -2.89312712e+01] [-4.10934905e-02 9.41951612e-04 9.99154862e-01 -8.33349300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94240100800002 meters 0.06261217083613556 Centerline is valid? [True, True] Translation: X:94.22, Y:-28.95, Z:-8.33 [[ 8.21098194e-01 5.69839992e-01 3.28654746e-02 9.42183636e+01] [-5.69337093e-01 8.21755114e-01 -2.39542704e-02 -2.89487720e+01] [-4.06574731e-02 9.57274351e-04 9.99172685e-01 -8.32909558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97240100800002 meters 0.06399927837280908 Centerline is valid? [True, True] Translation: X:94.24, Y:-28.97, Z:-8.33 [[ 8.21546342e-01 5.69080113e-01 3.47768999e-02 9.42401519e+01] [-5.68515708e-01 8.22281395e-01 -2.53613313e-02 -2.89748484e+01] [-4.30290271e-02 1.06429504e-03 9.99073256e-01 -8.32633146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00240100800002 meters 0.0615385404508342 Centerline is valid? [True, True] Translation: X:94.27, Y:-28.99, Z:-8.32 [[ 8.22302927e-01 5.67927652e-01 3.57222464e-02 9.42713226e+01] [-5.67330349e-01 8.23077650e-01 -2.60664147e-02 -2.89882452e+01] [-4.42060203e-02 1.16817457e-03 9.99021753e-01 -8.31785565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03240100800001 meters 0.06222721614063175 Centerline is valid? [True, True] Translation: X:94.30, Y:-29.01, Z:-8.32 [[ 8.23043744e-01 5.66802743e-01 3.65191232e-02 9.42966177e+01] [-5.66176621e-01 8.23852558e-01 -2.66645039e-02 -2.90066089e+01] [-4.51998870e-02 1.26977938e-03 9.98977156e-01 -8.32197706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06240100800001 meters 0.06316314896247005 Centerline is valid? [True, True] Translation: X:94.32, Y:-29.02, Z:-8.33 [[ 8.25830726e-01 5.62659011e-01 3.76622975e-02 9.43243009e+01] [-5.61988019e-01 8.26687616e-01 -2.75145779e-02 -2.90229084e+01] [-4.66162801e-02 1.55662387e-03 9.98911657e-01 -8.32766970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09240100800001 meters 0.06393878514696905 Centerline is valid? [True, True] Translation: X:94.35, Y:-29.04, Z:-8.33 [[ 8.27363340e-01 5.60364324e-01 3.82325533e-02 9.43496812e+01] [-5.59669665e-01 8.28244439e-01 -2.79466461e-02 -2.90435374e+01] [-4.73262031e-02 1.72443013e-03 9.98877999e-01 -8.33078665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12240100800001 meters 0.06466858986863248 Centerline is valid? [True, True] Translation: X:94.37, Y:-29.07, Z:-8.33 [[ 8.29053304e-01 5.57822464e-01 3.87907083e-02 9.43740025e+01] [-5.57103790e-01 8.29958100e-01 -2.83710875e-02 -2.90654712e+01] [-4.80206925e-02 1.91069318e-03 9.98844514e-01 -8.33088728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15240100800001 meters 0.06640115329375719 Centerline is valid? [True, True] Translation: X:94.40, Y:-29.09, Z:-8.33 [[ 8.30637002e-01 5.55442074e-01 3.90675579e-02 9.43967967e+01] [-5.54709665e-01 8.31552638e-01 -2.85901825e-02 -2.90899967e+01] [-4.83669210e-02 2.07691151e-03 9.98827476e-01 -8.33261564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18240100800001 meters 0.06535225279895332 Centerline is valid? [True, True] Translation: X:94.42, Y:-29.11, Z:-8.33 [[ 8.31361773e-01 5.54390872e-01 3.85793262e-02 9.44249794e+01] [-5.53675144e-01 8.32253732e-01 -2.82411182e-02 -2.91082940e+01] [-4.77644064e-02 2.11817212e-03 9.98856383e-01 -8.33134794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21240100800001 meters 0.06688431600501514 Centerline is valid? [True, True] Translation: X:94.45, Y:-29.13, Z:-8.34 [[ 8.30543242e-01 5.55742170e-01 3.67227937e-02 9.44501716e+01] [-5.55094266e-01 8.31352401e-01 -2.68987158e-02 -2.91275159e+01] [-4.54783334e-02 1.95593439e-03 9.98963411e-01 -8.33693542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24240100800002 meters 0.0643346222669577 Centerline is valid? [True, True] Translation: X:94.48, Y:-29.14, Z:-8.34 [[ 8.28925539e-01 5.58205022e-01 3.59110741e-02 9.44825812e+01] [-5.57587231e-01 8.29701120e-01 -2.63159885e-02 -2.91392651e+01] [-4.44851753e-02 1.79043859e-03 9.99008440e-01 -8.33753058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27240100800002 meters 0.06315342791974221 Centerline is valid? [True, True] Translation: X:94.51, Y:-29.15, Z:-8.34 [[ 8.26634987e-01 5.61676583e-01 3.45545033e-02 9.45127825e+01] [-5.61107113e-01 8.27355428e-01 -2.53338419e-02 -2.91540878e+01] [-4.28182816e-02 1.55306249e-03 9.99081670e-01 -8.34121702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30240100800002 meters 0.06249184128757983 Centerline is valid? [True, True] Translation: X:94.54, Y:-29.17, Z:-8.35 [[ 8.22968706e-01 5.67184855e-01 3.19976318e-02 9.45431728e+01] [-5.66700194e-01 8.23589666e-01 -2.34723655e-02 -2.91674208e+01] [-3.96660891e-02 1.18395814e-03 9.99212290e-01 -8.34675887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33240100800002 meters 0.062249089526305625 Centerline is valid? [True, True] Translation: X:94.57, Y:-29.18, Z:-8.35 [[ 8.21802280e-01 5.68907075e-01 3.13966951e-02 9.45711543e+01] [-5.68441252e-01 8.22401090e-01 -2.30432360e-02 -2.91844476e+01] [-3.89301362e-02 1.08980724e-03 9.99241341e-01 -8.35056351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36240100800002 meters 0.0622930422142863 Centerline is valid? [True, True] Translation: X:94.60, Y:-29.20, Z:-8.36 [[ 8.21178115e-01 5.69816537e-01 3.12348787e-02 9.45982824e+01] [-5.69355748e-01 8.21771265e-01 -2.29351234e-02 -2.92020117e+01] [-3.87367383e-02 1.05006368e-03 9.99248899e-01 -8.35546825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39240100800001 meters 0.06281673300286227 Centerline is valid? [True, True] Translation: X:94.62, Y:-29.22, Z:-8.36 [[ 8.21417868e-01 5.69546181e-01 2.98300842e-02 9.46241912e+01] [-5.69125268e-01 8.21958695e-01 -2.19165028e-02 -2.92197182e+01] [-3.70015576e-02 1.02555237e-03 9.99314682e-01 -8.36177409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42240100800001 meters 0.06209617802115291 Centerline is valid? [True, True] Translation: X:94.65, Y:-29.24, Z:-8.36 [[ 8.22084999e-01 5.68609250e-01 2.93219243e-02 9.46513121e+01] [-5.68201612e-01 8.22607077e-01 -2.15528383e-02 -2.92380109e+01] [-3.63755656e-02 1.05750046e-03 9.99337631e-01 -8.36000259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45240100800001 meters 0.06209617802115291 Centerline is valid? [True, True] Translation: X:94.68, Y:-29.26, Z:-8.36 [[ 8.21934424e-01 5.68827183e-01 2.93161708e-02 9.46772339e+01] [-5.68419406e-01 8.22456392e-01 -2.15606592e-02 -2.92572390e+01] [-3.63755612e-02 1.05756760e-03 9.99337631e-01 -8.36232473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48240100800001 meters 0.06336182382337294 Centerline is valid? [True, True] Translation: X:94.70, Y:-29.28, Z:-8.37 [[ 8.22912670e-01 5.67380812e-01 2.98957016e-02 9.46990793e+01] [-5.66955293e-01 8.23454723e-01 -2.20003281e-02 -2.92805288e+01] [-3.71003207e-02 1.15482243e-03 9.99310879e-01 -8.36571146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51240100800001 meters 0.06320032525360703 Centerline is valid? [True, True] Translation: X:94.72, Y:-29.30, Z:-8.36 [[ 8.23681921e-01 5.66266133e-01 2.98455870e-02 9.47244762e+01] [-5.65840888e-01 8.24221570e-01 -2.19748178e-02 -2.93020067e+01] [-3.70429716e-02 1.21240669e-03 9.99312938e-01 -8.36347743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54240100800001 meters 0.0633945345420979 Centerline is valid? [True, True] Translation: X:94.75, Y:-29.32, Z:-8.36 [[ 8.24853901e-01 5.64494092e-01 3.10235639e-02 9.47492130e+01] [-5.64032858e-01 8.25435998e-01 -2.28549392e-02 -2.93232249e+01] [-3.85094446e-02 1.35367638e-03 9.99257319e-01 -8.36285381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57240100800001 meters 0.06515551518802626 Centerline is valid? [True, True] Translation: X:94.77, Y:-29.34, Z:-8.37 [[ 8.26523274e-01 5.61904395e-01 3.35071347e-02 9.47735659e+01] [-5.61363589e-01 8.27200626e-01 -2.46991065e-02 -2.93436118e+01] [-4.15956593e-02 1.60470099e-03 9.99133237e-01 -8.36740030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60240100800002 meters 0.06536560274342856 Centerline is valid? [True, True] Translation: X:94.80, Y:-29.36, Z:-8.37 [[ 8.26781296e-01 5.61492707e-01 3.40386477e-02 9.48004598e+01] [-5.60933605e-01 8.27480013e-01 -2.51061497e-02 -2.93610930e+01] [-4.22632206e-02 1.66387356e-03 9.99105125e-01 -8.37134984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63240100800002 meters 0.06299663610802651 Centerline is valid? [True, True] Translation: X:94.83, Y:-29.37, Z:-8.37 [[ 8.26392976e-01 5.62006636e-01 3.49741478e-02 9.48324507e+01] [-5.61416658e-01 8.27131005e-01 -2.57999476e-02 -2.93743187e+01] [-4.34279438e-02 1.68582633e-03 9.99055139e-01 -8.36988183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66240100800002 meters 0.0633334523210081 Centerline is valid? [True, True] Translation: X:94.86, Y:-29.39, Z:-8.37 [[ 8.25560561e-01 5.63192265e-01 3.55560443e-02 9.48583118e+01] [-5.62582816e-01 8.26324210e-01 -2.62464101e-02 -2.93940887e+01] [-4.41625953e-02 1.66478149e-03 9.99022970e-01 -8.37323464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69240100800002 meters 0.061571021289859244 Centerline is valid? [True, True] Translation: X:94.89, Y:-29.41, Z:-8.37 [[ 8.22962495e-01 5.67060634e-01 3.42778253e-02 9.48881081e+01] [-5.66496981e-01 8.23674833e-01 -2.53167888e-02 -2.94088427e+01] [-4.25899363e-02 1.41648312e-03 9.99091633e-01 -8.37262471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72240100800002 meters 0.06180673374141787 Centerline is valid? [True, True] Translation: X:94.91, Y:-29.43, Z:-8.38 [[ 8.20965877e-01 5.70004350e-01 3.33177091e-02 9.49135270e+01] [-5.69473679e-01 8.21640738e-01 -2.46216658e-02 -2.94276394e+01] [-4.14096437e-02 1.23998910e-03 9.99141483e-01 -8.37730246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75240100800002 meters 0.060803522078185186 Centerline is valid? [True, True] Translation: X:94.94, Y:-29.44, Z:-8.38 [[ 8.19059619e-01 5.72751782e-01 3.31170117e-02 9.49431449e+01] [-5.72229236e-01 8.19728111e-01 -2.44852182e-02 -2.94431283e+01] [-4.11708978e-02 1.10433126e-03 9.99151509e-01 -8.37893287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78240100800001 meters 0.061274376360026264 Centerline is valid? [True, True] Translation: X:94.97, Y:-29.46, Z:-8.39 [[ 8.16253028e-01 5.76779604e-01 3.25005158e-02 9.49691912e+01] [-5.76278884e-01 8.16899310e-01 -2.40450394e-02 -2.94612094e+01] [-4.04183372e-02 8.97475271e-04 9.99182442e-01 -8.38673641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81240100800001 meters 0.059591228776777916 Centerline is valid? [True, True] Translation: X:95.00, Y:-29.47, Z:-8.39 [[ 8.09863826e-01 5.85692305e-01 3.29409608e-02 9.50018144e+01] [-5.85184736e-01 8.10533344e-01 -2.43828384e-02 -2.94710963e+01] [-4.09805880e-02 4.70231355e-04 9.99159832e-01 -8.38969082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84240100800001 meters 0.059255158860486414 Centerline is valid? [True, True] Translation: X:95.03, Y:-29.49, Z:-8.39 [[ 8.06323173e-01 5.90560293e-01 3.28858859e-02 9.50316430e+01] [-5.90058344e-01 8.06993488e-01 -2.43446115e-02 -2.94864558e+01] [-4.09156566e-02 2.25032972e-04 9.99162579e-01 -8.39345943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87240100800001 meters 0.05939382939017286 Centerline is valid? [True, True] Translation: X:95.06, Y:-29.50, Z:-8.40 [[ 8.02412507e-01 5.95852592e-01 3.30735146e-02 9.50611208e+01] [-5.95348718e-01 8.03093822e-01 -2.44993094e-02 -2.95013564e+01] [-4.11591122e-02 -3.17222715e-05 9.99152604e-01 -8.39766012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90240100800001 meters 0.05976917747361532 Centerline is valid? [True, True] Translation: X:95.09, Y:-29.52, Z:-8.40 [[ 7.98669893e-01 6.00809031e-01 3.39839618e-02 9.50895170e+01] [-6.00280862e-01 7.99392537e-01 -2.51884643e-02 -2.95154160e+01] [-4.22999823e-02 -2.82653782e-04 9.99104915e-01 -8.40215597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93240100800001 meters 0.06090915126724085 Centerline is valid? [True, True] Translation: X:95.12, Y:-29.53, Z:-8.40 [[ 7.91910406e-01 6.09632938e-01 3.50084239e-02 9.51208733e+01] [-6.09080428e-01 7.92683478e-01 -2.59602639e-02 -2.95280917e+01] [-4.35768312e-02 -7.64742671e-04 9.99049786e-01 -8.40240532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96240100800001 meters 0.06187436078819847 Centerline is valid? [True, True] Translation: X:95.15, Y:-29.54, Z:-8.41 [[ 7.89159081e-01 6.13180736e-01 3.51757040e-02 9.51486147e+01] [-6.12625805e-01 7.89942072e-01 -2.60987857e-02 -2.95435315e+01] [-4.37900411e-02 -9.53450205e-04 9.99040301e-01 -8.40571275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99240100800002 meters 0.06299798668131365 Centerline is valid? [True, True] Translation: X:95.18, Y:-29.56, Z:-8.41 [[ 7.86546965e-01 6.16553952e-01 3.47144873e-02 9.51767646e+01] [-6.16016203e-01 7.87311869e-01 -2.57693316e-02 -2.95595816e+01] [-4.32193111e-02 -1.11589707e-03 9.99064986e-01 -8.40984933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02240100800002 meters 0.06422945531141674 Centerline is valid? [True, True] Translation: X:95.20, Y:-29.58, Z:-8.41 [[ 7.84326282e-01 6.19376795e-01 3.47083437e-02 9.52035022e+01] [-6.18841355e-01 7.85092860e-01 -2.57794203e-02 -2.95751583e+01] [-4.32164476e-02 -1.25948160e-03 9.99064939e-01 -8.41374723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05240100800002 meters 0.06543145634390919 Centerline is valid? [True, True] Translation: X:95.23, Y:-29.59, Z:-8.42 [[ 7.82358618e-01 6.21894425e-01 3.40927631e-02 9.52287567e+01] [-6.21379715e-01 7.83099905e-01 -2.53335351e-02 -2.95937689e+01] [-4.24528238e-02 -1.36464190e-03 9.99097541e-01 -8.41641476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08240100800002 meters 0.06494442273959565 Centerline is valid? [True, True] Translation: X:95.25, Y:-29.62, Z:-8.42 [[ 7.82375793e-01 6.21881565e-01 3.39328433e-02 9.52519572e+01] [-6.21371278e-01 7.83110143e-01 -2.52237964e-02 -2.96174033e+01] [-4.22593677e-02 -1.35040649e-03 9.99105761e-01 -8.41703553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11240100800002 meters 0.06430196313706515 Centerline is valid? [True, True] Translation: X:95.27, Y:-29.64, Z:-8.42 [[ 7.83662396e-01 6.20263394e-01 3.38610727e-02 9.52730101e+01] [-6.19753086e-01 7.84392609e-01 -2.51862663e-02 -2.96404823e+01] [-4.21824942e-02 -1.24797447e-03 9.99109143e-01 -8.41854844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14240100800001 meters 0.06262368824001424 Centerline is valid? [True, True] Translation: X:95.29, Y:-29.67, Z:-8.42 [[ 7.85638413e-01 6.17723223e-01 3.45007837e-02 9.52935231e+01] [-6.17190548e-01 7.86394784e-01 -2.56723928e-02 -2.96672450e+01] [-4.29896696e-02 -1.12433961e-03 9.99074884e-01 -8.41795171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17240100800001 meters 0.06053606008188903 Centerline is valid? [True, True] Translation: X:95.31, Y:-29.70, Z:-8.42 [[ 7.91110736e-01 6.10626270e-01 3.57681727e-02 9.53105907e+01] [-6.10045765e-01 7.91918551e-01 -2.66302943e-02 -2.96992050e+01] [-4.45866368e-02 -7.52710606e-04 9.99005238e-01 -8.42032053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20240100800001 meters 0.060011916522083465 Centerline is valid? [True, True] Translation: X:95.33, Y:-29.72, Z:-8.42 [[ 7.94206755e-01 6.06548409e-01 3.65329633e-02 9.53309385e+01] [-6.05937756e-01 7.95046385e-01 -2.72154623e-02 -2.97237436e+01] [-4.55528958e-02 -5.21997824e-04 9.98961792e-01 -8.42483866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23240100800001 meters 0.05936178052369727 Centerline is valid? [True, True] Translation: X:95.35, Y:-29.75, Z:-8.43 [[ 7.98071918e-01 6.01373747e-01 3.78263179e-02 9.53516022e+01] [-6.00712603e-01 7.98967813e-01 -2.81922336e-02 -2.97515383e+01] [-4.71760796e-02 -2.23315931e-04 9.98886564e-01 -8.42693978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26240100800001 meters 0.0591523657524007 Centerline is valid? [True, True] Translation: X:95.37, Y:-29.78, Z:-8.43 [[ 8.01695192e-01 5.96494512e-01 3.84592743e-02 9.53712605e+01] [-5.95804540e-01 8.02617150e-01 -2.86820513e-02 -2.97792692e+01] [-4.79767594e-02 8.00524041e-05 9.98848449e-01 -8.42939139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29240100800001 meters 0.059094489840642375 Centerline is valid? [True, True] Translation: X:95.39, Y:-29.81, Z:-8.43 [[ 8.04946935e-01 5.92105098e-01 3.83664491e-02 9.53928451e+01] [-5.91412830e-01 8.05860676e-01 -2.86257848e-02 -2.98066343e+01] [-4.78674857e-02 3.51827512e-04 9.98853633e-01 -8.42876547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32240100800001 meters 0.05996771278944644 Centerline is valid? [True, True] Translation: X:95.41, Y:-29.84, Z:-8.43 [[ 8.08030796e-01 5.87990445e-01 3.67895139e-02 9.54116373e+01] [-5.87348913e-01 8.08867662e-01 -2.74656081e-02 -2.98374561e+01] [-4.59073633e-02 5.84776182e-04 9.98945530e-01 -8.43200329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35240100800002 meters 0.06008319999583252 Centerline is valid? [True, True] Translation: X:95.44, Y:-29.86, Z:-8.43 [[ 8.08120265e-01 5.87935041e-01 3.56934965e-02 9.54356703e+01] [-5.87330224e-01 8.08907933e-01 -2.66676557e-02 -2.98595723e+01] [-4.45516017e-02 5.86803628e-04 9.99006912e-01 -8.43297284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38240100800002 meters 0.060028964477436074 Centerline is valid? [True, True] Translation: X:95.46, Y:-29.88, Z:-8.43 [[ 8.07929803e-01 5.88266480e-01 3.45250946e-02 9.54620513e+01] [-5.87700494e-01 8.08666950e-01 -2.58048901e-02 -2.98811679e+01] [-4.30994548e-02 5.58124635e-04 9.99070631e-01 -8.43375809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41240100800002 meters 0.06014049718162587 Centerline is valid? [True, True] Translation: X:95.49, Y:-29.90, Z:-8.44 [[ 8.06326802e-01 5.90606130e-01 3.19607215e-02 9.54904439e+01] [-5.90122431e-01 8.06959868e-01 -2.39016106e-02 -2.98994413e+01] [-3.99074573e-02 4.11770556e-04 9.99203295e-01 -8.43890252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44240100800002 meters 0.06020373307778704 Centerline is valid? [True, True] Translation: X:95.52, Y:-29.91, Z:-8.45 [[ 8.04285443e-01 5.93423167e-01 3.12069040e-02 9.55197736e+01] [-5.92963481e-01 8.04890593e-01 -2.33547399e-02 -2.99142488e+01] [-3.89773872e-02 2.79322931e-04 9.99240054e-01 -8.44512265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47240100800002 meters 0.060452453470153926 Centerline is valid? [True, True] Translation: X:95.55, Y:-29.93, Z:-8.45 [[ 8.02390956e-01 5.96027627e-01 3.03285591e-02 9.55503365e+01] [-5.95594919e-01 8.02963912e-01 -2.27079123e-02 -2.99294702e+01] [-3.78872815e-02 1.57087747e-04 9.99282007e-01 -8.45185565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50240100800002 meters 0.060926603435860205 Centerline is valid? [True, True] Translation: X:95.58, Y:-29.94, Z:-8.46 [[ 8.00082522e-01 5.99177804e-01 2.92218751e-02 9.55799995e+01] [-5.98777662e-01 8.00615987e-01 -2.18941357e-02 -2.99432410e+01] [-3.65139806e-02 1.97092419e-05 9.99333142e-01 -8.45787724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53240100800001 meters 0.061042450376182854 Centerline is valid? [True, True] Translation: X:95.61, Y:-29.96, Z:-8.46 [[ 7.99879132e-01 5.99459617e-01 2.90093494e-02 9.56060912e+01] [-5.99065080e-01 8.00405002e-01 -2.17453880e-02 -2.99630002e+01] [-3.62547104e-02 1.51938731e-05 9.99342582e-01 -8.45943433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56240100800001 meters 0.06087769539964012 Centerline is valid? [True, True] Translation: X:95.63, Y:-29.98, Z:-8.46 [[ 7.99161606e-01 6.00398686e-01 2.93623067e-02 9.56323449e+01] [-5.99994652e-01 7.99700830e-01 -2.20227243e-02 -2.99826987e+01] [-3.67034758e-02 -1.75112889e-05 9.99326200e-01 -8.45919067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59240100800001 meters 0.060888232936879734 Centerline is valid? [True, True] Translation: X:95.66, Y:-30.00, Z:-8.46 [[ 7.98314743e-01 6.01507874e-01 2.96959390e-02 9.56576075e+01] [-6.01094903e-01 7.98866869e-01 -2.22854865e-02 -3.00015645e+01] [-3.71279974e-02 -5.92451689e-05 9.99310516e-01 -8.45893038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62240100800001 meters 0.06052733682874011 Centerline is valid? [True, True] Translation: X:95.68, Y:-30.02, Z:-8.46 [[ 7.97442278e-01 6.02630408e-01 3.03711104e-02 9.56834932e+01] [-6.02198794e-01 7.98020413e-01 -2.28042158e-02 -3.00211795e+01] [-3.79792800e-02 -1.04400226e-04 9.99278521e-01 -8.45630185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65240100800001 meters 0.06005692835415481 Centerline is valid? [True, True] Translation: X:95.71, Y:-30.04, Z:-8.45 [[ 7.97139018e-01 6.02843417e-01 3.38998735e-02 9.57096705e+01] [-6.02305104e-01 7.97859513e-01 -2.54707706e-02 -3.00394272e+01] [-4.24022229e-02 -1.14321805e-04 9.99100615e-01 -8.45399942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68240100800001 meters 0.05988899726547466 Centerline is valid? [True, True] Translation: X:95.74, Y:-30.06, Z:-8.46 [[ 7.97722004e-01 6.01979317e-01 3.55036166e-02 9.57360312e+01] [-6.01387288e-01 7.98511677e-01 -2.66913976e-02 -3.00582406e+01] [-4.44177218e-02 -5.91085657e-05 9.99013044e-01 -8.45562578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71240100800001 meters 0.05962364690798745 Centerline is valid? [True, True] Translation: X:95.76, Y:-30.08, Z:-8.46 [[ 7.98136742e-01 6.01314662e-01 3.73954266e-02 9.57631357e+01] [-6.00656646e-01 7.99012313e-01 -2.81232315e-02 -3.00763018e+01] [-4.67903178e-02 -1.56271920e-05 9.98904733e-01 -8.45639329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74240100800002 meters 0.05990152961141135 Centerline is valid? [True, True] Translation: X:95.79, Y:-30.09, Z:-8.46 [[ 7.98987684e-01 6.00144337e-01 3.80191437e-02 9.57891249e+01] [-5.99462115e-01 7.99891724e-01 -2.86077469e-02 -3.00945189e+01] [-4.75799757e-02 6.62011924e-05 9.98867429e-01 -8.46273117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77240100800002 meters 0.05995664274675641 Centerline is valid? [True, True] Translation: X:95.81, Y:-30.11, Z:-8.47 [[ 7.99384483e-01 5.99666900e-01 3.72029295e-02 9.58128582e+01] [-5.99012286e-01 8.00249710e-01 -2.80122039e-02 -3.01145948e+01] [-4.65696250e-02 1.07509276e-04 9.98915041e-01 -8.46532329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80240100800002 meters 0.060029158041575076 Centerline is valid? [True, True] Translation: X:95.84, Y:-30.14, Z:-8.47 [[ 7.99765770e-01 5.99204167e-01 3.64565283e-02 9.58369597e+01] [-5.98574917e-01 8.00596245e-01 -2.74539819e-02 -3.01363908e+01] [-4.56375000e-02 1.34791553e-04 9.98958057e-01 -8.46655951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83240100800002 meters 0.05986171944768963 Centerline is valid? [True, True] Translation: X:95.86, Y:-30.16, Z:-8.47 [[ 8.00597474e-01 5.98099561e-01 3.63400614e-02 9.58613725e+01] [-5.97472553e-01 8.01421781e-01 -2.73802306e-02 -3.01594536e+01] [-4.54998207e-02 2.08354207e-04 9.98964325e-01 -8.46599444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86240100800002 meters 0.05994816134645038 Centerline is valid? [True, True] Translation: X:95.88, Y:-30.18, Z:-8.47 [[ 8.02804285e-01 5.95143745e-01 3.61828979e-02 9.58835795e+01] [-5.94518446e-01 8.03619172e-01 -2.72771683e-02 -3.01838415e+01] [-4.53111066e-02 3.86827314e-04 9.98972849e-01 -8.46650915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89240100800002 meters 0.06029136810260493 Centerline is valid? [True, True] Translation: X:95.91, Y:-30.20, Z:-8.47 [[ 8.03877971e-01 5.93740613e-01 3.53877394e-02 9.59084689e+01] [-5.93140535e-01 8.04656365e-01 -2.66915535e-02 -3.02048780e+01] [-4.43228291e-02 4.66849120e-04 9.99017151e-01 -8.47051887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92240100800001 meters 0.060904837742534364 Centerline is valid? [True, True] Translation: X:95.93, Y:-30.23, Z:-8.48 [[ 8.04451903e-01 5.93067552e-01 3.35859212e-02 9.59323766e+01] [-5.92525933e-01 8.05152557e-01 -2.53451793e-02 -3.02250200e+01] [-4.20731938e-02 4.88448417e-04 9.99114412e-01 -8.47777529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95240100800001 meters 0.060683395948272725 Centerline is valid? [True, True] Translation: X:95.96, Y:-30.24, Z:-8.48 [[ 8.04834933e-01 5.92632759e-01 3.20490688e-02 9.59591369e+01] [-5.92138818e-01 8.05472635e-01 -2.41961573e-02 -3.02433501e+01] [-4.01540834e-02 4.96414908e-04 9.99193376e-01 -8.47926159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98240100800001 meters 0.06137121072950302 Centerline is valid? [True, True] Translation: X:95.98, Y:-30.26, Z:-8.49 [[ 8.05310983e-01 5.92092765e-01 3.00062959e-02 9.59824940e+01] [-5.91658867e-01 8.05869658e-01 -2.26689246e-02 -3.02638285e+01] [-3.76032697e-02 5.02042907e-04 9.99292621e-01 -8.48530878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01240100800001 meters 0.06183798036488147 Centerline is valid? [True, True] Translation: X:96.01, Y:-30.29, Z:-8.49 [[ 8.05380559e-01 5.92024117e-01 2.94889848e-02 9.60068910e+01] [-5.91605020e-01 8.05920095e-01 -2.22778068e-02 -3.02859609e+01] [-3.69547643e-02 4.96281036e-04 9.99316816e-01 -8.49010921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04240100800001 meters 0.06112859122450225 Centerline is valid? [True, True] Translation: X:96.03, Y:-30.31, Z:-8.49 [[ 8.04612825e-01 5.93056394e-01 2.97037860e-02 9.60339652e+01] [-5.92631257e-01 8.05160789e-01 -2.24565363e-02 -3.03055677e+01] [-3.72343162e-02 4.65425068e-04 9.99306454e-01 -8.48898179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07240100800001 meters 0.06102471021680896 Centerline is valid? [True, True] Translation: X:96.06, Y:-30.32, Z:-8.49 [[ 8.03629082e-01 5.94362632e-01 3.02218383e-02 9.60603359e+01] [-5.93922875e-01 8.04197041e-01 -2.28634427e-02 -3.03241038e+01] [-3.78934889e-02 4.24286405e-04 9.99281694e-01 -8.49079764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10240100800002 meters 0.06102202730964697 Centerline is valid? [True, True] Translation: X:96.09, Y:-30.34, Z:-8.49 [[ 8.02303285e-01 5.96125145e-01 3.07286517e-02 9.60859730e+01] [-5.95671283e-01 8.02891452e-01 -2.32602526e-02 -3.03424499e+01] [-3.85377932e-02 3.57601652e-04 9.99257079e-01 -8.49414442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13240100800002 meters 0.06083606731901676 Centerline is valid? [True, True] Translation: X:96.11, Y:-30.36, Z:-8.50 [[ 8.01675698e-01 5.96904554e-01 3.19535497e-02 9.61106941e+01] [-5.96413841e-01 8.02312181e-01 -2.42011444e-02 -3.03612503e+01] [-4.00824954e-02 3.43929986e-04 9.99196315e-01 -8.49529371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16240100800002 meters 0.060635158882608675 Centerline is valid? [True, True] Translation: X:96.14, Y:-30.38, Z:-8.50 [[ 8.01286647e-01 5.97432288e-01 3.18491813e-02 9.61374464e+01] [-5.96944861e-01 8.01919296e-01 -2.41303992e-02 -3.03806339e+01] [-3.99567526e-02 3.23161594e-04 9.99201358e-01 -8.49513428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19240100800002 meters 0.06058290862219496 Centerline is valid? [True, True] Translation: X:96.16, Y:-30.40, Z:-8.50 [[ 8.00638901e-01 5.98309666e-01 3.16685133e-02 9.61633533e+01] [-5.97827920e-01 8.01264913e-01 -2.40066006e-02 -3.04001154e+01] [-3.97382497e-02 2.88296882e-04 9.99210082e-01 -8.49671158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22240100800002 meters 0.06113966987899771 Centerline is valid? [True, True] Translation: X:96.19, Y:-30.42, Z:-8.50 [[ 8.01724341e-01 5.96828402e-01 3.21549429e-02 9.61873798e+01] [-5.96329842e-01 8.02368814e-01 -2.43927458e-02 -3.04203420e+01] [-4.03584069e-02 3.81306054e-04 9.99185195e-01 -8.50120732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25240100800002 meters 0.06125660212402965 Centerline is valid? [True, True] Translation: X:96.21, Y:-30.44, Z:-8.50 [[ 8.01909570e-01 5.96626813e-01 3.12648118e-02 9.62138661e+01] [-5.96155168e-01 8.02518722e-01 -2.37216463e-02 -3.04393115e+01] [-3.92435671e-02 3.83936009e-04 9.99229601e-01 -8.50420567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28240100800001 meters 0.06145879389509866 Centerline is valid? [True, True] Translation: X:96.24, Y:-30.46, Z:-8.51 [[ 8.02043011e-01 5.96433509e-01 3.15290031e-02 9.62396017e+01] [-5.95953066e-01 8.02662383e-01 -2.39382856e-02 -3.04583370e+01] [-3.95847404e-02 4.09728611e-04 9.99216133e-01 -8.50791201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31240100800001 meters 0.060923780017123313 Centerline is valid? [True, True] Translation: X:96.27, Y:-30.48, Z:-8.51 [[ 8.01285225e-01 5.97468736e-01 3.11945293e-02 9.62677608e+01] [-5.96999109e-01 8.01892126e-01 -2.36871573e-02 -3.04764606e+01] [-3.91669833e-02 3.57062928e-04 9.99232616e-01 -8.50614391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34240100800001 meters 0.060952849222391685 Centerline is valid? [True, True] Translation: X:96.29, Y:-30.50, Z:-8.51 [[ 8.00056220e-01 5.99062052e-01 3.21667991e-02 9.62949292e+01] [-5.98563455e-01 8.00702547e-01 -2.44381276e-02 -3.04963955e+01] [-4.03959928e-02 2.98005630e-04 9.99183704e-01 -8.50848799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37240100800001 meters 0.060952849222391685 Centerline is valid? [True, True] Translation: X:96.32, Y:-30.52, Z:-8.51 [[ 7.99879110e-01 5.99298961e-01 3.21584170e-02 9.63211047e+01] [-5.98800112e-01 8.00525243e-01 -2.44491498e-02 -3.05165997e+01] [-4.03959747e-02 2.99900467e-04 9.99183704e-01 -8.51086996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40240100800001 meters 0.06056151573691418 Centerline is valid? [True, True] Translation: X:96.35, Y:-30.54, Z:-8.51 [[ 7.99374689e-01 5.99948542e-01 3.25860931e-02 9.63469105e+01] [-5.99436173e-01 8.00038540e-01 -2.47913151e-02 -3.05363914e+01] [-4.09436437e-02 2.84266875e-04 9.99161417e-01 -8.50921718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43240100800001 meters 0.06041944872629667 Centerline is valid? [True, True] Translation: X:96.37, Y:-30.56, Z:-8.51 [[ 7.98822926e-01 6.00639516e-01 3.33782093e-02 9.63713146e+01] [-6.00101738e-01 7.99519918e-01 -2.54127006e-02 -3.05561515e+01] [-4.19504153e-02 2.69926450e-04 9.99119657e-01 -8.50955419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46240100800001 meters 0.05991534497970712 Centerline is valid? [True, True] Translation: X:96.40, Y:-30.58, Z:-8.51 [[ 7.97697979e-01 6.02034470e-01 3.51060044e-02 9.63991830e+01] [-6.01440822e-01 7.98470070e-01 -2.67298362e-02 -3.05763350e+01] [-4.41233766e-02 2.08152204e-04 9.99026068e-01 -8.50695553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49240100800002 meters 0.059836222205869996 Centerline is valid? [True, True] Translation: X:96.43, Y:-30.60, Z:-8.51 [[ 7.97511574e-01 6.02244498e-01 3.57331045e-02 9.64263638e+01] [-6.01628791e-01 7.98311668e-01 -2.72264320e-02 -3.05959766e+01] [-4.49231231e-02 2.15330121e-04 9.98990424e-01 -8.50898168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52240100800002 meters 0.06003761763183759 Centerline is valid? [True, True] Translation: X:96.45, Y:-30.61, Z:-8.51 [[ 7.97242458e-01 6.02596295e-01 3.58073857e-02 9.64515101e+01] [-6.01977524e-01 7.98046152e-01 -2.73020120e-02 -3.06143860e+01] [-4.50280376e-02 2.11081815e-04 9.98985701e-01 -8.51339772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55240100800002 meters 0.060211041683740966 Centerline is valid? [True, True] Translation: X:96.48, Y:-30.63, Z:-8.52 [[ 7.97255504e-01 6.02598595e-01 3.54766864e-02 9.64767420e+01] [-6.01990456e-01 7.98044412e-01 -2.70667153e-02 -3.06327248e+01] [-4.46223360e-02 2.22461149e-04 9.99003903e-01 -8.51817164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58240100800002 meters 0.06047201188975721 Centerline is valid? [True, True] Translation: X:96.50, Y:-30.65, Z:-8.52 [[ 7.96902667e-01 6.03113419e-01 3.46459726e-02 9.65035695e+01] [-6.02533763e-01 7.97655419e-01 -2.64366702e-02 -3.06521462e+01] [-4.35798583e-02 1.92084797e-04 9.99049928e-01 -8.52309539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61240100800002 meters 0.06084781164639434 Centerline is valid? [True, True] Translation: X:96.53, Y:-30.67, Z:-8.53 [[ 7.96401507e-01 6.03916322e-01 3.20891765e-02 9.65290696e+01] [-6.03419180e-01 7.97047711e-01 -2.44997729e-02 -3.06725515e+01] [-4.03724174e-02 1.48431453e-04 9.99184691e-01 -8.52747562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64240100800002 meters 0.06109015639371118 Centerline is valid? [True, True] Translation: X:96.55, Y:-30.69, Z:-8.53 [[ 7.96099807e-01 6.04382346e-01 3.07746314e-02 9.65541210e+01] [-6.03924966e-01 7.96694398e-01 -2.35089795e-02 -3.06926243e+01] [-3.87263886e-02 1.29925786e-04 9.99249844e-01 -8.53046588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67240100800001 meters 0.06083216531439045 Centerline is valid? [True, True] Translation: X:96.58, Y:-30.71, Z:-8.53 [[ 7.95423891e-01 6.05334332e-01 2.95157733e-02 9.65805589e+01] [-6.04913893e-01 7.95971318e-01 -2.25575542e-02 -3.07121859e+01] [-3.71485710e-02 8.83162435e-05 9.99309750e-01 -8.53004219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70240100800001 meters 0.06131257728572112 Centerline is valid? [True, True] Translation: X:96.61, Y:-30.73, Z:-8.54 [[ 7.95111828e-01 6.05799377e-01 2.83600891e-02 9.66071902e+01] [-6.05411175e-01 7.95617439e-01 -2.16840978e-02 -3.07310855e+01] [-3.56999944e-02 7.17677653e-05 9.99362549e-01 -8.53616459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73240100800001 meters 0.062273338298915085 Centerline is valid? [True, True] Translation: X:96.63, Y:-30.75, Z:-8.55 [[ 7.95065239e-01 6.05928538e-01 2.68677069e-02 9.66335726e+01] [-6.05579878e-01 7.95519077e-01 -2.05525910e-02 -3.07503928e+01] [-3.38271748e-02 7.01080425e-05 9.99427695e-01 -8.54583322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76240100800001 meters 0.06213403472531214 Centerline is valid? [True, True] Translation: X:96.66, Y:-30.77, Z:-8.55 [[ 7.95616227e-01 6.05239406e-01 2.60783495e-02 9.66593870e+01] [-6.04910040e-01 7.96043497e-01 -1.99648254e-02 -3.07696909e+01] [-3.28429996e-02 1.09283645e-04 9.99460517e-01 -8.54595125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79240100800001 meters 0.0627872542929534 Centerline is valid? [True, True] Translation: X:96.68, Y:-30.79, Z:-8.55 [[ 7.95964231e-01 6.04782790e-01 2.60522514e-02 9.66835867e+01] [-6.04453526e-01 7.96390456e-01 -1.99543632e-02 -3.07897391e+01] [-3.28158199e-02 1.35584179e-04 9.99461407e-01 -8.55317769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82240100800001 meters 0.06209857601374373 Centerline is valid? [True, True] Translation: X:96.71, Y:-30.81, Z:-8.55 [[ 7.97017113e-01 6.03377729e-01 2.64393080e-02 9.67087198e+01] [-6.03037514e-01 7.97455500e-01 -2.02603567e-02 -3.08109103e+01] [-3.33088196e-02 2.03956413e-04 9.99445087e-01 -8.54765144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85240100800002 meters 0.06205143214029142 Centerline is valid? [True, True] Translation: X:96.73, Y:-30.83, Z:-8.55 [[ 7.98240341e-01 6.01741698e-01 2.68195245e-02 9.67321186e+01] [-6.01390295e-01 7.98690708e-01 -2.05637073e-02 -3.08345313e+01] [-3.37945452e-02 2.85778948e-04 9.99428760e-01 -8.54778739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88240100800002 meters 0.06240286302627138 Centerline is valid? [True, True] Translation: X:96.75, Y:-30.86, Z:-8.54 [[ 8.02861766e-01 5.95478140e-01 2.86141637e-02 9.67513157e+01] [-5.95073526e-01 8.03371287e-01 -2.19561651e-02 -3.08639692e+01] [-3.60622139e-02 6.00234221e-04 9.99349367e-01 -8.54326282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91240100800002 meters 0.06287781325782037 Centerline is valid? [True, True] Translation: X:96.77, Y:-30.89, Z:-8.54 [[ 8.04868134e-01 5.92732726e-01 2.92438288e-02 9.67737375e+01] [-5.92307950e-01 8.05398881e-01 -2.24484889e-02 -3.08872485e+01] [-3.68589010e-02 7.46721105e-04 9.99320201e-01 -8.54399653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94240100800002 meters 0.06417053624919074 Centerline is valid? [True, True] Translation: X:96.80, Y:-30.91, Z:-8.55 [[ 8.08162270e-01 5.88155368e-01 3.07735230e-02 9.67963497e+01] [-5.87681221e-01 8.08747324e-01 -2.36336471e-02 -3.09110915e+01] [-3.87882607e-02 1.01480036e-03 9.99246937e-01 -8.54750210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97240100800002 meters 0.06315160097725103 Centerline is valid? [True, True] Translation: X:96.82, Y:-30.93, Z:-8.55 [[ 8.08908112e-01 5.87165206e-01 3.00780260e-02 9.68240343e+01] [-5.86710931e-01 8.09466438e-01 -2.31164130e-02 -3.09285856e+01] [-3.79203059e-02 1.05194733e-03 9.99280213e-01 -8.54533809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00240100800002 meters 0.06479347243663304 Centerline is valid? [True, True] Translation: X:96.85, Y:-30.95, Z:-8.55 [[ 8.09094987e-01 5.86932983e-01 2.95799749e-02 9.68471265e+01] [-5.86493256e-01 8.09634838e-01 -2.27396121e-02 -3.09512364e+01] [-3.72956066e-02 1.05005033e-03 9.99303725e-01 -8.55364150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03240100800001 meters 0.065318641710373 Centerline is valid? [True, True] Translation: X:96.87, Y:-30.97, Z:-8.56 [[ 8.09094764e-01 5.86986329e-01 2.85081055e-02 9.68718775e+01] [-5.86577625e-01 8.09596205e-01 -2.19242941e-02 -3.09701233e+01] [-3.59493150e-02 1.01661478e-03 9.99353097e-01 -8.55804101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06240100800001 meters 0.06560616441247609 Centerline is valid? [True, True] Translation: X:96.90, Y:-30.99, Z:-8.56 [[ 8.08983977e-01 5.87119739e-01 2.89021933e-02 9.68970701e+01] [-5.86699362e-01 8.09499441e-01 -2.22376689e-02 -3.09894530e+01] [-3.64524837e-02 1.03301950e-03 9.99334853e-01 -8.56037294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09240100800001 meters 0.06552912516348228 Centerline is valid? [True, True] Translation: X:96.92, Y:-31.01, Z:-8.56 [[ 8.08875893e-01 5.87244519e-01 2.93881660e-02 9.69221196e+01] [-5.86809550e-01 8.09408898e-01 -2.26227125e-02 -3.10104090e+01] [-3.70721070e-02 1.05371029e-03 9.99312038e-01 -8.55997083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12240100800001 meters 0.06576899271799452 Centerline is valid? [True, True] Translation: X:96.95, Y:-31.03, Z:-8.56 [[ 8.09370935e-01 5.86525487e-01 3.01088339e-02 9.69476628e+01] [-5.86068030e-01 8.09929994e-01 -2.31877085e-02 -3.10329521e+01] [-3.79862297e-02 1.12163240e-03 9.99277633e-01 -8.56031539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15240100800001 meters 0.06569689354196626 Centerline is valid? [True, True] Translation: X:96.97, Y:-31.05, Z:-8.56 [[ 8.09482788e-01 5.86341799e-01 3.06742552e-02 9.69719731e+01] [-5.85866214e-01 8.10062922e-01 -2.36398270e-02 -3.10534884e+01] [-3.87090955e-02 1.16502334e-03 9.99249843e-01 -8.56035510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18240100800001 meters 0.0669706382669909 Centerline is valid? [True, True] Translation: X:97.00, Y:-31.07, Z:-8.57 [[ 8.10826237e-01 5.84441724e-01 3.14433528e-02 9.69964137e+01] [-5.83940202e-01 8.11434653e-01 -2.42413785e-02 -3.10749694e+01] [-3.96818991e-02 1.29450790e-03 9.99211525e-01 -8.56623581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21240100800001 meters 0.06602725951142778 Centerline is valid? [True, True] Translation: X:97.02, Y:-31.09, Z:-8.57 [[ 8.11272243e-01 5.83835439e-01 3.12013969e-02 9.70243886e+01] [-5.83340588e-01 8.11870939e-01 -2.40694018e-02 -3.10916924e+01] [-3.93840772e-02 1.32579641e-03 9.99223267e-01 -8.56641866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24240100800002 meters 0.06573383639677126 Centerline is valid? [True, True] Translation: X:97.05, Y:-31.11, Z:-8.57 [[ 8.11243275e-01 5.83899738e-01 3.07480870e-02 9.70510455e+01] [-5.83418772e-01 8.11824718e-01 -2.37310854e-02 -3.11104378e+01] [-3.88186316e-02 1.31267230e-03 9.99245411e-01 -8.56870136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27240100800002 meters 0.06529947186017283 Centerline is valid? [True, True] Translation: X:97.08, Y:-31.13, Z:-8.57 [[ 8.11108816e-01 5.84088487e-01 3.07104056e-02 9.70777289e+01] [-5.83608374e-01 8.11688930e-01 -2.37138584e-02 -3.11291673e+01] [-3.87782879e-02 1.31166970e-03 9.99246978e-01 -8.57004076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30240100800002 meters 0.06571052178295327 Centerline is valid? [True, True] Translation: X:97.10, Y:-31.15, Z:-8.58 [[ 8.09959850e-01 5.85772064e-01 2.89159147e-02 9.71022910e+01] [-5.85347081e-01 8.10474998e-01 -2.23399136e-02 -3.11485098e+01] [-3.65217232e-02 1.16858682e-03 9.99332176e-01 -8.57602424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33240100800002 meters 0.06507035799546389 Centerline is valid? [True, True] Translation: X:97.13, Y:-31.17, Z:-8.58 [[ 8.08580071e-01 5.87764875e-01 2.70318269e-02 9.71289022e+01] [-5.87394297e-01 8.09031162e-01 -2.08930351e-02 -3.11669285e+01] [-3.41497825e-02 1.01535086e-03 9.99416210e-01 -8.57768647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36240100800002 meters 0.06454953559383064 Centerline is valid? [True, True] Translation: X:97.16, Y:-31.19, Z:-8.58 [[ 8.07775238e-01 5.88904244e-01 2.62860278e-02 9.71562566e+01] [-5.88554126e-01 8.08202259e-01 -2.03260554e-02 -3.11860028e+01] [-3.32145273e-02 9.48134188e-04 9.99447796e-01 -8.57908380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39240100800002 meters 0.06353863308183097 Centerline is valid? [True, True] Translation: X:97.18, Y:-31.20, Z:-8.58 [[ 8.06169365e-01 5.91113411e-01 2.59979099e-02 9.71839765e+01] [-5.90771740e-01 8.06588001e-01 -2.01133736e-02 -3.12033013e+01] [-3.28588870e-02 8.55955186e-04 9.99459634e-01 -8.57943869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42240100800001 meters 0.06284176781855735 Centerline is valid? [True, True] Translation: X:97.21, Y:-31.22, Z:-8.58 [[ 8.03346183e-01 5.94915812e-01 2.66474688e-02 9.72126891e+01] [-5.94558509e-01 8.03787687e-01 -2.06284423e-02 -3.12192211e+01] [-3.36910939e-02 7.28301048e-04 9.99432029e-01 -8.58254443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45240100800001 meters 0.06276000917105613 Centerline is valid? [True, True] Translation: X:97.24, Y:-31.24, Z:-8.59 [[ 8.02032951e-01 5.96685026e-01 2.66481646e-02 9.72390491e+01] [-5.96328302e-01 8.02475258e-01 -2.06401492e-02 -3.12368023e+01] [-3.37001607e-02 6.63025069e-04 9.99431768e-01 -8.58728303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48240100800001 meters 0.06250971896237062 Centerline is valid? [True, True] Translation: X:97.27, Y:-31.25, Z:-8.59 [[ 8.01098445e-01 5.97856920e-01 2.84321233e-02 9.72666604e+01] [-5.97451120e-01 8.01602559e-01 -2.20339961e-02 -3.12546758e+01] [-3.59644398e-02 6.64596092e-04 9.99352849e-01 -8.58994535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51240100800001 meters 0.06210083696051174 Centerline is valid? [True, True] Translation: X:97.29, Y:-31.27, Z:-8.59 [[ 8.00126864e-01 5.99071589e-01 3.01700501e-02 9.72948920e+01] [-5.98615055e-01 8.00695198e-01 -2.33926551e-02 -3.12742347e+01] [-3.81708893e-02 6.56845602e-04 9.99271010e-01 -8.59290244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54240100800001 meters 0.06142968822560136 Centerline is valid? [True, True] Translation: X:97.32, Y:-31.29, Z:-8.59 [[ 7.98884351e-01 6.00553740e-01 3.34514497e-02 9.73196988e+01] [-5.99992676e-01 7.99584115e-01 -2.59621144e-02 -3.12934659e+01] [-4.23388927e-02 6.70102040e-04 9.99103082e-01 -8.59091123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57240100800001 meters 0.06090926714980042 Centerline is valid? [True, True] Translation: X:97.35, Y:-31.31, Z:-8.59 [[ 7.97766709e-01 6.02028839e-01 3.36088498e-02 9.73453471e+01] [-6.01463368e-01 7.98474116e-01 -2.60941266e-02 -3.13135600e+01] [-4.25452134e-02 6.02533540e-04 9.99094361e-01 -8.58990471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60240100800002 meters 0.060455107846938895 Centerline is valid? [True, True] Translation: X:97.37, Y:-31.33, Z:-8.59 [[ 7.97021535e-01 6.02974063e-01 3.43358771e-02 9.73713252e+01] [-6.02384049e-01 7.97760582e-01 -2.66741628e-02 -3.13340822e+01] [-4.34756376e-02 5.76497474e-04 9.99054321e-01 -8.58895081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63240100800002 meters 0.059913022495181496 Centerline is valid? [True, True] Translation: X:97.40, Y:-31.35, Z:-8.59 [[ 7.95857468e-01 6.04481553e-01 3.48273177e-02 9.73979133e+01] [-6.03875374e-01 7.96618974e-01 -2.70692288e-02 -3.13538746e+01] [-4.41069515e-02 5.11888404e-04 9.99026684e-01 -8.58906620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66240100800002 meters 0.06018075334265798 Centerline is valid? [True, True] Translation: X:97.42, Y:-31.37, Z:-8.60 [[ 7.94833383e-01 6.05854774e-01 3.43494612e-02 9.74240471e+01] [-6.05265748e-01 7.95575136e-01 -2.67128611e-02 -3.13710631e+01] [-4.35116917e-02 4.41721497e-04 9.99052820e-01 -8.59728014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69240100800002 meters 0.060115429703949515 Centerline is valid? [True, True] Translation: X:97.45, Y:-31.39, Z:-8.60 [[ 7.95272668e-01 6.05323494e-01 3.35387990e-02 9.74516391e+01] [-6.04760983e-01 7.95979427e-01 -2.60941730e-02 -3.13883801e+01] [-4.24916100e-02 4.69025547e-04 9.99096714e-01 -8.59909528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72240100800002 meters 0.06070565261149845 Centerline is valid? [True, True] Translation: X:97.48, Y:-31.41, Z:-8.61 [[ 7.95934241e-01 6.04507980e-01 3.25390028e-02 9.74764595e+01] [-6.03977083e-01 7.96598920e-01 -2.53346233e-02 -3.14076639e+01] [-4.12355165e-02 5.11882170e-04 9.99149323e-01 -8.60681284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75240100800002 meters 0.06114487038491811 Centerline is valid? [True, True] Translation: X:97.50, Y:-31.43, Z:-8.61 [[ 7.96539483e-01 6.03730361e-01 3.21636998e-02 9.74993950e+01] [-6.03210807e-01 7.97188402e-01 -2.50474326e-02 -3.14286963e+01] [-4.07624240e-02 5.49777658e-04 9.99168716e-01 -8.61342811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78240100800001 meters 0.06154181680283581 Centerline is valid? [True, True] Translation: X:97.52, Y:-31.46, Z:-8.61 [[ 7.99300035e-01 6.00093511e-01 3.17369111e-02 9.75204258e+01] [-5.99584350e-01 7.99929521e-01 -2.47258809e-02 -3.14555709e+01] [-4.02251327e-02 7.34442280e-04 9.99190372e-01 -8.61362322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81240100800001 meters 0.06219484163933654 Centerline is valid? [True, True] Translation: X:97.54, Y:-31.48, Z:-8.62 [[ 8.00769719e-01 5.98152851e-01 3.13213034e-02 9.75407022e+01] [-5.97654716e-01 8.01381599e-01 -2.44207340e-02 -3.14801405e+01] [-3.97076479e-02 8.36059617e-04 9.99210991e-01 -8.61715480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84240100800001 meters 0.06200989961423344 Centerline is valid? [True, True] Translation: X:97.57, Y:-31.50, Z:-8.62 [[ 8.01989558e-01 5.96525844e-01 3.11394596e-02 9.75652736e+01] [-5.96032175e-01 8.02593349e-01 -2.42809034e-02 -3.15019312e+01] [-3.94765096e-02 9.12911182e-04 9.99220082e-01 -8.61568598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87240100800001 meters 0.06242484131594974 Centerline is valid? [True, True] Translation: X:97.59, Y:-31.52, Z:-8.62 [[ 8.04289882e-01 5.93367627e-01 3.21347837e-02 9.75896395e+01] [-5.92838760e-01 8.04930815e-01 -2.50716382e-02 -3.15231924e+01] [-4.07429761e-02 1.11411956e-03 9.99169039e-01 -8.61773035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90240100800001 meters 0.06286077899653363 Centerline is valid? [True, True] Translation: X:97.62, Y:-31.54, Z:-8.62 [[ 8.04292507e-01 5.93364096e-01 3.21342861e-02 9.76167272e+01] [-5.92834954e-01 8.04933410e-01 -2.50783396e-02 -3.15447196e+01] [-4.07465468e-02 1.11999260e-03 9.99168887e-01 -8.62247611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93240100800001 meters 0.06306469644655009 Centerline is valid? [True, True] Translation: X:97.64, Y:-31.57, Z:-8.63 [[ 8.04195096e-01 5.93494493e-01 3.21641819e-02 9.76433802e+01] [-5.92963484e-01 8.04837251e-01 -2.51258001e-02 -3.15658759e+01] [-4.07989557e-02 1.13385984e-03 9.99166733e-01 -8.62579663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96240100800001 meters 0.0627033584813911 Centerline is valid? [True, True] Translation: X:97.67, Y:-31.59, Z:-8.63 [[ 8.03442439e-01 5.94489314e-01 3.25991360e-02 9.76689275e+01] [-5.93943804e-01 8.04102738e-01 -2.54861641e-02 -3.15853648e+01] [-4.13643067e-02 1.11461104e-03 9.99143509e-01 -8.62712633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99240100800002 meters 0.0620695517281657 Centerline is valid? [True, True] Translation: X:97.70, Y:-31.61, Z:-8.63 [[ 8.02436289e-01 5.95800449e-01 3.34339292e-02 9.76951669e+01] [-5.95227203e-01 8.03131775e-01 -2.61520190e-02 -3.16055815e+01] [-4.24332356e-02 1.08454494e-03 9.99098716e-01 -8.62629283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02240100800002 meters 0.0635306445877648 Centerline is valid? [True, True] Translation: X:97.72, Y:-31.63, Z:-8.63 [[ 8.01553684e-01 5.96937214e-01 3.43169485e-02 9.77175096e+01] [-5.96333778e-01 8.02287253e-01 -2.68549738e-02 -3.16319708e+01] [-4.35627836e-02 1.06134767e-03 9.99050128e-01 -8.63312784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05240100800002 meters 0.06053631939841213 Centerline is valid? [True, True] Translation: X:97.75, Y:-31.65, Z:-8.62 [[ 7.99584129e-01 5.99504829e-01 3.54849341e-02 9.77495794e+01] [-5.98861068e-01 8.00370549e-01 -2.77921788e-02 -3.16451807e+01] [-4.50626416e-02 9.71639573e-04 9.98983691e-01 -8.62487727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08240100800002 meters 0.06057641468636524 Centerline is valid? [True, True] Translation: X:97.78, Y:-31.66, Z:-8.63 [[ 7.98086520e-01 6.01470707e-01 3.59290472e-02 9.77750555e+01] [-6.00811896e-01 7.98894364e-01 -2.81577945e-02 -3.16637557e+01] [-4.56396019e-02 8.85757270e-04 9.98957578e-01 -8.62958850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11240100800002 meters 0.0604149054481908 Centerline is valid? [True, True] Translation: X:97.80, Y:-31.68, Z:-8.63 [[ 7.96780819e-01 6.03167449e-01 3.64603130e-02 9.78028381e+01] [-6.02490142e-01 7.97614174e-01 -2.85877285e-02 -3.16815339e+01] [-4.63244498e-02 8.11174555e-04 9.98926117e-01 -8.63315488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14240100800002 meters 0.06011814690629369 Centerline is valid? [True, True] Translation: X:97.83, Y:-31.70, Z:-8.64 [[ 7.94669231e-01 6.05906059e-01 3.71303157e-02 9.78327291e+01] [-6.05205981e-01 7.95535916e-01 -2.91260496e-02 -3.17011211e+01] [-4.71861496e-02 6.74086307e-04 9.98885886e-01 -8.63676239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17240100800001 meters 0.0598537612829704 Centerline is valid? [True, True] Translation: X:97.86, Y:-31.72, Z:-8.64 [[ 7.91216015e-01 6.10458069e-01 3.63065161e-02 9.78594854e+01] [-6.09792264e-01 7.92048466e-01 -2.85065223e-02 -3.17179934e+01] [-4.61585570e-02 4.15384330e-04 9.98934039e-01 -8.64029120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20240100800001 meters 0.05987858456602758 Centerline is valid? [True, True] Translation: X:97.88, Y:-31.74, Z:-8.64 [[ 7.90058843e-01 6.11910701e-01 3.70448157e-02 9.78840314e+01] [-6.11218412e-01 7.90926780e-01 -2.91012118e-02 -3.17365006e+01] [-4.71070798e-02 3.49196322e-04 9.98889784e-01 -8.64345197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23240100800001 meters 0.05949318712761128 Centerline is valid? [True, True] Translation: X:97.91, Y:-31.76, Z:-8.64 [[ 7.88904659e-01 6.13324113e-01 3.82488033e-02 9.79098023e+01] [-6.12587077e-01 7.89831280e-01 -3.00602932e-02 -3.17557634e+01] [-4.86468040e-02 2.83982777e-04 9.98816003e-01 -8.64392255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26240100800001 meters 0.05949318712761128 Centerline is valid? [True, True] Translation: X:97.94, Y:-31.78, Z:-8.65 [[ 7.88739994e-01 6.13536270e-01 3.82422327e-02 9.79350397e+01] [-6.12799078e-01 7.89666491e-01 -3.00686491e-02 -3.17758343e+01] [-4.86468165e-02 2.81541226e-04 9.98816003e-01 -8.64624109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29240100800001 meters 0.05954803604709812 Centerline is valid? [True, True] Translation: X:97.96, Y:-31.80, Z:-8.65 [[ 7.87896681e-01 6.14615375e-01 3.82983213e-02 9.79601777e+01] [-6.13876496e-01 7.88826907e-01 -3.01290330e-02 -3.17958520e+01] [-4.87285133e-02 2.28125775e-04 9.98812034e-01 -8.64839619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32240100800001 meters 0.05933492087445062 Centerline is valid? [True, True] Translation: X:97.99, Y:-31.82, Z:-8.65 [[ 7.87560063e-01 6.14972983e-01 3.94636359e-02 9.79850526e+01] [-6.14187921e-01 7.88548146e-01 -3.10647587e-02 -3.18169689e+01] [-5.02229642e-02 2.27274823e-04 9.98738005e-01 -8.64792088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35240100800002 meters 0.059643018945621185 Centerline is valid? [True, True] Translation: X:98.01, Y:-31.84, Z:-8.65 [[ 7.87586791e-01 6.14955361e-01 3.92039589e-02 9.80084058e+01] [-6.14179671e-01 7.88561884e-01 -3.08785866e-02 -3.18382306e+01] [-4.99037001e-02 2.41292368e-04 9.98754005e-01 -8.65475318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38240100800002 meters 0.05981012822966548 Centerline is valid? [True, True] Translation: X:98.03, Y:-31.86, Z:-8.66 [[ 7.87876436e-01 6.14650154e-01 3.81563910e-02 9.80329973e+01] [-6.13914293e-01 7.88799796e-01 -3.00686320e-02 -3.18592816e+01] [-4.85794427e-02 2.65612791e-04 9.98819287e-01 -8.65745006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41240100800002 meters 0.06028840758407756 Centerline is valid? [True, True] Translation: X:98.06, Y:-31.88, Z:-8.66 [[ 7.86961937e-01 6.15892049e-01 3.69850547e-02 9.80598186e+01] [-6.15201186e-01 7.87830531e-01 -2.91642740e-02 -3.18757108e+01] [-4.70999998e-02 1.97923979e-04 9.98890160e-01 -8.66405979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44240100800002 meters 0.06049987505808103 Centerline is valid? [True, True] Translation: X:98.09, Y:-31.89, Z:-8.67 [[ 7.86722536e-01 6.16241575e-01 3.62487639e-02 9.80860354e+01] [-6.15578068e-01 7.87557166e-01 -2.85893846e-02 -3.18941786e+01] [-4.61659412e-02 1.77969092e-04 9.98933769e-01 -8.66927693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47240100800002 meters 0.060642394752289275 Centerline is valid? [True, True] Translation: X:98.11, Y:-31.92, Z:-8.67 [[ 7.86537839e-01 6.16527734e-01 3.53805091e-02 9.81139287e+01] [-6.15895474e-01 7.87333173e-01 -2.79148751e-02 -3.19152757e+01] [-4.50665432e-02 1.65410123e-04 9.98983974e-01 -8.67156864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50240100800002 meters 0.06079988813383744 Centerline is valid? [True, True] Translation: X:98.14, Y:-31.94, Z:-8.67 [[ 7.86618945e-01 6.16543914e-01 3.32300821e-02 9.81361408e+01] [-6.15985223e-01 7.87320502e-01 -2.62417972e-02 -3.19373155e+01] [-4.23419453e-02 1.73055251e-04 9.99103163e-01 -8.67355587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53240100800001 meters 0.06089647035395072 Centerline is valid? [True, True] Translation: X:98.16, Y:-31.96, Z:-8.68 [[ 7.87425684e-01 6.15522844e-01 3.30517716e-02 9.81592582e+01] [-6.14968677e-01 7.88119009e-01 -2.61142483e-02 -3.19603461e+01] [-4.21226459e-02 2.37225537e-04 9.99112419e-01 -8.67585728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56240100800001 meters 0.06089716512882001 Centerline is valid? [True, True] Translation: X:98.18, Y:-31.98, Z:-8.68 [[ 7.87933701e-01 6.14893197e-01 3.26625134e-02 9.81832072e+01] [-6.14351076e-01 7.88610348e-01 -2.58161629e-02 -3.19821501e+01] [-4.16321790e-02 2.75174496e-04 9.99132967e-01 -8.67719008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59240100800001 meters 0.06097919151614253 Centerline is valid? [True, True] Translation: X:98.21, Y:-32.00, Z:-8.68 [[ 7.89311093e-01 6.13097351e-01 3.31607668e-02 9.82084448e+01] [-6.12536413e-01 7.90007272e-01 -2.62231541e-02 -3.20034598e+01] [-4.22745932e-02 3.86049342e-04 9.99105955e-01 -8.67715596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62240100800001 meters 0.06121685210715199 Centerline is valid? [True, True] Translation: X:98.23, Y:-32.02, Z:-8.68 [[ 7.90850183e-01 6.11071691e-01 3.38729381e-02 9.82335578e+01] [-6.10483876e-01 7.91575089e-01 -2.68014150e-02 -3.20239645e+01] [-4.31905600e-02 5.17021363e-04 9.99066719e-01 -8.68137632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65240100800001 meters 0.06196089256439774 Centerline is valid? [True, True] Translation: X:98.26, Y:-32.05, Z:-8.68 [[ 7.94625599e-01 6.06082542e-01 3.51299028e-02 9.82590474e+01] [-6.05444715e-01 7.95401323e-01 -2.78106744e-02 -3.20460852e+01] [-4.47979354e-02 8.29859840e-04 9.98995724e-01 -8.68332112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68240100800001 meters 0.06225461599303884 Centerline is valid? [True, True] Translation: X:98.28, Y:-32.07, Z:-8.68 [[ 7.95819301e-01 6.04481243e-01 3.56940769e-02 9.82840817e+01] [-6.03820277e-01 7.96618807e-01 -2.82762965e-02 -3.20681351e+01] [-4.55270639e-02 9.50015103e-04 9.98962654e-01 -8.68450802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71240100800001 meters 0.06276373232073723 Centerline is valid? [True, True] Translation: X:98.31, Y:-32.09, Z:-8.69 [[ 7.97394846e-01 6.02369689e-01 3.62245453e-02 9.83067019e+01] [-6.01685731e-01 7.98216474e-01 -2.87183227e-02 -3.20929498e+01] [-4.62140759e-02 1.10405053e-03 9.98930949e-01 -8.68523028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74240100800002 meters 0.06308377648752828 Centerline is valid? [True, True] Translation: X:98.33, Y:-32.12, Z:-8.68 [[ 7.99438397e-01 5.99588063e-01 3.73149238e-02 9.83292438e+01] [-5.98858526e-01 8.00307706e-01 -2.95980077e-02 -3.21171323e+01] [-4.76100332e-02 1.31542354e-03 9.98865133e-01 -8.68315500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77240100800002 meters 0.06367514264476833 Centerline is valid? [True, True] Translation: X:98.35, Y:-32.14, Z:-8.68 [[ 8.02029053e-01 5.96069469e-01 3.80865730e-02 9.83519643e+01] [-5.95305077e-01 8.02931346e-01 -3.02178403e-02 -3.21423130e+01] [-4.85928354e-02 1.56245549e-03 9.98817448e-01 -8.68188514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80240100800002 meters 0.06537436717571397 Centerline is valid? [True, True] Translation: X:98.37, Y:-32.17, Z:-8.68 [[ 8.06953497e-01 5.89408681e-01 3.77287659e-02 9.83743968e+01] [-5.88650347e-01 8.07832629e-01 -2.99534989e-02 -3.21680787e+01] [-4.81333804e-02 1.96202950e-03 9.98838990e-01 -8.68303256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83240100800002 meters 0.06620032123975347 Centerline is valid? [True, True] Translation: X:98.40, Y:-32.19, Z:-8.69 [[ 8.09422229e-01 5.86035683e-01 3.73876109e-02 9.83997583e+01] [-5.85286997e-01 8.10282391e-01 -2.96913694e-02 -3.21882184e+01] [-4.76947247e-02 2.15037184e-03 9.98859644e-01 -8.68662184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86240100800002 meters 0.06689111603532744 Centerline is valid? [True, True] Translation: X:98.43, Y:-32.21, Z:-8.69 [[ 8.10871864e-01 5.84107007e-01 3.61361881e-02 9.84261168e+01] [-5.83405021e-01 8.11673680e-01 -2.87126873e-02 -3.22071599e+01] [-4.61020746e-02 2.20027673e-03 9.98934311e-01 -8.69235199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89240100800002 meters 0.06742353710409835 Centerline is valid? [True, True] Translation: X:98.45, Y:-32.22, Z:-8.70 [[ 8.11987069e-01 5.82707737e-01 3.35960282e-02 9.84549124e+01] [-5.82099322e-01 8.12679003e-01 -2.67061376e-02 -3.22228490e+01] [-4.28646597e-02 2.12881313e-03 9.99078620e-01 -8.69946956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92240100800001 meters 0.06742586973764228 Centerline is valid? [True, True] Translation: X:98.48, Y:-32.24, Z:-8.70 [[ 8.10849748e-01 5.84389241e-01 3.18103749e-02 9.84828579e+01] [-5.83844637e-01 8.11471163e-01 -2.52980585e-02 -3.22422528e+01] [-4.05971151e-02 1.94060760e-03 9.99173713e-01 -8.70301945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95240100800001 meters 0.06621568811178753 Centerline is valid? [True, True] Translation: X:98.51, Y:-32.26, Z:-8.70 [[ 8.08730240e-01 5.87349076e-01 3.12483963e-02 9.85121842e+01] [-5.86824998e-01 8.09331767e-01 -2.48699140e-02 -3.22584954e+01] [-3.98976408e-02 1.77571142e-03 9.99202194e-01 -8.70372869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98240100800001 meters 0.06514678711368284 Centerline is valid? [True, True] Translation: X:98.54, Y:-32.27, Z:-8.70 [[ 8.05704312e-01 5.91528367e-01 3.05737217e-02 9.85411115e+01] [-5.91029134e-01 8.06282705e-01 -2.43467233e-02 -3.22744360e+01] [-3.90528405e-02 1.54629972e-03 9.99235950e-01 -8.70333601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01240100800001 meters 0.06279521997505762 Centerline is valid? [True, True] Translation: X:98.58, Y:-32.28, Z:-8.70 [[ 7.99224637e-01 6.00253920e-01 3.05812196e-02 9.85775683e+01] [-5.99760315e-01 7.99808697e-01 -2.43641575e-02 -3.22818167e+01] [-3.90838065e-02 1.13103307e-03 9.99235296e-01 -8.70352995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04240100800001 meters 0.06226316030743956 Centerline is valid? [True, True] Translation: X:98.61, Y:-32.30, Z:-8.71 [[ 7.96151679e-01 6.04295987e-01 3.11265752e-02 9.86088975e+01] [-6.03787172e-01 7.96759335e-01 -2.48115383e-02 -3.22956764e+01] [-3.97939024e-02 9.59921049e-04 9.99207448e-01 -8.70730608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07240100800001 meters 0.062494794802921735 Centerline is valid? [True, True] Translation: X:98.64, Y:-32.31, Z:-8.71 [[ 7.93914056e-01 6.07112897e-01 3.33826613e-02 9.86369935e+01] [-6.06529138e-01 7.94615081e-01 -2.66322581e-02 -3.23107918e+01] [-4.26951534e-02 8.96167252e-04 9.99087744e-01 -8.71288967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10240100800002 meters 0.06150338926339666 Centerline is valid? [True, True] Translation: X:98.67, Y:-32.32, Z:-8.71 [[ 7.92142698e-01 6.09345731e-01 3.47523559e-02 9.86671427e+01] [-6.08714551e-01 7.92904224e-01 -2.77396134e-02 -3.23240660e+01] [-4.44583048e-02 8.19467434e-04 9.99010905e-01 -8.71219184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13240100800002 meters 0.06069908641220139 Centerline is valid? [True, True] Translation: X:98.70, Y:-32.34, Z:-8.71 [[ 7.91241197e-01 6.10395984e-01 3.67982382e-02 9.86965037e+01] [-6.09688742e-01 7.92096002e-01 -2.93864115e-02 -3.23406635e+01] [-4.70850849e-02 8.16267854e-04 9.98890549e-01 -8.70925364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16240100800002 meters 0.06044170940593657 Centerline is valid? [True, True] Translation: X:98.72, Y:-32.36, Z:-8.71 [[ 7.91812669e-01 6.09592576e-01 3.78099000e-02 9.87227733e+01] [-6.08844160e-01 7.92714374e-01 -3.02110780e-02 -3.23599726e+01] [-4.83889001e-02 9.01177460e-04 9.98828165e-01 -8.70906200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19240100800002 meters 0.06049951617872436 Centerline is valid? [True, True] Translation: X:98.75, Y:-32.38, Z:-8.71 [[ 7.92808722e-01 6.08276883e-01 3.81256267e-02 9.87495171e+01] [-6.07513617e-01 7.93724278e-01 -3.04791149e-02 -3.23800384e+01] [-4.88009765e-02 1.00227078e-03 9.98808020e-01 -8.71021372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22240100800002 meters 0.06065899345957929 Centerline is valid? [True, True] Translation: X:98.78, Y:-32.40, Z:-8.71 [[ 7.94455251e-01 6.06163449e-01 3.75063590e-02 9.87767669e+01] [-6.05421532e-01 7.95339298e-01 -3.00028302e-02 -3.23986916e+01] [-4.80169003e-02 1.12874866e-03 9.98845886e-01 -8.71311924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25240100800002 meters 0.06084327644318454 Centerline is valid? [True, True] Translation: X:98.80, Y:-32.42, Z:-8.72 [[ 7.94576721e-01 6.06096191e-01 3.59894614e-02 9.88024633e+01] [-6.05412341e-01 7.95390596e-01 -2.88044849e-02 -3.24191232e+01] [-4.60839677e-02 1.09890911e-03 9.98936965e-01 -8.71590952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28240100800001 meters 0.06083477771529902 Centerline is valid? [True, True] Translation: X:98.83, Y:-32.44, Z:-8.72 [[ 7.94317567e-01 6.06500327e-01 3.48848978e-02 9.88292655e+01] [-6.05857629e-01 7.95082540e-01 -2.79336523e-02 -3.24397908e+01] [-4.46781423e-02 1.05290929e-03 9.99000878e-01 -8.71887074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31240100800001 meters 0.0611531900002027 Centerline is valid? [True, True] Translation: X:98.86, Y:-32.45, Z:-8.73 [[ 7.92278965e-01 6.09318997e-01 3.20062927e-02 9.88569796e+01] [-6.08779552e-01 7.92924752e-01 -2.56475055e-02 -3.24546230e+01] [-4.10060940e-02 8.35202584e-04 9.99158547e-01 -8.72676881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34240100800001 meters 0.06147508694599918 Centerline is valid? [True, True] Translation: X:98.88, Y:-32.47, Z:-8.73 [[ 7.90231512e-01 6.12052334e-01 3.04318548e-02 9.88840549e+01] [-6.11566562e-01 7.90816984e-01 -2.43892956e-02 -3.24708368e+01] [-3.89935529e-02 6.62085133e-04 9.99239243e-01 -8.73445771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37240100800001 meters 0.060947114384659544 Centerline is valid? [True, True] Translation: X:98.91, Y:-32.49, Z:-8.74 [[ 7.87676355e-01 6.15410844e-01 2.89042049e-02 9.89146166e+01] [-6.14974543e-01 7.88206359e-01 -2.31742887e-02 -3.24854784e+01] [-3.70441866e-02 4.78489013e-04 9.99313514e-01 -8.73530946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40240100800001 meters 0.060999127793943245 Centerline is valid? [True, True] Translation: X:98.94, Y:-32.50, Z:-8.74 [[ 7.84202799e-01 6.19894965e-01 2.74991427e-02 9.89422507e+01] [-6.19502405e-01 7.84684754e-01 -2.20591608e-02 -3.25009353e+01] [-3.52525208e-02 2.63070557e-04 9.99378402e-01 -8.74073114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43240100800001 meters 0.06079744728141865 Centerline is valid? [True, True] Translation: X:98.97, Y:-32.52, Z:-8.74 [[ 7.80602460e-01 6.24449724e-01 2.68764002e-02 9.89710807e+01] [-6.24077108e-01 7.81065002e-01 -2.15690669e-02 -3.25166461e+01] [-3.44610135e-02 6.39205273e-05 9.99406041e-01 -8.74238745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46240100800001 meters 0.06068918596154458 Centerline is valid? [True, True] Translation: X:99.00, Y:-32.53, Z:-8.74 [[ 7.74838856e-01 6.31533835e-01 2.81027153e-02 9.90017088e+01] [-6.31130405e-01 7.75348279e-01 -2.25711709e-02 -3.25299288e+01] [-3.60438501e-02 -2.47457858e-04 9.99350179e-01 -8.74082552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49240100800002 meters 0.06082073588644972 Centerline is valid? [True, True] Translation: X:99.03, Y:-32.55, Z:-8.74 [[ 7.72388292e-01 6.34526356e-01 2.81536637e-02 9.90289762e+01] [-6.34123382e-01 7.72901128e-01 -2.26137773e-02 -3.25475508e+01] [-3.61090361e-02 -3.86279634e-04 9.99347781e-01 -8.74164237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52240100800002 meters 0.06090195034999312 Centerline is valid? [True, True] Translation: X:99.06, Y:-32.57, Z:-8.74 [[ 7.71166439e-01 6.35959580e-01 2.92871191e-02 9.90556335e+01] [-6.35523987e-01 7.71722230e-01 -2.35385175e-02 -3.25650668e+01] [-3.75710666e-02 -4.60551993e-04 9.99293852e-01 -8.74348714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55240100800002 meters 0.060906708251571844 Centerline is valid? [True, True] Translation: X:99.08, Y:-32.58, Z:-8.74 [[ 7.69936299e-01 6.37358522e-01 3.11802864e-02 9.90822204e+01] [-6.36865441e-01 7.70567199e-01 -2.50719412e-02 -3.25840022e+01] [-4.00063213e-02 -5.53849227e-04 9.99199273e-01 -8.74498760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58240100800002 meters 0.06111251437397082 Centerline is valid? [True, True] Translation: X:99.11, Y:-32.60, Z:-8.75 [[ 7.69419048e-01 6.37914433e-01 3.25500369e-02 9.91091830e+01] [-6.37377046e-01 7.70107017e-01 -2.61855612e-02 -3.26045690e+01] [-4.17711592e-02 -5.98976814e-04 9.99127025e-01 -8.74733822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61240100800002 meters 0.06082639550406656 Centerline is valid? [True, True] Translation: X:99.13, Y:-32.63, Z:-8.75 [[ 7.69936450e-01 6.37192818e-01 3.43973291e-02 9.91330295e+01] [-6.36590822e-01 7.70704214e-01 -2.76972834e-02 -3.26267475e+01] [-4.41586765e-02 -5.71876006e-04 9.99024366e-01 -8.74775067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64240100800002 meters 0.06050409339750142 Centerline is valid? [True, True] Translation: X:99.16, Y:-32.65, Z:-8.75 [[ 7.70739766e-01 6.36197212e-01 3.48327595e-02 9.91559989e+01] [-6.35578300e-01 7.71526309e-01 -2.80602709e-02 -3.26492758e+01] [-4.47262565e-02 -5.11779477e-04 9.98999149e-01 -8.74849783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67240100800001 meters 0.06031633196771226 Centerline is valid? [True, True] Translation: X:99.18, Y:-32.67, Z:-8.75 [[ 7.71905118e-01 6.34814221e-01 3.42548401e-02 9.91790039e+01] [-6.34213827e-01 7.72664696e-01 -2.76059654e-02 -3.26728761e+01] [-4.39921650e-02 -4.15707250e-04 9.99031790e-01 -8.75016258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70240100800001 meters 0.06037257746143046 Centerline is valid? [True, True] Translation: X:99.20, Y:-32.70, Z:-8.75 [[ 7.73845673e-01 6.32472337e-01 3.37878120e-02 9.92003652e+01] [-6.31885327e-01 7.74582902e-01 -2.72444874e-02 -3.26967369e+01] [-4.34028461e-02 -2.66993958e-04 9.99057617e-01 -8.75233330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73240100800001 meters 0.06036044690563119 Centerline is valid? [True, True] Translation: X:99.22, Y:-32.73, Z:-8.75 [[ 7.79095385e-01 6.26033059e-01 3.30604059e-02 9.92173728e+01] [-6.25464671e-01 7.79796512e-01 -2.66710799e-02 -3.27270043e+01] [-4.24773669e-02 1.01199380e-04 9.99097424e-01 -8.75316337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76240100800001 meters 0.06049639774226227 Centerline is valid? [True, True] Translation: X:99.24, Y:-32.75, Z:-8.76 [[ 7.82021048e-01 6.22360405e-01 3.33257694e-02 9.92395270e+01] [-6.21779024e-01 7.82730751e-01 -2.68963997e-02 -3.27529995e+01] [-4.28243587e-02 3.12286348e-04 9.99082568e-01 -8.75522023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79240100800001 meters 0.06070467270392273 Centerline is valid? [True, True] Translation: X:99.26, Y:-32.78, Z:-8.76 [[ 7.84699182e-01 6.18994330e-01 3.30637752e-02 9.92630219e+01] [-6.18418470e-01 7.85395293e-01 -2.66988740e-02 -3.27786223e+01] [-4.24945851e-02 5.03335340e-04 9.99096570e-01 -8.75595063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82240100800001 meters 0.0614733609990084 Centerline is valid? [True, True] Translation: X:99.28, Y:-32.81, Z:-8.76 [[ 7.89009050e-01 6.13505446e-01 3.27991931e-02 9.92824199e+01] [-6.12933148e-01 7.89690074e-01 -2.65055492e-02 -3.28064942e+01] [-4.21624960e-02 8.09405490e-04 9.99110439e-01 -8.75862371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85240100800002 meters 0.06166872936237425 Centerline is valid? [True, True] Translation: X:99.31, Y:-32.83, Z:-8.76 [[ 7.89796218e-01 6.12557199e-01 3.15533132e-02 9.93058315e+01] [-6.12026311e-01 7.90425820e-01 -2.55111274e-02 -3.28297676e+01] [-4.05675782e-02 8.37134037e-04 9.99176446e-01 -8.76157804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88240100800002 meters 0.06187980178179114 Centerline is valid? [True, True] Translation: X:99.33, Y:-32.85, Z:-8.77 [[ 7.89768344e-01 6.12639031e-01 3.06493302e-02 9.93297670e+01] [-6.12137686e-01 7.90362415e-01 -2.47932778e-02 -3.28519230e+01] [-3.94134084e-02 8.19335890e-04 9.99222654e-01 -8.76508455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91240100800002 meters 0.0617854321762759 Centerline is valid? [True, True] Translation: X:99.35, Y:-32.87, Z:-8.77 [[ 7.88889477e-01 6.13801399e-01 3.00206023e-02 9.93549141e+01] [-6.13320811e-01 7.89460115e-01 -2.42962951e-02 -3.28720433e+01] [-3.86131680e-02 7.54831414e-04 9.99253948e-01 -8.76868586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94240100800002 meters 0.061113765657115404 Centerline is valid? [True, True] Translation: X:99.38, Y:-32.89, Z:-8.77 [[ 7.84631810e-01 6.19267740e-01 2.93323908e-02 9.93836272e+01] [-6.18812427e-01 7.85179747e-01 -2.37475457e-02 -3.28916707e+01] [-3.77372881e-02 4.81831826e-04 9.99287579e-01 -8.76958265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97240100800002 meters 0.060992964863358715 Centerline is valid? [True, True] Translation: X:99.41, Y:-32.91, Z:-8.77 [[ 7.81687790e-01 6.22967029e-01 2.96020255e-02 9.94082962e+01] [-6.22505075e-01 7.82248027e-01 -2.39886651e-02 -3.29104474e+01] [-3.81002735e-02 3.24235485e-04 9.99273868e-01 -8.77339777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00240100800002 meters 0.060729477898882424 Centerline is valid? [True, True] Translation: X:99.44, Y:-32.93, Z:-8.77 [[ 7.78782700e-01 6.26552968e-01 3.04776236e-02 9.94368775e+01] [-6.26065629e-01 7.79378825e-01 -2.47077962e-02 -3.29293530e+01] [-3.92343575e-02 1.61011635e-04 9.99230023e-01 -8.77469651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03240100800001 meters 0.060707692680682504 Centerline is valid? [True, True] Translation: X:99.46, Y:-32.95, Z:-8.78 [[ 7.75603653e-01 6.30443773e-01 3.12989237e-02 9.94639914e+01] [-6.29932128e-01 7.76234919e-01 -2.53941958e-02 -3.29453621e+01] [-4.03049301e-02 -2.03665683e-05 9.99187426e-01 -8.77903121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06240100800001 meters 0.060892051938468944 Centerline is valid? [True, True] Translation: X:99.49, Y:-32.96, Z:-8.78 [[ 7.71446783e-01 6.35429915e-01 3.31463969e-02 9.94918597e+01] [-6.34860006e-01 7.72158495e-01 -2.69078432e-02 -3.29621720e+01] [-4.26923205e-02 -2.85352683e-04 9.99088227e-01 -8.78081808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09240100800001 meters 0.060824356787171324 Centerline is valid? [True, True] Translation: X:99.52, Y:-32.98, Z:-8.78 [[ 7.69633163e-01 6.37606491e-01 3.35075544e-02 9.95174705e+01] [-6.37025895e-01 7.70362121e-01 -2.72068177e-02 -3.29822055e+01] [-4.31601942e-02 -4.05910688e-04 9.99068082e-01 -8.78155366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12240100800001 meters 0.06070789175385245 Centerline is valid? [True, True] Translation: X:99.54, Y:-33.00, Z:-8.78 [[ 7.68240078e-01 6.39253279e-01 3.40943833e-02 9.95430980e+01] [-6.38653109e-01 7.68996099e-01 -2.76985056e-02 -3.30025704e+01] [-4.39248083e-02 -4.95381730e-04 9.99034717e-01 -8.78251510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15240100800001 meters 0.06077829575963513 Centerline is valid? [True, True] Translation: X:99.57, Y:-33.02, Z:-8.78 [[ 7.67143887e-01 6.40507864e-01 3.52126734e-02 9.95689370e+01] [-6.39868217e-01 7.67951397e-01 -2.86237213e-02 -3.30226338e+01] [-4.53753404e-02 -5.72957679e-04 9.98969845e-01 -8.78455068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18240100800001 meters 0.06077829575963513 Centerline is valid? [True, True] Translation: X:99.59, Y:-33.04, Z:-8.79 [[ 7.66966577e-01 6.40720605e-01 3.52047570e-02 9.95938625e+01] [-6.40080735e-01 7.67773910e-01 -2.86334529e-02 -3.30431111e+01] [-4.53753373e-02 -5.72985376e-04 9.98969845e-01 -8.78687128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21240100800001 meters 0.06080974939337498 Centerline is valid? [True, True] Translation: X:99.62, Y:-33.07, Z:-8.79 [[ 7.65281509e-01 6.42701084e-01 3.57704939e-02 9.96178135e+01] [-6.42041851e-01 7.66116729e-01 -2.91104629e-02 -3.30661016e+01] [-4.61136999e-02 -6.88455199e-04 9.98935960e-01 -8.78838511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24240100800002 meters 0.060837927691682864 Centerline is valid? [True, True] Translation: X:99.64, Y:-33.09, Z:-8.79 [[ 7.64693872e-01 6.43426074e-01 3.53011281e-02 9.96414764e+01] [-6.42784066e-01 7.65507925e-01 -2.87447628e-02 -3.30887725e+01] [-4.55184232e-02 -7.10058741e-04 9.98963247e-01 -8.78951171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27240100800002 meters 0.06086678680404875 Centerline is valid? [True, True] Translation: X:99.66, Y:-33.11, Z:-8.79 [[ 7.64214628e-01 6.43982061e-01 3.55402261e-02 9.96645188e+01] [-6.43331173e-01 7.65040236e-01 -2.89558036e-02 -3.31102964e+01] [-4.58367211e-02 -7.35686716e-04 9.98948674e-01 -8.79254524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30240100800002 meters 0.06104911822458288 Centerline is valid? [True, True] Translation: X:99.69, Y:-33.13, Z:-8.80 [[ 7.64340648e-01 6.43791517e-01 3.62747429e-02 9.96879894e+01] [-6.43112288e-01 7.65200600e-01 -2.95740801e-02 -3.31303811e+01] [-4.67969969e-02 -7.24061408e-04 9.98904158e-01 -8.79760632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33240100800002 meters 0.060493350484360754 Centerline is valid? [True, True] Translation: X:99.71, Y:-33.16, Z:-8.80 [[ 7.65153684e-01 6.42813123e-01 3.64846405e-02 9.97099401e+01] [-6.42124749e-01 7.66022745e-01 -2.97482973e-02 -3.31572031e+01] [-4.70706604e-02 -6.65671356e-04 9.98891340e-01 -8.79978988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36240100800002 meters 0.0604075070910195 Centerline is valid? [True, True] Translation: X:99.73, Y:-33.18, Z:-8.80 [[ 7.65465100e-01 6.42450829e-01 3.63333699e-02 9.97330634e+01] [-6.41766835e-01 7.66326654e-01 -2.96443697e-02 -3.31803717e+01] [-4.68882797e-02 -6.25821342e-04 9.98899944e-01 -8.80336455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39240100800002 meters 0.06040704263052879 Centerline is valid? [True, True] Translation: X:99.76, Y:-33.20, Z:-8.81 [[ 7.65981098e-01 6.41821811e-01 3.65748500e-02 9.97550319e+01] [-6.41127016e-01 7.66853592e-01 -2.98616581e-02 -3.32026955e+01] [-4.72134185e-02 -5.75658773e-04 9.98884659e-01 -8.80658685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42240100800001 meters 0.060148610339533025 Centerline is valid? [True, True] Translation: X:99.78, Y:-33.23, Z:-8.81 [[ 7.66835954e-01 6.40806890e-01 3.64574972e-02 9.97768398e+01] [-6.40115136e-01 7.67701942e-01 -2.97714717e-02 -3.32274181e+01] [-4.70662556e-02 -5.07160854e-04 9.98891641e-01 -8.80854587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45240100800001 meters 0.05995658016353666 Centerline is valid? [True, True] Translation: X:99.80, Y:-33.26, Z:-8.81 [[ 7.67815706e-01 6.39776296e-01 3.38427633e-02 9.97961393e+01] [-6.39178666e-01 7.68561078e-01 -2.76496405e-02 -3.32550257e+01] [-4.36998152e-02 -4.01744021e-04 9.99044626e-01 -8.81171998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48240100800001 meters 0.05991916082335297 Centerline is valid? [True, True] Translation: X:99.82, Y:-33.28, Z:-8.81 [[ 7.68347138e-01 6.39169959e-01 3.32331078e-02 9.98175774e+01] [-6.38592445e-01 7.69065434e-01 -2.71670140e-02 -3.32786832e+01] [-4.29227737e-02 -3.48714173e-04 9.99078332e-01 -8.81477191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51240100800001 meters 0.05971577610134564 Centerline is valid? [True, True] Translation: X:99.84, Y:-33.30, Z:-8.82 [[ 7.68938388e-01 6.38493369e-01 3.25572214e-02 9.98397131e+01] [-6.37937975e-01 7.69627267e-01 -2.66272177e-02 -3.33034516e+01] [-4.20582273e-02 -2.94798087e-04 9.99115118e-01 -8.81653043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54240100800001 meters 0.05961004630760314 Centerline is valid? [True, True] Translation: X:99.86, Y:-33.33, Z:-8.82 [[ 7.70188589e-01 6.36971977e-01 3.28060733e-02 9.98602285e+01] [-6.36406000e-01 7.70886931e-01 -2.68466559e-02 -3.33273143e+01] [-4.23903407e-02 -2.00993897e-04 9.99101105e-01 -8.81930370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57240100800001 meters 0.05923904327644841 Centerline is valid? [True, True] Translation: X:99.88, Y:-33.36, Z:-8.82 [[ 7.74084315e-01 6.32197237e-01 3.34682756e-02 9.98764320e+01] [-6.31603123e-01 7.74807491e-01 -2.74015880e-02 -3.33588466e+01] [-4.32546789e-02 7.24720592e-05 9.99064076e-01 -8.81964836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60240100800002 meters 0.05915979328080204 Centerline is valid? [True, True] Translation: X:99.90, Y:-33.38, Z:-8.82 [[ 7.75192565e-01 6.30791130e-01 3.43371217e-02 9.98993820e+01] [-6.30163674e-01 7.75952655e-01 -2.81286562e-02 -3.33822759e+01] [-4.43872876e-02 1.67118352e-04 9.99014385e-01 -8.82083041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63240100800002 meters 0.058858005359194866 Centerline is valid? [True, True] Translation: X:99.92, Y:-33.41, Z:-8.82 [[ 7.76476387e-01 6.29146150e-01 3.54900190e-02 9.99246613e+01] [-6.28473325e-01 7.77286975e-01 -2.90901857e-02 -3.34050328e+01] [-4.58879079e-02 2.83312110e-04 9.98946555e-01 -8.81899558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66240100800002 meters 0.059325479775288896 Centerline is valid? [True, True] Translation: X:99.95, Y:-33.43, Z:-8.82 [[ 7.79378425e-01 6.25393509e-01 3.81081187e-02 9.99480966e+01] [-6.24612025e-01 7.80309326e-01 -3.12597864e-02 -3.34264603e+01] [-4.92857879e-02 5.60413930e-04 9.98784560e-01 -8.82476545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69240100800002 meters 0.0593499386558294 Centerline is valid? [True, True] Translation: X:99.97, Y:-33.45, Z:-8.83 [[ 7.80554065e-01 6.23902390e-01 3.84858288e-02 9.99735783e+01] [-6.23102689e-01 7.81501986e-01 -3.15861659e-02 -3.34465369e+01] [-4.97834360e-02 6.74086772e-04 9.98759809e-01 -8.82560998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72240100800002 meters 0.05957324259058687 Centerline is valid? [True, True] Translation: X:100.00, Y:-33.47, Z:-8.83 [[ 7.81665259e-01 6.22500090e-01 3.86401468e-02 9.99976884e+01] [-6.21691352e-01 7.82619339e-01 -3.17306419e-02 -3.34689535e+01] [-4.99928536e-02 7.80495282e-04 9.98749271e-01 -8.82777401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75240100800002 meters 0.05989527548834074 Centerline is valid? [True, True] Translation: X:100.02, Y:-33.49, Z:-8.83 [[ 7.83093681e-01 6.20682320e-01 3.89582373e-02 1.00020296e+02] [-6.19857022e-01 7.84061614e-01 -3.20102848e-02 -3.34913404e+01] [-5.04138762e-02 9.18514864e-04 9.98727990e-01 -8.83005140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78240100800001 meters 0.06106880882366479 Centerline is valid? [True, True] Translation: X:100.04, Y:-33.51, Z:-8.83 [[ 7.86959508e-01 6.15811166e-01 3.83580710e-02 1.00043285e+02] [-6.15004534e-01 7.87892828e-01 -3.15327533e-02 -3.35147430e+01] [-4.96402706e-02 1.22461248e-03 9.98766411e-01 -8.83329988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81240100800001 meters 0.062271039349407954 Centerline is valid? [True, True] Translation: X:100.07, Y:-33.54, Z:-8.84 [[ 7.88867143e-01 6.13475744e-01 3.65532782e-02 1.00066062e+02] [-6.12740022e-01 7.89712461e-01 -3.00648523e-02 -3.35361669e+01] [-4.73106369e-02 1.31951761e-03 9.98879353e-01 -8.83913772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84240100800001 meters 0.06266541540608582 Centerline is valid? [True, True] Translation: X:100.09, Y:-33.56, Z:-8.84 [[ 7.90494422e-01 6.11445714e-01 3.53936179e-02 1.00091615e+02] [-6.10753344e-01 7.91285135e-01 -2.91236807e-02 -3.35566629e+01] [-4.58139934e-02 1.40533665e-03 9.98948999e-01 -8.84342882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87240100800001 meters 0.06374626907806681 Centerline is valid? [True, True] Translation: X:100.12, Y:-33.58, Z:-8.85 [[ 7.92071907e-01 6.09450552e-01 3.45270649e-02 1.00115102e+02] [-6.08789083e-01 7.92822670e-01 -2.84265033e-02 -3.35783205e+01] [-4.46983879e-02 1.49613454e-03 9.98999407e-01 -8.84775333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90240100800001 meters 0.06464732587087028 Centerline is valid? [True, True] Translation: X:100.14, Y:-33.60, Z:-8.85 [[ 7.94407392e-01 6.06453762e-01 3.36263400e-02 1.00138729e+02] [-6.05823092e-01 7.95117080e-01 -2.76985770e-02 -3.36007994e+01] [-4.35347835e-02 1.63234101e-03 9.99050578e-01 -8.84850375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93240100800001 meters 0.0641428757635433 Centerline is valid? [True, True] Translation: X:100.16, Y:-33.62, Z:-8.85 [[ 7.94948411e-01 6.05716292e-01 3.41291372e-02 1.00164879e+02] [-6.05065282e-01 7.95678862e-01 -2.81274445e-02 -3.36212834e+01] [-4.41930844e-02 1.70951133e-03 9.99021546e-01 -8.84776140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96240100800001 meters 0.06445901452840798 Centerline is valid? [True, True] Translation: X:100.19, Y:-33.64, Z:-8.85 [[ 7.95914093e-01 6.04342996e-01 3.59207374e-02 1.00190707e+02] [-6.03619449e-01 7.96722002e-01 -2.96245239e-02 -3.36407623e+01] [-4.65222153e-02 1.89612039e-03 9.98915456e-01 -8.84836516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99240100800002 meters 0.06368549330891463 Centerline is valid? [True, True] Translation: X:100.22, Y:-33.66, Z:-8.85 [[ 7.94967890e-01 6.05569108e-01 3.62230556e-02 1.00219819e+02] [-6.04834307e-01 7.95790583e-01 -2.98799107e-02 -3.36583387e+01] [-4.69203175e-02 1.84462284e-03 9.98896932e-01 -8.85044892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02240100800002 meters 0.06394537845433464 Centerline is valid? [True, True] Translation: X:100.25, Y:-33.68, Z:-8.85 [[ 7.93834410e-01 6.07013736e-01 3.68951864e-02 1.00246026e+02] [-6.06251958e-01 7.94689282e-01 -3.04550342e-02 -3.36762220e+01] [-4.78068333e-02 1.80847506e-03 9.98854963e-01 -8.85453074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05240100800002 meters 0.06256648928946107 Centerline is valid? [True, True] Translation: X:100.28, Y:-33.69, Z:-8.86 [[ 7.91978265e-01 6.09408257e-01 3.73095766e-02 1.00276127e+02] [-6.08631190e-01 7.92854782e-01 -3.08118432e-02 -3.36911235e+01] [-4.83580678e-02 1.69453816e-03 9.98828627e-01 -8.85562699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08240100800002 meters 0.061166192009784084 Centerline is valid? [True, True] Translation: X:100.31, Y:-33.70, Z:-8.86 [[ 7.86438527e-01 6.16510273e-01 3.78090699e-02 1.00306714e+02] [-6.15719473e-01 7.87345805e-01 -3.12428261e-02 -3.37032892e+01] [-4.90303359e-02 1.29078158e-03 9.98796456e-01 -8.85710620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11240100800002 meters 0.06117886730314256 Centerline is valid? [True, True] Translation: X:100.33, Y:-33.72, Z:-8.86 [[ 7.83297562e-01 6.20467232e-01 3.82798007e-02 1.00332583e+02] [-6.19660496e-01 7.84231644e-01 -3.16480454e-02 -3.37218752e+01] [-4.96568062e-02 1.06935653e-03 9.98765767e-01 -8.86005028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14240100800002 meters 0.0595398729671413 Centerline is valid? [True, True] Translation: X:100.36, Y:-33.74, Z:-8.86 [[ 7.80454280e-01 6.23966659e-01 3.94553584e-02 1.00363029e+02] [-6.23113128e-01 7.81450460e-01 -3.26375237e-02 -3.37365435e+01] [-5.11971346e-02 8.86943247e-04 9.98688173e-01 -8.85673757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17240100800001 meters 0.05920596161197429 Centerline is valid? [True, True] Translation: X:100.39, Y:-33.76, Z:-8.86 [[ 7.78080670e-01 6.26834988e-01 4.08456758e-02 1.00391484e+02] [-6.25923275e-01 7.79151690e-01 -3.38038062e-02 -3.37561823e+01] [-5.30143858e-02 7.35828958e-04 9.98593478e-01 -8.85946981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20240100800001 meters 0.058705123903438204 Centerline is valid? [True, True] Translation: X:100.42, Y:-33.77, Z:-8.86 [[ 7.75841950e-01 6.29521731e-01 4.20910729e-02 1.00420819e+02] [-6.28555894e-01 7.76982651e-01 -3.48632935e-02 -3.37705843e+01] [-5.46512342e-02 5.91813668e-04 9.98505329e-01 -8.86206809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23240100800001 meters 0.05863745201021923 Centerline is valid? [True, True] Translation: X:100.45, Y:-33.79, Z:-8.87 [[ 7.75779709e-01 6.29594831e-01 4.21448880e-02 1.00447658e+02] [-6.28625772e-01 7.76923413e-01 -3.49234742e-02 -3.37900568e+01] [-5.47309891e-02 5.99559906e-04 9.98500956e-01 -8.86548649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26240100800001 meters 0.05895400021591895 Centerline is valid? [True, True] Translation: X:100.47, Y:-33.81, Z:-8.87 [[ 7.76451301e-01 6.28727893e-01 4.27154905e-02 1.00471134e+02] [-6.27729943e-01 7.77625081e-01 -3.54168295e-02 -3.38107651e+01] [-5.54841853e-02 6.85650918e-04 9.98459331e-01 -8.86967755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29240100800001 meters 0.059186975270211134 Centerline is valid? [True, True] Translation: X:100.49, Y:-33.84, Z:-8.87 [[ 7.78160319e-01 6.26697190e-01 4.14385100e-02 1.00493251e+02] [-6.25754268e-01 7.79262447e-01 -3.43749208e-02 -3.38355548e+01] [-5.38341410e-02 8.18874840e-04 9.98549555e-01 -8.87162600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32240100800001 meters 0.05906638532783414 Centerline is valid? [True, True] Translation: X:100.52, Y:-33.86, Z:-8.87 [[ 7.78746309e-01 6.25997511e-01 4.10036846e-02 1.00516891e+02] [-6.25072352e-01 7.79824567e-01 -3.40323396e-02 -3.38585943e+01] [-5.32798405e-02 8.72289263e-04 9.98579240e-01 -8.87102192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35240100800002 meters 0.05930467850392435 Centerline is valid? [True, True] Translation: X:100.54, Y:-33.88, Z:-8.87 [[ 7.79018815e-01 6.25733930e-01 3.98338485e-02 1.00539539e+02] [-6.24859591e-01 7.80036075e-01 -3.30789107e-02 -3.38826973e+01] [-5.17704356e-02 8.78531561e-04 9.98658625e-01 -8.87331003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38240100800002 meters 0.05951556035233193 Centerline is valid? [True, True] Translation: X:100.56, Y:-33.91, Z:-8.88 [[ 7.78873898e-01 6.25953660e-01 3.92105476e-02 1.00562268e+02] [-6.25105747e-01 7.79859773e-01 -3.25812573e-02 -3.39050969e+01] [-5.09730860e-02 8.65952204e-04 9.98699652e-01 -8.87719910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41240100800002 meters 0.05924300341964783 Centerline is valid? [True, True] Translation: X:100.59, Y:-33.92, Z:-8.88 [[ 7.77312721e-01 6.27992699e-01 3.75513474e-02 1.00588401e+02] [-6.27216741e-01 7.78218904e-01 -3.12169448e-02 -3.39246933e+01] [-4.88271818e-02 7.12494598e-04 9.98806988e-01 -8.88207837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44240100800002 meters 0.05921566908551491 Centerline is valid? [True, True] Translation: X:100.61, Y:-33.94, Z:-8.89 [[ 7.76237473e-01 6.29349683e-01 3.70723870e-02 1.00614665e+02] [-6.28594124e-01 7.77121983e-01 -3.08358652e-02 -3.39436786e+01] [-4.82163088e-02 6.32469452e-04 9.98836717e-01 -8.88741354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47240100800002 meters 0.059559463869040805 Centerline is valid? [True, True] Translation: X:100.64, Y:-33.96, Z:-8.89 [[ 7.74654239e-01 6.31335121e-01 3.64249185e-02 1.00639538e+02] [-6.30606974e-01 7.75509961e-01 -3.03173954e-02 -3.39623695e+01] [-4.73883236e-02 5.15691260e-04 9.98876409e-01 -8.89484008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50240100800002 meters 0.059705948081119925 Centerline is valid? [True, True] Translation: X:100.66, Y:-33.98, Z:-8.90 [[ 7.72953850e-01 6.33432412e-01 3.61348224e-02 1.00664053e+02] [-6.32717755e-01 7.73797924e-01 -3.00834820e-02 -3.39812755e+01] [-4.70169031e-02 3.89999550e-04 9.98894018e-01 -8.90075341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53240100800001 meters 0.05914044234261644 Centerline is valid? [True, True] Translation: X:100.69, Y:-34.00, Z:-8.90 [[ 7.69005816e-01 6.38161051e-01 3.71554487e-02 1.00691542e+02] [-6.37410121e-01 7.69902889e-01 -3.09496154e-02 -3.39996122e+01] [-4.83569265e-02 1.17175214e-04 9.98830113e-01 -8.89862403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56240100800001 meters 0.05895510982935204 Centerline is valid? [True, True] Translation: X:100.72, Y:-34.02, Z:-8.90 [[ 7.66810217e-01 6.40714109e-01 3.85683986e-02 1.00716737e+02] [-6.39907377e-01 7.67779545e-01 -3.21421782e-02 -3.40189957e+01] [-5.02059746e-02 -3.32521289e-05 9.98738884e-01 -8.89789134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59240100800001 meters 0.058634088765952753 Centerline is valid? [True, True] Translation: X:100.74, Y:-34.04, Z:-8.90 [[ 7.64541535e-01 6.43339759e-01 3.98772444e-02 1.00743152e+02] [-6.42480471e-01 7.65580767e-01 -3.32405288e-02 -3.40390020e+01] [-5.19142052e-02 -2.06585827e-04 9.98651527e-01 -8.89611001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62240100800001 meters 0.05872198969110229 Centerline is valid? [True, True] Translation: X:100.77, Y:-34.06, Z:-8.90 [[ 7.61675318e-01 6.46645367e-01 4.12368730e-02 1.00769912e+02] [-6.45730154e-01 7.62790655e-01 -3.43945385e-02 -3.40559050e+01] [-5.36961704e-02 -4.30421250e-04 9.98557227e-01 -8.89825520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65240100800001 meters 0.058823073321773986 Centerline is valid? [True, True] Translation: X:100.80, Y:-34.07, Z:-8.90 [[ 7.60779273e-01 6.47678313e-01 4.15656239e-02 1.00795562e+02] [-6.46749006e-01 7.61913748e-01 -3.46866616e-02 -3.40741698e+01] [-5.41352188e-02 -4.93632706e-04 9.98533492e-01 -8.90261900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68240100800001 meters 0.059224335100209656 Centerline is valid? [True, True] Translation: X:100.82, Y:-34.09, Z:-8.91 [[ 7.59928480e-01 6.48679814e-01 4.15114937e-02 1.00821657e+02] [-6.47753449e-01 7.61061230e-01 -3.46593827e-02 -3.40926350e+01] [-5.40756304e-02 -5.50561194e-04 9.98536691e-01 -8.90739457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71240100800001 meters 0.059241923838408296 Centerline is valid? [True, True] Translation: X:100.85, Y:-34.11, Z:-8.91 [[ 7.59534306e-01 6.49164178e-01 4.11522492e-02 1.00847521e+02] [-6.48253631e-01 7.60648110e-01 -3.43755922e-02 -3.41143475e+01] [-5.36177836e-02 -5.67653397e-04 9.98561371e-01 -8.91053060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74240100800002 meters 0.059230293038797545 Centerline is valid? [True, True] Translation: X:100.87, Y:-34.14, Z:-8.91 [[ 7.59681822e-01 6.49031163e-01 4.05225674e-02 1.00870215e+02] [-6.48146993e-01 7.60761634e-01 -3.38705099e-02 -3.41389147e+01] [-5.28110310e-02 -5.33769553e-04 9.98604381e-01 -8.91080039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77240100800002 meters 0.05912259736744306 Centerline is valid? [True, True] Translation: X:100.89, Y:-34.16, Z:-8.91 [[ 7.59821953e-01 6.48854778e-01 4.07194933e-02 1.00892851e+02] [-6.47960676e-01 7.60912096e-01 -3.40550256e-02 -3.41615206e+01] [-5.30807211e-02 -5.08874387e-04 9.98590095e-01 -8.91220925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80240100800002 meters 0.05907614266186428 Centerline is valid? [True, True] Translation: X:100.92, Y:-34.19, Z:-8.91 [[ 7.60179215e-01 6.48461759e-01 4.03101593e-02 1.00915906e+02] [-6.47584111e-01 7.61247090e-01 -3.37296043e-02 -3.41854121e+01] [-5.25583499e-02 -4.63674590e-04 9.98617747e-01 -8.91479770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83240100800002 meters 0.05907008020208667 Centerline is valid? [True, True] Translation: X:100.94, Y:-34.21, Z:-8.92 [[ 7.61096532e-01 6.47406334e-01 3.99638335e-02 1.00939100e+02] [-6.46541303e-01 7.62144934e-01 -3.34580890e-02 -3.42088797e+01] [-5.21192120e-02 -3.73433449e-04 9.98640800e-01 -8.91821166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86240100800002 meters 0.05919745453814558 Centerline is valid? [True, True] Translation: X:100.96, Y:-34.23, Z:-8.93 [[ 7.62013225e-01 6.46377599e-01 3.91387972e-02 1.00962114e+02] [-6.45545688e-01 7.63017641e-01 -3.27848344e-02 -3.42315313e+01] [-5.10549752e-02 -2.83404377e-04 9.98695804e-01 -8.92574450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89240100800002 meters 0.059437101035346246 Centerline is valid? [True, True] Translation: X:100.99, Y:-34.25, Z:-8.93 [[ 7.61974422e-01 6.46418894e-01 3.92121666e-02 1.00985912e+02] [-6.45582838e-01 7.62982661e-01 -3.28672835e-02 -3.42517893e+01] [-5.11642362e-02 -2.70672464e-04 9.98690216e-01 -8.93080662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92240100800001 meters 0.05950165618899677 Centerline is valid? [True, True] Translation: X:101.01, Y:-34.27, Z:-8.93 [[ 7.61781281e-01 6.46691697e-01 3.84594544e-02 1.01009301e+02] [-6.45887390e-01 7.62751449e-01 -3.22444944e-02 -3.42741124e+01] [-5.01872514e-02 -2.77224369e-04 9.98739787e-01 -8.93383715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95240100800001 meters 0.059328772926469986 Centerline is valid? [True, True] Translation: X:101.03, Y:-34.30, Z:-8.93 [[ 7.61942967e-01 6.46460517e-01 3.91371389e-02 1.01030968e+02] [-6.45626338e-01 7.62947401e-01 -3.28313200e-02 -3.42993867e+01] [-5.10837305e-02 -2.52374254e-04 9.98694342e-01 -8.93368457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98240100800001 meters 0.05856520295267493 Centerline is valid? [True, True] Translation: X:101.04, Y:-34.33, Z:-8.93 [[ 7.65105455e-01 6.42621654e-01 4.06331540e-02 1.01044000e+02] [-6.41715965e-01 7.66183666e-01 -3.41058666e-02 -3.43326226e+01] [-5.30496273e-02 1.96409755e-05 9.98591877e-01 -8.92695440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01240100800001 meters 0.058386917614794503 Centerline is valid? [True, True] Translation: X:101.07, Y:-34.36, Z:-8.93 [[ 7.66817064e-01 6.40513948e-01 4.16349952e-02 1.01065472e+02] [-6.39559084e-01 7.67946515e-01 -3.49618259e-02 -3.43578546e+01] [-5.43669866e-02 1.81285267e-04 9.98521005e-01 -8.92705811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04240100800001 meters 0.05841979298099866 Centerline is valid? [True, True] Translation: X:101.09, Y:-34.38, Z:-8.93 [[ 7.67071459e-01 6.40199516e-01 4.17846484e-02 1.01089736e+02] [-6.39236307e-01 7.68208652e-01 -3.51057177e-02 -3.43783779e+01] [-5.45739918e-02 2.18329771e-04 9.98509705e-01 -8.93097174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07240100800001 meters 0.05841979298099866 Centerline is valid? [True, True] Translation: X:101.11, Y:-34.40, Z:-8.93 [[ 7.66907895e-01 6.40395991e-01 4.17762575e-02 1.01114293e+02] [-6.39432530e-01 7.68044873e-01 -3.51156994e-02 -3.43992789e+01] [-5.45739935e-02 2.17409024e-04 9.98509706e-01 -8.93329103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10240100800002 meters 0.05882456456368279 Centerline is valid? [True, True] Translation: X:101.14, Y:-34.41, Z:-8.94 [[ 7.67352929e-01 6.39917616e-01 4.09258681e-02 1.01142896e+02] [-6.38991372e-01 7.68443477e-01 -3.44187367e-02 -3.44141318e+01] [-5.34743723e-02 2.60041868e-04 9.98569188e-01 -8.94479370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13240100800002 meters 0.059093217112478474 Centerline is valid? [True, True] Translation: X:101.17, Y:-34.43, Z:-8.95 [[ 7.67147846e-01 6.40256436e-01 3.94446209e-02 1.01168441e+02] [-6.39395701e-01 7.68161206e-01 -3.31888435e-02 -3.44309287e+01] [-5.15491982e-02 2.40028833e-04 9.98670427e-01 -8.95262564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16240100800002 meters 0.0593218110802108 Centerline is valid? [True, True] Translation: X:101.19, Y:-34.45, Z:-8.96 [[ 7.66917394e-01 6.40610225e-01 3.81608513e-02 1.01192678e+02] [-6.39804425e-01 7.67866194e-01 -3.21217347e-02 -3.44501185e+01] [-4.98799393e-02 2.19235529e-04 9.98755197e-01 -8.95819835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19240100800002 meters 0.0593197736292608 Centerline is valid? [True, True] Translation: X:101.21, Y:-34.47, Z:-8.96 [[ 7.66866034e-01 6.40742137e-01 3.69594350e-02 1.01214758e+02] [-6.39985854e-01 7.67756125e-01 -3.11229761e-02 -3.44715235e+01] [-4.83176348e-02 2.13637707e-04 9.98831998e-01 -8.96026049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22240100800002 meters 0.05861359731297616 Centerline is valid? [True, True] Translation: X:101.24, Y:-34.50, Z:-8.95 [[ 7.69227819e-01 6.37861255e-01 3.77038704e-02 1.01235157e+02] [-6.37070142e-01 7.70151186e-01 -3.17613611e-02 -3.45001587e+01] [-4.92970222e-02 4.11712495e-04 9.98784078e-01 -8.95020239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25240100800002 meters 0.0585119841263117 Centerline is valid? [True, True] Translation: X:101.26, Y:-34.53, Z:-8.95 [[ 7.71100252e-01 6.35543025e-01 3.85935827e-02 1.01257600e+02] [-6.34710244e-01 7.72065229e-01 -3.25298166e-02 -3.45251600e+01] [-5.04708613e-02 5.88007458e-04 9.98725361e-01 -8.94998457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28240100800001 meters 0.05855241283071254 Centerline is valid? [True, True] Translation: X:101.28, Y:-34.55, Z:-8.95 [[ 7.71799211e-01 6.34624645e-01 3.97182228e-02 1.01280771e+02] [-6.33740312e-01 7.72820221e-01 -3.34981098e-02 -3.45464944e+01] [-5.19537717e-02 6.82775798e-04 9.98649257e-01 -8.95127473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31240100800001 meters 0.058587241684897366 Centerline is valid? [True, True] Translation: X:101.31, Y:-34.57, Z:-8.95 [[ 7.72011130e-01 6.34315938e-01 4.05229065e-02 1.01305779e+02] [-6.33393964e-01 7.73073576e-01 -3.41954996e-02 -3.45661822e+01] [-5.30179386e-02 7.32341897e-04 9.98593292e-01 -8.95404926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34240100800001 meters 0.058633370889647506 Centerline is valid? [True, True] Translation: X:101.33, Y:-34.58, Z:-8.96 [[ 7.72850585e-01 6.33217864e-01 4.16786583e-02 1.01333219e+02] [-6.32239904e-01 7.73973141e-01 -3.51892075e-02 -3.45834095e+01] [-5.45405969e-02 8.45088709e-04 9.98511196e-01 -8.95915138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37240100800001 meters 0.05880504378754474 Centerline is valid? [True, True] Translation: X:101.36, Y:-34.60, Z:-8.96 [[ 7.72877598e-01 6.33196252e-01 4.15057338e-02 1.01357447e+02] [-6.32225262e-01 7.73990807e-01 -3.50634887e-02 -3.46041694e+01] [-5.43271261e-02 8.58811471e-04 9.98522822e-01 -8.96323078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40240100800001 meters 0.05879566590094944 Centerline is valid? [True, True] Translation: X:101.38, Y:-34.62, Z:-8.97 [[ 7.72343320e-01 6.33904972e-01 4.06236651e-02 1.01382137e+02] [-6.32974877e-01 7.73410523e-01 -3.43360956e-02 -3.46245393e+01] [-5.31845918e-02 8.05494681e-04 9.98584373e-01 -8.96602768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43240100800001 meters 0.058605123276405664 Centerline is valid? [True, True] Translation: X:101.41, Y:-34.65, Z:-8.97 [[ 7.70996164e-01 6.35622518e-01 3.93564399e-02 1.01407920e+02] [-6.34751005e-01 7.71999712e-01 -3.32807236e-02 -3.46451490e+01] [-5.15371376e-02 6.77770421e-04 9.98670849e-01 -8.96845659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46240100800001 meters 0.05835325207400683 Centerline is valid? [True, True] Translation: X:101.44, Y:-34.66, Z:-8.97 [[ 7.67509257e-01 6.40020707e-01 3.60975741e-02 1.01435248e+02] [-6.39291755e-01 7.68357575e-01 -3.05399746e-02 -3.46622117e+01] [-4.72820606e-02 3.62831744e-04 9.98881512e-01 -8.97364696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49240100800002 meters 0.05815744903625619 Centerline is valid? [True, True] Translation: X:101.46, Y:-34.68, Z:-8.98 [[ 7.65107388e-01 6.42963918e-01 3.47575154e-02 1.01462858e+02] [-6.42290526e-01 7.65896446e-01 -2.94196197e-02 -3.46804323e+01] [-4.55364115e-02 1.84745536e-04 9.98962663e-01 -8.97535942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52240100800002 meters 0.05831894364407863 Centerline is valid? [True, True] Translation: X:101.49, Y:-34.70, Z:-8.98 [[ 7.62812994e-01 6.45736015e-01 3.37836349e-02 1.01489872e+02] [-6.45101879e-01 7.63560736e-01 -2.86106286e-02 -3.46979227e+01] [-4.42707704e-02 3.06729696e-05 9.99019568e-01 -8.97959708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55240100800002 meters 0.05860305998762127 Centerline is valid? [True, True] Translation: X:101.52, Y:-34.71, Z:-8.99 [[ 7.60258205e-01 6.48789590e-01 3.28561983e-02 1.01517945e+02] [-6.48192028e-01 7.60967838e-01 -2.78396210e-02 -3.47141514e+01] [-4.30645665e-02 -1.31825486e-04 9.99072283e-01 -8.98737677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58240100800002 meters 0.05867242526238968 Centerline is valid? [True, True] Translation: X:101.54, Y:-34.74, Z:-8.99 [[ 7.60467103e-01 6.48533193e-01 3.30829649e-02 1.01541874e+02] [-6.47926600e-01 7.61186367e-01 -2.80434514e-02 -3.47350829e+01] [-4.33694109e-02 -1.09210670e-04 9.99059098e-01 -8.99126583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61240100800002 meters 0.05860359860402931 Centerline is valid? [True, True] Translation: X:101.57, Y:-34.76, Z:-8.99 [[ 7.61193691e-01 6.47684077e-01 3.30075953e-02 1.01566532e+02] [-6.47078981e-01 7.61909006e-01 -2.79903397e-02 -3.47581209e+01] [-4.32776815e-02 -5.24511568e-05 9.99063081e-01 -8.99461508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64240100800002 meters 0.05853441709261538 Centerline is valid? [True, True] Translation: X:101.59, Y:-34.78, Z:-9.00 [[ 7.61275792e-01 6.47576081e-01 3.32323272e-02 1.01589926e+02] [-6.46961745e-01 7.62000799e-01 -2.82007612e-02 -3.47797260e+01] [-4.35851983e-02 -3.14876238e-05 9.99049713e-01 -8.99661920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67240100800001 meters 0.05836475753886931 Centerline is valid? [True, True] Translation: X:101.61, Y:-34.80, Z:-9.00 [[ 7.61663672e-01 6.47091619e-01 3.37770323e-02 1.01613702e+02] [-6.46455731e-01 7.62412248e-01 -2.86801551e-02 -3.48020271e+01] [-4.43107111e-02 9.27606618e-06 9.99017798e-01 -8.99755764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70240100800001 meters 0.0582521877406122 Centerline is valid? [True, True] Translation: X:101.64, Y:-34.83, Z:-9.00 [[ 7.61972974e-01 6.46689881e-01 3.44874762e-02 1.01636591e+02] [-6.46026349e-01 7.62753038e-01 -2.92875362e-02 -3.48258490e+01] [-4.52453805e-02 3.64927330e-05 9.98975903e-01 -8.99789025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73240100800001 meters 0.058204972482332064 Centerline is valid? [True, True] Translation: X:101.66, Y:-34.85, Z:-9.00 [[ 7.62196413e-01 6.46436671e-01 3.42966198e-02 1.01659492e+02] [-6.45779355e-01 7.62967644e-01 -2.91444411e-02 -3.48481615e+01] [-4.50072466e-02 6.57394523e-05 9.98986658e-01 -9.00036547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76240100800001 meters 0.05762185949295901 Centerline is valid? [True, True] Translation: X:101.68, Y:-34.87, Z:-9.00 [[ 7.63446232e-01 6.44854830e-01 3.62229097e-02 1.01681396e+02] [-6.44119415e-01 7.64305055e-01 -3.07889840e-02 -3.48738334e+01] [-4.75397780e-02 1.73854354e-04 9.98869330e-01 -8.99647287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79240100800001 meters 0.05737634162953565 Centerline is valid? [True, True] Translation: X:101.70, Y:-34.90, Z:-9.00 [[ 7.64697254e-01 6.43296081e-01 3.75268081e-02 1.01703308e+02] [-6.42503902e-01 7.65617440e-01 -3.19166349e-02 -3.48978917e+01] [-4.92630250e-02 2.95442469e-04 9.98785796e-01 -8.99660229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82240100800001 meters 0.057387169113948346 Centerline is valid? [True, True] Translation: X:101.73, Y:-34.92, Z:-9.00 [[ 7.66249600e-01 6.41317920e-01 3.96594991e-02 1.01725647e+02] [-6.40429442e-01 7.67275122e-01 -3.37493168e-02 -3.49228564e+01] [-5.20737887e-02 4.61289625e-04 9.98643133e-01 -8.99584506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85240100800002 meters 0.05723378712018952 Centerline is valid? [True, True] Translation: X:101.75, Y:-34.94, Z:-8.99 [[ 7.66760087e-01 6.40603276e-01 4.13087406e-02 1.01750586e+02] [-6.39637153e-01 7.67871828e-01 -3.51734220e-02 -3.49445698e+01] [-5.42520275e-02 5.46970897e-04 9.98527124e-01 -8.99460878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88240100800002 meters 0.05818005882707771 Centerline is valid? [True, True] Translation: X:101.77, Y:-34.97, Z:-9.01 [[ 7.68190099e-01 6.38911669e-01 4.09371574e-02 1.01774165e+02] [-6.37959313e-01 7.69279807e-01 -3.48782650e-02 -3.49656190e+01] [-5.37762590e-02 6.76897004e-04 9.98552781e-01 -9.00506468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91240100800002 meters 0.058035528459537335 Centerline is valid? [True, True] Translation: X:101.80, Y:-34.98, Z:-9.01 [[ 7.68846335e-01 6.38217930e-01 3.94105042e-02 1.01802843e+02] [-6.37333799e-01 7.69855424e-01 -3.35895116e-02 -3.49842422e+01] [-5.17778190e-02 7.07526592e-04 9.98658378e-01 -9.00756380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94240100800002 meters 0.05842811818204965 Centerline is valid? [True, True] Translation: X:101.83, Y:-35.01, Z:-9.01 [[ 7.69595367e-01 6.37431165e-01 3.74763968e-02 1.01828676e+02] [-6.36629894e-01 7.70506954e-01 -3.19595454e-02 -3.50058980e+01] [-4.92478346e-02 7.37323560e-04 9.98786317e-01 -9.01284833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97240100800002 meters 0.0586274947267109 Centerline is valid? [True, True] Translation: X:101.85, Y:-35.03, Z:-9.02 [[ 7.70280725e-01 6.36693340e-01 3.59053590e-02 1.01853118e+02] [-6.35956077e-01 7.71116723e-01 -3.06409471e-02 -3.50280125e+01] [-4.71961097e-02 7.67899727e-04 9.98885348e-01 -9.01667996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00240100800002 meters 0.059171928146436265 Centerline is valid? [True, True] Translation: X:101.88, Y:-35.05, Z:-9.02 [[ 7.71395426e-01 6.35528069e-01 3.24525889e-02 1.01876268e+02] [-6.34924285e-01 7.72077382e-01 -2.77068394e-02 -3.50508336e+01] [-4.26643841e-02 7.67992361e-04 9.99089165e-01 -9.01939162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03240100800002 meters 0.059344986119979584 Centerline is valid? [True, True] Translation: X:101.90, Y:-35.07, Z:-9.02 [[ 7.72236061e-01 6.34563719e-01 3.13105732e-02 1.01900842e+02] [-6.34000273e-01 7.72870131e-01 -2.67472303e-02 -3.50730040e+01] [-4.11718287e-02 8.04263806e-04 9.99151757e-01 -9.02099416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06240100800001 meters 0.059649253083058434 Centerline is valid? [True, True] Translation: X:101.93, Y:-35.10, Z:-9.02 [[ 7.73425590e-01 6.33136262e-01 3.08436478e-02 1.01925297e+02] [-6.32587832e-01 7.74039859e-01 -2.63615477e-02 -3.50955833e+01] [-4.05646646e-02 8.77379298e-04 9.99176530e-01 -9.02369613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09240100800001 meters 0.06116334961299334 Centerline is valid? [True, True] Translation: X:101.95, Y:-35.12, Z:-9.03 [[ 7.77133429e-01 6.28604891e-01 3.03236437e-02 1.01947983e+02] [-6.28070636e-01 7.77724025e-01 -2.59348499e-02 -3.51170963e+01] [-3.98861998e-02 1.10944865e-03 9.99203613e-01 -9.03059256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12240100800001 meters 0.062267237668829654 Centerline is valid? [True, True] Translation: X:101.97, Y:-35.14, Z:-9.04 [[ 7.79028523e-01 6.26242126e-01 3.05836721e-02 1.01971426e+02] [-6.25696294e-01 7.79627625e-01 -2.61708677e-02 -3.51389059e+01] [-4.02331755e-02 1.25176205e-03 9.99189534e-01 -9.03591564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15240100800001 meters 0.06283277913498429 Centerline is valid? [True, True] Translation: X:102.00, Y:-35.16, Z:-9.04 [[ 7.80501094e-01 6.24413414e-01 3.04291183e-02 1.01996335e+02] [-6.23871191e-01 7.81092868e-01 -2.60512715e-02 -3.51607129e+01] [-4.00347307e-02 1.34919559e-03 9.99197378e-01 -9.03922253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18240100800001 meters 0.06330279724575025 Centerline is valid? [True, True] Translation: X:102.02, Y:-35.18, Z:-9.04 [[ 7.82054287e-01 6.22440942e-01 3.09574864e-02 1.02022008e+02] [-6.21877689e-01 7.82665362e-01 -2.65154817e-02 -3.51838647e+01] [-4.07336737e-02 1.48477601e-03 9.99168936e-01 -9.04073487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21240100800001 meters 0.0641228661072586 Centerline is valid? [True, True] Translation: X:102.04, Y:-35.21, Z:-9.04 [[ 7.84009903e-01 6.19902113e-01 3.24012810e-02 1.02044603e+02] [-6.19281820e-01 7.84677283e-01 -2.77774732e-02 -3.52076408e+01] [-4.26438635e-02 1.71228978e-03 9.99088869e-01 -9.03929294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24240100800002 meters 0.06416335682596527 Centerline is valid? [True, True] Translation: X:102.07, Y:-35.23, Z:-9.04 [[ 7.84066903e-01 6.19728409e-01 3.42897985e-02 1.02068443e+02] [-6.19032984e-01 7.84814211e-01 -2.94077936e-02 -3.52306698e+01] [-4.51359663e-02 1.83116137e-03 9.98979175e-01 -9.03770994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27240100800002 meters 0.06419167975577877 Centerline is valid? [True, True] Translation: X:102.09, Y:-35.25, Z:-9.04 [[ 7.84384362e-01 6.19227507e-01 3.60342577e-02 1.02092397e+02] [-6.18458127e-01 7.85209157e-01 -3.09212780e-02 -3.52530098e+01] [-4.74417350e-02 1.96848735e-03 9.98872067e-01 -9.03566079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30240100800002 meters 0.061822810202781235 Centerline is valid? [True, True] Translation: X:102.12, Y:-35.27, Z:-9.03 [[ 7.84233073e-01 6.19374592e-01 3.67913284e-02 1.02122037e+02] [-6.18572004e-01 7.85093031e-01 -3.15849408e-02 -3.52701758e+01] [-4.84475253e-02 2.01186944e-03 9.98823703e-01 -9.03225740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33240100800002 meters 0.06143034577464392 Centerline is valid? [True, True] Translation: X:102.15, Y:-35.29, Z:-9.03 [[ 7.83895134e-01 6.19775669e-01 3.72362615e-02 1.02148686e+02] [-6.18952953e-01 7.84776407e-01 -3.19880240e-02 -3.52894752e+01] [-4.90475384e-02 2.02776238e-03 9.98794387e-01 -9.03427711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36240100800002 meters 0.06169234684241472 Centerline is valid? [True, True] Translation: X:102.18, Y:-35.31, Z:-9.04 [[ 7.82271640e-01 6.21794906e-01 3.77117591e-02 1.02176039e+02] [-6.20952437e-01 7.83177713e-01 -3.24151243e-02 -3.53057838e+01] [-4.96905685e-02 1.94022371e-03 9.98762776e-01 -9.04091066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39240100800002 meters 0.06099445318177573 Centerline is valid? [True, True] Translation: X:102.21, Y:-35.32, Z:-9.04 [[ 7.81022791e-01 6.23395826e-01 3.71624125e-02 1.02205146e+02] [-6.22578823e-01 7.81904291e-01 -3.19575931e-02 -3.53232700e+01] [-4.89796799e-02 1.82307750e-03 9.98798111e-01 -9.04479036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42240100800001 meters 0.06093488763819964 Centerline is valid? [True, True] Translation: X:102.23, Y:-35.34, Z:-9.05 [[ 7.79756606e-01 6.24980133e-01 3.71412000e-02 1.02231410e+02] [-6.24164824e-01 7.80638718e-01 -3.19603412e-02 -3.53415547e+01] [-4.89684370e-02 1.73905661e-03 9.98798813e-01 -9.04872376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45240100800001 meters 0.06054697955993416 Centerline is valid? [True, True] Translation: X:102.26, Y:-35.36, Z:-9.05 [[ 7.78526161e-01 6.26537558e-01 3.67110944e-02 1.02258872e+02] [-6.25742081e-01 7.79389519e-01 -3.16042135e-02 -3.53611812e+01] [-4.84134690e-02 1.63303043e-03 9.98826046e-01 -9.05095737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48240100800001 meters 0.05980181782306232 Centerline is valid? [True, True] Translation: X:102.29, Y:-35.38, Z:-9.05 [[ 7.76006371e-01 6.29675136e-01 3.63776819e-02 1.02285808e+02] [-6.28896557e-01 7.76857227e-01 -3.13363900e-02 -3.53807460e+01] [-4.79920107e-02 1.43943936e-03 9.98846682e-01 -9.05140800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51240100800001 meters 0.05924860002454677 Centerline is valid? [True, True] Translation: X:102.31, Y:-35.40, Z:-9.05 [[ 7.74591822e-01 6.31431869e-01 3.60735799e-02 1.02312979e+02] [-6.30667230e-01 7.75430212e-01 -3.10939311e-02 -3.54017182e+01] [-4.76062428e-02 1.33468006e-03 9.98865288e-01 -9.05231739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54240100800001 meters 0.058957286975977366 Centerline is valid? [True, True] Translation: X:102.34, Y:-35.42, Z:-9.06 [[ 7.73251699e-01 6.33086955e-01 3.58150400e-02 1.02338443e+02] [-6.32334333e-01 7.74079700e-01 -3.08854285e-02 -3.54212632e+01] [-4.72768573e-02 1.23513062e-03 9.98881061e-01 -9.05532113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57240100800001 meters 0.05916456210103634 Centerline is valid? [True, True] Translation: X:102.36, Y:-35.44, Z:-9.06 [[ 7.72359078e-01 6.34148149e-01 3.62984788e-02 1.02362376e+02] [-6.33375415e-01 7.73210636e-01 -3.13192631e-02 -3.54420084e+01] [-4.79274226e-02 1.19915312e-03 9.98850101e-01 -9.05924530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60240100800002 meters 0.05899674233785622 Centerline is valid? [True, True] Translation: X:102.39, Y:-35.46, Z:-9.06 [[ 7.71367456e-01 6.35264587e-01 3.78305592e-02 1.02387092e+02] [-6.34425578e-01 7.72293650e-01 -3.26604310e-02 -3.54614794e+01] [-4.99643158e-02 1.19251923e-03 9.98750292e-01 -9.06300833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63240100800002 meters 0.05817161809717361 Centerline is valid? [True, True] Translation: X:102.41, Y:-35.48, Z:-9.06 [[ 7.70657702e-01 6.36093182e-01 3.83688634e-02 1.02413783e+02] [-6.35230401e-01 7.71611368e-01 -3.31396179e-02 -3.54802934e+01] [-5.06857362e-02 1.16623334e-03 9.98713971e-01 -9.06434100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66240100800002 meters 0.05832480532562015 Centerline is valid? [True, True] Translation: X:102.44, Y:-35.50, Z:-9.07 [[ 7.70308935e-01 6.36498124e-01 3.86559420e-02 1.02438204e+02] [-6.35622010e-01 7.71277375e-01 -3.34046683e-02 -3.55011450e+01] [-5.10764622e-02 1.16134691e-03 9.98694070e-01 -9.06759171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69240100800002 meters 0.05839194853466606 Centerline is valid? [True, True] Translation: X:102.46, Y:-35.52, Z:-9.07 [[ 7.69072124e-01 6.38036412e-01 3.79157659e-02 1.02463037e+02] [-6.37194658e-01 7.70005476e-01 -3.27800842e-02 -3.55200422e+01] [-5.01102346e-02 1.05052549e-03 9.98743141e-01 -9.07356549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72240100800002 meters 0.05792060173496267 Centerline is valid? [True, True] Translation: X:102.49, Y:-35.54, Z:-9.08 [[ 7.68313825e-01 6.38993537e-01 3.71635160e-02 1.02490306e+02] [-6.38185314e-01 7.69211480e-01 -3.21434739e-02 -3.55386702e+01] [-4.91260752e-02 9.79065254e-04 9.98792106e-01 -9.07650867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75240100800002 meters 0.058234304402378076 Centerline is valid? [True, True] Translation: X:102.51, Y:-35.56, Z:-9.08 [[ 7.67595924e-01 6.39891667e-01 3.65397179e-02 1.02514381e+02] [-6.39110568e-01 7.68464579e-01 -3.16207707e-02 -3.55583680e+01] [-4.83133466e-02 9.19054853e-04 9.98831806e-01 -9.08129297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78240100800002 meters 0.05772176248245428 Centerline is valid? [True, True] Translation: X:102.55, Y:-35.58, Z:-9.08 [[ 7.66611205e-01 6.41097125e-01 3.60795810e-02 1.02546710e+02] [-6.40336948e-01 7.67459304e-01 -3.12219254e-02 -3.55825611e+01] [-4.77058967e-02 8.31989068e-04 9.98861079e-01 -9.08257221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81240100800001 meters 0.057849571194499586 Centerline is valid? [True, True] Translation: X:102.57, Y:-35.61, Z:-9.08 [[ 7.66725383e-01 6.41015174e-01 3.50960735e-02 1.02570269e+02] [-6.40293117e-01 7.67527726e-01 -3.04288405e-02 -3.56067555e+01] [-4.64425579e-02 8.58790056e-04 9.98920593e-01 -9.08460600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84240100800001 meters 0.05786235381323736 Centerline is valid? [True, True] Translation: X:102.59, Y:-35.63, Z:-9.08 [[ 7.67700849e-01 6.39894027e-01 3.42204729e-02 1.02593684e+02] [-6.39205512e-01 7.68462614e-01 -2.96904844e-02 -3.56286180e+01] [-4.52959177e-02 9.19495145e-04 9.98973190e-01 -9.08493605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87240100800001 meters 0.05867278623043602 Centerline is valid? [True, True] Translation: X:102.62, Y:-35.65, Z:-9.09 [[ 7.69368030e-01 6.37890844e-01 3.41775629e-02 1.02616993e+02] [-6.37201589e-01 7.70126081e-01 -2.96640384e-02 -3.56539012e+01] [-4.52434510e-02 1.04456539e-03 9.98975445e-01 -9.08946091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90240100800001 meters 0.05887917357014771 Centerline is valid? [True, True] Translation: X:102.64, Y:-35.68, Z:-9.09 [[ 7.71109053e-01 6.35731547e-01 3.51600526e-02 1.02642547e+02] [-6.34998830e-01 7.71909261e-01 -3.05381488e-02 -3.56785598e+01] [-4.65544348e-02 1.22165072e-03 9.98915007e-01 -9.09117580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93240100800001 meters 0.06017436925794986 Centerline is valid? [True, True] Translation: X:102.66, Y:-35.70, Z:-9.09 [[ 7.75508737e-01 6.30235157e-01 3.72806388e-02 1.02662236e+02] [-6.29403534e-01 7.76402513e-01 -3.24087712e-02 -3.57046996e+01] [-4.93699286e-02 1.66871942e-03 9.98779168e-01 -9.09256590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96240100800001 meters 0.06047883234788562 Centerline is valid? [True, True] Translation: X:102.69, Y:-35.73, Z:-9.09 [[ 7.77404273e-01 6.27866953e-01 3.77582446e-02 1.02685500e+02] [-6.27010236e-01 7.78318473e-01 -3.28408155e-02 -3.57279710e+01] [-5.00076020e-02 1.85578450e-03 9.98747113e-01 -9.09366934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99240100800002 meters 0.06047883234788562 Centerline is valid? [True, True] Translation: X:102.71, Y:-35.75, Z:-9.10 [[ 7.77240920e-01 6.28069695e-01 3.77493216e-02 1.02709758e+02] [-6.27212719e-01 7.78154877e-01 -3.28510678e-02 -3.57492608e+01] [-5.00075788e-02 1.85633952e-03 9.98747113e-01 -9.09599160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02240100800002 meters 0.06028242390355014 Centerline is valid? [True, True] Translation: X:102.73, Y:-35.77, Z:-9.10 [[ 7.78761029e-01 6.26171037e-01 3.79617132e-02 1.02734600e+02] [-6.25301328e-01 7.79683157e-01 -3.30518447e-02 -3.57724650e+01] [-5.02942163e-02 2.00197894e-03 9.98732439e-01 -9.09640509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05240100800002 meters 0.06203250222956462 Centerline is valid? [True, True] Translation: X:102.76, Y:-35.80, Z:-9.10 [[ 7.79757352e-01 6.24940348e-01 3.77893411e-02 1.02756146e+02] [-6.24076021e-01 7.80669713e-01 -3.29229406e-02 -3.57980118e+01] [-5.00758680e-02 2.08848337e-03 9.98743233e-01 -9.10045988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08240100800002 meters 0.06037697356388124 Centerline is valid? [True, True] Translation: X:102.79, Y:-35.82, Z:-9.10 [[ 7.79308399e-01 6.25521259e-01 3.74375955e-02 1.02785067e+02] [-6.24672614e-01 7.80204435e-01 -3.26368651e-02 -3.58168226e+01] [-4.96240310e-02 2.04794246e-03 9.98765869e-01 -9.10020186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11240100800002 meters 0.06058546803907421 Centerline is valid? [True, True] Translation: X:102.81, Y:-35.84, Z:-9.10 [[ 7.77876899e-01 6.27330320e-01 3.69350870e-02 1.02808612e+02] [-6.26505329e-01 7.78750905e-01 -3.22195517e-02 -3.58380778e+01] [-4.89755341e-02 1.92281615e-03 9.98798128e-01 -9.10251788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14240100800002 meters 0.06093361165412525 Centerline is valid? [True, True] Translation: X:102.83, Y:-35.86, Z:-9.11 [[ 7.76254255e-01 6.29324282e-01 3.71521016e-02 1.02831226e+02] [-6.28491005e-01 7.77140677e-01 -3.24256760e-02 -3.58595021e+01] [-4.92786747e-02 1.82080731e-03 9.98783408e-01 -9.10537941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17240100800001 meters 0.06034113855577014 Centerline is valid? [True, True] Translation: X:102.86, Y:-35.88, Z:-9.11 [[ 7.74541112e-01 6.31387314e-01 3.78962478e-02 1.02856197e+02] [-6.30521955e-01 7.75465696e-01 -3.30910541e-02 -3.58797843e+01] [-5.02805120e-02 1.73596561e-03 9.98733626e-01 -9.10655306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20240100800001 meters 0.05962401159276166 Centerline is valid? [True, True] Translation: X:102.88, Y:-35.90, Z:-9.11 [[ 7.72268120e-01 6.34021783e-01 4.02284641e-02 1.02880918e+02] [-6.33049102e-01 7.73313371e-01 -3.51463192e-02 -3.58994727e+01] [-5.33927412e-02 1.67578879e-03 9.98572184e-01 -9.10686389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23240100800001 meters 0.05808178866674915 Centerline is valid? [True, True] Translation: X:102.91, Y:-35.92, Z:-9.11 [[ 7.70362534e-01 6.36321067e-01 4.04606654e-02 1.02911444e+02] [-6.35339905e-01 7.71422813e-01 -3.53560313e-02 -3.59164078e+01] [-5.37100679e-02 1.53068655e-03 9.98555399e-01 -9.10901581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26240100800001 meters 0.057997527427581415 Centerline is valid? [True, True] Translation: X:102.94, Y:-35.93, Z:-9.12 [[ 7.68463729e-01 6.38617882e-01 4.03818889e-02 1.02939188e+02] [-6.37642452e-01 7.69522762e-01 -3.53103785e-02 -3.59338052e+01] [-5.36246218e-02 1.38553849e-03 9.98560204e-01 -9.11607120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29240100800001 meters 0.05724510805724854 Centerline is valid? [True, True] Translation: X:102.97, Y:-35.95, Z:-9.12 [[ 7.65414023e-01 6.42341572e-01 3.92259895e-02 1.02968081e+02] [-6.41425069e-01 7.66417692e-01 -3.43191345e-02 -3.59492354e+01] [-5.21080991e-02 1.10781380e-03 9.98640836e-01 -9.12122092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32240100800001 meters 0.05691299211581382 Centerline is valid? [True, True] Translation: X:103.00, Y:-35.96, Z:-9.13 [[ 7.58107092e-01 6.51110287e-01 3.64558819e-02 1.02997705e+02] [-6.50328026e-01 7.58982977e-01 -3.19107840e-02 -3.59621611e+01] [-4.84468335e-02 4.83509959e-04 9.98825646e-01 -9.12871848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35240100800002 meters 0.05671279035825633 Centerline is valid? [True, True] Translation: X:103.02, Y:-35.98, Z:-9.13 [[ 7.54247900e-01 6.55622879e-01 3.56194592e-02 1.03024341e+02] [-6.54880428e-01 7.55088472e-01 -3.11933386e-02 -3.59799283e+01] [-4.73469094e-02 2.01023442e-04 9.98878486e-01 -9.12989723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38240100800002 meters 0.056577511344506684 Centerline is valid? [True, True] Translation: X:103.05, Y:-36.00, Z:-9.13 [[ 7.51117797e-01 6.59204541e-01 3.56570898e-02 1.03050846e+02] [-6.58463859e-01 7.51963678e-01 -3.12405864e-02 -3.59987021e+01] [-4.74067728e-02 -1.35445025e-05 9.98875667e-01 -9.12993656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41240100800002 meters 0.05661780613076313 Centerline is valid? [True, True] Translation: X:103.08, Y:-36.02, Z:-9.13 [[ 7.48625193e-01 6.61997418e-01 3.63281970e-02 1.03077430e+02] [-6.61231148e-01 7.49506094e-01 -3.18431150e-02 -3.60182263e+01] [-4.83082650e-02 -1.82777264e-04 9.98832457e-01 -9.13139255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44240100800002 meters 0.056520355628323055 Centerline is valid? [True, True] Translation: X:103.10, Y:-36.04, Z:-9.13 [[ 7.46865946e-01 6.63825296e-01 3.90798501e-02 1.03102382e+02] [-6.62939925e-01 7.47887612e-01 -3.42749931e-02 -3.60381712e+01] [-5.19799432e-02 -3.08767744e-04 9.98648081e-01 -9.13253123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47240100800002 meters 0.056254507827009026 Centerline is valid? [True, True] Translation: X:103.12, Y:-36.06, Z:-9.13 [[ 7.47658461e-01 6.62879614e-01 3.99680273e-02 1.03124324e+02] [-6.61951285e-01 7.48725959e-01 -3.50704280e-02 -3.60618032e+01] [-5.31725714e-02 -2.36184791e-04 9.98585310e-01 -9.13426584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50240100800002 meters 0.056266975076585755 Centerline is valid? [True, True] Translation: X:103.15, Y:-36.09, Z:-9.14 [[ 7.49103584e-01 6.61235309e-01 4.01458244e-02 1.03145670e+02] [-6.60295467e-01 7.50178549e-01 -3.52425991e-02 -3.60859263e+01] [-5.34201872e-02 -1.07748590e-04 9.98572117e-01 -9.13901052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53240100800002 meters 0.05634218432670685 Centerline is valid? [True, True] Translation: X:103.17, Y:-36.11, Z:-9.14 [[ 7.52542027e-01 6.57331607e-01 3.99456647e-02 1.03165404e+02] [-6.56394678e-01 7.53601437e-01 -3.50842021e-02 -3.61142864e+01] [-5.31650652e-02 1.82214819e-04 9.98585721e-01 -9.14316568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56240100800001 meters 0.05642474299977973 Centerline is valid? [True, True] Translation: X:103.19, Y:-36.14, Z:-9.15 [[ 7.53499980e-01 6.56188058e-01 4.06818441e-02 1.03187160e+02] [-6.55213278e-01 7.54597344e-01 -3.57548553e-02 -3.61377512e+01] [-5.41603205e-02 2.85998335e-04 9.98532212e-01 -9.14709830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59240100800001 meters 0.05644547571427996 Centerline is valid? [True, True] Translation: X:103.21, Y:-36.16, Z:-9.15 [[ 7.53672127e-01 6.55965465e-01 4.10808219e-02 1.03209869e+02] [-6.54970108e-01 7.54790837e-01 -3.61240961e-02 -3.61618573e+01] [-5.47035874e-02 3.19013937e-04 9.98502587e-01 -9.14896837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62240100800001 meters 0.056325468997968954 Centerline is valid? [True, True] Translation: X:103.23, Y:-36.19, Z:-9.15 [[ 7.53379984e-01 6.56294623e-01 4.11821210e-02 1.03231286e+02] [-6.55293779e-01 7.54504653e-01 -3.62324634e-02 -3.61866730e+01] [-5.48512728e-02 3.10424983e-04 9.98494487e-01 -9.14944251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65240100800001 meters 0.05617280941296399 Centerline is valid? [True, True] Translation: X:103.25, Y:-36.21, Z:-9.15 [[ 7.52076032e-01 6.57896324e-01 3.94216866e-02 1.03250647e+02] [-6.56980455e-01 7.53108483e-01 -3.47029359e-02 -3.62137997e+01] [-5.25197405e-02 1.99968770e-04 9.98619866e-01 -9.14808210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68240100800001 meters 0.05627174384595799 Centerline is valid? [True, True] Translation: X:103.27, Y:-36.24, Z:-9.15 [[ 7.51460036e-01 6.58641980e-01 3.87111888e-02 1.03273035e+02] [-6.57758936e-01 7.52456455e-01 -3.40949438e-02 -3.62357629e+01] [-5.15848452e-02 1.58357382e-04 9.98668603e-01 -9.15181618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71240100800001 meters 0.05633831438837587 Centerline is valid? [True, True] Translation: X:103.30, Y:-36.26, Z:-9.16 [[ 7.51042411e-01 6.59147084e-01 3.82154176e-02 1.03296025e+02] [-6.58286320e-01 7.52014032e-01 -3.36751709e-02 -3.62573124e+01] [-5.09354209e-02 1.34794967e-04 9.98701940e-01 -9.15666275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74240100800002 meters 0.05639816104084001 Centerline is valid? [True, True] Translation: X:103.32, Y:-36.28, Z:-9.16 [[ 7.50586290e-01 6.59662470e-01 3.82837743e-02 1.03319756e+02] [-6.58798571e-01 7.51561983e-01 -3.37494994e-02 -3.62794541e+01] [-5.10359074e-02 1.10615758e-04 9.98696813e-01 -9.16086092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77240100800002 meters 0.05645423429243051 Centerline is valid? [True, True] Translation: X:103.34, Y:-36.30, Z:-9.16 [[ 7.50510735e-01 6.59719529e-01 3.87786101e-02 1.03343462e+02] [-6.58832267e-01 7.51511895e-01 -3.42040380e-02 -3.63018334e+01] [-5.17076586e-02 1.21898154e-04 9.98662257e-01 -9.16439628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80240100800002 meters 0.056498816285968693 Centerline is valid? [True, True] Translation: X:103.37, Y:-36.32, Z:-9.17 [[ 7.50776891e-01 6.59409226e-01 3.89041452e-02 1.03366263e+02] [-6.58514818e-01 7.51784176e-01 -3.43334537e-02 -3.63247516e+01] [-5.18873169e-02 1.57807537e-04 9.98652933e-01 -9.16662344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83240100800002 meters 0.05659785975610343 Centerline is valid? [True, True] Translation: X:103.39, Y:-36.35, Z:-9.17 [[ 7.51333748e-01 6.58703083e-01 4.00979783e-02 1.03386704e+02] [-6.57750747e-01 7.52402948e-01 -3.54084513e-02 -3.63491088e+01] [-5.34934931e-02 2.29089216e-04 9.98568172e-01 -9.17075677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86240100800002 meters 0.056610083999512034 Centerline is valid? [True, True] Translation: X:103.41, Y:-36.37, Z:-9.17 [[ 7.51450169e-01 6.58556016e-01 4.03313441e-02 1.03408355e+02] [-6.57591212e-01 7.52531666e-01 -3.56355207e-02 -3.63723593e+01] [-5.38186001e-02 2.56780628e-04 9.98550696e-01 -9.17348077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89240100800002 meters 0.05648549049217488 Centerline is valid? [True, True] Translation: X:103.43, Y:-36.40, Z:-9.17 [[ 7.50809893e-01 6.59291988e-01 4.02315723e-02 1.03431293e+02] [-6.58332482e-01 7.51886980e-01 -3.55571687e-02 -3.63960762e+01] [-5.36921518e-02 2.10923212e-04 9.98557514e-01 -9.17314464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92240100800001 meters 0.056376855985471305 Centerline is valid? [True, True] Translation: X:103.45, Y:-36.42, Z:-9.17 [[ 7.50171042e-01 6.60020243e-01 4.02080372e-02 1.03452749e+02] [-6.59061814e-01 7.51247794e-01 -3.55566730e-02 -3.64199437e+01] [-5.36743232e-02 1.74004488e-04 9.98558479e-01 -9.17437429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95240100800001 meters 0.056045814818253686 Centerline is valid? [True, True] Translation: X:103.48, Y:-36.45, Z:-9.17 [[ 7.49207762e-01 6.61099520e-01 4.04370265e-02 1.03476121e+02] [-6.60130814e-01 7.50298216e-01 -3.57756291e-02 -3.64456503e+01] [-5.39910800e-02 1.09651785e-04 9.98541412e-01 -9.17151843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98240100800001 meters 0.05605582487689361 Centerline is valid? [True, True] Translation: X:103.50, Y:-36.47, Z:-9.17 [[ 7.48797034e-01 6.61554909e-01 4.05968536e-02 1.03499881e+02] [-6.60577589e-01 7.49896721e-01 -3.59465776e-02 -3.64669973e+01] [-5.42240823e-02 9.93189775e-05 9.98528787e-01 -9.17448532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01240100800001 meters 0.05619258327833659 Centerline is valid? [True, True] Translation: X:103.53, Y:-36.48, Z:-9.18 [[ 7.48742122e-01 6.61636263e-01 4.02826270e-02 1.03526314e+02] [-6.60673574e-01 7.49824943e-01 -3.56788861e-02 -3.64838099e+01] [-5.38113633e-02 1.00617716e-04 9.98551114e-01 -9.18273656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04240100800001 meters 0.05646693904415621 Centerline is valid? [True, True] Translation: X:103.55, Y:-36.50, Z:-9.19 [[ 7.48530505e-01 6.61887088e-01 4.00944779e-02 1.03553603e+02] [-6.60932804e-01 7.49603545e-01 -3.55296346e-02 -3.65022609e+01] [-5.35715691e-02 9.52595793e-05 9.98564008e-01 -9.18979919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07240100800001 meters 0.0567642366170229 Centerline is valid? [True, True] Translation: X:103.58, Y:-36.52, Z:-9.20 [[ 7.49014917e-01 6.61390034e-01 3.92412642e-02 1.03580100e+02] [-6.60474325e-01 7.50042134e-01 -3.47917229e-02 -3.65218506e+01] [-5.24435003e-02 1.41671956e-04 9.98623883e-01 -9.19677716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10240100800002 meters 0.05703205487028482 Centerline is valid? [True, True] Translation: X:103.61, Y:-36.54, Z:-9.20 [[ 7.49718107e-01 6.60642571e-01 3.83947071e-02 1.03605124e+02] [-6.59764067e-01 7.50700574e-01 -3.40591148e-02 -3.65429574e+01] [-5.13238299e-02 2.03286936e-04 9.98682043e-01 -9.20173422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13240100800002 meters 0.057161849455081175 Centerline is valid? [True, True] Translation: X:103.63, Y:-36.57, Z:-9.20 [[ 7.50214468e-01 6.60203951e-01 3.61800522e-02 1.03628422e+02] [-6.59422769e-01 7.51086340e-01 -3.21079582e-02 -3.65685852e+01] [-4.83721439e-02 2.29904563e-04 9.98829356e-01 -9.20421210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16240100800002 meters 0.0570511338782346 Centerline is valid? [True, True] Translation: X:103.65, Y:-36.59, Z:-9.20 [[ 7.50179787e-01 6.60311376e-01 3.49166815e-02 1.03651530e+02] [-6.59582856e-01 7.50991899e-01 -3.10100502e-02 -3.65925375e+01] [-4.66984338e-02 2.32668298e-04 9.98909006e-01 -9.20445997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19240100800002 meters 0.05715583587984709 Centerline is valid? [True, True] Translation: X:103.67, Y:-36.61, Z:-9.21 [[ 7.49616831e-01 6.61030122e-01 3.33734103e-02 1.03674481e+02] [-6.60364624e-01 7.50359341e-01 -2.96550524e-02 -3.66148168e+01] [-4.46449331e-02 1.91306851e-04 9.99002900e-01 -9.20611388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22240100800002 meters 0.05727850508815074 Centerline is valid? [True, True] Translation: X:103.70, Y:-36.64, Z:-9.21 [[ 7.49634516e-01 6.61058892e-01 3.23918820e-02 1.03699126e+02] [-6.60431427e-01 7.50333994e-01 -2.87963107e-02 -3.66365300e+01] [-4.33407875e-02 1.94091565e-04 9.99060328e-01 -9.20933762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25240100800002 meters 0.057416030106249474 Centerline is valid? [True, True] Translation: X:103.73, Y:-36.66, Z:-9.22 [[ 7.49522686e-01 6.61172545e-01 3.26589831e-02 1.03726148e+02] [-6.60534106e-01 7.50233847e-01 -2.90494276e-02 -3.66551425e+01] [-4.37085585e-02 2.00832782e-04 9.99044304e-01 -9.21540283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28240100800002 meters 0.0574211659435864 Centerline is valid? [True, True] Translation: X:103.75, Y:-36.68, Z:-9.22 [[ 7.49831597e-01 6.60751503e-01 3.40591792e-02 1.03751331e+02] [-6.60055957e-01 7.50604683e-01 -3.03107798e-02 -3.66775561e+01] [-4.55928727e-02 2.47016283e-04 9.98960074e-01 -9.21797352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31240100800001 meters 0.057288505356271786 Centerline is valid? [True, True] Translation: X:103.77, Y:-36.70, Z:-9.22 [[ 7.50897985e-01 6.59430984e-01 3.60970044e-02 1.03772765e+02] [-6.58646970e-01 7.51765019e-01 -3.21484793e-02 -3.67006139e+01] [-4.83361685e-02 3.65045767e-04 9.98831058e-01 -9.21847913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34240100800001 meters 0.057047218367115224 Centerline is valid? [True, True] Translation: X:103.79, Y:-36.73, Z:-9.21 [[ 7.53627101e-01 6.56088396e-01 3.99275461e-02 1.03791463e+02] [-6.55123428e-01 7.54683768e-01 -3.55767511e-02 -3.67300232e+01] [-5.34741645e-02 6.54132954e-04 9.98569019e-01 -9.21152553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37240100800001 meters 0.05682105648192154 Centerline is valid? [True, True] Translation: X:103.81, Y:-36.75, Z:-9.21 [[ 7.54129840e-01 6.55413902e-01 4.14825466e-02 1.03812854e+02] [-6.54370092e-01 7.55269530e-01 -3.69827043e-02 -3.67545634e+01] [-5.55694820e-02 7.44823020e-04 9.98454545e-01 -9.20872591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40240100800001 meters 0.05673120705661128 Centerline is valid? [True, True] Translation: X:103.84, Y:-36.78, Z:-9.21 [[ 7.54487150e-01 6.54877576e-01 4.34108415e-02 1.03835857e+02] [-6.53732281e-01 7.55734517e-01 -3.87226577e-02 -3.67788578e+01] [-5.81656716e-02 8.36679172e-04 9.98306594e-01 -9.20614424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43240100800001 meters 0.05673824876733781 Centerline is valid? [True, True] Translation: X:103.86, Y:-36.80, Z:-9.21 [[ 7.54798636e-01 6.54427752e-01 4.47586556e-02 1.03857590e+02] [-6.53208005e-01 7.56123984e-01 -3.99477602e-02 -3.68025974e+01] [-5.99860159e-02 9.15802780e-04 9.98198797e-01 -9.20617920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46240100800001 meters 0.0568389270002947 Centerline is valid? [True, True] Translation: X:103.88, Y:-36.83, Z:-9.21 [[ 7.55675233e-01 6.53342388e-01 4.58111987e-02 1.03883694e+02] [-6.52061344e-01 7.57061848e-01 -4.09067543e-02 -3.68267577e+01] [-6.14080273e-02 1.04050925e-03 9.98112204e-01 -9.20739885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49240100800002 meters 0.056647371408624136 Centerline is valid? [True, True] Translation: X:103.91, Y:-36.85, Z:-9.21 [[ 7.55582179e-01 6.53469739e-01 4.55287876e-02 1.03910341e+02] [-6.52202796e-01 7.56951916e-01 -4.06855076e-02 -3.68464342e+01] [-6.10498511e-02 1.04724196e-03 9.98134169e-01 -9.21110426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52240100800002 meters 0.05682366879754835 Centerline is valid? [True, True] Translation: X:103.94, Y:-36.87, Z:-9.22 [[ 7.55629848e-01 6.53435719e-01 4.52249269e-02 1.03935998e+02] [-6.52184246e-01 7.56981267e-01 -4.04360034e-02 -3.68671334e+01] [-6.06567514e-02 1.05966623e-03 9.98158122e-01 -9.21656010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55240100800002 meters 0.057192648223652914 Centerline is valid? [True, True] Translation: X:103.96, Y:-36.89, Z:-9.22 [[ 7.56008817e-01 6.53066709e-01 4.42102110e-02 1.03959539e+02] [-6.51868716e-01 7.57299610e-01 -3.95534659e-02 -3.68891128e+01] [-5.93114273e-02 1.08351542e-03 9.98238940e-01 -9.22241809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58240100800002 meters 0.05757069143646665 Centerline is valid? [True, True] Translation: X:103.98, Y:-36.91, Z:-9.23 [[ 7.57461525e-01 6.51581074e-01 4.11599598e-02 1.03983781e+02] [-6.50539533e-01 7.58578159e-01 -3.68441712e-02 -3.69120465e+01] [-5.52300112e-02 1.13186108e-03 9.98473017e-01 -9.22794491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61240100800002 meters 0.05823779157651387 Centerline is valid? [True, True] Translation: X:104.01, Y:-36.93, Z:-9.23 [[ 7.58119107e-01 6.50910142e-01 3.96409757e-02 1.04005731e+02] [-6.49941998e-01 7.59153907e-01 -3.55069651e-02 -3.69348489e+01] [-5.32054453e-02 1.15417369e-03 9.98582920e-01 -9.23290698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64240100800002 meters 0.05850240114541835 Centerline is valid? [True, True] Translation: X:104.03, Y:-36.96, Z:-9.24 [[ 7.58820044e-01 6.50158748e-01 3.85453362e-02 1.04030821e+02] [-6.49241653e-01 7.59797471e-01 -3.45409758e-02 -3.69575219e+01] [-5.17437666e-02 1.18514703e-03 9.98659691e-01 -9.23689516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67240100800001 meters 0.05874559175702737 Centerline is valid? [True, True] Translation: X:104.05, Y:-36.98, Z:-9.24 [[ 7.59551334e-01 6.49349585e-01 3.77741609e-02 1.04054939e+02] [-6.48466673e-01 7.60489051e-01 -3.38729488e-02 -3.69796972e+01] [-5.07222210e-02 1.23295906e-03 9.98712039e-01 -9.23992803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70240100800001 meters 0.05847726874238563 Centerline is valid? [True, True] Translation: X:104.08, Y:-37.00, Z:-9.24 [[ 7.60092971e-01 6.48766072e-01 3.68952390e-02 1.04080970e+02] [-6.47922369e-01 7.60986867e-01 -3.30997242e-02 -3.70015188e+01] [-4.95507704e-02 1.25361708e-03 9.98770819e-01 -9.24090160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73240100800001 meters 0.05902455712136015 Centerline is valid? [True, True] Translation: X:104.10, Y:-37.02, Z:-9.24 [[ 7.61350510e-01 6.47230050e-01 3.79297138e-02 1.04103449e+02] [-6.46335224e-01 7.62293431e-01 -3.40514876e-02 -3.70233585e+01] [-5.09527177e-02 1.40980736e-03 9.98700072e-01 -9.24356647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76240100800001 meters 0.05882427366757052 Centerline is valid? [True, True] Translation: X:104.13, Y:-37.04, Z:-9.25 [[ 7.61183269e-01 6.47401651e-01 3.83553508e-02 1.04128430e+02] [-6.46485912e-01 7.62147666e-01 -3.44514330e-02 -3.70443843e+01] [-5.15363557e-02 1.42766040e-03 9.98670099e-01 -9.24511473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79240100800001 meters 0.058974493195663086 Centerline is valid? [True, True] Translation: X:104.15, Y:-37.07, Z:-9.25 [[ 7.61044045e-01 6.47564248e-01 3.83732631e-02 1.04152634e+02] [-6.46646908e-01 7.62009512e-01 -3.44859472e-02 -3.70667801e+01] [-5.15726579e-02 1.43137282e-03 9.98668219e-01 -9.24696382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82240100800001 meters 0.05863059264528648 Centerline is valid? [True, True] Translation: X:104.18, Y:-37.09, Z:-9.25 [[ 7.60651118e-01 6.48080561e-01 3.74361089e-02 1.04179127e+02] [-6.47207326e-01 7.61570546e-01 -3.36597733e-02 -3.70896879e+01] [-5.03244826e-02 1.37442030e-03 9.98731975e-01 -9.24856939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85240100800002 meters 0.05903695771378458 Centerline is valid? [True, True] Translation: X:104.20, Y:-37.11, Z:-9.25 [[ 7.58345164e-01 6.50812641e-01 3.68173656e-02 1.04202447e+02] [-6.49969713e-01 7.59237428e-01 -3.31345588e-02 -3.71108129e+01] [-4.95175117e-02 1.19725990e-03 9.98772538e-01 -9.25310687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88240100800002 meters 0.05903695771378458 Centerline is valid? [True, True] Translation: X:104.23, Y:-37.13, Z:-9.26 [[ 7.58176629e-01 6.51009221e-01 3.68129466e-02 1.04226302e+02] [-6.50166287e-01 7.59068887e-01 -3.31394676e-02 -3.71325273e+01] [-4.95176614e-02 1.19103302e-03 9.98772538e-01 -9.25542304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91240100800002 meters 0.05832173536181469 Centerline is valid? [True, True] Translation: X:104.25, Y:-37.15, Z:-9.26 [[ 7.56328646e-01 6.53159579e-01 3.67361358e-02 1.04253966e+02] [-6.52321822e-01 7.57219544e-01 -3.30878042e-02 -3.71500497e+01] [-4.94289363e-02 1.06147107e-03 9.98777079e-01 -9.25738206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94240100800002 meters 0.058176235915065766 Centerline is valid? [True, True] Translation: X:104.28, Y:-37.17, Z:-9.26 [[ 7.53659059e-01 6.56254646e-01 3.64398346e-02 1.04279965e+02] [-6.55433129e-01 7.54538993e-01 -3.28378155e-02 -3.71675927e+01] [-4.90452451e-02 8.64642345e-04 9.98796184e-01 -9.26312678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97240100800002 meters 0.057040785616703144 Centerline is valid? [True, True] Translation: X:104.31, Y:-37.18, Z:-9.27 [[ 7.47443943e-01 6.63376766e-01 3.54798316e-02 1.04313241e+02] [-6.62605209e-01 7.48285444e-01 -3.19879820e-02 -3.71805198e+01] [-4.77691256e-02 4.00102110e-04 9.98858324e-01 -9.26556934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00240100800002 meters 0.05698257566994527 Centerline is valid? [True, True] Translation: X:104.34, Y:-37.20, Z:-9.27 [[ 7.43674496e-01 6.67593383e-01 3.55994378e-02 1.04340948e+02] [-6.66820876e-01 7.44526061e-01 -3.21070499e-02 -3.71976895e+01] [-4.79391633e-02 1.38745827e-04 9.98850248e-01 -9.26765640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03240100800002 meters 0.05702065716796375 Centerline is valid? [True, True] Translation: X:104.37, Y:-37.21, Z:-9.27 [[ 7.39876046e-01 6.71753680e-01 3.64750457e-02 1.04368070e+02] [-6.70946820e-01 7.40774580e-01 -3.29148310e-02 -3.72148174e+01] [-4.91304456e-02 -1.19920906e-04 9.98792363e-01 -9.26964251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06240100800001 meters 0.05729974216124601 Centerline is valid? [True, True] Translation: X:104.40, Y:-37.23, Z:-9.27 [[ 7.36395574e-01 6.75543158e-01 3.69188438e-02 1.04395050e+02] [-6.74720305e-01 7.37320358e-01 -3.33346588e-02 -3.72320318e+01] [-4.97400159e-02 -3.62398355e-04 9.98762134e-01 -9.27031777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09240100800001 meters 0.05734256874690761 Centerline is valid? [True, True] Translation: X:104.42, Y:-37.25, Z:-9.27 [[ 7.32544895e-01 6.79605049e-01 3.89224107e-02 1.04422242e+02] [-6.78695756e-01 7.33577898e-01 -3.51502327e-02 -3.72517887e+01] [-5.24408958e-02 -6.67351460e-04 9.98623807e-01 -9.26681964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12240100800001 meters 0.057135603011839224 Centerline is valid? [True, True] Translation: X:104.45, Y:-37.27, Z:-9.27 [[ 7.32731974e-01 6.79334198e-01 4.01111208e-02 1.04445911e+02] [-6.78366950e-01 7.33828741e-01 -3.62444509e-02 -3.72740058e+01] [-5.40567883e-02 -6.52590620e-04 9.98537650e-01 -9.26772120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15240100800001 meters 0.05670947074256242 Centerline is valid? [True, True] Translation: X:104.47, Y:-37.30, Z:-9.27 [[ 7.34119049e-01 6.77744386e-01 4.16145313e-02 1.04468157e+02] [-6.76699402e-01 7.35297393e-01 -3.76252970e-02 -3.72967942e+01] [-5.60993903e-02 -5.39081199e-04 9.98425044e-01 -9.26908439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18240100800001 meters 0.05637933910224939 Centerline is valid? [True, True] Translation: X:104.49, Y:-37.32, Z:-9.27 [[ 7.35723828e-01 6.75938410e-01 4.26346565e-02 1.04491266e+02] [-6.74837421e-01 7.36958009e-01 -3.85661401e-02 -3.73202412e+01] [-5.74882870e-02 -3.97433390e-04 9.98346102e-01 -9.27136104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21240100800001 meters 0.056298577192601916 Centerline is valid? [True, True] Translation: X:104.51, Y:-37.35, Z:-9.28 [[ 7.38356724e-01 6.73115611e-01 4.17698861e-02 1.04513378e+02] [-6.72053320e-01 7.39537253e-01 -3.78019251e-02 -3.73450635e+01] [-5.63354527e-02 -1.60285111e-04 9.98411884e-01 -9.27739645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24240100800002 meters 0.05642722722234255 Centerline is valid? [True, True] Translation: X:104.53, Y:-37.37, Z:-9.28 [[ 7.38855932e-01 6.72656850e-01 4.03072437e-02 1.04534625e+02] [-6.71665730e-01 7.39954560e-01 -3.65020008e-02 -3.73675160e+01] [-5.43788497e-02 -1.03274447e-04 9.98520370e-01 -9.28235652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27240100800002 meters 0.05638627510280468 Centerline is valid? [True, True] Translation: X:104.56, Y:-37.39, Z:-9.28 [[ 7.38968928e-01 6.72572036e-01 3.96456835e-02 1.04556923e+02] [-6.71612270e-01 7.40031655e-01 -3.59180830e-02 -3.73919072e+01] [-5.34965590e-02 -8.41802050e-05 9.98568030e-01 -9.28438818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30240100800002 meters 0.05653309447312973 Centerline is valid? [True, True] Translation: X:104.58, Y:-37.42, Z:-9.29 [[ 7.38560559e-01 6.73089620e-01 3.84534066e-02 1.04577957e+02] [-6.72186448e-01 7.39560919e-01 -3.48572415e-02 -3.74150943e+01] [-5.19006842e-02 -1.03674999e-04 9.98652246e-01 -9.28679835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33240100800002 meters 0.056702843246208674 Centerline is valid? [True, True] Translation: X:104.60, Y:-37.44, Z:-9.29 [[ 7.37964588e-01 6.73862973e-01 3.62899577e-02 1.04597984e+02] [-6.73058805e-01 7.38856329e-01 -3.29115597e-02 -3.74402906e+01] [-4.89909464e-02 -1.37709941e-04 9.98799213e-01 -9.29011636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36240100800002 meters 0.05681801743244483 Centerline is valid? [True, True] Translation: X:104.62, Y:-37.46, Z:-9.29 [[ 7.37558452e-01 6.74366600e-01 3.51741107e-02 1.04621575e+02] [-6.73611058e-01 7.38396685e-01 -3.19136165e-02 -3.74634578e+01] [-4.74939238e-02 -1.55512339e-04 9.98871515e-01 -9.29435360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39240100800002 meters 0.05709258029899354 Centerline is valid? [True, True] Translation: X:104.64, Y:-37.49, Z:-9.30 [[ 7.38149219e-01 6.73746785e-01 3.46554397e-02 1.04644329e+02] [-6.73011906e-01 7.38962285e-01 -3.14597443e-02 -3.74868236e+01] [-4.68049645e-02 -1.01537810e-04 9.98904042e-01 -9.30062503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42240100800001 meters 0.0571481534610298 Centerline is valid? [True, True] Translation: X:104.67, Y:-37.51, Z:-9.31 [[ 7.39643452e-01 6.72154531e-01 3.37023626e-02 1.04666388e+02] [-6.71457088e-01 7.40410890e-01 -3.06119764e-02 -3.75115023e+01] [-4.55295750e-02 1.22576671e-05 9.98962991e-01 -9.30570997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45240100800001 meters 0.057685524024194496 Centerline is valid? [True, True] Translation: X:104.69, Y:-37.53, Z:-9.31 [[ 7.41681621e-01 6.69982268e-01 3.21268408e-02 1.04686733e+02] [-6.69345876e-01 7.42377086e-01 -2.91952182e-02 -3.75345901e+01] [-4.34105090e-02 1.49588327e-04 9.99057308e-01 -9.31272175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48240100800001 meters 0.05747778391975379 Centerline is valid? [True, True] Translation: X:104.71, Y:-37.56, Z:-9.31 [[ 7.41382471e-01 6.70357105e-01 3.11990974e-02 1.04710522e+02] [-6.69757186e-01 7.42038635e-01 -2.83544637e-02 -3.75571827e+01] [-4.21585519e-02 1.25682656e-04 9.99110925e-01 -9.31151419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51240100800001 meters 0.05758809694775614 Centerline is valid? [True, True] Translation: X:104.73, Y:-37.58, Z:-9.31 [[ 7.40391941e-01 6.71454581e-01 3.11210383e-02 1.04732564e+02] [-6.70857981e-01 7.41045707e-01 -2.82989475e-02 -3.75793623e+01] [-4.20635698e-02 7.45157243e-05 9.99114934e-01 -9.31418638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54240100800001 meters 0.057261962685950976 Centerline is valid? [True, True] Translation: X:104.76, Y:-37.60, Z:-9.31 [[ 7.39510054e-01 6.72452354e-01 3.05403309e-02 1.04756157e+02] [-6.71878114e-01 7.40140413e-01 -2.77843186e-02 -3.76020823e+01] [-4.12877636e-02 2.74029772e-05 9.99147296e-01 -9.31196343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57240100800001 meters 0.057013292100332104 Centerline is valid? [True, True] Translation: X:104.78, Y:-37.62, Z:-9.31 [[ 7.39903328e-01 6.71986108e-01 3.12687584e-02 1.04778417e+02] [-6.71383004e-01 7.40563749e-01 -2.84639295e-02 -3.76249300e+01] [-4.22838741e-02 6.72431722e-05 9.99105635e-01 -9.31198406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60240100800002 meters 0.0570614712637062 Centerline is valid? [True, True] Translation: X:104.80, Y:-37.64, Z:-9.32 [[ 7.40206140e-01 6.71561912e-01 3.31582430e-02 1.04802948e+02] [-6.70882486e-01 7.40948437e-01 -3.02010365e-02 -3.76438955e+01] [-4.48504141e-02 1.09708154e-04 9.98993708e-01 -9.31606816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63240100800002 meters 0.05707883118354958 Centerline is valid? [True, True] Translation: X:104.83, Y:-37.66, Z:-9.32 [[ 7.40366603e-01 6.71334268e-01 3.41700629e-02 1.04827553e+02] [-6.70611876e-01 7.41154695e-01 -3.11356626e-02 -3.76647189e+01] [-4.62277398e-02 1.36954727e-04 9.98930917e-01 -9.31866489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66240100800002 meters 0.05704807034928022 Centerline is valid? [True, True] Translation: X:104.85, Y:-37.69, Z:-9.32 [[ 7.40264648e-01 6.71392118e-01 3.52260644e-02 1.04852924e+02] [-6.70623691e-01 7.41102288e-01 -3.21132814e-02 -3.76868782e+01] [-4.76667209e-02 1.48893549e-04 9.98863285e-01 -9.32007383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69240100800002 meters 0.05721089616917873 Centerline is valid? [True, True] Translation: X:104.88, Y:-37.71, Z:-9.32 [[ 7.40052280e-01 6.71589203e-01 3.59244298e-02 1.04876346e+02] [-6.70789153e-01 7.40923692e-01 -3.27718523e-02 -3.77087178e+01] [-4.86264833e-02 1.55166155e-04 9.98817021e-01 -9.32304238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72240100800002 meters 0.056967322866188094 Centerline is valid? [True, True] Translation: X:104.90, Y:-37.73, Z:-9.32 [[ 7.38773811e-01 6.73007987e-01 3.56862092e-02 1.04901447e+02] [-6.72219411e-01 7.39635211e-01 -3.25702146e-02 -3.77301047e+01] [-4.83147914e-02 7.30590595e-05 9.98832156e-01 -9.32306389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75240100800002 meters 0.05700656508056901 Centerline is valid? [True, True] Translation: X:104.93, Y:-37.75, Z:-9.32 [[ 7.38224531e-01 6.73644670e-01 3.50342913e-02 1.04926081e+02] [-6.72884597e-01 7.39055382e-01 -3.19915989e-02 -3.77515775e+01] [-4.74432516e-02 4.29481611e-05 9.98873934e-01 -9.32465985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78240100800002 meters 0.05682980331547465 Centerline is valid? [True, True] Translation: X:104.95, Y:-37.78, Z:-9.33 [[ 7.37187937e-01 6.74757979e-01 3.54346666e-02 1.04952778e+02] [-6.73981097e-01 7.38039071e-01 -3.23699076e-02 -3.77758715e+01] [-4.79940218e-02 -1.95900404e-05 9.98847623e-01 -9.32585158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81240100800001 meters 0.05682953600152614 Centerline is valid? [True, True] Translation: X:104.98, Y:-37.80, Z:-9.33 [[ 7.36814603e-01 6.75162022e-01 3.55033019e-02 1.04977079e+02] [-6.74381079e-01 7.37669468e-01 -3.24640835e-02 -3.77985384e+01] [-4.81082181e-02 -2.27443039e-05 9.98842129e-01 -9.32777059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84240100800001 meters 0.05670695504558984 Centerline is valid? [True, True] Translation: X:105.00, Y:-37.82, Z:-9.33 [[ 7.36232756e-01 6.75789192e-01 3.56412170e-02 1.05001852e+02] [-6.75002041e-01 7.37094950e-01 -3.26079706e-02 -3.78206943e+01] [-4.83070751e-02 -5.08381752e-05 9.98832530e-01 -9.32942456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87240100800001 meters 0.05682399082195616 Centerline is valid? [True, True] Translation: X:105.03, Y:-37.84, Z:-9.33 [[ 7.35814998e-01 6.76242759e-01 3.56653928e-02 1.05025435e+02] [-6.75454167e-01 7.36678849e-01 -3.26487718e-02 -3.78412233e+01] [-4.83524360e-02 -6.68822535e-05 9.98830335e-01 -9.33397320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90240100800001 meters 0.05699762211722216 Centerline is valid? [True, True] Translation: X:105.05, Y:-37.86, Z:-9.34 [[ 7.35237443e-01 6.76885977e-01 3.53733804e-02 1.05051628e+02] [-6.76110223e-01 7.36087878e-01 -3.23975532e-02 -3.78604089e+01] [-4.79673659e-02 -9.64099307e-05 9.98848899e-01 -9.33879823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93240100800001 meters 0.05700361355959794 Centerline is valid? [True, True] Translation: X:105.08, Y:-37.88, Z:-9.34 [[ 7.35192831e-01 6.76924054e-01 3.55714294e-02 1.05075905e+02] [-6.76138773e-01 7.36052863e-01 -3.25966563e-02 -3.78822087e+01] [-4.82479132e-02 -8.63946344e-05 9.98835388e-01 -9.34233301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96240100800001 meters 0.05689730977557253 Centerline is valid? [True, True] Translation: X:105.10, Y:-37.91, Z:-9.34 [[ 7.35083275e-01 6.77049707e-01 3.54439588e-02 1.05099696e+02] [-6.76269362e-01 7.35937285e-01 -3.24971069e-02 -3.79054449e+01] [-4.80866875e-02 -8.15837084e-05 9.98843163e-01 -9.34359977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99240100800002 meters 0.05676593481332581 Centerline is valid? [True, True] Translation: X:105.12, Y:-37.93, Z:-9.34 [[ 7.35576900e-01 6.76521173e-01 3.52948679e-02 1.05121849e+02] [-6.75745939e-01 7.36423181e-01 -3.23778388e-02 -3.79298291e+01] [-4.78962524e-02 -3.39733552e-05 9.98852315e-01 -9.34411726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02240100800002 meters 0.05689055412606759 Centerline is valid? [True, True] Translation: X:105.14, Y:-37.96, Z:-9.35 [[ 7.38777404e-01 6.73084801e-01 3.41291563e-02 1.05139035e+02] [-6.72355504e-01 7.39565287e-01 -3.13251103e-02 -3.79586646e+01] [-4.63251948e-02 1.95357547e-04 9.98926393e-01 -9.34594818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05240100800002 meters 0.05675109478798152 Centerline is valid? [True, True] Translation: X:105.16, Y:-37.98, Z:-9.35 [[ 7.41039303e-01 6.70645250e-01 3.31013624e-02 1.05160926e+02] [-6.69956199e-01 7.41778153e-01 -3.03951185e-02 -3.79835502e+01] [-4.49382093e-02 3.47514439e-04 9.98989708e-01 -9.34641277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08240100800002 meters 0.05784272521786992 Centerline is valid? [True, True] Translation: X:105.18, Y:-38.01, Z:-9.35 [[ 7.44547594e-01 6.66784895e-01 3.23540379e-02 1.05180249e+02] [-6.66122225e-01 7.45250003e-01 -2.97256526e-02 -3.80090826e+01] [-4.39324630e-02 5.80419414e-04 9.99034335e-01 -9.35431208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11240100800002 meters 0.05880569016148607 Centerline is valid? [True, True] Translation: X:105.20, Y:-38.03, Z:-9.36 [[ 7.49639229e-01 6.61092700e-01 3.15827334e-02 1.05202199e+02] [-6.60455526e-01 7.50303688e-01 -2.90322861e-02 -3.80326068e+01] [-4.28896738e-02 9.04749777e-04 9.99079405e-01 -9.35794733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14240100800002 meters 0.05971960013410556 Centerline is valid? [True, True] Translation: X:105.22, Y:-38.06, Z:-9.36 [[ 7.52130290e-01 6.58284577e-01 3.10071405e-02 1.05222956e+02] [-6.57667421e-01 7.52768423e-01 -2.85177823e-02 -3.80562165e+01] [-4.21140125e-02 1.05670176e-03 9.99112253e-01 -9.36052372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17240100800001 meters 0.060553494306537774 Centerline is valid? [True, True] Translation: X:105.24, Y:-38.08, Z:-9.36 [[ 7.55396353e-01 6.54549932e-01 3.06714297e-02 1.05243460e+02] [-6.53942463e-01 7.56017722e-01 -2.82215966e-02 -3.80827518e+01] [-4.16605885e-02 1.26114088e-03 9.99131025e-01 -9.35953504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20240100800001 meters 0.061553631807212225 Centerline is valid? [True, True] Translation: X:105.26, Y:-38.11, Z:-9.36 [[ 7.58712274e-01 6.50667138e-01 3.14318459e-02 1.05263439e+02] [-6.50025128e-01 7.59361543e-01 -2.89375122e-02 -3.81100077e+01] [-4.26968233e-02 1.52375603e-03 9.99086913e-01 -9.35705773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23240100800001 meters 0.06584862863938779 Centerline is valid? [True, True] Translation: X:105.28, Y:-38.14, Z:-9.35 [[ 7.65692547e-01 6.42228248e-01 3.54654900e-02 1.05278873e+02] [-6.41400582e-01 7.66510093e-01 -3.26737009e-02 -3.81408589e+01] [-4.81686298e-02 2.27042335e-03 9.98836637e-01 -9.35353357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26240100800001 meters 0.06417264067067743 Centerline is valid? [True, True] Translation: X:105.31, Y:-38.16, Z:-9.35 [[ 7.68962800e-01 6.38232465e-01 3.68175651e-02 1.05307632e+02] [-6.37335387e-01 7.69839224e-01 -3.39289580e-02 -3.81591144e+01] [-4.99981682e-02 2.62496948e-03 9.98745860e-01 -9.35182688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29240100800001 meters 0.0656179364042023 Centerline is valid? [True, True] Translation: X:105.33, Y:-38.18, Z:-9.36 [[ 7.71137957e-01 6.35557241e-01 3.75931466e-02 1.05332274e+02] [-6.34617725e-01 7.72048403e-01 -3.46642003e-02 -3.81818462e+01] [-5.10548123e-02 2.87360342e-03 9.98691718e-01 -9.35518631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32240100800001 meters 0.06611946290212489 Centerline is valid? [True, True] Translation: X:105.36, Y:-38.20, Z:-9.36 [[ 7.72249736e-01 6.34202668e-01 3.76473176e-02 1.05357806e+02] [-6.33257815e-01 7.73161094e-01 -3.47341645e-02 -3.82019104e+01] [-5.11359411e-02 2.98299126e-03 9.98687247e-01 -9.35875031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35240100800002 meters 0.06396096134866466 Centerline is valid? [True, True] Translation: X:105.39, Y:-38.22, Z:-9.36 [[ 7.71391662e-01 6.35277292e-01 3.71169372e-02 1.05390576e+02] [-6.34359339e-01 7.72278740e-01 -3.42604329e-02 -3.82153349e+01] [-5.04294965e-02 2.88273648e-03 9.98723463e-01 -9.36013991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38240100800002 meters 0.06359942880390287 Centerline is valid? [True, True] Translation: X:105.42, Y:-38.24, Z:-9.36 [[ 7.69537759e-01 6.37533450e-01 3.69152834e-02 1.05416556e+02] [-6.36627057e-01 7.70417821e-01 -3.40935607e-02 -3.82356596e+01] [-5.01759776e-02 2.73501403e-03 9.98736647e-01 -9.36092358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41240100800002 meters 0.06288574727157638 Centerline is valid? [True, True] Translation: X:105.44, Y:-38.26, Z:-9.36 [[ 7.66886499e-01 6.40743400e-01 3.65101743e-02 1.05442244e+02] [-6.39859524e-01 7.67750994e-01 -3.37372348e-02 -3.82554385e+01] [-4.96476331e-02 2.51124718e-03 9.98763639e-01 -9.36155587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44240100800002 meters 0.061377226937929616 Centerline is valid? [True, True] Translation: X:105.47, Y:-38.27, Z:-9.36 [[ 7.62549312e-01 6.45982470e-01 3.50027860e-02 1.05473678e+02] [-6.45174775e-01 7.63349372e-01 -3.23611785e-02 -3.82692731e+01] [-4.76241087e-02 2.09407977e-03 9.98863133e-01 -9.36445367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47240100800002 meters 0.06077538743308658 Centerline is valid? [True, True] Translation: X:105.50, Y:-38.29, Z:-9.37 [[ 7.60275156e-01 6.48737279e-01 3.34907400e-02 1.05503286e+02] [-6.47999716e-01 7.61010191e-01 -3.09815658e-02 -3.82851000e+01] [-4.55856911e-02 1.85252479e-03 9.98958714e-01 -9.37085234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50240100800002 meters 0.05983138589960794 Centerline is valid? [True, True] Translation: X:105.53, Y:-38.30, Z:-9.38 [[ 7.57711175e-01 6.51809071e-01 3.19172284e-02 1.05534021e+02] [-6.51141542e-01 7.58381426e-01 -2.95348129e-02 -3.82997213e+01] [-4.34564921e-02 1.59622446e-03 9.99054045e-01 -9.37785814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53240100800002 meters 0.05944745510997621 Centerline is valid? [True, True] Translation: X:105.57, Y:-38.31, Z:-9.39 [[ 7.53024018e-01 6.57331351e-01 2.95012598e-02 1.05565847e+02] [-6.56765129e-01 7.53600751e-01 -2.73033616e-02 -3.83113145e+01] [-4.01795271e-02 1.18468835e-03 9.99191774e-01 -9.38638612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56240100800001 meters 0.0591157757986772 Centerline is valid? [True, True] Translation: X:105.59, Y:-38.33, Z:-9.39 [[ 7.50803904e-01 6.59904205e-01 2.86345701e-02 1.05591944e+02] [-6.59372002e-01 7.51349042e-01 -2.65175493e-02 -3.83306193e+01] [-3.90135990e-02 1.02864573e-03 9.99238150e-01 -9.38971642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59240100800001 meters 0.05898851225891091 Centerline is valid? [True, True] Translation: X:105.62, Y:-38.35, Z:-9.39 [[ 7.49550871e-01 6.61327055e-01 2.86359789e-02 1.05616928e+02] [-6.60795449e-01 7.50097061e-01 -2.65287357e-02 -3.83513128e+01] [-3.90239342e-02 9.62112388e-04 9.99237813e-01 -9.39119669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62240100800001 meters 0.058066057874566104 Centerline is valid? [True, True] Translation: X:105.64, Y:-38.37, Z:-9.39 [[ 7.48358987e-01 6.62702741e-01 2.79982668e-02 1.05643034e+02] [-6.62195480e-01 7.48882045e-01 -2.59389555e-02 -3.83724209e+01] [-3.81572162e-02 8.71324734e-04 9.99271368e-01 -9.38837130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65240100800001 meters 0.05711198898195279 Centerline is valid? [True, True] Translation: X:105.67, Y:-38.39, Z:-9.38 [[ 7.47403303e-01 6.63756021e-01 2.85700202e-02 1.05670108e+02] [-6.63228140e-01 7.47948684e-01 -2.64802026e-02 -3.83943396e+01] [-3.89453029e-02 8.42949588e-04 9.99240988e-01 -9.38423261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68240100800001 meters 0.05775429714954407 Centerline is valid? [True, True] Translation: X:105.69, Y:-38.42, Z:-9.39 [[ 7.46479017e-01 6.64755849e-01 2.94743643e-02 1.05692760e+02] [-6.64193880e-01 7.47060217e-01 -2.73408576e-02 -3.84171317e+01] [-4.01941200e-02 8.32684102e-04 9.99191543e-01 -9.38941532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71240100800001 meters 0.057186056854037756 Centerline is valid? [True, True] Translation: X:105.72, Y:-38.44, Z:-9.39 [[ 7.45655347e-01 6.65603817e-01 3.11393973e-02 1.05718792e+02] [-6.64976541e-01 7.46304794e-01 -2.89024874e-02 -3.84366564e+01] [-4.24770874e-02 8.44325507e-04 9.99097084e-01 -9.39040358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74240100800002 meters 0.05635858910225415 Centerline is valid? [True, True] Translation: X:105.75, Y:-38.45, Z:-9.39 [[ 7.44572130e-01 6.66763484e-01 3.22304023e-02 1.05746750e+02] [-6.66091832e-01 7.45268936e-01 -2.99313235e-02 -3.84545317e+01] [-4.39774312e-02 8.17621543e-04 9.99032190e-01 -9.38905869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77240100800002 meters 0.05633306221068351 Centerline is valid? [True, True] Translation: X:105.77, Y:-38.47, Z:-9.40 [[ 7.42323228e-01 6.69278893e-01 3.19685668e-02 1.05774150e+02] [-6.68619826e-01 7.43010976e-01 -2.97021644e-02 -3.84728375e+01] [-4.36320277e-02 6.73789028e-04 9.99047442e-01 -9.39652796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80240100800002 meters 0.05633306221068351 Centerline is valid? [True, True] Translation: X:105.80, Y:-38.49, Z:-9.40 [[ 7.42146482e-01 6.69475307e-01 3.19595590e-02 1.05797703e+02] [-6.68816005e-01 7.42834004e-01 -2.97118518e-02 -3.84948981e+01] [-4.36319983e-02 6.75481739e-04 9.99047443e-01 -9.39884997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83240100800002 meters 0.056378742466624866 Centerline is valid? [True, True] Translation: X:105.82, Y:-38.52, Z:-9.40 [[ 7.40737439e-01 6.71081414e-01 3.09480646e-02 1.05822742e+02] [-6.70463991e-01 7.41383442e-01 -2.87859268e-02 -3.85153546e+01] [-4.22620831e-02 5.73250768e-04 9.99106395e-01 -9.40222354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86240100800002 meters 0.05677706560850352 Centerline is valid? [True, True] Translation: X:105.84, Y:-38.54, Z:-9.41 [[ 7.39034865e-01 6.72965994e-01 3.07284728e-02 1.05844765e+02] [-6.72358249e-01 7.39673270e-01 -2.85978886e-02 -3.85368830e+01] [-4.19744365e-02 4.74294643e-04 9.99118572e-01 -9.40837408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89240100800002 meters 0.05615036927933368 Centerline is valid? [True, True] Translation: X:105.87, Y:-38.56, Z:-9.40 [[ 7.36330524e-01 6.75964866e-01 2.98137448e-02 1.05870688e+02] [-6.75394773e-01 7.36933788e-01 -2.77577491e-02 -3.85570904e+01] [-4.07340190e-02 3.02830556e-04 9.99169980e-01 -9.40414879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92240100800001 meters 0.05607025877383653 Centerline is valid? [True, True] Translation: X:105.89, Y:-38.58, Z:-9.41 [[ 7.35722850e-01 6.76635555e-01 2.96009020e-02 1.05894980e+02] [-6.76073538e-01 7.36318036e-01 -2.75739217e-02 -3.85797134e+01] [-4.04531739e-02 2.74377735e-04 9.99181398e-01 -9.40580116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95240100800001 meters 0.056224980648017925 Centerline is valid? [True, True] Translation: X:105.92, Y:-38.60, Z:-9.41 [[ 7.35752547e-01 6.76577236e-01 3.01899538e-02 1.05919168e+02] [-6.75992077e-01 7.36371617e-01 -2.81345603e-02 -3.86045267e+01] [-4.12662281e-02 2.91904816e-04 9.99148144e-01 -9.40820643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98240100800001 meters 0.056005673956286646 Centerline is valid? [True, True] Translation: X:105.94, Y:-38.63, Z:-9.41 [[ 7.36949338e-01 6.75246387e-01 3.07894619e-02 1.05942073e+02] [-6.74635581e-01 7.37592139e-01 -2.87170488e-02 -3.86279694e+01] [-4.21011485e-02 3.91343606e-04 9.99113277e-01 -9.40859485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01240100800001 meters 0.05618181950649881 Centerline is valid? [True, True] Translation: X:105.96, Y:-38.65, Z:-9.41 [[ 7.41044066e-01 6.70621236e-01 3.34791062e-02 1.05962547e+02] [-6.69893401e-01 7.41799590e-01 -3.12441917e-02 -3.86535848e+01] [-4.57878057e-02 7.25890510e-04 9.98950925e-01 -9.41138919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04240100800001 meters 0.05689028333310482 Centerline is valid? [True, True] Translation: X:105.98, Y:-38.68, Z:-9.42 [[ 7.43205739e-01 6.68196572e-01 3.40377784e-02 1.05982941e+02] [-6.67440694e-01 7.43984220e-01 -3.17867971e-02 -3.86771756e+01] [-4.65633989e-02 9.05931594e-04 9.98914926e-01 -9.41633972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07240100800001 meters 0.05695712560738503 Centerline is valid? [True, True] Translation: X:106.01, Y:-38.70, Z:-9.42 [[ 7.44503595e-01 6.66748219e-01 3.40765224e-02 1.06005477e+02] [-6.65988808e-01 7.45282368e-01 -3.18292174e-02 -3.87011202e+01] [-4.66187053e-02 1.00238422e-03 9.98912254e-01 -9.41801532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10240100800002 meters 0.057100233989008216 Centerline is valid? [True, True] Translation: X:106.03, Y:-38.72, Z:-9.42 [[ 7.45021010e-01 6.66184856e-01 3.37850807e-02 1.06027195e+02] [-6.65436882e-01 7.45785926e-01 -3.15770305e-02 -3.87249546e+01] [-4.62325772e-02 1.04371237e-03 9.98930157e-01 -9.41955274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13240100800002 meters 0.056993801478222854 Centerline is valid? [True, True] Translation: X:106.05, Y:-38.75, Z:-9.42 [[ 7.44296597e-01 6.67020525e-01 3.32595084e-02 1.06048036e+02] [-6.66296078e-01 7.45038692e-01 -3.10947494e-02 -3.87501705e+01] [-4.55204567e-02 9.83036146e-04 9.98962923e-01 -9.41791905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16240100800002 meters 0.056127502678288636 Centerline is valid? [True, True] Translation: X:106.07, Y:-38.77, Z:-9.42 [[ 7.42583052e-01 6.68938120e-01 3.30484812e-02 1.06073600e+02] [-6.68224454e-01 7.43317593e-01 -3.09036529e-02 -3.87715108e+01] [-4.52381489e-02 8.64725588e-04 9.98975857e-01 -9.41600108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19240100800002 meters 0.056323648959842085 Centerline is valid? [True, True] Translation: X:106.10, Y:-38.79, Z:-9.42 [[ 7.41057467e-01 6.70640636e-01 3.27867221e-02 1.06095506e+02] [-6.69939150e-01 7.41782009e-01 -3.06754943e-02 -3.87940939e+01] [-4.48928336e-02 7.67195345e-04 9.98991514e-01 -9.41971357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22240100800002 meters 0.055825150650965355 Centerline is valid? [True, True] Translation: X:106.12, Y:-38.81, Z:-9.42 [[ 7.37422401e-01 6.74703607e-01 3.13567438e-02 1.06121543e+02] [-6.74065076e-01 7.38088602e-01 -2.93511393e-02 -3.88135332e+01] [-4.29473747e-02 5.07701715e-04 9.99077207e-01 -9.42461283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25240100800002 meters 0.05590330598328186 Centerline is valid? [True, True] Translation: X:106.15, Y:-38.83, Z:-9.43 [[ 7.35566931e-01 6.76799715e-01 2.97226430e-02 1.06147344e+02] [-6.76227234e-01 7.36167105e-01 -2.78338260e-02 -3.88327092e+01] [-4.07187576e-02 3.74381304e-04 9.99170577e-01 -9.43084398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28240100800002 meters 0.056549818165987586 Centerline is valid? [True, True] Translation: X:106.17, Y:-38.85, Z:-9.44 [[ 7.34524118e-01 6.77995418e-01 2.82229188e-02 1.06171222e+02] [-6.77479482e-01 7.35066065e-01 -2.64467608e-02 -3.88518227e+01] [-3.86764925e-02 3.05335250e-04 9.99251738e-01 -9.44189260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31240100800001 meters 0.056508442364374495 Centerline is valid? [True, True] Translation: X:106.20, Y:-38.87, Z:-9.44 [[ 7.33893442e-01 6.78719587e-01 2.72054850e-02 1.06195993e+02] [-6.78240654e-01 7.34397478e-01 -2.54942977e-02 -3.88732401e+01] [-3.72831187e-02 2.58231948e-04 9.99304709e-01 -9.44473844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34240100800001 meters 0.05657751831183086 Centerline is valid? [True, True] Translation: X:106.22, Y:-38.90, Z:-9.45 [[ 7.33306270e-01 6.79378433e-01 2.65868266e-02 1.06218231e+02] [-6.78921055e-01 7.33788043e-01 -2.49260794e-02 -3.88973574e+01] [-3.64433362e-02 2.28093926e-04 9.99335695e-01 -9.44762219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37240100800001 meters 0.05627194547746201 Centerline is valid? [True, True] Translation: X:106.24, Y:-38.92, Z:-9.45 [[ 7.33359838e-01 6.79268210e-01 2.78934915e-02 1.06235367e+02] [-6.78764070e-01 7.33890069e-01 -2.61668403e-02 -3.89249715e+01] [-3.82450592e-02 2.56609940e-04 9.99268357e-01 -9.44631493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40240100800001 meters 0.05647887892961631 Centerline is valid? [True, True] Translation: X:106.26, Y:-38.95, Z:-9.45 [[ 7.33158965e-01 6.79454669e-01 2.86231355e-02 1.06255424e+02] [-6.78923373e-01 7.33717441e-01 -2.68658056e-02 -3.89488801e+01] [-3.92553908e-02 2.63990484e-04 9.99229175e-01 -9.44992041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43240100800001 meters 0.05594338604598953 Centerline is valid? [True, True] Translation: X:106.28, Y:-38.97, Z:-9.45 [[ 7.32986050e-01 6.79578764e-01 3.00691739e-02 1.06278351e+02] [-6.78991940e-01 7.33602498e-01 -2.82368490e-02 -3.89716134e+01] [-4.12479840e-02 2.80489688e-04 9.99148900e-01 -9.44866796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46240100800001 meters 0.055695533745187764 Centerline is valid? [True, True] Translation: X:106.30, Y:-38.99, Z:-9.45 [[ 7.32308463e-01 6.80262851e-01 3.10929072e-02 1.06301360e+02] [-6.79635325e-01 7.32968202e-01 -2.92136955e-02 -3.89939215e+01] [-4.26631041e-02 2.61598311e-04 9.99089481e-01 -9.44979785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49240100800002 meters 0.055336415499008154 Centerline is valid? [True, True] Translation: X:106.32, Y:-39.02, Z:-9.45 [[ 7.32342738e-01 6.80112886e-01 3.34750011e-02 1.06321988e+02] [-6.79384572e-01 7.33107339e-01 -3.14679731e-02 -3.90196783e+01] [-4.59425430e-02 3.02942269e-04 9.98944038e-01 -9.45009750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52240100800002 meters 0.05510428600669387 Centerline is valid? [True, True] Translation: X:106.34, Y:-39.04, Z:-9.45 [[ 7.33031155e-01 6.79312356e-01 3.46417217e-02 1.06343424e+02] [-6.78530790e-01 7.33849155e-01 -3.25788925e-02 -3.90441789e+01] [-4.75530424e-02 3.75868414e-04 9.98868643e-01 -9.44808683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55240100800002 meters 0.05536096811183954 Centerline is valid? [True, True] Translation: X:106.36, Y:-39.07, Z:-9.45 [[ 7.34083460e-01 6.78118716e-01 3.57278789e-02 1.06362570e+02] [-6.77285011e-01 7.34952227e-01 -3.36190154e-02 -3.90694353e+01] [-4.90559677e-02 4.81206330e-04 9.98795915e-01 -9.45184644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58240100800002 meters 0.055439584092077915 Centerline is valid? [True, True] Translation: X:106.38, Y:-39.10, Z:-9.45 [[ 7.35702477e-01 6.76305340e-01 3.67824906e-02 1.06383745e+02] [-6.75418533e-01 7.36621128e-01 -3.46282813e-02 -3.90956359e+01] [-5.05140513e-02 6.32536464e-04 9.98723150e-01 -9.45168305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61240100800002 meters 0.05614171748900375 Centerline is valid? [True, True] Translation: X:106.40, Y:-39.12, Z:-9.46 [[ 7.38771622e-01 6.72975785e-01 3.63329540e-02 1.06400510e+02] [-6.72105593e-01 7.39664010e-01 -3.42231468e-02 -3.91244740e+01] [-4.99055276e-02 8.63508038e-04 9.98753570e-01 -9.45509386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64240100800002 meters 0.056009205799393856 Centerline is valid? [True, True] Translation: X:106.42, Y:-39.15, Z:-9.46 [[ 7.39320806e-01 6.72442010e-01 3.50212593e-02 1.06423682e+02] [-6.71632226e-01 7.40149290e-01 -3.30027386e-02 -3.91471940e+01] [-4.81133881e-02 8.78204956e-04 9.98841494e-01 -9.45704669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67240100800001 meters 0.05679224540006072 Centerline is valid? [True, True] Translation: X:106.44, Y:-39.17, Z:-9.47 [[ 7.39047162e-01 6.72796513e-01 3.39727169e-02 1.06443939e+02] [-6.72034182e-01 7.39827105e-01 -3.20298679e-02 -3.91708282e+01] [-4.66835203e-02 8.40755943e-04 9.98909376e-01 -9.46507268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70240100800001 meters 0.05622618241088322 Centerline is valid? [True, True] Translation: X:106.47, Y:-39.19, Z:-9.47 [[ 7.37624906e-01 6.74418935e-01 3.26894212e-02 1.06469646e+02] [-6.73714091e-01 7.38348550e-01 -3.08341223e-02 -3.91918332e+01] [-4.49313027e-02 7.20692914e-04 9.98989819e-01 -9.46661898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73240100800001 meters 0.05582847199441242 Centerline is valid? [True, True] Translation: X:106.49, Y:-39.22, Z:-9.47 [[ 7.37173878e-01 6.74899037e-01 3.29539596e-02 1.06493801e+02] [-6.74182535e-01 7.37909743e-01 -3.10985774e-02 -3.92152073e+01] [-4.53054478e-02 7.08074868e-04 9.98972930e-01 -9.46599236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76240100800001 meters 0.05593664107579649 Centerline is valid? [True, True] Translation: X:106.52, Y:-39.24, Z:-9.47 [[ 7.37457394e-01 6.74573212e-01 3.32802337e-02 1.06516025e+02] [-6.73841174e-01 7.38207571e-01 -3.14269631e-02 -3.92399030e+01] [-4.57675080e-02 7.50454564e-04 9.98951837e-01 -9.46710584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79240100800001 meters 0.05605432960033523 Centerline is valid? [True, True] Translation: X:106.54, Y:-39.26, Z:-9.47 [[ 7.37589557e-01 6.74410413e-01 3.36487736e-02 1.06536042e+02] [-6.73661063e-01 7.38356271e-01 -3.17929151e-02 -3.92644028e+01] [-4.62862560e-02 7.82253587e-04 9.98927911e-01 -9.46967338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82240100800001 meters 0.056228421619510624 Centerline is valid? [True, True] Translation: X:106.56, Y:-39.29, Z:-9.47 [[ 7.39838529e-01 6.71931252e-01 3.38724563e-02 1.06560728e+02] [-6.71168820e-01 7.40612913e-01 -3.20144819e-02 -3.92909142e+01] [-4.65979094e-02 9.51410644e-04 9.98913274e-01 -9.47247916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85240100800002 meters 0.05649874329312982 Centerline is valid? [True, True] Translation: X:106.58, Y:-39.31, Z:-9.48 [[ 7.40667901e-01 6.71011165e-01 3.39864233e-02 1.06583605e+02] [-6.70241141e-01 7.41446521e-01 -3.21538453e-02 -3.93138246e+01] [-4.67747045e-02 1.03622196e-03 9.98904927e-01 -9.47693285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88240100800002 meters 0.057221675638171224 Centerline is valid? [True, True] Translation: X:106.60, Y:-39.34, Z:-9.48 [[ 7.41145903e-01 6.70490372e-01 3.38439472e-02 1.06604634e+02] [-6.69725432e-01 7.41917448e-01 -3.20366354e-02 -3.93373428e+01] [-4.65896705e-02 1.07766891e-03 9.98913530e-01 -9.48214684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91240100800002 meters 0.05651354898898875 Centerline is valid? [True, True] Translation: X:106.63, Y:-39.36, Z:-9.48 [[ 7.41213635e-01 6.70432584e-01 3.35036969e-02 1.06629823e+02] [-6.69682218e-01 7.41969663e-01 -3.17292765e-02 -3.93591763e+01] [-4.61310675e-02 1.08134231e-03 9.98934810e-01 -9.48233678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94240100800002 meters 0.056690533224837726 Centerline is valid? [True, True] Translation: X:106.65, Y:-39.38, Z:-9.49 [[ 7.40019398e-01 6.71805943e-01 3.23738255e-02 1.06652437e+02] [-6.71105922e-01 7.40726552e-01 -3.06760041e-02 -3.93843330e+01] [-4.45884740e-02 9.74572063e-04 9.99004964e-01 -9.48602789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97240100800002 meters 0.056739379972326226 Centerline is valid? [True, True] Translation: X:106.68, Y:-39.41, Z:-9.49 [[ 7.38665027e-01 6.73360185e-01 3.09844889e-02 1.06675412e+02] [-6.72719749e-01 7.39314096e-01 -2.93735641e-02 -3.94076909e+01] [-4.26862580e-02 8.53346877e-04 9.99088162e-01 -9.48914935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00240100800002 meters 0.056176392633417845 Centerline is valid? [True, True] Translation: X:106.70, Y:-39.43, Z:-9.49 [[ 7.35427685e-01 6.76980828e-01 2.90358080e-02 1.06700546e+02] [-6.76420999e-01 7.36000400e-01 -2.75325940e-02 -3.94305356e+01] [-4.00094046e-02 6.07801639e-04 9.99199118e-01 -9.49135474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03240100800002 meters 0.05650080853438863 Centerline is valid? [True, True] Translation: X:106.72, Y:-39.45, Z:-9.50 [[ 7.33614387e-01 6.78934447e-01 2.92907394e-02 1.06723544e+02] [-6.78365421e-01 7.34198709e-01 -2.77958856e-02 -3.94513856e+01] [-4.03768073e-02 5.21636825e-04 9.99184388e-01 -9.49839052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06240100800001 meters 0.05545694833792072 Centerline is valid? [True, True] Translation: X:106.75, Y:-39.47, Z:-9.50 [[ 7.31291838e-01 6.81266794e-01 3.29818593e-02 1.06751366e+02] [-6.80546703e-01 7.32035072e-01 -3.13183599e-02 -3.94701920e+01] [-4.54800364e-02 4.57165346e-04 9.98965143e-01 -9.49752882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09240100800001 meters 0.05525983173651454 Centerline is valid? [True, True] Translation: X:106.77, Y:-39.49, Z:-9.50 [[ 7.32123370e-01 6.80250044e-01 3.54294856e-02 1.06772190e+02] [-6.79417285e-01 7.32979915e-01 -3.36540873e-02 -3.94940218e+01] [-4.88622957e-02 5.67538895e-04 9.98805363e-01 -9.49681007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12240100800001 meters 0.05520723104910984 Centerline is valid? [True, True] Translation: X:106.79, Y:-39.52, Z:-9.50 [[ 7.33128352e-01 6.79043794e-01 3.77139958e-02 1.06793188e+02] [-6.78097536e-01 7.34097426e-01 -3.58427176e-02 -3.95166092e+01] [-5.20245222e-02 7.03544805e-04 9.98645560e-01 -9.49696057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15240100800001 meters 0.055155051926745864 Centerline is valid? [True, True] Translation: X:106.82, Y:-39.54, Z:-9.50 [[ 7.33173497e-01 6.78990066e-01 3.78036280e-02 1.06816662e+02] [-6.78038486e-01 7.34147106e-01 -3.59421522e-02 -3.95398086e+01] [-5.21577884e-02 7.19518749e-04 9.98638597e-01 -9.49783287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18240100800001 meters 0.05487557136676133 Centerline is valid? [True, True] Translation: X:106.84, Y:-39.56, Z:-9.50 [[ 7.31963120e-01 6.80249159e-01 3.86144158e-02 1.06839585e+02] [-6.79256931e-01 7.32980660e-01 -3.67338222e-02 -3.95615261e+01] [-5.32917716e-02 6.58693546e-04 9.98578767e-01 -9.49799907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21240100800001 meters 0.05409636558559152 Centerline is valid? [True, True] Translation: X:106.87, Y:-39.59, Z:-9.49 [[ 7.28673673e-01 6.83662329e-01 4.05030777e-02 1.06868346e+02] [-6.82575274e-01 7.29798349e-01 -3.85404460e-02 -3.95863176e+01] [-5.59077303e-02 4.37008977e-04 9.98435844e-01 -9.49436250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24240100800002 meters 0.053904623744415306 Centerline is valid? [True, True] Translation: X:106.89, Y:-39.61, Z:-9.49 [[ 7.27117736e-01 6.85248597e-01 4.16432212e-02 1.06892183e+02] [-6.84098574e-01 7.28309155e-01 -3.96852089e-02 -3.96090192e+01] [-5.75233730e-02 3.67750978e-04 9.98344092e-01 -9.49399009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27240100800002 meters 0.053770132263717144 Centerline is valid? [True, True] Translation: X:106.91, Y:-39.63, Z:-9.50 [[ 7.26030843e-01 6.86353177e-01 4.24090968e-02 1.06914707e+02] [-6.85161032e-01 7.27268332e-01 -4.04368015e-02 -3.96305936e+01] [-5.85967202e-02 3.01304563e-04 9.98281691e-01 -9.49582083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30240100800002 meters 0.05380249665334194 Centerline is valid? [True, True] Translation: X:106.94, Y:-39.65, Z:-9.50 [[ 7.25805390e-01 6.86492471e-01 4.39843567e-02 1.06937027e+02] [-6.85208986e-01 7.27136842e-01 -4.19601972e-02 -3.96531639e+01] [-6.07880057e-02 3.16460860e-04 9.98150649e-01 -9.49800238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33240100800002 meters 0.05377778068647765 Centerline is valid? [True, True] Translation: X:106.96, Y:-39.67, Z:-9.50 [[ 7.25724403e-01 6.86509663e-01 4.50396747e-02 1.06959834e+02] [-6.85162470e-01 7.27120600e-01 -4.29886358e-02 -3.96746227e+01] [-6.22613892e-02 3.38407315e-04 9.98059820e-01 -9.50053559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36240100800002 meters 0.05377120739748954 Centerline is valid? [True, True] Translation: X:106.98, Y:-39.70, Z:-9.50 [[ 7.25745981e-01 6.86528394e-01 4.44019663e-02 1.06984354e+02] [-6.85218132e-01 7.27102913e-01 -4.23965313e-02 -3.96968950e+01] [-6.13912215e-02 3.44079791e-04 9.98113721e-01 -9.50375437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39240100800002 meters 0.05387350860579397 Centerline is valid? [True, True] Translation: X:107.01, Y:-39.72, Z:-9.51 [[ 7.25465301e-01 6.86913920e-01 4.30042231e-02 1.07008410e+02] [-6.85684332e-01 7.26738719e-01 -4.10832235e-02 -3.97181132e+01] [-5.94734721e-02 3.17131101e-04 9.98229836e-01 -9.50953533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42240100800001 meters 0.0540498068133421 Centerline is valid? [True, True] Translation: X:107.03, Y:-39.74, Z:-9.52 [[ 7.24527896e-01 6.88023584e-01 4.10228776e-02 1.07034264e+02] [-6.86905460e-01 7.25688291e-01 -3.92096103e-02 -3.97404462e+01] [-5.67469585e-02 2.29617795e-04 9.98388567e-01 -9.51646476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45240100800001 meters 0.05441014843253734 Centerline is valid? [True, True] Translation: X:107.06, Y:-39.76, Z:-9.52 [[ 7.23334579e-01 6.89407820e-01 3.87807269e-02 1.07059064e+02] [-6.88409492e-01 7.24373413e-01 -3.70881442e-02 -3.97596227e+01] [-5.36605841e-02 1.30116595e-04 9.98559224e-01 -9.52498161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48240100800001 meters 0.05446320102837871 Centerline is valid? [True, True] Translation: X:107.08, Y:-39.78, Z:-9.53 [[ 7.21980075e-01 6.90898432e-01 3.74717023e-02 1.07083322e+02] [-6.89967986e-01 7.22951836e-01 -3.58444173e-02 -3.97819035e+01] [-5.18550877e-02 2.46801191e-05 9.98654620e-01 -9.52773936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51240100800001 meters 0.05462987587194716 Centerline is valid? [True, True] Translation: X:107.11, Y:-39.80, Z:-9.53 [[ 7.21121814e-01 6.91853402e-01 3.63620683e-02 1.07106238e+02] [-6.90977630e-01 7.22037997e-01 -3.48000740e-02 -3.98047826e+01] [-5.03313445e-02 -3.02833217e-05 9.98732574e-01 -9.52949439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54240100800001 meters 0.05463220326936509 Centerline is valid? [True, True] Translation: X:107.13, Y:-39.83, Z:-9.53 [[ 7.20543821e-01 6.92485292e-01 3.57871854e-02 1.07129413e+02] [-6.91636917e-01 7.21431991e-01 -3.42674459e-02 -3.98272608e+01] [-4.95477226e-02 -6.05421788e-05 9.98771755e-01 -9.53099860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57240100800001 meters 0.054856084525355314 Centerline is valid? [True, True] Translation: X:107.15, Y:-39.85, Z:-9.54 [[ 7.20262731e-01 6.92745772e-01 3.63990915e-02 1.07154853e+02] [-6.91867548e-01 7.21181871e-01 -3.48712578e-02 -3.98474704e+01] [-5.04072813e-02 -6.68827833e-05 9.98728743e-01 -9.53542703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60240100800002 meters 0.054932245323522026 Centerline is valid? [True, True] Translation: X:107.18, Y:-39.87, Z:-9.54 [[ 7.20216382e-01 6.92736472e-01 3.74772396e-02 1.07181302e+02] [-6.91804510e-01 7.21190805e-01 -3.59213485e-02 -3.98693668e+01] [-5.19122689e-02 -5.57796968e-05 9.98651648e-01 -9.53843501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63240100800002 meters 0.05502459614826002 Centerline is valid? [True, True] Translation: X:107.20, Y:-39.89, Z:-9.54 [[ 7.19968945e-01 6.92887252e-01 3.93950997e-02 1.07204193e+02] [-6.91855974e-01 7.21045944e-01 -3.77896493e-02 -3.98897745e+01] [-5.45896431e-02 -4.83611522e-05 9.98508873e-01 -9.53949895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66240100800002 meters 0.05497868270404698 Centerline is valid? [True, True] Translation: X:107.23, Y:-39.92, Z:-9.54 [[ 7.20040338e-01 6.92767425e-01 4.01896413e-02 1.07226959e+02] [-6.91693103e-01 7.21161074e-01 -3.85662646e-02 -3.99157239e+01] [-5.57006567e-02 -2.96315169e-05 9.98447513e-01 -9.53784040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69240100800002 meters 0.05497868270404698 Centerline is valid? [True, True] Translation: X:107.25, Y:-39.94, Z:-9.54 [[ 7.19848225e-01 6.92967864e-01 4.01755258e-02 1.07250097e+02] [-6.91893034e-01 7.20968473e-01 -3.85809621e-02 -3.99381713e+01] [-5.57006544e-02 -2.47293863e-05 9.98447513e-01 -9.54016387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72240100800002 meters 0.05517401013385995 Centerline is valid? [True, True] Translation: X:107.26, Y:-39.97, Z:-9.54 [[ 7.24867463e-01 6.87644164e-01 4.13843616e-02 1.07264835e+02] [-6.86493461e-01 7.26047747e-01 -3.97667752e-02 -3.99690616e+01] [-5.73924134e-02 4.15547789e-04 9.98351611e-01 -9.53785293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75240100800002 meters 0.05517401013385995 Centerline is valid? [True, True] Translation: X:107.29, Y:-39.99, Z:-9.54 [[ 7.24660846e-01 6.87862238e-01 4.13787418e-02 1.07288516e+02] [-6.86711557e-01 7.25841151e-01 -3.97726221e-02 -3.99921188e+01] [-5.73924784e-02 4.06401794e-04 9.98351611e-01 -9.54022574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78240100800002 meters 0.05549211029367834 Centerline is valid? [True, True] Translation: X:107.31, Y:-40.02, Z:-9.54 [[ 7.27672263e-01 6.84606204e-01 4.25138019e-02 1.07310210e+02] [-6.83384498e-01 7.28912791e-01 -4.08872904e-02 -4.00212834e+01] [-5.89805467e-02 6.99274000e-04 9.98258887e-01 -9.54145319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81240100800001 meters 0.05696204196737898 Centerline is valid? [True, True] Translation: X:107.33, Y:-40.05, Z:-9.55 [[ 7.33674898e-01 6.78109815e-01 4.34536809e-02 1.07328341e+02] [-6.76819732e-01 7.34959485e-01 -4.18282815e-02 -4.00481645e+01] [-6.03008633e-02 1.27805148e-03 9.98179429e-01 -9.54866226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84240100800001 meters 0.05753821924088162 Centerline is valid? [True, True] Translation: X:107.35, Y:-40.07, Z:-9.55 [[ 7.35760913e-01 6.75844012e-01 4.34827590e-02 1.07350718e+02] [-6.74546930e-01 7.37043200e-01 -4.18779242e-02 -4.00719707e+01] [-6.03516161e-02 1.48097817e-03 9.98176081e-01 -9.55237785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87240100800001 meters 0.05841600172766729 Centerline is valid? [True, True] Translation: X:107.37, Y:-40.10, Z:-9.55 [[ 7.37328481e-01 6.74107059e-01 4.38906044e-02 1.07370380e+02] [-6.72780988e-01 7.38631797e-01 -4.22943367e-02 -4.00967753e+01] [-6.09299069e-02 1.65605483e-03 9.98140673e-01 -9.55479042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90240100800001 meters 0.058700420778364765 Centerline is valid? [True, True] Translation: X:107.39, Y:-40.12, Z:-9.56 [[ 7.38407469e-01 6.72924148e-01 4.39033102e-02 1.07391720e+02] [-6.71594058e-01 7.39709378e-01 -4.23256232e-02 -4.01217971e+01] [-6.09576242e-02 1.76835403e-03 9.98138788e-01 -9.55533120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93240100800001 meters 0.0594891367203989 Centerline is valid? [True, True] Translation: X:107.41, Y:-40.15, Z:-9.56 [[ 7.40480358e-01 6.70707323e-01 4.29013635e-02 1.07412541e+02] [-6.69432324e-01 7.41719619e-01 -4.13808072e-02 -4.01474679e+01] [-5.95751934e-02 1.92211553e-03 9.98221970e-01 -9.55676485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96240100800001 meters 0.06010739662744903 Centerline is valid? [True, True] Translation: X:107.44, Y:-40.17, Z:-9.56 [[ 7.40644747e-01 6.70565991e-01 4.22683008e-02 1.07435418e+02] [-6.69326821e-01 7.41847396e-01 -4.07927422e-02 -4.01709618e+01] [-5.87108545e-02 1.92162281e-03 9.98273181e-01 -9.56085323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99240100800002 meters 0.0606270791939598 Centerline is valid? [True, True] Translation: X:107.46, Y:-40.19, Z:-9.57 [[ 7.40676730e-01 6.70562940e-01 4.17531436e-02 1.07458908e+02] [-6.69352469e-01 7.41850169e-01 -4.03187117e-02 -4.01928820e+01] [-5.80108106e-02 1.91556176e-03 9.98314117e-01 -9.56686014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02240100800002 meters 0.06079758654494086 Centerline is valid? [True, True] Translation: X:107.48, Y:-40.21, Z:-9.57 [[ 7.40094848e-01 6.71261230e-01 4.08408752e-02 1.07483518e+02] [-6.70103319e-01 7.41218596e-01 -3.94529498e-02 -4.02142735e+01] [-5.67552517e-02 1.83131885e-03 9.98386442e-01 -9.57300658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05240100800002 meters 0.06013161531619434 Centerline is valid? [True, True] Translation: X:107.51, Y:-40.23, Z:-9.58 [[ 7.36662870e-01 6.75076036e-01 4.00020282e-02 1.07511034e+02] [-6.73969754e-01 7.37746592e-01 -3.86618293e-02 -4.02331694e+01] [-5.56110344e-02 1.52057701e-03 9.98451351e-01 -9.57842828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08240100800002 meters 0.05858154178063451 Centerline is valid? [True, True] Translation: X:107.54, Y:-40.25, Z:-9.58 [[ 7.33743741e-01 6.78247400e-01 4.00073269e-02 1.07538422e+02] [-6.77144319e-01 7.34832486e-01 -3.86883450e-02 -4.02506829e+01] [-5.56389530e-02 1.29659687e-03 9.98450112e-01 -9.57833414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11240100800002 meters 0.05739929176714683 Centerline is valid? [True, True] Translation: X:107.57, Y:-40.27, Z:-9.58 [[ 7.28930867e-01 6.83430834e-01 3.97754583e-02 1.07567539e+02] [-6.82347245e-01 7.30014705e-01 -3.84807489e-02 -4.02689563e+01] [-5.53355998e-02 9.09131187e-04 9.98467398e-01 -9.57819441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14240100800002 meters 0.056222247308743936 Centerline is valid? [True, True] Translation: X:107.60, Y:-40.28, Z:-9.58 [[ 7.20607262e-01 6.92015670e-01 4.28892340e-02 1.07600081e+02] [-6.90769021e-01 7.21882419e-01 -4.15202824e-02 -4.02821407e+01] [-5.96936700e-02 2.93262892e-04 9.98216700e-01 -9.57595083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17240100800002 meters 0.056220128373216584 Centerline is valid? [True, True] Translation: X:107.63, Y:-40.30, Z:-9.58 [[ 7.17307272e-01 6.95345397e-01 4.43289502e-02 1.07628216e+02] [-6.94018484e-01 7.18675711e-01 -4.29367711e-02 -4.03003139e+01] [-6.17140260e-02 3.37473661e-05 9.98093872e-01 -9.57773416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20240100800001 meters 0.056457212269061974 Centerline is valid? [True, True] Translation: X:107.66, Y:-40.32, Z:-9.58 [[ 7.15499071e-01 6.97123515e-01 4.56057480e-02 1.07655296e+02] [-6.95721008e-01 7.16951040e-01 -4.41982527e-02 -4.03185679e+01] [-6.35087298e-02 -1.05068242e-04 9.97981277e-01 -9.58174032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23240100800001 meters 0.05677295308432634 Centerline is valid? [True, True] Translation: X:107.68, Y:-40.34, Z:-9.59 [[ 7.14297980e-01 6.98376445e-01 4.52629790e-02 1.07681569e+02] [-6.96996023e-01 7.15730607e-01 -4.38889642e-02 -4.03369341e+01] [-6.30471182e-02 -1.98317879e-04 9.98010532e-01 -9.58869132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26240100800001 meters 0.056958788923334946 Centerline is valid? [True, True] Translation: X:107.71, Y:-40.36, Z:-9.59 [[ 7.14604006e-01 6.98077722e-01 4.50400798e-02 1.07705392e+02] [-6.96708924e-01 7.16021976e-01 -4.36944553e-02 -4.03593548e+01] [-6.27518127e-02 -1.55592748e-04 9.98029151e-01 -9.59311359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29240100800001 meters 0.05709847211530506 Centerline is valid? [True, True] Translation: X:107.72, Y:-40.39, Z:-9.60 [[ 7.18737970e-01 6.93941370e-01 4.31405355e-02 1.07723339e+02] [-6.92676917e-01 7.20031478e-01 -4.18731329e-02 -4.03881304e+01] [-6.01200427e-02 2.13357396e-04 9.98191131e-01 -9.59575629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32240100800001 meters 0.0574311357012864 Centerline is valid? [True, True] Translation: X:107.74, Y:-40.42, Z:-9.60 [[ 7.22535271e-01 6.89982222e-01 4.32124506e-02 1.07741337e+02] [-6.88705124e-01 7.23826097e-01 -4.19646622e-02 -4.04163690e+01] [-6.02331703e-02 5.60312416e-04 9.98184177e-01 -9.59536938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35240100800002 meters 0.05804890681048613 Centerline is valid? [True, True] Translation: X:107.76, Y:-40.44, Z:-9.59 [[ 7.26485203e-01 6.85790892e-01 4.37047206e-02 1.07757961e+02] [-6.84475340e-01 7.27798031e-01 -4.24680410e-02 -4.04445068e+01] [-6.09324053e-02 9.37599929e-04 9.98141454e-01 -9.59482662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38240100800002 meters 0.058935216280415634 Centerline is valid? [True, True] Translation: X:107.78, Y:-40.47, Z:-9.60 [[ 7.30838453e-01 6.81125495e-01 4.40819062e-02 1.07776433e+02] [-6.79777882e-01 7.32165448e-01 -4.28460892e-02 -4.04730215e+01] [-6.14588123e-02 1.34766477e-03 9.98108711e-01 -9.59547694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41240100800002 meters 0.06043302283446337 Centerline is valid? [True, True] Translation: X:107.79, Y:-40.50, Z:-9.60 [[ 7.34842632e-01 6.76723731e-01 4.52912572e-02 1.07794165e+02] [-6.75291098e-01 7.36234891e-01 -4.40467887e-02 -4.05009603e+01] [-6.31525110e-02 1.78267542e-03 9.98002296e-01 -9.59764076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44240100800002 meters 0.0630074541480017 Centerline is valid? [True, True] Translation: X:107.81, Y:-40.53, Z:-9.60 [[ 7.42292744e-01 6.68362953e-01 4.78794902e-02 1.07811620e+02] [-6.66742437e-01 7.43830550e-01 -4.65900795e-02 -4.05281253e+01] [-6.67533106e-02 2.66018998e-03 9.97765964e-01 -9.59914050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47240100800002 meters 0.06359374511119446 Centerline is valid? [True, True] Translation: X:107.83, Y:-40.55, Z:-9.60 [[ 7.43962622e-01 6.66524122e-01 4.75942391e-02 1.07834844e+02] [-6.64918224e-01 7.45478136e-01 -4.63260633e-02 -4.05522516e+01] [-6.63579033e-02 2.81858265e-03 9.97791904e-01 -9.60203523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50240100800002 meters 0.06353541314156656 Centerline is valid? [True, True] Translation: X:107.86, Y:-40.57, Z:-9.60 [[ 7.45236532e-01 6.65078998e-01 4.78794147e-02 1.07859056e+02] [-6.63448998e-01 7.46767042e-01 -4.66305947e-02 -4.05743407e+01] [-6.67677981e-02 2.98527301e-03 9.97764075e-01 -9.60452509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53240100800002 meters 0.06268734596641622 Centerline is valid? [True, True] Translation: X:107.88, Y:-40.60, Z:-9.60 [[ 7.44913230e-01 6.65500965e-01 4.70398211e-02 1.07884064e+02] [-6.63926960e-01 7.46391303e-01 -4.58368232e-02 -4.05957237e+01] [-6.56145635e-02 2.91345066e-03 9.97840789e-01 -9.60407023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56240100800001 meters 0.06232773426352166 Centerline is valid? [True, True] Translation: X:107.91, Y:-40.62, Z:-9.61 [[ 7.44013976e-01 6.66516294e-01 4.68959834e-02 1.07909093e+02] [-6.64952289e-01 7.45485076e-01 -4.57214902e-02 -4.06178023e+01] [-6.54343739e-02 2.83383616e-03 9.97852851e-01 -9.60537886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59240100800001 meters 0.06274870963114161 Centerline is valid? [True, True] Translation: X:107.93, Y:-40.64, Z:-9.61 [[ 7.42869658e-01 6.67886447e-01 4.55232362e-02 1.07931865e+02] [-6.66414282e-01 7.44258486e-01 -4.43994522e-02 -4.06397592e+01] [-6.35348472e-02 2.64567114e-03 9.97976114e-01 -9.60945789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62240100800001 meters 0.0626446219373132 Centerline is valid? [True, True] Translation: X:107.96, Y:-40.66, Z:-9.62 [[ 7.41368588e-01 6.69675453e-01 4.36738373e-02 1.07958139e+02] [-6.68322500e-01 7.42649986e-01 -4.26149445e-02 -4.06600011e+01] [-6.09725569e-02 2.40517313e-03 9.98136545e-01 -9.61594389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65240100800001 meters 0.061827428444039975 Centerline is valid? [True, True] Translation: X:107.99, Y:-40.67, Z:-9.63 [[ 7.37695736e-01 6.74045581e-01 3.83086918e-02 1.07992250e+02] [-6.73009648e-01 7.38687544e-01 -3.73995420e-02 -4.06717012e+01] [-5.35071495e-02 1.80736352e-03 9.98565831e-01 -9.62922258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68240100800001 meters 0.06195341514226742 Centerline is valid? [True, True] Translation: X:108.02, Y:-40.69, Z:-9.64 [[ 7.35071396e-01 6.77027845e-01 3.61017977e-02 1.08018371e+02] [-6.76110471e-01 7.35955845e-01 -3.52650733e-02 -4.06905093e+01] [-5.04447656e-02 1.51354322e-03 9.98725705e-01 -9.63713569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71240100800001 meters 0.06107820766711559 Centerline is valid? [True, True] Translation: X:108.05, Y:-40.71, Z:-9.64 [[ 7.33040872e-01 6.79313169e-01 3.44194475e-02 1.08048108e+02] [-6.78481143e-01 7.33847339e-01 -3.36366014e-02 -4.07085876e+01] [-4.81084063e-02 1.30405751e-03 9.98841269e-01 -9.64051500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74240100800002 meters 0.06070165763262303 Centerline is valid? [True, True] Translation: X:108.08, Y:-40.73, Z:-9.64 [[ 7.31065270e-01 6.81442384e-01 3.43489192e-02 1.08075006e+02] [-6.80615076e-01 7.31870816e-01 -3.35890954e-02 -4.07276130e+01] [-4.80280047e-02 1.17742883e-03 9.98845296e-01 -9.64199997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77240100800002 meters 0.0606000898497484 Centerline is valid? [True, True] Translation: X:108.10, Y:-40.75, Z:-9.64 [[ 7.30329594e-01 6.82091315e-01 3.70151672e-02 1.08102272e+02] [-6.81130313e-01 7.31265962e-01 -3.62158638e-02 -4.07465648e+01] [-5.17704580e-02 1.23736465e-03 9.98658244e-01 -9.63978317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80240100800002 meters 0.06057829124520748 Centerline is valid? [True, True] Translation: X:108.13, Y:-40.77, Z:-9.64 [[ 7.31683947e-01 6.80562055e-01 3.83912883e-02 1.08128502e+02] [-6.79525121e-01 7.32689090e-01 -3.75806647e-02 -4.07702638e+01] [-5.37048525e-02 1.40932426e-03 9.98555859e-01 -9.63871291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83240100800002 meters 0.060763480494829734 Centerline is valid? [True, True] Translation: X:108.15, Y:-40.79, Z:-9.64 [[ 7.33639541e-01 6.78392837e-01 3.94484915e-02 1.08152667e+02] [-6.77293089e-01 7.34697548e-01 -3.86469368e-02 -4.07929338e+01] [-5.52005151e-02 1.63473032e-03 9.98473951e-01 -9.63903513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86240100800002 meters 0.06169364474261639 Centerline is valid? [True, True] Translation: X:108.17, Y:-40.82, Z:-9.64 [[ 7.35980055e-01 6.75866923e-01 3.92079232e-02 1.08174165e+02] [-6.74775829e-01 7.37021410e-01 -3.84320312e-02 -4.08167026e+01] [-5.48720175e-02 1.82864956e-03 9.98491721e-01 -9.64028414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89240100800002 meters 0.062951458750403 Centerline is valid? [True, True] Translation: X:108.20, Y:-40.84, Z:-9.64 [[ 7.38225267e-01 6.73411383e-01 3.92500211e-02 1.08195598e+02] [-6.72313352e-01 7.39265172e-01 -3.84936625e-02 -4.08402594e+01] [-5.49382441e-02 2.02868106e-03 9.98487693e-01 -9.64264153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92240100800002 meters 0.06299933071390731 Centerline is valid? [True, True] Translation: X:108.22, Y:-40.86, Z:-9.65 [[ 7.39838685e-01 6.71688488e-01 3.83835328e-02 1.08223637e+02] [-6.70635197e-01 7.40830664e-01 -3.76611071e-02 -4.08577864e+01] [-5.37322301e-02 2.12179585e-03 9.98553126e-01 -9.64509219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95240100800001 meters 0.06333231775825456 Centerline is valid? [True, True] Translation: X:108.25, Y:-40.88, Z:-9.65 [[ 7.39790448e-01 6.71777293e-01 3.77539597e-02 1.08250194e+02] [-6.70757541e-01 7.40750221e-01 -3.70598453e-02 -4.08790213e+01] [-5.28622165e-02 2.09276637e-03 9.98599623e-01 -9.64819726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98240100800001 meters 0.06329092951867397 Centerline is valid? [True, True] Translation: X:108.28, Y:-40.90, Z:-9.65 [[ 7.39222432e-01 6.72486837e-01 3.62167034e-02 1.08276514e+02] [-6.71548301e-01 7.40106450e-01 -3.55713497e-02 -4.08989073e+01] [-5.07254802e-02 1.97387400e-03 9.98710684e-01 -9.65165620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01240100800001 meters 0.062153272083380694 Centerline is valid? [True, True] Translation: X:108.31, Y:-40.92, Z:-9.65 [[ 7.38647538e-01 6.73156755e-01 3.54936272e-02 1.08307303e+02] [-6.72255266e-01 7.39497374e-01 -3.48782512e-02 -4.09151983e+01] [-4.97259744e-02 1.90195660e-03 9.98761088e-01 -9.65092048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04240100800001 meters 0.06355446404975128 Centerline is valid? [True, True] Translation: X:108.33, Y:-40.94, Z:-9.65 [[ 7.38496006e-01 6.73265074e-01 3.65758010e-02 1.08327995e+02] [-6.72306812e-01 7.39398586e-01 -3.59622304e-02 -4.09393831e+01] [-5.12562092e-02 1.96780331e-03 9.98683598e-01 -9.65330956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07240100800001 meters 0.06376031927473086 Centerline is valid? [True, True] Translation: X:108.35, Y:-40.96, Z:-9.65 [[ 7.39175206e-01 6.72431122e-01 3.81628162e-02 1.08353451e+02] [-6.71385710e-01 7.40156644e-01 -3.75415837e-02 -4.09622690e+01] [-5.34905913e-02 2.12783844e-03 9.98566086e-01 -9.65319696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10240100800002 meters 0.06262947727286285 Centerline is valid? [True, True] Translation: X:108.39, Y:-40.98, Z:-9.65 [[ 7.40336251e-01 6.71032235e-01 4.02240567e-02 1.08385294e+02] [-6.69867608e-01 7.41424407e-01 -3.95883388e-02 -4.09840381e+01] [-5.63881488e-02 2.36388971e-03 9.98406124e-01 -9.65127459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13240100800002 meters 0.0651385304943503 Centerline is valid? [True, True] Translation: X:108.41, Y:-41.01, Z:-9.65 [[ 7.41755347e-01 6.69345942e-01 4.21309264e-02 1.08405155e+02] [-6.68062571e-01 7.42946165e-01 -4.15138212e-02 -4.10085829e+01] [-5.90881179e-02 2.64700377e-03 9.98249261e-01 -9.65352010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16240100800002 meters 0.06680937695765331 Centerline is valid? [True, True] Translation: X:108.43, Y:-41.03, Z:-9.66 [[ 7.44589372e-01 6.66073167e-01 4.39681987e-02 1.08431228e+02] [-6.64668260e-01 7.45880171e-01 -4.33459971e-02 -4.10286704e+01] [-6.16666131e-02 3.05070267e-03 9.98092141e-01 -9.65544538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19240100800002 meters 0.06727609634712368 Centerline is valid? [True, True] Translation: X:108.46, Y:-41.05, Z:-9.66 [[ 7.44951266e-01 6.65665703e-01 4.40088976e-02 1.08455779e+02] [-6.64256090e-01 7.46243617e-01 -4.34086620e-02 -4.10486130e+01] [-6.17370165e-02 3.10415952e-03 9.98087624e-01 -9.65837411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22240100800002 meters 0.06437086378186531 Centerline is valid? [True, True] Translation: X:108.49, Y:-41.06, Z:-9.66 [[ 7.44498416e-01 6.66209894e-01 4.34336989e-02 1.08487928e+02] [-6.64836885e-01 7.45758133e-01 -4.28570111e-02 -4.10622911e+01] [-6.09427990e-02 3.03065179e-03 9.98136659e-01 -9.65967728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25240100800002 meters 0.06327127668049624 Centerline is valid? [True, True] Translation: X:108.52, Y:-41.07, Z:-9.67 [[ 7.41730524e-01 6.69454138e-01 4.08287424e-02 1.08523180e+02] [-6.68244773e-01 7.42848794e-01 -4.03062471e-02 -4.10724037e+01] [-5.73127659e-02 2.61278008e-03 9.98352854e-01 -9.66544575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28240100800002 meters 0.06269255999919232 Centerline is valid? [True, True] Translation: X:108.55, Y:-41.09, Z:-9.67 [[ 7.39755684e-01 6.71751152e-01 3.88833869e-02 1.08553355e+02] [-6.70656573e-01 7.40773213e-01 -3.84032254e-02 -4.10890884e+01] [-5.46011824e-02 2.33160535e-03 9.98505521e-01 -9.66994363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31240100800001 meters 0.06244063168089392 Centerline is valid? [True, True] Translation: X:108.58, Y:-41.11, Z:-9.67 [[ 7.37929505e-01 6.73849529e-01 3.72405422e-02 1.08584918e+02] [-6.72847414e-01 7.38865631e-01 -3.67958776e-02 -4.11095123e+01] [-5.23106415e-02 2.09556119e-03 9.98628662e-01 -9.67355184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34240100800001 meters 0.06260747029401174 Centerline is valid? [True, True] Translation: X:108.61, Y:-41.13, Z:-9.68 [[ 7.37061951e-01 6.74824823e-01 3.67578325e-02 1.08611798e+02] [-6.73847815e-01 7.37975167e-01 -3.63562322e-02 -4.11283703e+01] [-5.16604556e-02 2.02761031e-03 9.98662649e-01 -9.67645926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37240100800001 meters 0.06230950590819257 Centerline is valid? [True, True] Translation: X:108.64, Y:-41.15, Z:-9.68 [[ 7.37308241e-01 6.74546291e-01 3.69304587e-02 1.08639181e+02] [-6.73558969e-01 7.38229657e-01 -3.65416013e-02 -4.11457881e+01] [-5.19121614e-02 2.06758209e-03 9.98649514e-01 -9.67696659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40240100800001 meters 0.061750073065454464 Centerline is valid? [True, True] Translation: X:108.67, Y:-41.16, Z:-9.68 [[ 7.38391408e-01 6.73321692e-01 3.76301342e-02 1.08668331e+02] [-6.72294097e-01 7.39346351e-01 -3.72507623e-02 -4.11629148e+01] [-5.29034487e-02 2.20712576e-03 9.98597193e-01 -9.67733181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43240100800001 meters 0.06303127805106994 Centerline is valid? [True, True] Translation: X:108.70, Y:-41.18, Z:-9.68 [[ 7.41893488e-01 6.69489260e-01 3.71238773e-02 1.08698561e+02] [-6.68483319e-01 7.42817654e-01 -3.67693376e-02 -4.11761962e+01] [-5.21929481e-02 2.46223946e-03 9.98633984e-01 -9.68257658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46240100800001 meters 0.0651191147991181 Centerline is valid? [True, True] Translation: X:108.72, Y:-41.20, Z:-9.69 [[ 7.43134302e-01 6.68149402e-01 3.64388100e-02 1.08722323e+02] [-6.67177773e-01 7.44022860e-01 -3.61082156e-02 -4.11955765e+01] [-5.12369903e-02 2.52208945e-03 9.98683338e-01 -9.68894801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49240100800002 meters 0.06405759942473932 Centerline is valid? [True, True] Translation: X:108.75, Y:-41.21, Z:-9.69 [[ 7.43223657e-01 6.68148639e-01 3.45831223e-02 1.08752798e+02] [-6.67272873e-01 7.44023939e-01 -3.42825388e-02 -4.12107848e+01] [-4.86365025e-02 2.40321449e-03 9.98813654e-01 -9.69078051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52240100800002 meters 0.0649429008714468 Centerline is valid? [True, True] Translation: X:108.78, Y:-41.22, Z:-9.69 [[ 7.40735062e-01 6.70959551e-01 3.35387684e-02 1.08783254e+02] [-6.70137939e-01 7.41490792e-01 -3.32648141e-02 -4.12241714e+01] [-4.71880327e-02 2.16481302e-03 9.98883678e-01 -9.69086816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55240100800002 meters 0.06374577027070095 Centerline is valid? [True, True] Translation: X:108.81, Y:-41.24, Z:-9.69 [[ 7.38219499e-01 6.73698182e-01 3.40988362e-02 1.08814574e+02] [-6.72850902e-01 7.39003796e-01 -3.38386362e-02 -4.12383894e+01] [-4.79961971e-02 2.03690836e-03 9.98845442e-01 -9.68953823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58240100800002 meters 0.06395400632119255 Centerline is valid? [True, True] Translation: X:108.84, Y:-41.25, Z:-9.69 [[ 7.35038241e-01 6.77136208e-01 3.47180149e-02 1.08842970e+02] [-6.76261373e-01 7.35855375e-01 -3.44590132e-02 -4.12537533e+01] [-4.88808834e-02 1.85023998e-03 9.98802901e-01 -9.69074540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61240100800002 meters 0.06395400632119255 Centerline is valid? [True, True] Translation: X:108.87, Y:-41.28, Z:-9.69 [[ 7.34857570e-01 6.77332635e-01 3.47110104e-02 1.08865822e+02] [-6.76457685e-01 7.35674582e-01 -3.44660669e-02 -4.12766105e+01] [-4.88810000e-02 1.84712043e-03 9.98802901e-01 -9.69306559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64240100800002 meters 0.06284776034332906 Centerline is valid? [True, True] Translation: X:108.91, Y:-41.28, Z:-9.69 [[ 7.30974472e-01 6.81470993e-01 3.56876291e-02 1.08908880e+02] [-6.80549735e-01 7.31843302e-01 -3.54604027e-02 -4.12787992e+01] [-5.02829882e-02 1.63344260e-03 9.98733675e-01 -9.69483812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67240100800002 meters 0.06290285381969551 Centerline is valid? [True, True] Translation: X:108.94, Y:-41.29, Z:-9.70 [[ 7.29728872e-01 6.82788026e-01 3.60039652e-02 1.08939230e+02] [-6.81851779e-01 7.30614865e-01 -3.57780786e-02 -4.12934899e+01] [-5.07338758e-02 1.55892923e-03 9.98710991e-01 -9.69787081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70240100800001 meters 0.06418784349483231 Centerline is valid? [True, True] Translation: X:108.96, Y:-41.31, Z:-9.70 [[ 7.29094099e-01 6.83497430e-01 3.53985480e-02 1.08964528e+02] [-6.82592458e-01 7.29951386e-01 -3.51924776e-02 -4.13128180e+01] [-4.98931871e-02 1.49584588e-03 9.98753439e-01 -9.70247546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73240100800001 meters 0.06409715657430237 Centerline is valid? [True, True] Translation: X:108.99, Y:-41.33, Z:-9.70 [[ 7.29306478e-01 6.83327260e-01 3.42916403e-02 1.08992513e+02] [-6.82477012e-01 7.30110735e-01 -3.41092765e-02 -4.13303353e+01] [-4.83444932e-02 1.47286010e-03 9.98829635e-01 -9.70213457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76240100800001 meters 0.06466990678466798 Centerline is valid? [True, True] Translation: X:109.02, Y:-41.35, Z:-9.70 [[ 7.30579804e-01 6.82068702e-01 3.21781761e-02 1.09022458e+02] [-6.81318221e-01 7.31286622e-01 -3.20212157e-02 -4.13453213e+01] [-4.53721387e-02 1.47047582e-03 9.98969072e-01 -9.70187900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79240100800001 meters 0.06492455849878925 Centerline is valid? [True, True] Translation: X:109.05, Y:-41.36, Z:-9.70 [[ 7.31376722e-01 6.81278008e-01 3.07955669e-02 1.09049996e+02] [-6.80589432e-01 7.32023316e-01 -3.06576279e-02 -4.13622828e+01] [-4.34294407e-02 1.46313802e-03 9.99055425e-01 -9.70313022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82240100800001 meters 0.06645870499887907 Centerline is valid? [True, True] Translation: X:109.07, Y:-41.38, Z:-9.71 [[ 7.32148303e-01 6.80530730e-01 2.89272719e-02 1.09074688e+02] [-6.79922139e-01 7.32718156e-01 -2.88095350e-02 -4.13808114e+01] [-4.08013112e-02 1.42455957e-03 9.99166264e-01 -9.70867936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85240100800002 meters 0.06674800190917951 Centerline is valid? [True, True] Translation: X:109.10, Y:-41.40, Z:-9.71 [[ 7.32677584e-01 6.80048925e-01 2.67771949e-02 1.09102187e+02] [-6.79526754e-01 7.33165489e-01 -2.66787569e-02 -4.13976016e+01] [-3.77749752e-02 1.35110681e-03 9.99285358e-01 -9.71148493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88240100800002 meters 0.06847386471750713 Centerline is valid? [True, True] Translation: X:109.13, Y:-41.41, Z:-9.72 [[ 7.33070457e-01 6.79757630e-01 2.31790822e-02 1.09132324e+02] [-6.79365913e-01 7.33435852e-01 -2.31042622e-02 -4.14103373e+01] [-3.27056684e-02 1.18997372e-03 9.99464318e-01 -9.71549851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91240100800002 meters 0.06898960223030547 Centerline is valid? [True, True] Translation: X:109.16, Y:-41.43, Z:-9.72 [[ 7.32834612e-01 6.80031707e-01 2.25899974e-02 1.09158334e+02] [-6.79659502e-01 7.33181795e-01 -2.25259052e-02 -4.14290924e+01] [-3.18809046e-02 1.15425660e-03 9.99491008e-01 -9.71629796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94240100800002 meters 0.06864238686324106 Centerline is valid? [True, True] Translation: X:109.19, Y:-41.45, Z:-9.72 [[ 7.32443892e-01 6.80488497e-01 2.14790942e-02 1.09185962e+02] [-6.80152253e-01 7.32757972e-01 -2.14165224e-02 -4.14468830e+01] [-3.03126746e-02 1.07734672e-03 9.99539885e-01 -9.71514681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97240100800002 meters 0.06946842223896775 Centerline is valid? [True, True] Translation: X:109.21, Y:-41.47, Z:-9.72 [[ 7.33110515e-01 6.79817933e-01 1.99135848e-02 1.09211822e+02] [-6.79528410e-01 7.33380197e-01 -1.98652139e-02 -4.14654155e+01] [-2.81089574e-02 1.03155061e-03 9.99604333e-01 -9.71663721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00240100800002 meters 0.07120571316594987 Centerline is valid? [True, True] Translation: X:109.24, Y:-41.48, Z:-9.72 [[ 7.35601704e-01 6.77236388e-01 1.55243973e-02 1.09243515e+02] [-6.77059657e-01 7.35764966e-01 -1.54962876e-02 -4.14757802e+01] [-2.19169576e-02 8.88152464e-04 9.99759400e-01 -9.72302576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03240100800002 meters 0.07219434615503455 Centerline is valid? [True, True] Translation: X:109.27, Y:-41.49, Z:-9.73 [[ 7.37123336e-01 6.75619396e-01 1.36973894e-02 1.09271462e+02] [-6.75481483e-01 7.37250124e-01 -1.36755545e-02 -4.14902899e+01] [-1.93378719e-02 8.28237482e-04 9.99812663e-01 -9.72894793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06240100800001 meters 0.07257596542381889 Centerline is valid? [True, True] Translation: X:109.30, Y:-41.50, Z:-9.73 [[ 7.38025952e-01 6.74666489e-01 1.19508522e-02 1.09300755e+02] [-6.74561322e-01 7.38122328e-01 -1.19352949e-02 -4.15044571e+01] [-1.68735344e-02 7.46974765e-04 9.99857353e-01 -9.73268734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09240100800001 meters 0.07380031063991278 Centerline is valid? [True, True] Translation: X:109.33, Y:-41.52, Z:-9.74 [[ 7.39306352e-01 6.73277710e-01 1.11014732e-02 1.09327551e+02] [-6.73186839e-01 7.39389346e-01 -1.10849016e-02 -4.15193549e+01] [-1.56715281e-02 7.21772524e-04 9.99876934e-01 -9.73589874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12240100800001 meters 0.07486108466934022 Centerline is valid? [True, True] Translation: X:109.36, Y:-41.53, Z:-9.73 [[ 7.41319957e-01 6.71085926e-01 9.40217546e-03 1.09360783e+02] [-6.71020530e-01 7.41379291e-01 -9.39120350e-03 -4.15290507e+01] [-1.32728827e-02 6.52833815e-04 9.99911698e-01 -9.73429264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15240100800001 meters 0.07620057337407811 Centerline is valid? [True, True] Translation: X:109.39, Y:-41.55, Z:-9.73 [[ 7.43436893e-01 6.68739724e-01 9.42168523e-03 1.09388216e+02] [-6.68673858e-01 7.43496265e-01 -9.41141937e-03 -4.15463007e+01] [-1.32987778e-02 6.96761766e-04 9.99911325e-01 -9.73457896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18240100800001 meters 0.07424864820155652 Centerline is valid? [True, True] Translation: X:109.42, Y:-41.56, Z:-9.73 [[ 7.45371622e-01 6.66576634e-01 9.83544234e-03 1.09421115e+02] [-6.66504636e-01 7.45436113e-01 -9.82705733e-03 -4.15583801e+01] [-1.38821807e-02 7.69441738e-04 9.99903342e-01 -9.72918021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21240100800001 meters 0.07541983532769121 Centerline is valid? [True, True] Translation: X:109.45, Y:-41.57, Z:-9.73 [[ 7.47741758e-01 6.63909137e-01 1.03402512e-02 1.09450098e+02] [-6.63829291e-01 7.47812754e-01 -1.03323077e-02 -4.15726871e+01] [-1.45922852e-02 8.61736293e-04 9.99893156e-01 -9.73015295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24240100800002 meters 0.07546535670774632 Centerline is valid? [True, True] Translation: X:109.48, Y:-41.59, Z:-9.73 [[ 7.49726639e-01 6.61633347e-01 1.22996261e-02 1.09482922e+02] [-6.61520321e-01 7.49826764e-01 -1.22755585e-02 -4.15855417e+01] [-1.73445077e-02 1.06686055e-03 9.99849004e-01 -9.72990939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27240100800002 meters 0.08669299955051919 Centerline is valid? [True, True] Translation: X:110.43, Y:-41.61, Z:-8.91 [[ 7.07355185e-01 -7.01540522e-01 -8.65421193e-02 1.10432148e+02] [-6.96808805e-01 -7.12624325e-01 8.13883398e-02 -4.16103598e+01] [-1.18769238e-01 2.73284652e-03 -9.92918123e-01 -8.91094548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30240100800002 meters 0.08754157211731277 Centerline is valid? [True, True] Translation: X:110.01, Y:-42.06, Z:-9.78 [[ 8.03200368e-01 5.95389202e-01 1.95158218e-02 1.10005543e+02] [-5.95157248e-01 8.03435384e-01 -1.67162763e-02 -4.20611438e+01] [-2.56323922e-02 1.81153648e-03 9.99669795e-01 -9.78354433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33240100800002 meters 0.09074821899208872 Centerline is valid? [True, True] Translation: X:110.03, Y:-42.07, Z:-9.79 [[ 8.04235878e-01 5.93981809e-01 1.97550725e-02 1.10034181e+02] [-5.93743195e-01 8.04476239e-01 -1.69410712e-02 -4.20736134e+01] [-2.59551746e-02 1.89517738e-03 9.99661311e-01 -9.78616484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36240100800002 meters 0.09294206289872357 Centerline is valid? [True, True] Translation: X:110.49, Y:-41.65, Z:-8.92 [[ 7.56693801e-01 -6.47886647e-01 -8.75064800e-02 1.10486250e+02] [-6.44014416e-01 -7.61731638e-01 7.07837811e-02 -4.16469050e+01] [-1.12516321e-01 2.79378624e-03 -9.93645949e-01 -8.92109834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39240100800002 meters 0.09441953299579908 Centerline is valid? [True, True] Translation: X:110.14, Y:-42.06, Z:-9.79 [[ 8.50720598e-01 5.24871602e-01 2.80047218e-02 1.10143884e+02] [-5.24480402e-01 8.51177129e-01 -2.04402129e-02 -4.20646308e+01] [-3.45654660e-02 2.70098237e-03 9.99398786e-01 -9.78725254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42240100800002 meters 0.09424136439542262 Centerline is valid? [True, True] Translation: X:110.18, Y:-42.07, Z:-9.79 [[ 8.52733676e-01 5.21469606e-01 3.02444720e-02 1.10180379e+02] [-5.21011117e-01 8.53264343e-01 -2.20766276e-02 -4.20668961e+01] [-3.73188199e-02 3.06777767e-03 9.99298701e-01 -9.78885223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45240100800001 meters 0.09683769808114397 Centerline is valid? [True, True] Translation: X:110.21, Y:-42.07, Z:-9.79 [[ 8.54851946e-01 5.17769408e-01 3.38081527e-02 1.10214063e+02] [-5.17193334e-01 8.55512576e-01 -2.46837434e-02 -4.20710683e+01] [-4.17037870e-02 3.61559484e-03 9.99123477e-01 -9.79222630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48240100800001 meters 0.10535094700459383 Centerline is valid? [True, False] Translation: X:110.16, Y:-41.97, Z:-9.76 [[ 8.69225605e-01 4.94410169e-01 -2.33070384e-03 1.10155636e+02] [-4.94411240e-01 8.69188234e-01 -8.32707972e-03 -4.19706390e+01] [-2.09117254e-03 8.39043709e-03 9.99962613e-01 -9.75860057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1688.37 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%| | 0/3817 [00:00